Positioning method and device, computer equipment, storage medium and computer program product

Abstract

The invention relates to a positioning method and device, computer equipment, a storage medium and a computer program product. The method can be applied to various scenes such as cloud technology, artificial intelligence, intelligent traffic and auxiliary driving. The method comprises the following steps: acquiring an initial position of a terminal based on inertial navigation data acquired by a current epoch terminal; performing region search based on the initial position to obtain candidate positions of the terminal, determining a reference position from the candidate positions according to the satellite visibility, and determining a visual satellite observed by the current epoch at the reference position and the base station together; a position observation equation constructed based on a reference position, a double-difference observation equation constructed by positioning observation data of a visual satellite based on a current epoch and a tightly-combined state error equation are solved, and positioning information obtained by inertial navigation data collected by a terminal is corrected according to an obtained state error. By adopting the method, the positioning accuracy can be improved.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular, to a positioning method, apparatus, computer equipment, storage medium and computer program product. Background technique [0002] GNSS (Global Navigation Satellite System) is a system that receives and broadcasts electromagnetic wave signals to achieve navigation and positioning purposes. It relies on the navigation messages and carrier signals broadcast by high-orbit satellites. , automatic driving and other fields play an important role. The advantage of GNSS over other navigation systems is that its errors will not accumulate over time, but there are problems of insufficient positioning signals in complex environments and unable to converge quickly. INS (Inertial Navigation System, inertial navigation system) is a relatively independent and autonomous navigation system, which can complete navigation and positioning without any signal exchange with the outside wo...

AI Technical Summary

Problems solved by technology

[0004] However, in the current tight combination, after estimating the GNSS observation value according to the positioning information output by the INS, and comparing it with the GNSS observation value after removing the gross error, the difference value is used to construct the observation equation, and the positioning information is obtained after the solution, but due to The method of eliminating gross errors is inaccurate, and correct GNSS observations may be eliminated, or some gross errors may be missed, resulting in deviations in the positioning process, resulting in inaccurate positioning results

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