Positioning method and device, electronic equipment and readable medium

Abstract

The invention provides a positioning method and device, electronic equipment and a readable medium, and is applied to signal receiving equipment, and the method comprises the steps: obtaining a satellite observation signal transmitted by at least one satellite, and obtaining satellite correction information transmitted by at least one information provider; the satellite correction information of any information provider comprises satellite correction sub-information for correcting a satellite observation signal of at least one satellite; aiming at any satellite, correcting a satellite observation signal of the satellite by using the satellite correction sub-information of the satellite to obtain target correction data of the satellite; determining a target weight coefficient of the target correction data based on the at least one target correction data and the at least one satellite observation signal; based on the target weight coefficient, performing target fusion processing on the at least one target correction data to obtain target fusion correction data; the position information of the signal receiving equipment is determined by adopting the target fusion correction data and the satellite observation signal, and the method can be applied to intelligent equipment with low power consumption, small memory and weak computing power.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning technical field, in particular to a positioning method and device, electronic equipment and readable medium. BACKGROUND

[0002] In the related art, a user can use a signal receiving device held by the user to receive satellite observation signals sent by multiple satellites and satellite correction information provided by at least one service provider in real time, use the satellite correction information to correct errors of the satellite observation signals, and then use the corrected satellite observation signals to calculate real-time position information of the user.

[0003] Specifically, the signal receiving device of the user can receive satellite correction information provided by at least one service provider in real time, use satellite correction information of different service providers to correct orbit data and clock error data in satellite observation signals of any satellite, obtain real-time precise orbit products and clock error products of any satellite provided by different service providers, and then use the real-time precise products of any satellite provided by different service providers and satellite observation signals of all satellites to calculate real-time positioning results of the user corresponding to different service providers. Finally, weighted average of the positioning results corresponding to different service providers at the same time can obtain a target positioning result of the user.

[0004] However, this method requires a large amount of network bandwidth of a terminal device, and the method of using real-time precise products corresponding to different service providers to determine positioning results corresponding to different service providers independently requires high computing resources of a user device, and is difficult to be applied to smart devices such as mobile phones and tablets with low power consumption, small memory and weak computing ability. SUMMARY

[0005] Embodiments of the present application provide a positioning method, device, electronic equipment and computer readable storage medium to solve the problem that the positioning method in the related art requires a large amount of network bandwidth of a terminal device, and the method of using real-time precise products corresponding to different service providers to determine positioning results corresponding to different service providers independently requires high computing resources of a user device, and is difficult to be applied to smart devices such as mobile phones and tablets with low power consumption, small memory and weak computing ability.

[0006] Embodiments of the present application disclose a positioning method applied to a signal receiving device, the method comprising:

[0007] Obtaining satellite observation signals sent by at least one satellite and satellite correction information sent by at least one information provider, wherein the satellite correction information of any information provider comprises satellite correction sub-information for correcting satellite observation signals of the at least one satellite;

[0008] For any of the aforementioned satellites, the satellite observation signal of the satellite is calibrated using the satellite correction sub-information of the satellite to obtain the target correction data of the satellite;

[0009] Based on at least one of the target correction data and at least one of the satellite observation signals, determine the target weight coefficient of the target correction data;

[0010] Based on the target weight coefficients, target fusion processing is performed on at least one of the target correction data to obtain target fusion correction data;

[0011] The location information of the signal receiving device is determined by using the target fusion correction data and the satellite observation signal.

[0012] Optionally, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0013] Based on the preset initial weight coefficients of the target correction data, the target correction data is subjected to initial fusion processing to obtain initial fused correction data;

[0014] An initial positioning model for the location information is constructed using at least one of the satellite observation signals and the initial fusion correction data.

[0015] For any of the aforementioned information providers, using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model, the satellite phase residual of the at least one satellite corresponding to the target correction data is determined;

[0016] The comprehensive variance of the target correction data is determined by using the satellite phase residuals of at least one satellite corresponding to the target correction data;

[0017] The target weight coefficients of the target correction data are determined using the comprehensive variance.

[0018] Optionally, the satellite observation signal includes actual phase observation values; determining the satellite phase residual of the at least one satellite corresponding to the target correction data using the target correction sub-information sent by the information provider and the initial positioning model includes:

[0019] Using the target correction data corresponding to the satellite correction sub-information sent by the information provider, the ideal phase observation value of the at least one satellite is determined;

[0020] For any of the satellites, the satellite phase residual corresponding to the target correction data is determined by using the ideal phase observation value and the actual phase observation value of the satellite.

[0021] Optionally, determining the comprehensive variance of the target correction data using the satellite phase residuals of the at least one satellite corresponding to the target correction data includes:

[0022] Using the satellite phase residuals of at least one satellite corresponding to the target correction data, and employing a preset variance calculation formula, the comprehensive variance of the target correction data is determined; wherein, the variance calculation formula is:

[0023]

[0024] in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0025] Optionally, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0026] The target weight coefficient of the target correction data is determined by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

[0027] Optionally, determining the location information of the signal receiving device using the target fusion correction data and the satellite observation signal includes:

[0028] A target positioning model for the location information is constructed by using at least one of the satellite observation signals and the target fusion correction data.

[0029] The location information of the signal receiving device is determined based on the target positioning model.

[0030] Optionally, the satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias correction data; the step of using the satellite's satellite correction sub-information to calibrate the satellite observation signal to obtain the satellite's target correction data includes:

[0031] The satellite's observed orbit data is corrected using the satellite orbit correction sub-information to obtain the satellite's target orbit correction data;

[0032] The satellite's observed clock error data is corrected using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

[0033] This application also discloses a positioning device applied to a signal receiving device, the device comprising:

[0034] The signal acquisition module is used to acquire satellite observation signals transmitted by at least one preset satellite and to acquire satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite;

[0035] The calibration module is used to calibrate the satellite observation signal of any of the satellites using the satellite correction sub-information of the satellite, so as to obtain the target correction data of the satellite.

[0036] The target weight coefficient determination module is used to determine the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals;

[0037] The target fusion module is used to perform target fusion processing on at least one of the target correction data based on the target weight coefficients to obtain target fusion correction data;

[0038] The location determination module is used to determine the location information of the signal receiving device by using the target fusion correction data and the satellite observation signal.

[0039] Optionally, the target weight coefficient determination module includes:

[0040] The initial fusion submodule is used to perform initial fusion processing on the target correction data based on the preset initial weight coefficients of the target correction data to obtain initial fused correction data;

[0041] An initial positioning model construction submodule is used to construct an initial positioning model of the location information using at least one of the satellite observation signals and the initial fusion correction data.

[0042] The satellite phase residual determination submodule is used to determine the satellite phase residual of at least one satellite corresponding to the target correction data by using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model for any of the information providers.

[0043] The comprehensive variance determination submodule is used to determine the comprehensive variance of the target correction data by using the satellite phase residuals of the at least one satellite corresponding to the target correction data;

[0044] The first target weight coefficient determination submodule is used to determine the target weight coefficient of the target correction data using the comprehensive variance.

[0045] Optionally, the satellite observation signal includes actual phase observation values; the satellite phase residual determination submodule includes:

[0046] An ideal phase observation determination unit is used to determine the ideal phase observation value of the at least one satellite by using the target correction data corresponding to the satellite correction sub-information sent by the information provider.

[0047] The satellite phase residual determination unit is used to determine the satellite phase residual of the satellite corresponding to the target correction data for any of the satellites, using the ideal phase observation value and the actual phase observation value of the satellite.

[0048] Optionally, the comprehensive variance determination submodule includes:

[0049] The comprehensive variance determination unit is used to determine the comprehensive variance of the target correction data by using the satellite phase residuals of at least one satellite corresponding to the target correction data and a preset variance calculation formula; wherein, the variance calculation formula is:

[0050]

[0051] in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0052] Optionally, the target weight coefficient determination module includes:

[0053] The second target weight coefficient determination submodule is used to determine the target weight coefficient of the target correction data by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

[0054] Optionally, the location determination module includes:

[0055] The target localization model construction submodule is used to construct a target localization model of the location information using at least one of the satellite observation signals and the target fusion correction data.

[0056] The location determination submodule is used to determine the location information of the signal receiving device based on the target positioning model.

[0057] Optionally, the satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias correction data; the calibration module includes:

[0058] The first calibration submodule is used to calibrate the observed orbit data of the satellite using the satellite orbit correction sub-information to obtain the target orbit correction data of the satellite.

[0059] The second calibration submodule is used to calibrate the satellite's observed clock error data using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

[0060] This application also discloses an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0061] The memory is used to store computer programs;

[0062] When the processor executes a program stored in the memory, it implements the method described in the embodiments of this application.

[0063] This application also discloses one or more computer-readable media storing instructions that, when executed by one or more processors, cause the processors to perform the methods described in this application.

[0064] The embodiments of this application have the following advantages:

[0065] In this embodiment, satellite observation signals transmitted by at least one preset satellite are acquired, and satellite correction information transmitted by at least one preset information provider is acquired. The satellite correction information of any information provider includes satellite correction sub-information for calibrating the satellite observation signals of at least one satellite. For any satellite, the satellite observation signals of the satellite are calibrated using the satellite correction sub-information to obtain target correction data for the satellite. Based on at least one target correction data and at least one satellite observation signal, a target weight coefficient for the target correction data is determined. Based on the target weight coefficient, target fusion processing is performed on at least one target correction data to obtain target fused correction data. The location information of the signal receiving device is determined using the target fused correction data and the satellite observation signal. In this embodiment, satellite observation signals transmitted by a satellite are first calibrated using satellite correction information from multiple information providers to obtain target correction data for the satellite. Then, target correction data for the same satellite from different information providers are fused to obtain target fused correction data. Using the target fused correction data and satellite observation signals, the location information of the signal receiving device is determined. This solves the problem that the positioning method in related technologies requires a large amount of network bandwidth from the terminal device. Moreover, the method of using real-time precision products from different service providers to determine the positioning results of different service providers is difficult to apply to smart devices such as mobile phones and tablets, which have low power consumption, small memory, and weak computing power, because the real-time positioning of multi-source real-time products is performed independently. Attached Figure Description

[0066] Figure 1 This is a flowchart of the steps of a positioning method provided in the embodiments of this application;

[0067] Figure 2 This is a flowchart of another positioning method provided in the embodiments of this application;

[0068] Figure 3 This is a structural block diagram of a positioning device provided in an embodiment of this application;

[0069] Figure 4 This is a block diagram of an electronic device provided in an embodiment of this application;

[0070] Figure 5 This is a schematic diagram of a computer-readable medium provided in an embodiment of this application. Detailed Implementation

[0071] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0072] To facilitate understanding of the technical solutions and effects of the embodiments of this application, the relevant technologies of this application will be briefly described below.

[0073] In related technologies, precise point positioning technology refers to a system where a single signal receiving device can acquire satellite observation signals from multiple satellites and obtain satellite correction information sent by a service provider. Based on these satellite observation signals and correction information, the high-precision positioning location of the signal receiving device can then be determined. The satellite correction information is used to calibrate and process the satellite observation signals.

[0074] To improve the positioning efficiency of signal receiving equipment and enhance the stability and accuracy of real-time precise point positioning (PSP) technology, meeting users' demands for high-precision spatiotemporal information, PSP technology allows users to receive satellite correction information from at least one service provider in real time using their signal receiving equipment. By using the satellite correction information from different service providers to calibrate the orbit and clock bias data in the satellite observation signals of any given satellite, real-time precise orbit and clock bias products from different service providers for any given satellite can be obtained. Furthermore, by using the real-time precise products from different service providers for any given satellite and the satellite observation signals from all satellites, the real-time positioning result for the user corresponding to each service provider can be calculated. Finally, a weighted average of the positioning results from different service providers at the same time yields the user's target positioning result. At least one service provider can include satellite-based or terrestrial networks of systems or organizations such as the BeiDou Precise Point Positioning Service (PPP-B2b), the High-Precision Service (HAS) provided by Galileo (EU), the Global Continuous Monitoring and Evaluation System (iGMAS), and the International Organization for Global Navigation Satellite Systems (IGS). Real-time precise products in target formats from multiple service providers can constitute a multi-source real-time product.

[0075] However, this method requires a large amount of network bandwidth from the terminal device. Moreover, since the real-time positioning of multiple service providers is conducted independently, this method places high demands on the computing resources of the user device and is difficult to apply to smart devices such as mobile phones and tablets that have low power consumption, small memory and weak computing power.

[0076] In addition, since the satellite correction information sent by the service provider is used to calibrate satellite observation signals from multiple satellites, the satellite correction information needs to involve multiple satellites corresponding to the satellite observation signals. If the number of satellites included in the satellite correction information sent by a certain service provider is insufficient, independent precise positioning cannot be performed using the satellite correction information sent by that service provider, resulting in the problem of insufficient utilization of satellite correction information.

[0077] Reference Figure 1The diagram illustrates a step flowchart of a positioning method provided in an embodiment of this application, applied to a signal receiving device, and specifically includes the following steps:

[0078] Step 101: Obtain satellite observation signals transmitted by at least one preset satellite, and obtain satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite;

[0079] In this embodiment, a user can use a signal receiving device to acquire satellite observation signals transmitted by at least one satellite and satellite correction information transmitted by at least one information provider. Here, the information provider can refer to a service provider. The satellite correction information provided by any service provider includes: satellite correction sub-information for calibrating the satellite observation signals transmitted by at least one satellite acquired by the signal receiving device.

[0080] Step 102: For any of the satellites, the satellite observation signal of the satellite is calibrated using the satellite correction sub-information of the satellite to obtain the target correction data of the satellite;

[0081] In this embodiment, each information provider sends satellite correction information that includes satellite correction sub-information for calibrating satellite observation signals acquired by the signal receiving device from at least one satellite. Therefore, for any given satellite, each information provider sends satellite correction sub-information for calibrating the satellite observation signals for that satellite.

[0082] In the embodiments of this application, for any satellite, the satellite observation signal of the satellite can be calibrated using the satellite correction sub-information of the satellite to obtain the target correction data of the satellite.

[0083] In some embodiments of this application, the satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias correction data; the step of using the satellite's satellite correction sub-information to calibrate the satellite observation signal to obtain the satellite's target correction data includes:

[0084] The satellite's observed orbit data is corrected using the satellite orbit correction sub-information to obtain the satellite's target orbit correction data;

[0085] The satellite's observed clock error data is corrected using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

[0086] In this embodiment, the satellite observation signal transmitted by any satellite includes satellite broadcast ephemeris. The satellite broadcast ephemeris includes observation orbit data and observation clock bias data. The satellite correction information transmitted by the information provider includes satellite correction sub-information for any satellite, which includes satellite orbit correction sub-information and / or satellite clock bias correction information.

[0087] In this embodiment, the signal receiving device can use satellite orbit correction sub-information to calibrate the observed orbit data of the satellite to obtain the target orbit correction data of the satellite. The signal receiving device can also use satellite clock error correction sub-information to calibrate the observed clock error data of the satellite to obtain the target clock error correction data of the satellite.

[0088] In this embodiment of the application, the target correction information sent by any information provider includes target orbit correction sub-information and target clock error correction sub-information for any satellite. The target orbit correction sub-information is used to correct the observed orbit data in the satellite observation signal for the satellite to obtain target orbit correction data; the target clock error correction sub-information is used to correct the observed clock error data in the satellite observation signal for the satellite to obtain target clock error correction data.

[0089] In one example, the signal receiving device can be called a positioning terminal, and the information receiver can include three service providers: PPP-B2b, HAS, and iGMAS / IGS. The positioning terminal can acquire satellite observation signals transmitted by at least one satellite and satellite correction information transmitted by the three service providers. Each service provider's satellite correction information includes satellite correction sub-information that calibrates the satellite observation signals of all satellites. The orbital data and clock bias data in each satellite's observation signal can be matched with the satellite correction sub-information in any service provider's satellite correction information to determine the correspondence between the satellite observation signal of any satellite and the satellite correction sub-information transmitted by any service provider.

[0090] The signal receiving equipment can use satellite correction sub-information to correct the broadcast orbit data and clock bias data of the matching satellite observation signal, and recover the target correction data in the target format, including target orbit correction data and target clock bias correction data.

[0091] The formula for recovering the target orbit correction data is:

[0092] O B2b =O brdc -R rac2xyz δO B2b

[0093] O HAS =O brdc -R rac2xyz δO HAS

[0094]

[0095] Where, δO B2b δO HAS and δO iGMAS / IGS These represent satellite orbit correction sub-information for PPP-B2b, HAS, and iGMAS / IGS, respectively. The correction rate is the rate broadcast by iGMAS / IGS via the Internet or other means; Δt represents the reference time of the correction information and the current observation time t. i The time interval; O brdc Represents orbital data in satellite observation signals; R rac2xyz This represents the coordinate transformation matrix, which transforms the corrections from the radial-tangential-direction coordinate system to the geocentric-geofixed coordinate system; O B2b O HAS and O iGMAS / IGS These represent the real-time precision orbit products of PPP-B2b, HAS, and iGMAS / IGS after recovery, i.e., the target orbit correction data.

[0096] The formula for recovering the target clock error correction data is:

[0097]

[0098] Wherein, δClk B2b δClk HAS and δClk iGMAS / IGS These represent satellite clock correction sub-information for PPP-B2b, HAS, and iGMAS / IGS, respectively; Clk brdc This represents clock bias data in satellite observation signals; c represents the speed of light in a vacuum; Clk B2b ,Clk HAS and Clk iGMAS / IGS These represent the restored PPP-B2b, HAS, and iGMAS / IGS real-time precision clock error products, i.e., the target clock error correction data.

[0099] By traversing the satellite correction sub-information of satellite observation signals for all satellites, multi-source target orbit correction data and multi-source target clock bias correction data for the current epoch can be recovered and stored. Multi-source target orbit correction data refers to multiple target orbit correction data recovered from satellite observation signals of any given satellite, obtained through satellite orbit correction sub-information provided by multiple service providers. Multi-source target clock bias correction data refers to multiple target clock bias correction data recovered from satellite observation signals of any given satellite, obtained through satellite clock bias correction sub-information provided by multiple service providers. Target orbit correction data and target clock bias correction data can be referred to as orbit products and clock bias products, respectively.

[0100] In this embodiment of the application, for the target orbit correction data and target clock error correction data obtained after the satellite observation signal of any satellite is recovered by the PPP-B2b service provider, since the real-time orbit and clock error in the PPP-B2b service provider are calculated based on regional reference station and inter-satellite link data, the orientation reference of the orbit and clock error is affected by the error of the predicted Earth orientation parameters, and there is a significant overall constellation rotation error. Therefore, it is necessary to perform systematic error correction on the target orbit correction data and target clock error correction data of any satellite by PPP-B2b.

[0101] Since PPP-B2b, HAS, and iGMAS / IGS all provide GPS (Global Positioning System) satellite orbit correction sub-information, a similarity transformation involving only rotation parameters can be established between PPP-B2b and HAS based on the recovered multi-source GPS orbits. The transformation formula is as follows:

[0102] X B2b =X HAS +R HAS X HAS

[0103]

[0104] Among them, X B2b and X HAS Representing epoch t respectively i The vector formed by the precise orbital positions of all public satellites of the two service providers, PPP-B2b and HAS; R HAS Represents the rotation matrix between the PPP-B2b and HAS track products; and This represents three rotation parameters.

[0105] The three rotation parameters are solved using the least squares criterion to obtain the track system error correction value, which is then used to correct the track product of PPP-B2b. The specific formulas for solving the three rotation parameters are as follows:

[0106]

[0107] in, This indicates the overall rotational error correction for the PPP-B2b track product. and These represent satellite s at time t. i The three coordinate components of the orbital position.

[0108] Step 103: Based on at least one of the target correction data and at least one of the satellite observation signals, determine the target weight coefficient of the target correction data;

[0109] In the embodiments of this application, for any satellite, orbital products and clock error products for that satellite from different service providers were obtained, namely target orbital correction data and target clock error correction data.

[0110] Based on at least one target correction data and at least one satellite observation signal, the target weight coefficient of the target correction data can be determined. Fusing target orbit correction data from different service providers for a specific satellite according to this target weight coefficient yields target orbit fused data for that satellite; similarly, fusing target clock bias correction data from different service providers for a specific satellite according to this target weight coefficient yields target clock bias fused data for that satellite.

[0111] In the embodiments of this application, the target orbit correction data and the target clock error correction data can be referred to as real-time orbit product and clock error product, respectively. The target orbit fusion data and the target clock error fusion data can be referred to as real-time integrated orbit product and integrated clock error product for the current epoch.

[0112] By using target orbit fusion data and target clock bias fusion data from at least one satellite, as well as satellite observation signals from at least one satellite, the location information of the signal receiving device can be determined.

[0113] In some embodiments of this application, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0114] Based on the preset initial weight coefficients of the target correction data, the target correction data is subjected to initial fusion processing to obtain initial fused correction data;

[0115] An initial positioning model for the location information is constructed using at least one of the satellite observation signals and the initial fusion correction data.

[0116] For any of the aforementioned information providers, using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model, the satellite phase residual of the at least one satellite corresponding to the target correction data is determined;

[0117] The comprehensive variance of the target correction data is determined by using the satellite phase residuals of at least one satellite corresponding to the target correction data;

[0118] The target weight coefficients of the target correction data are determined using the comprehensive variance.

[0119] In the embodiments of this application, the initial orbital correction data of a satellite from different service providers can be obtained by fusing the target orbital correction data of a satellite according to a preset initial weighting coefficient; the initial clock bias correction data of a satellite from different service providers can be obtained by fusing the target clock bias correction data of a satellite according to a preset initial weighting coefficient.

[0120] In this embodiment of the application, the formula used for initial fusion is:

[0121]

[0122] Among them, X o This represents the initial orbital fusion data of the satellites; N is the number of service providers; H j X represents the initial weighting coefficients for the target trajectory correction data of the j-th service provider; j Correction data for the target trajectory of the j-th service provider; S represents the translation vector of the target orbit correction data of the j-th service provider relative to the initial orbit fusion data of the satellite, and consists of three translation parameters; j R represents the scale parameter of the target orbit correction data of the j-th service provider relative to the initial orbit fusion data of the satellite; j Y represents the rotation parameter of the target orbit correction data of the j-th service provider relative to the initial orbit fusion data of the satellite; c This represents the initial clock bias fusion data of the satellite; T j Y is the initial weighting coefficient for the target clock offset correction data of the j-th service provider. j For the target clock offset correction data of the j-th service provider, after track consistency correction, the difference between the real-time track product and the integrated track product of the j-th service provider is calculated, and the real-time clock offset product is corrected using the track radial difference; A j and B j Hj and Tj represent the clock bias deviation and clock speed parameter of the target clock bias correction data of the j-th service provider relative to the initial clock bias fusion data, respectively; ΔT represents the time interval between the current time of the clock bias product and the reference start time. Both Hj and Tj are 1.

[0123] The initial fusion formula includes not only integrated track products and integrated clock error products, but also track conversion parameters and clock error conversion parameters. In practice, real-time track fusion must be performed first, followed by real-time clock error fusion. To avoid ill-conditioned parameter estimators, zero-sum constraints are applied to the track conversion parameters and clock error conversion parameters of all real-time products, i.e.:

[0124]

[0125] Where P represents any orbital or clock difference conversion parameter.

[0126] In the embodiments of this application, at least one satellite observation signal and initial fusion correction data can be used to construct an initial positioning model of location information.

[0127] In a specific example, the initial localization model can use a traditional dual-frequency non-ionospheric combination:

[0128]

[0129] Where s and r represent satellite and station, respectively; and These represent the combined observation values ​​of satellite observation signal interruption pseudorange and phase observation without ionosphere, respectively. The combined phase observation without ionosphere can be called the phase observation value; c represents the speed of light in a vacuum; This indicates the receiver clock bias, which includes receiver hardware delay. It represents the geometric distance between the satellite and the Earth, including satellite clock bias and relativistic corrections; Indicates tropospheric delay along an oblique path; and These represent the wavelength of frequency point 1 and the combined ambiguity (including phase delay) without ionosphere.

[0130] By solving the initial positioning model, we can obtain the floating-point positioning result and the parameters to be estimated, which is the initial positioning position of the signal receiving device.

[0131] In this embodiment, for any information provider, using the target correction data and initial positioning model corresponding to the satellite correction sub-information sent by that information provider, the satellite phase residual of at least one satellite corresponding to the target correction data can be determined. That is, for any service provider, after calibrating the satellite observation signals it targets using the satellite correction sub-information sent by that service provider, the target correction data for all satellites corresponding to that service provider can be obtained, including target orbit correction data and target clock error correction data. Then, using the target correction data for all satellites corresponding to that service provider and the initial positioning model, the satellite phase residual of all satellites obtained when calculating using the target correction data for all satellites corresponding to that service provider can be determined.

[0132] In this embodiment of the application, for any information provider, the comprehensive variance of the target correction data of all satellites corresponding to the target correction data of all satellites corresponding to the information provider can be determined by using the satellite phase residuals of all satellites corresponding to the target correction data of all satellites corresponding to the information provider.

[0133] In this embodiment, the target weight coefficient for the target correction data of all satellites corresponding to each service provider can be determined by using the comprehensive variance of the target correction data. This target weight coefficient can be the weight of multi-source real-time products and can be determined using the following formula:

[0134]

[0135] Among them, W j Let the target weight coefficients be the target correction data for all satellites corresponding to the j-th service provider. The combined variance of the target correction data for all satellites corresponding to the j-th service provider.

[0136] In some embodiments of this application, the satellite observation signal includes actual phase observation values; determining the satellite phase residual of the at least one satellite corresponding to the target correction data using the target correction sub-information sent by the information provider and the initial positioning model includes:

[0137] Using the target correction data corresponding to the satellite correction sub-information sent by the information provider, the ideal phase observation value of the at least one satellite is determined;

[0138] For any of the satellites, the satellite phase residual corresponding to the target correction data is determined by using the ideal phase observation value and the actual phase observation value of the satellite.

[0139] In this embodiment, the phase observation value in the satellite observation signal can be referred to as the actual phase observation value. In this embodiment, for any information provider, the target correction data corresponding to the satellite correction sub-information sent by the information provider—that is, the target correction data for all satellites corresponding to the information provider—can be input one by one into the second formula in the initial positioning model to obtain the ideal phase observation values ​​for all satellites. For any satellite, using the ideal phase observation value and the actual phase observation value, the satellite phase residual corresponding to the target correction data of that satellite can be determined; that is, the satellite phase residual obtained when calculating using the target correction data of that satellite.

[0140] In some embodiments of this application, determining the comprehensive variance of the target correction data using the satellite phase residuals of the at least one satellite corresponding to the target correction data includes:

[0141] Using the satellite phase residuals of at least one satellite corresponding to the target correction data, and employing a preset variance calculation formula, the comprehensive variance of the target correction data is determined; wherein, the variance calculation formula is:

[0142]

[0143] in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0144] In this embodiment, for any service provider, the overall variance of the target correction data for all satellites corresponding to that service provider is determined using the satellite phase residuals of all satellites corresponding to that service provider's target correction data and a preset variance calculation formula. The variance calculation formula is as follows:

[0145]

[0146] in, The overall variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0147] In some embodiments of this application, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0148] The target weight coefficient of the target correction data is determined by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

[0149] In this embodiment, for any service provider, the target weight coefficient for the target correction data of all satellites corresponding to that service provider can be determined using the target correction data of all satellites corresponding to that service provider and the satellite phase residuals of all satellites. This target weight coefficient can be called a unit weight, and is specifically calculated using the following formula:

[0150]

[0151] Among them, Q k This represents the target weight coefficient for the target correction data of the j-th service provider corresponding to the k-th satellite.

[0152] In this embodiment of the application, the target weight coefficient of the target correction data of all satellites corresponding to the service provider can also be used as the initial weight coefficient of the next epoch, so as to accelerate the convergence speed of the next epoch.

[0153] Step 104: Based on the target weight coefficient, perform target fusion processing on at least one of the target correction data to obtain target fusion correction data;

[0154] In this embodiment, the target weight coefficients for the target correction data of each satellite for each information provider are obtained. The target correction data includes target orbit correction data and target clock error correction data.

[0155] In this embodiment, the initial weight coefficients in the formula used for initial fusion can be modified to target weight coefficients using the target weight coefficients of the target correction data for each satellite from each information provider, thus obtaining the formula required for target fusion. Then, using the target fusion formula, target fusion processing is performed on the target correction data for the same satellite from different service providers to obtain target fused correction data. Therefore, target orbit fusion data and target clock bias fusion data for all satellites are obtained, which are the precise integrated orbit product and integrated clock bias product.

[0156] Step 105: Using the target fusion correction data and the satellite observation signal, determine the location information of the signal receiving device.

[0157] In this embodiment, the signal receiving device uses target fusion correction data from all satellites and satellite observation signals from all satellites to determine the location information of the signal receiving device.

[0158] In some embodiments of this application, determining the location information of the signal receiving device using the target fusion correction data and the satellite observation signal includes:

[0159] A target positioning model for the location information is constructed by using at least one of the satellite observation signals and the target fusion correction data.

[0160] The location information of the signal receiving device is determined based on the target positioning model.

[0161] In this embodiment, satellite observation signals from at least one satellite and target fusion correction data can be used to construct a target positioning model for location information. The process of constructing the target positioning model is the same as that of constructing the initial positioning model, and will not be described again here. By solving the target positioning model, the floating-point solution positioning result awaiting parameter estimation can be obtained, which is the target positioning position of the signal receiving device.

[0162] In this embodiment, satellite observation signals transmitted by at least one preset satellite are acquired, and satellite correction information transmitted by at least one preset information provider is acquired. The satellite correction information of any information provider includes satellite correction sub-information for calibrating the satellite observation signals of at least one satellite. For any satellite, the satellite observation signals of the satellite are calibrated using the satellite correction sub-information to obtain target correction data for the satellite. Based on at least one target correction data and at least one satellite observation signal, a target weight coefficient for the target correction data is determined. Based on the target weight coefficient, target fusion processing is performed on at least one target correction data to obtain target fused correction data. The location information of the signal receiving device is determined using the target fused correction data and the satellite observation signal. In this embodiment, satellite observation signals transmitted by a satellite are first calibrated using satellite correction information from multiple information providers to obtain target correction data for the satellite. Then, target correction data for the same satellite from different information providers are fused to obtain target fused correction data. Using the target fused correction data and satellite observation signals, the location information of the signal receiving device is determined. This solves the problem that the positioning method in related technologies requires a large amount of network bandwidth from the terminal device. Moreover, the method of using real-time precision products from different service providers to determine the positioning results of different service providers is difficult to apply to smart devices such as mobile phones and tablets, which have low power consumption, small memory, and weak computing power, because the real-time positioning of multi-source real-time products is performed independently.

[0163] In this embodiment, a self-consistent integrated orbit product and integrated clock error product are creatively generated by integrating real-time satellite correction information from multiple sources, including PPP-B2b, HAS, and iGMAS / IGS. First, the real-time satellite correction information from multiple sources is used to correct the broadcast orbit and clock error in the satellite observation signal, restoring the real-time orbit product and clock error product. Second, the shared satellite system orbit of the multiple source products is used to correct the system error of the PPP-B2b orbit product, which can significantly reduce the orbit constellation rotation error of the PPP-B2b service. Then, the real-time orbit product and clock error product are... Weighted averages are used to obtain real-time integrated orbit products and integrated clock error products. Finally, real-time precise positioning is performed using the integrated orbit products and integrated clock error products. By utilizing the residual characteristics of parameter estimation results and statistical observations of multi-source real-time products, the weights of multi-source products are updated using variance. This ensures high reliability and high accuracy when fusing multi-source real-time products for positioning. It achieves the fusion of reliable integrated real-time products at the multi-source real-time product level, which can reduce the computational burden on terminal equipment and make full use of all real-time correction information to ensure high availability of real-time precise single-point positioning, ultimately improving the user experience.

[0164] In this embodiment, the differences in multi-source real-time correction information are fully considered, including satellite systems, number of satellites, and real-time product accuracy. Orbit similarity transformation is used to correct the rotation error of the PPP-B2b satellite orbit. Finally, a reliable integrated orbit and clock error product is generated using a multi-source real-time product fusion method for users to use in real-time precise point positioning. Furthermore, satellite observation signals, real-time products, and positioning parameter estimation information are fully utilized. Based on the statistical method of observation residuals calculated from multi-source real-time products, the weights of the multi-source real-time products are updated, improving the performance of real-time precise point positioning.

[0165] Reference Figure 2 The flowchart illustrates another positioning method provided in the embodiments of this application, which may specifically include the following steps:

[0166] Step 201: Obtain multi-source real-time correction information and broadcast ephemeris.

[0167] Step 202, Multi-source real-time precision product recovery.

[0168] Step 203, PPP-B2b track system error correction.

[0169] Step 204: Multi-source real-time track and clock error integrated processing.

[0170] Step 205: Real-time precise positioning is performed using observation data from the user terminal.

[0171] Step 206: Calculate the comprehensive variance of multi-source real-time products.

[0172] Step 207: Update the weights of multi-source products.

[0173] Step 208: Determine whether to update the positioning result using weights. If yes, return to step 204 and perform multi-source real-time orbit and clock bias integration processing using the updated weights. If no, proceed to step 209.

[0174] Step 209: Output the current epoch positioning result and multi-source product weight information.

[0175] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this application are not limited to the described order of actions, because according to the embodiments of this application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this application.

[0176] Reference Figure 3The diagram illustrates a structural block diagram of a positioning device provided in an embodiment of this application, which is applied to a signal receiving device and may specifically include the following modules:

[0177] The signal acquisition module 301 is used to acquire satellite observation signals transmitted by at least one preset satellite and to acquire satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite.

[0178] The calibration module 302 is used to calibrate the satellite observation signal of any of the satellites using the satellite correction sub-information of the satellite, so as to obtain the target correction data of the satellite.

[0179] The target weight coefficient determination module 303 is used to determine the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals;

[0180] The target fusion module 304 is used to perform target fusion processing on at least one of the target correction data based on the target weight coefficient to obtain target fusion correction data;

[0181] The location determination module 305 is used to determine the location information of the signal receiving device by using the target fusion correction data and the satellite observation signal.

[0182] In one optional embodiment of this application, the target weight coefficient determination module includes:

[0183] The initial fusion submodule is used to perform initial fusion processing on the target correction data based on the preset initial weight coefficients of the target correction data to obtain initial fused correction data;

[0184] An initial positioning model construction submodule is used to construct an initial positioning model of the location information using at least one of the satellite observation signals and the initial fusion correction data.

[0185] The satellite phase residual determination submodule is used to determine the satellite phase residual of at least one satellite corresponding to the target correction data by using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model for any of the information providers.

[0186] The comprehensive variance determination submodule is used to determine the comprehensive variance of the target correction data by using the satellite phase residuals of the at least one satellite corresponding to the target correction data;

[0187] The first target weight coefficient determination submodule is used to determine the target weight coefficient of the target correction data using the comprehensive variance.

[0188] In one optional embodiment of this application, the satellite observation signal includes actual phase observation values; the satellite phase residual determination submodule includes:

[0189] An ideal phase observation determination unit is used to determine the ideal phase observation value of the at least one satellite by using the target correction data corresponding to the satellite correction sub-information sent by the information provider.

[0190] The satellite phase residual determination unit is used to determine the satellite phase residual of the satellite corresponding to the target correction data for any of the satellites, using the ideal phase observation value and the actual phase observation value of the satellite.

[0191] In one optional embodiment of this application, the comprehensive variance determination submodule includes:

[0192] The comprehensive variance determination unit is used to determine the comprehensive variance of the target correction data by using the satellite phase residuals of at least one satellite corresponding to the target correction data and a preset variance calculation formula; wherein, the variance calculation formula is:

[0193]

[0194] in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0195] In one optional embodiment of this application, the target weight coefficient determination module includes:

[0196] The second target weight coefficient determination submodule is used to determine the target weight coefficient of the target correction data by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

[0197] In one optional embodiment of this application, the location determination module includes:

[0198] The target localization model construction submodule is used to construct a target localization model of the location information using at least one of the satellite observation signals and the target fusion correction data.

[0199] The location determination submodule is used to determine the location information of the signal receiving device based on the target positioning model.

[0200] In one optional embodiment of this application, the satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias data; the calibration module includes:

[0201] The first calibration submodule is used to calibrate the observed orbit data of the satellite using the satellite orbit correction sub-information to obtain the target orbit correction data of the satellite.

[0202] The second calibration submodule is used to calibrate the satellite's observed clock error data using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

[0203] As the device embodiment is basically similar to the method embodiment, the description is relatively simple, and relevant parts can be found in the description of the method embodiment.

[0204] In addition, embodiments of this application also provide an electronic device, such as... Figure 4 As shown, it includes a processor 401, a communication interface 402, a memory 403, and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404.

[0205] Memory 403 is used to store computer programs;

[0206] When processor 401 executes the program stored in memory 403, it performs the following steps:

[0207] Acquire satellite observation signals transmitted by at least one preset satellite, and acquire satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite;

[0208] For any of the aforementioned satellites, the satellite observation signal of the satellite is calibrated using the satellite correction sub-information of the satellite to obtain the target correction data of the satellite;

[0209] Based on at least one of the target correction data and at least one of the satellite observation signals, determine the target weight coefficient of the target correction data;

[0210] Based on the target weight coefficients, target fusion processing is performed on at least one of the target correction data to obtain target fusion correction data;

[0211] The location information of the signal receiving device is determined by using the target fusion correction data and the satellite observation signal.

[0212] In one optional embodiment of this application, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0213] Based on the preset initial weight coefficients of the target correction data, the target correction data is subjected to initial fusion processing to obtain initial fused correction data;

[0214] An initial positioning model for the location information is constructed using at least one of the satellite observation signals and the initial fusion correction data.

[0215] For any of the aforementioned information providers, using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model, the satellite phase residual of the at least one satellite corresponding to the target correction data is determined;

[0216] The comprehensive variance of the target correction data is determined by using the satellite phase residuals of at least one satellite corresponding to the target correction data;

[0217] The target weight coefficients of the target correction data are determined using the comprehensive variance.

[0218] In one optional embodiment of this application, the satellite observation signal includes actual phase observation values; determining the satellite phase residual of the at least one satellite corresponding to the target correction data using the target correction sub-information sent by the information provider and the initial positioning model includes:

[0219] Using the target correction data corresponding to the satellite correction sub-information sent by the information provider, the ideal phase observation value of the at least one satellite is determined;

[0220] For any of the satellites, the satellite phase residual corresponding to the target correction data is determined by using the ideal phase observation value and the actual phase observation value of the satellite.

[0221] In one optional embodiment of this application, determining the comprehensive variance of the target correction data using the satellite phase residuals of the at least one satellite corresponding to the target correction data includes:

[0222] Using the satellite phase residuals of at least one satellite corresponding to the target correction data, and employing a preset variance calculation formula, the comprehensive variance of the target correction data is determined; wherein, the variance calculation formula is:

[0223]

[0224] in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

[0225] In one optional embodiment of this application, determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes:

[0226] The target weight coefficient of the target correction data is determined by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

[0227] In one optional embodiment of this application, determining the location information of the signal receiving device using the target fusion correction data and the satellite observation signal includes:

[0228] A target positioning model for the location information is constructed by using at least one of the satellite observation signals and the target fusion correction data.

[0229] The location information of the signal receiving device is determined based on the target positioning model.

[0230] In one optional embodiment of this application, the satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias correction data; the step of using the satellite's satellite correction sub-information to calibrate the satellite observation signal to obtain the satellite's target correction data includes:

[0231] The satellite's observed orbit data is corrected using the satellite orbit correction sub-information to obtain the satellite's target orbit correction data;

[0232] The satellite's observed clock error data is corrected using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

[0233] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0234] The communication interface is used for communication between the aforementioned terminal and other devices.

[0235] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0236] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0237] like Figure 5 As shown, in another embodiment provided in this application, a computer-readable storage medium 501 is also provided, which stores instructions that, when executed on a computer, cause the computer to perform a positioning method described in the above embodiments.

[0238] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute a positioning method described in the above embodiments.

[0239] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0240] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0241] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0242] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, Applied to a signal receiving device, the method includes: Acquire satellite observation signals transmitted by at least one preset satellite, and acquire satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite; For any of the aforementioned satellites, the satellite observation signal of the satellite is calibrated using the satellite correction sub-information of the satellite to obtain the target correction data of the satellite; Based on at least one of the target correction data and at least one of the satellite observation signals, determine the target weight coefficient of the target correction data; Based on the target weight coefficients, target fusion processing is performed on at least one of the target correction data to obtain target fusion correction data; The location information of the signal receiving device is determined by using the target fusion correction data and the satellite observation signal.

2. The method according to claim 1, characterized in that, The step of determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes: Based on the preset initial weight coefficients of the target correction data, the target correction data is subjected to initial fusion processing to obtain initial fused correction data; An initial positioning model for the location information is constructed using at least one of the satellite observation signals and the initial fusion correction data. For any of the aforementioned information providers, using the target correction data corresponding to the satellite correction sub-information sent by the information provider and the initial positioning model, the satellite phase residual of the at least one satellite corresponding to the target correction data is determined; The comprehensive variance of the target correction data is determined by using the satellite phase residuals of at least one satellite corresponding to the target correction data; The target weight coefficients of the target correction data are determined using the comprehensive variance.

3. The method according to claim 2, characterized in that, The satellite observation signal includes actual phase observation values; determining the satellite phase residual of the at least one satellite corresponding to the target correction data using the target correction sub-information sent by the information provider and the initial positioning model includes: Using the target correction data corresponding to the satellite correction sub-information sent by the information provider, the ideal phase observation value of the at least one satellite is determined; For any of the satellites, the satellite phase residual corresponding to the target correction data is determined by using the ideal phase observation value and the actual phase observation value of the satellite.

4. The method according to claim 2, characterized in that, The step of determining the comprehensive variance of the target correction data by using the satellite phase residuals of at least one satellite corresponding to the target correction data includes: Using the satellite phase residuals of at least one satellite corresponding to the target correction data, and employing a preset variance calculation formula, the comprehensive variance of the target correction data is determined; wherein, the variance calculation formula is: in, The variance of the target correction data for the j-th information provider; M is the number of satellites; v k This represents the satellite phase residual of the k-th satellite corresponding to the target correction data of the j-th information provider.

5. The method according to claim 2, characterized in that, The step of determining the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals includes: The target weight coefficient of the target correction data is determined by using the satellite phase residual of the at least one satellite corresponding to the target correction data.

6. The method according to claim 1, characterized in that, The step of determining the location information of the signal receiving device by using the target fusion correction data and the satellite observation signal includes: A target positioning model for the location information is constructed by using at least one of the satellite observation signals and the target fusion correction data. The location information of the signal receiving device is determined based on the target positioning model.

7. The method according to claim 1, characterized in that, The satellite correction sub-information includes satellite orbit correction sub-information and / or satellite clock bias correction sub-information; the satellite observation signal includes observation orbit data and / or observation clock bias data; the target correction data includes target orbit correction data and / or target clock bias correction data; The step of using the satellite correction sub-information of the satellite to calibrate the satellite observation signal of the satellite to obtain the target correction data of the satellite includes: The satellite's observed orbit data is corrected using the satellite orbit correction sub-information to obtain the satellite's target orbit correction data; The satellite's observed clock error data is corrected using the satellite clock error correction sub-information to obtain the satellite's target clock error correction data.

8. A positioning device, characterized in that, Applied to a signal receiving device, the device includes: The signal acquisition module is used to acquire satellite observation signals transmitted by at least one preset satellite and to acquire satellite correction information transmitted by at least one preset information provider; the satellite correction information of any of the information providers includes satellite correction sub-information for calibrating the satellite observation signals of the at least one satellite; The calibration module is used to calibrate the satellite observation signal of any of the satellites using the satellite correction sub-information of the satellite, so as to obtain the target correction data of the satellite. The target weight coefficient determination module is used to determine the target weight coefficient of the target correction data based on at least one of the target correction data and at least one of the satellite observation signals; The target fusion module is used to perform target fusion processing on at least one of the target correction data based on the target weight coefficients to obtain target fusion correction data; The location determination module is used to determine the location information of the signal receiving device by using the target fusion correction data and the satellite observation signal.

9. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; The memory is used to store computer programs; When the processor executes a program stored in the memory, it implements the method as described in any one of claims 1-7.

10. One or more computer-readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the method as described in any one of claims 1-7.

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