Multi-base-station high-precision positioning post-processing method and device, electronic equipment and medium

Abstract

According to the multi-base-station high-precision positioning post-processing method and device, the electronic equipment and the medium, positioning can be completed only through two times of forward and reverse calculation, and the calculation efficiency is effectively improved; meanwhile, according to the scheme, in the resolving process, the positioning state result and the covariance matrix of the last base station resolving stage are utilized, initialization of filtering after base station switching is achieved, correlation resolving among multiple base stations is achieved, the fixed rate is effectively improved, and the accuracy of the positioning result is improved at the same time; besides, according to the technical scheme of the invention, not only is the type fusion of the positioning results carried out, but also the numerical fusion is carried out, so that the accuracy of the positioning results is further improved.

Description

Technical Field

[0001] The present invention relates to the field of GNSS high-precision positioning, in particular to the field of PPK technology, and discloses a high-precision positioning post-processing method and device for multiple base stations, electronic equipment, and medium. Background Art

[0002] PPK technology, namely Post-Processing Kinematic, is an advanced positioning method that allows the terminal to obtain high-precision location information and synchronously receive GPS satellite signals through the base station and the terminal, and then perform data processing in the computer to determine the precise three-dimensional coordinates of the terminal.

[0003] If the terminal data collection time is long enough and the data collection range is large enough, the base station switching scenario will be encountered. The current processing method is that the terminal data needs to be solved multiple times with each base station, but this solution will have the following defects: the terminal data needs to be solved multiple times with each base station, and the solution efficiency is low; and the switching solutions between multiple base stations are relatively independent and cannot establish a connection. Ambiguity reinitialization will occur at the epoch of base station switching, and the fixation rate is low; in addition, the result fusion technology of multiple base station solutions is limited to the comparison of result types, which is prone to fusion errors. Summary of the invention

[0004] The present disclosure at least provides a high-precision positioning post-processing method and device for multiple base stations, electronic equipment, and medium to improve solution efficiency, fixation efficiency, and positioning accuracy.

[0005] According to one aspect of the present disclosure, a high-precision positioning post-processing method for multiple base stations is provided, comprising:

[0006] Acquire first positioning data collected by the target terminal and second positioning data of the target terminal received by each base station;

[0007] Using the first positioning data to perform single-point solution to obtain the single-point positioning trajectory of the target terminal; based on the three-dimensional spatial coordinates of each base station, respectively determine the spatial distance between the single-point positioning trajectory and each base station, and determine the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station;

[0008] Follow the steps below to perform forward post-processing to obtain the forward positioning result:

[0009] In order from the front to the back of the time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period;

[0010] Extracting first positioning sub-data within each first target solution time period from the first positioning data; for each base station, extracting second positioning sub-data within the first target solution time period corresponding to the base station from the second positioning data of the base station;

[0011] The first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period is filtered using the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the beginning of the first target solution time period as the initial value;

[0012] Follow the steps below to perform reverse post-processing to obtain reverse positioning results:

[0013] In order from the back to the front, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain a second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period;

[0014] Extracting the third positioning sub-data within each second target solution time period from the first positioning data; for each base station, extracting the fourth positioning sub-data within the second target solution time period corresponding to the base station from the second positioning data of the base station;

[0015] The third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in order from the back to the front, so as to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period is filtered by using the positioning state result and the covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value;

[0016] The forward positioning result and the reverse positioning result are fused in terms of numerical value and result type to obtain the target positioning trajectory of the target terminal.

[0017] In a possible implementation, the post-processing solution includes at least the steps of data preprocessing, double-difference observation equation extraction, floating-point solution solving, ambiguity fixing, and fixed solution verification.

[0018] In a possible implementation, the reverse positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type; the forward positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type.

[0019] In a possible implementation manner, respectively determining the spatial distance between the single point positioning trajectory and each base station, and determining the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station, includes:

[0020] According to a preset time period, the single point positioning trajectory is divided into a plurality of sub-trajectories;

[0021] For each base station, the spatial distance between each sub-trajectory and the base station is calculated respectively, and the time range of the sub-trajectory corresponding to the shortest spatial distance is used as the initial solution time period corresponding to the base station.

[0022] In a possible implementation, the post-processing settlement of the positioning data within the preset time period is performed 4 times, and each corresponding trajectory point obtains 2 forward positioning results and 2 reverse positioning results; the post-processing settlement of the positioning data outside the preset time period is performed 2 times, and each corresponding trajectory point obtains 1 positioning result and 1 reverse positioning result.

[0023] In a possible implementation manner, fusing the forward positioning result and the reverse positioning result in terms of result type includes:

[0024] The forward positioning result and the reverse positioning result corresponding to each trajectory point are used as the initial positioning result;

[0025] The forward positioning results and reverse positioning results of each trajectory point are fused in the result type:

[0026] If the types of all initial positioning results are the same, the type of the initial positioning result is used as the initial positioning result type; if the types of two initial positioning results are the same, the types of the two initial positioning results are used as the initial positioning result type; if the types of all initial positioning results are different, the types of the initial positioning results are sorted according to a predetermined order, and the middle type is used as the initial positioning result type; the initial positioning result type is upgraded or downgraded to obtain the target positioning result type;

[0027] The initial positioning result type is upgraded or downgraded, including:

[0028] Subtracting the values ​​of each pair of initial positioning results from each other to obtain a plurality of difference values, and if all the obtained difference values ​​exceed an initial threshold, downgrading the type of the initial positioning result;

[0029] Alternatively, the values ​​of the two initial positioning results are subtracted from each other, and if both differences exceed an initial threshold, the type of the initial positioning result is downgraded.

[0030] In a possible implementation, numerically fusing the forward positioning result and the reverse positioning result includes:

[0031] For each trajectory point, the target value of the positioning result of the trajectory point is obtained based on the values ​​of all initial positioning results and the acceptance residual sigma as the inverse proportional weighting;

[0032] Alternatively, for each trajectory point, the target value of the positioning result of the trajectory point is obtained according to the values ​​of two initial positioning results of the same type and the posterior residual sigma is used as an inverse proportional weighting.

[0033] According to another aspect of the present disclosure, a high-precision positioning post-processing device for multiple base stations is provided, comprising:

[0034] A data acquisition module, used to acquire first positioning data collected by a target terminal and second positioning data of the target terminal received by each base station;

[0035] A solution processing module is used to perform single-point solution using the first positioning data to obtain a single-point positioning trajectory of the target terminal; based on the three-dimensional spatial coordinates of each base station, determine the spatial distance between the single-point positioning trajectory and each base station, and determine the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station;

[0036] The forward positioning module is used to perform forward post-processing and solving according to the following steps to obtain the forward positioning result:

[0037] In order from the front to the back of the time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period;

[0038] Extracting first positioning sub-data within each first target solution time period from the first positioning data; for each base station, extracting second positioning sub-data within the first target solution time period corresponding to the base station from the second positioning data of the base station;

[0039] The first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period is filtered using the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the beginning of the first target solution time period as the initial value;

[0040] The reverse positioning module performs reverse post-processing and solving according to the following steps to obtain the reverse positioning result:

[0041] In order from the back to the front, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain a second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period;

[0042] Extracting the third positioning sub-data within each second target solution time period from the first positioning data; for each base station, extracting the fourth positioning sub-data within the second target solution time period corresponding to the base station from the second positioning data of the base station;

[0043] The third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in order from the back to the front, so as to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period is filtered by using the positioning state result and the covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value;

[0044] The positioning module is used to fuse the forward positioning result and the reverse positioning result in terms of numerical value and result type to obtain the target positioning trajectory of the target terminal.

[0045] According to another aspect of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor implements any of the above methods when executing the computer program.

[0046] According to another aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any of the above-mentioned methods is implemented.

[0047] The high-precision positioning post-processing method, device, electronic device, and medium for multiple base stations disclosed in the present invention can complete positioning by performing only two forward and reverse solutions, effectively improving the solution efficiency; at the same time, the scheme disclosed in the present invention utilizes the positioning state result and covariance matrix of the previous base station solution stage during the solution process, realizes the initialization of the filter after switching the base station, realizes the correlation solution between multiple base stations, effectively improves the fixation rate, and simultaneously improves the accuracy of the positioning results; in addition, the present invention not only fuses the positioning results in type, but also fuses them in numerical value, further improving the accuracy of the positioning results.

[0048] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0050] Figure 1 is a flow chart of a high-precision positioning post-processing method for multiple base stations according to the present disclosure;

[0051] Figure 2 It is a schematic diagram of forward and reverse solution according to an embodiment of the present disclosure;

[0052] Figure 3 is a schematic diagram of the structure of a high-precision positioning post-processing device for multiple base stations according to the present disclosure;

[0053] Figure 4 is a schematic structural diagram of an electronic device according to the present disclosure. DETAILED DESCRIPTION

[0054] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0055] In view of the defects of low solution efficiency, low fixation efficiency and poor positioning accuracy existing in the target positioning technology, the present invention provides a high-precision positioning post-processing method and device, electronic equipment and medium for multiple base stations. The technical solution of the present invention can complete the positioning by performing only two forward and reverse solutions, which effectively improves the solution efficiency. At the same time, during the solution process, the solution of the present invention utilizes the positioning state result and covariance matrix of the previous base station solution stage, realizes the initialization of the filter after switching the base station, realizes the correlation solution between multiple base stations, effectively improves the fixation rate, and improves the accuracy of the positioning result at the same time. In addition, the technical solution of the present invention not only fuses the positioning results in type, but also fuses them in value, which further improves the accuracy of the positioning results.

[0056] The technical solution of the present disclosure is described below through specific embodiments.

[0057] like Figure 1 As shown, it is a flowchart of the high-precision positioning post-processing method of multiple base stations in this embodiment. The execution subject of this embodiment is a computing device or component with data processing capability. The specific method of this embodiment may include the following steps:

[0058] S110: Acquire first positioning data collected by a target terminal and second positioning data of the target terminal received by each base station.

[0059] The target terminal here can be a drone.

[0060] S120. Perform single-point solution using the first positioning data to obtain a single-point positioning trajectory of the target terminal; determine the spatial distance between the single-point positioning trajectory and each base station based on the three-dimensional spatial coordinates of each base station, and determine an initial solution time period corresponding to each base station according to the shortest spatial distance to the base station.

[0061] The three-dimensional space coordinates of the above-mentioned base stations are pre-stored.

[0062] The above-mentioned initial solution time period corresponding to each base station can be determined by the following steps:

[0063] According to the preset time period, the single point positioning trajectory is divided into multiple sub-trajectories; for each base station, the spatial distance between each sub-trajectory and the base station is calculated respectively, and the time range of the sub-trajectory corresponding to the shortest spatial distance is used as the initial solution time period corresponding to the base station.

[0064] The spatial distance between the sub-trajectory and the base station can be determined according to the following steps: calculating the distance between each point on the sub-trajectory and the base station, and taking the average of the distances between each point on the sub-trajectory and the base station as the spatial distance between the sub-trajectory and the base station.

[0065] The above-mentioned preset time period can be set according to the actual situation, for example, it can be determined according to factors such as the moving speed of the terminal.

[0066] S130, perform forward post-processing solution according to the following steps to obtain a forward positioning result:

[0067] According to the order from front to back in time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period; the first positioning sub-data within each first target solution time period is intercepted from the first positioning data; for each base station, the second positioning sub-data within the first target solution time period corresponding to the base station is intercepted from the second positioning data of the base station; the first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in the order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period uses the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the starting time of the first target solution time period as the initial value for filtering.

[0068] The post-processing solution at least includes the steps of data preprocessing, double-difference observation equation extraction, floating-point solution solving, ambiguity fixing, and fixed solution verification.

[0069] The forward positioning result of the target terminal includes the positioning result of each trajectory point of this positioning. The positioning result may include a floating point solution of a floating point type, a fixed solution of an integer type, and a single point solution of each trajectory point.

[0070] There is a preset redundancy between two adjacent first target solution time periods, that is, the positioning data corresponding to the preset time period is post-processed and solved twice, and each trajectory point obtains two positive positioning results. The positioning data corresponding to other times is post-processed and solved once, and each trajectory point obtains one positive positioning result.

[0071] Specifically, for example, the time when base station 1 switches to base station 2 is t0, the time for base station 1 to perform post-processing solution is up to t0 + preset duration, and the time for base station 2 to perform post-processing solution starts from t0. It can be seen that the positioning data corresponding to the preset duration has undergone two post-processing settlements, that is, base station 1 and base station 2 will solve the positioning data corresponding to the preset duration.

[0072] In addition, the positioning state result and covariance matrix of the post-processing solution of base station 1 at time t0 are used as the initial value of the filtering process in the post-processing solution of base station 2.

[0073] The above preset duration can be set according to the requirements of the actual application scenario, for example, it can be set to 60 seconds.

[0074] The above covariance matrix is ​​the variance covariance matrix in the Kalman filter, and the covariance matrices solved by different base stations are different.

[0075] S140, perform reverse post-processing solution according to the following steps to obtain a reverse positioning result:

[0076] According to the order from back to front in time, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain the second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period; the third positioning sub-data within each second target solution time period is intercepted from the first positioning data; for each base station, the fourth positioning sub-data within the second target solution time period corresponding to the base station is intercepted from the second positioning data of the base station; the third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in the order from back to front in time to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period uses the positioning state result and covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value for filtering.

[0077] The reverse positioning result of the target terminal includes the positioning result of each trajectory point of this positioning. The positioning result may include a floating point solution of a floating point type, a fixed solution of an integer type, and a single point solution of each trajectory point.

[0078] The post-processing solution at least includes the steps of data preprocessing, double-difference observation equation extraction, floating-point solution solving, ambiguity fixing, and fixed solution verification.

[0079] This reverse processing step is executed from back to front in chronological order, so the second target solution time period is obtained by extending the preset time period forward on the basis of the initial solution time period, and the start time of the solution of the second target solution time period is later than the end time of the solution, and the solution is executed from back to front in chronological order.

[0080] There is a preset redundancy between two adjacent second target solution time periods, that is, the positioning data corresponding to the preset time period is post-processed and solved twice, and each trajectory point obtains two reverse positioning results. The positioning data corresponding to other times is post-processed and solved once, and each trajectory point obtains 1 reverse positioning result.

[0081] The overall solution process in the present disclosure is divided into two processes, forward and reverse, namely the above-mentioned step S130 and step S140, and the two processes are settled independently. After the solution is completed, the post-processing settlement of the positioning data within the preset time length is performed 4 times, and each corresponding trajectory point obtains 2 forward positioning results and 2 reverse positioning results; the post-processing settlement of the positioning data outside the preset time length is performed 2 times, and each corresponding trajectory point obtains 1 positioning result and 1 reverse positioning result.

[0082] like Figure 2 As shown, no matter it is a forward solution or a reverse solution, there is a corresponding redundant solution of a preset duration at the moment when two base stations switch.

[0083] S150: Fusing the forward positioning result and the reverse positioning result in terms of numerical value and result type to obtain a target positioning trajectory of the target terminal.

[0084] Since some positioning results will overlap during the base station switching process, the principle of result screening is to select fixed solutions first, floating point solutions second, and single point solutions last, and finally obtain a high-precision post-processing positioning trajectory after fusion. Specifically, the solutions are arranged from high to low in terms of type, and the results of higher-level types are taken. If the results are of the same level, they will be fused in equal proportion, or if the difference between the results of the same type is large, it will be determined whether to downgrade the results.

[0085] The specific processing steps can be as follows:

[0086] The forward positioning result and the reverse positioning result are integrated in terms of result type, including:

[0087] First, the forward positioning results and reverse positioning results corresponding to each trajectory point are taken as the initial positioning results; then the forward positioning results and reverse positioning results of each trajectory point are fused in the result type:

[0088] If the types of all initial positioning results are the same, the type of the initial positioning result is used as the initial positioning result type; if the types of two initial positioning results are the same, the types of the two initial positioning results are used as the initial positioning result type; if the types of all initial positioning results are different, the types of the initial positioning results are sorted in a predetermined order (i.e., fixed solution type, floating point solution type, single point solution type), and the middle type is used as the initial positioning result type; the initial positioning result type is upgraded or downgraded to obtain the target positioning result type. The upgrading or downgrading of the initial positioning result type includes:

[0089] When the types of all initial positioning results are the same, the values ​​of each pair of initial positioning results in all initial positioning results are subtracted from each other to obtain multiple difference values. If all the obtained difference values ​​exceed the initial threshold, the type of the initial positioning result is downgraded.

[0090] In the case that the types of the two initial positioning results are the same, the values ​​of the two initial positioning results are subtracted from each other. If both differences exceed the initial threshold, the type of the initial positioning result is downgraded.

[0091] Except for the above two cases, the initial positioning result type will not be upgraded or downgraded.

[0092] The forward positioning result and the reverse positioning result are numerically fused, including:

[0093] When all initial positioning results are of the same type, for each trajectory point, the target value of the positioning result of the trajectory point is obtained according to the values ​​of all initial positioning results and the acceptance residual sigma as the inverse proportional weighting.

[0094] When the two initial positioning results are of the same type, for each trajectory point, the target value of the positioning result of the trajectory point is obtained according to the values ​​of the two initial positioning results of the same type and the posterior residual sigma is used as the inverse proportional weighting.

[0095] In the GNSS high-precision post-processing solution, after obtaining the relevant positioning data of the base station, combined with the original positioning data of the terminal, a double-difference observation equation is formed between the two, eliminating most of the correlation errors, so that the carrier phase double-difference ambiguity can be fixed quickly to obtain high-precision positioning results. The algorithm mainly includes the analysis and acquisition of the original positioning data of the terminal and the original positioning data of multiple base stations (the data includes GPS: L1L2L5 / BDS: B1I B2I B3I B1C B2A / QZSS: L1 L2L5 / GAL: E1 E5aE5b / GLN: G1 G2), and the original data includes pseudo-range, carrier phase, Doppler, signal-to-noise ratio information, data preprocessing, single-point positioning and single-point velocity measurement of base stations and mobile stations, pseudo-range differential positioning, establishment of carrier phase double-difference observation equations, solution of floating-point ambiguity and covariance matrix, LAMBDA ambiguity search fixation, base station switching and result fusion.

[0096] Based on the same inventive concept, the present disclosure provides a high-precision positioning post-processing device for multiple base stations. The steps performed by the components of the device are the same or similar to those of the above method, so similar parts are not repeated. Figure 3 As shown, the high-precision positioning post-processing device of multiple base stations in this embodiment includes:

[0097] The data acquisition module 310 is used to acquire the first positioning data collected by the target terminal and the second positioning data of the target terminal received by each base station.

[0098] The solution processing module 320 is used to perform single-point solution using the first positioning data to obtain the single-point positioning trajectory of the target terminal; based on the three-dimensional spatial coordinates of each base station, the spatial distance between the single-point positioning trajectory and each base station is determined respectively, and the initial solution time period corresponding to each base station is determined according to the shortest spatial distance to the base station.

[0099] The forward positioning module 330 is used to perform forward post-processing and solving according to the following steps to obtain a forward positioning result:

[0100] In order from the front to the back of the time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period;

[0101] Extracting first positioning sub-data within each first target solution time period from the first positioning data; for each base station, extracting second positioning sub-data within the first target solution time period corresponding to the base station from the second positioning data of the base station;

[0102] The first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period is filtered using the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the beginning of the first target solution time period as the initial value;

[0103] The reverse positioning module 340 performs reverse post-processing and solving according to the following steps to obtain a reverse positioning result:

[0104] In order from the back to the front, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain a second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period;

[0105] Extracting the third positioning sub-data within each second target solution time period from the first positioning data; for each base station, extracting the fourth positioning sub-data within the second target solution time period corresponding to the base station from the second positioning data of the base station;

[0106] The third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in order from the back to the front, so as to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period is filtered by using the positioning state result and the covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value;

[0107] The positioning module 350 is used to fuse the forward positioning result and the reverse positioning result in terms of numerical value and result type to obtain the target positioning trajectory of the target terminal.

[0108] In some embodiments, the post-processing solution includes at least the steps of data preprocessing, double-difference observation equation extraction, floating-point solution solving, ambiguity fixing, and fixed solution verification.

[0109] In some embodiments, the reverse positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type; the forward positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type.

[0110] In some embodiments, the solution processing module 320 is used to:

[0111] According to a preset time period, the single point positioning trajectory is divided into a plurality of sub-trajectories;

[0112] For each base station, the spatial distance between each sub-trajectory and the base station is calculated respectively, and the time range of the sub-trajectory corresponding to the shortest spatial distance is used as the initial solution time period corresponding to the base station.

[0113] In some embodiments, the post-processing settlement of the positioning data within the preset time length is performed 4 times, and each corresponding trajectory point obtains 2 forward positioning results and 2 reverse positioning results; the post-processing settlement of the positioning data outside the preset time length is performed 2 times, and each corresponding trajectory point obtains 1 positioning result and 1 reverse positioning result.

[0114] In some embodiments, when the positioning module 350 fuses the forward positioning result and the reverse positioning result in terms of result type, it is used to:

[0115] The forward positioning result and the reverse positioning result corresponding to each trajectory point are used as the initial positioning result;

[0116] The forward positioning results and reverse positioning results of each trajectory point are fused in the result type:

[0117] If the types of all initial positioning results are the same, the type of the initial positioning result is used as the initial positioning result type; if the types of two initial positioning results are the same, the types of the two initial positioning results are used as the initial positioning result type; if the types of all initial positioning results are different, the types of the initial positioning results are sorted according to a predetermined order, and the middle type is used as the initial positioning result type; the initial positioning result type is upgraded or downgraded to obtain the target positioning result type;

[0118] The initial positioning result type is upgraded or downgraded, including:

[0119] Subtracting the values ​​of each pair of initial positioning results from each other to obtain a plurality of difference values, and if all the obtained difference values ​​exceed an initial threshold, downgrading the type of the initial positioning result;

[0120] Alternatively, the values ​​of the two initial positioning results are subtracted from each other, and if both differences exceed an initial threshold, the type of the initial positioning result is downgraded.

[0121] In some embodiments, when the positioning module 350 numerically fuses the forward positioning result and the reverse positioning result, it is specifically used to:

[0122] For each trajectory point, the target value of the positioning result of the trajectory point is obtained based on the values ​​of all initial positioning results and the acceptance residual sigma as the inverse proportional weighting;

[0123] Alternatively, for each trajectory point, the target value of the positioning result of the trajectory point is obtained according to the values ​​of two initial positioning results of the same type and the posterior residual sigma is used as an inverse proportional weighting.

[0124] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a computer-readable storage medium.

[0125] Figure 4 A schematic block diagram of an example electronic device 400 that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0126] like Figure 4 As shown, the device 400 includes a computing unit 410, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 420 or a computer program loaded from a storage unit 480 into a random access memory (RAM) 430. In the RAM 430, various programs and data required for the operation of the device 400 can also be stored. The computing unit 410, the ROM 420, and the RAM 430 are connected to each other via a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0127] A number of components in the device 400 are connected to the I / O interface 450, including: an input unit 460, such as a keyboard, a mouse, etc.; an output unit 470, such as various types of displays, speakers, etc.; a storage unit 480, such as a disk, an optical disk, etc.; and a communication unit 490, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 490 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0128] The computing unit 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 410 performs the various methods and processes described above. For example, in some embodiments, any of the above methods may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 480. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via ROM 420 and / or a communication unit 490. When the computer program is loaded into RAM 430 and executed by the computing unit 410, one or more steps of any of the methods described above may be performed. Alternatively, in other embodiments, the computing unit 410 may be configured to perform any of the methods described above in any other appropriate manner (e.g., by means of firmware).

[0129] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0130] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0131] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0132] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0133] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0134] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0135] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0136] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A high-precision positioning post-processing method for multiple base stations, characterized in that: include: Acquire first positioning data collected by the target terminal and second positioning data of the target terminal received by each base station; Using the first positioning data to perform single-point solution to obtain the single-point positioning trajectory of the target terminal; based on the three-dimensional spatial coordinates of each base station, respectively determine the spatial distance between the single-point positioning trajectory and each base station, and determine the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station; Follow the steps below to perform forward post-processing to obtain the forward positioning result: In order from the front to the back of the time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period; Extracting first positioning sub-data within each first target solution time period from the first positioning data; for each base station, extracting second positioning sub-data within the first target solution time period corresponding to the base station from the second positioning data of the base station; The first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period is filtered using the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the beginning of the first target solution time period as the initial value; Follow the steps below to perform reverse post-processing to obtain reverse positioning results: In order from the back to the front, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain a second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period; Extracting the third positioning sub-data within each second target solution time period from the first positioning data; for each base station, extracting the fourth positioning sub-data within the second target solution time period corresponding to the base station from the second positioning data of the base station; The third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in order from the back to the front, so as to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period is filtered by using the positioning state result and the covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value; The forward positioning result and the reverse positioning result are fused in terms of numerical value and result type to obtain the target positioning trajectory of the target terminal.

2. The method according to claim 1, characterized in that The post-processing solution at least includes the steps of data preprocessing, double difference observation equation column extraction, floating point solution solving, ambiguity fixing, and fixed solution verification.

3. The method according to claim 1, characterized in that The reverse positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type; the forward positioning result includes a floating-point solution of a floating-point type and a fixed solution of an integer type.

4. The method according to claim 1, characterized in that: The step of respectively determining the spatial distances between the single point positioning trajectory and each base station, and determining the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station, includes: According to a preset time period, the single point positioning trajectory is divided into a plurality of sub-trajectories; For each base station, the spatial distance between each sub-trajectory and the base station is calculated respectively, and the time range of the sub-trajectory corresponding to the shortest spatial distance is used as the initial solution time period corresponding to the base station.

5. The method according to claim 1, characterized in that The post-processing settlement of the positioning data within the preset time period was performed 4 times, and each corresponding trajectory point obtained 2 forward positioning results and 2 reverse positioning results; the post-processing settlement of the positioning data outside the preset time period was performed 2 times, and each corresponding trajectory point obtained 1 positioning result and 1 reverse positioning result.

6. The method according to claim 5, characterized in that The forward positioning result and the reverse positioning result are integrated in terms of result type, including: The forward positioning result and the reverse positioning result corresponding to each trajectory point are used as the initial positioning result; The forward positioning results and reverse positioning results of each trajectory point are fused in the result type: If the types of all initial positioning results are the same, the type of the initial positioning result is used as the initial positioning result type; if the types of two initial positioning results are the same, the types of the two initial positioning results are used as the initial positioning result type; if the types of all initial positioning results are different, the types of the initial positioning results are sorted according to a predetermined order, and the middle type is used as the initial positioning result type; the initial positioning result type is upgraded or downgraded to obtain the target positioning result type; The initial positioning result type is upgraded or downgraded, including: Subtracting the values ​​of each pair of initial positioning results from each other to obtain a plurality of difference values, and if all the obtained difference values ​​exceed an initial threshold, downgrading the type of the initial positioning result; Alternatively, the values ​​of the two initial positioning results are subtracted from each other, and if both differences exceed an initial threshold, the type of the initial positioning result is downgraded.

7. The method according to claim 6, characterized in that The forward positioning result and the reverse positioning result are numerically fused, including: For each trajectory point, the target value of the positioning result of the trajectory point is obtained based on the values ​​of all initial positioning results and the acceptance residual sigma as the inverse proportional weighting; Alternatively, for each trajectory point, the target value of the positioning result of the trajectory point is obtained according to the values ​​of two initial positioning results of the same type and the posterior residual sigma is used as an inverse proportional weighting.

8. A high-precision positioning post-processing device for multiple base stations, characterized in that: include: A data acquisition module, used to acquire first positioning data collected by a target terminal and second positioning data of the target terminal received by each base station; A solution processing module is used to perform single-point solution using the first positioning data to obtain a single-point positioning trajectory of the target terminal; based on the three-dimensional spatial coordinates of each base station, determine the spatial distance between the single-point positioning trajectory and each base station, and determine the initial solution time period corresponding to each base station according to the shortest spatial distance to the base station; The forward positioning module is used to perform forward post-processing and solving according to the following steps to obtain the forward positioning result: In order from the front to the back of the time, except for the last initial solution time period, each of the initial solution time periods is extended backward by a preset time length to obtain the first target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last first target solution time period; Extracting first positioning sub-data within each first target solution time period from the first positioning data; for each base station, extracting second positioning sub-data within the first target solution time period corresponding to the base station from the second positioning data of the base station; The first positioning sub-data and the second positioning sub-data corresponding to each first target solution time period are post-processed and solved in order from front to back in time to obtain the forward positioning result of the target terminal; wherein, starting from the second first target solution time period, the post-processing solution corresponding to each first target solution time period is filtered using the positioning state result and covariance matrix of the post-processing solution corresponding to the previous first target solution time period at the beginning of the first target solution time period as the initial value; The reverse positioning module performs reverse post-processing and solving according to the following steps to obtain the reverse positioning result: In order from the back to the front, except for the last initial solution time period, each of the initial solution time periods is extended forward by a preset time length to obtain a second target solution time period corresponding to each of the initial solution time periods, and the last initial solution time period is used as the last second target solution time period; Extracting the third positioning sub-data within each second target solution time period from the first positioning data; for each base station, extracting the fourth positioning sub-data within the second target solution time period corresponding to the base station from the second positioning data of the base station; The third positioning sub-data and the fourth positioning sub-data corresponding to each second target solution time period are post-processed and solved in order from the back to the front, so as to obtain the reverse positioning result of the target terminal; wherein, starting from the second second target solution time period, the post-processing solution corresponding to each second target solution time period is filtered by using the positioning state result and the covariance matrix of the post-processing solution corresponding to the previous second target solution time period at the beginning of the second target solution time period as the initial value; The positioning module is used to fuse the forward positioning result and the reverse positioning result in terms of numerical value and result type to obtain the target positioning trajectory of the target terminal.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory, wherein the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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