Differential positioning method, device and system

Abstract

The embodiments of the present application provide a differential positioning method, device and system. The differential positioning method includes: obtaining a navigation information request of a target roadside device, wherein the navigation information request includes identification information of the target roadside device; determining the geographical location information of the target roadside device according to the identification information; determining the first differential satellite navigation information of the target roadside device according to the geographical location information of the target roadside device; and sending the first differential satellite navigation information to the target roadside device, so that the intelligent vehicle is positioned according to the first differential satellite navigation information. The technical solution of the embodiments of the present application can significantly improve the positioning accuracy of the intelligent vehicle.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular, to a differential positioning method, device and system. Background Art

[0002] At present, smart vehicles mainly obtain differential satellite navigation data from servers through the installed positioning applications. This method requires that the positioning application of a specific service provider must be installed in the smart vehicle, and the differential satellite navigation data of the corresponding service provider can only be received when the network quality is good. Therefore, it is easily affected by the operator's network quality. In addition, the continuous operation reference stations deployed by the current server are relatively fixed in location and limited in number, and therefore cannot accurately reflect the differential satellite navigation data of the smart vehicle, which in turn makes the positioning accuracy of the smart vehicle low. Summary of the invention

[0003] The embodiments of the present application provide a differential positioning method, device and system, which can improve the positioning accuracy of intelligent vehicles to a certain extent.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to one aspect of an embodiment of the present application, a differential positioning method is provided, including: obtaining a navigation information request of a target roadside device, the navigation information request including identification information of the target roadside device; determining geographical location information of the target roadside device according to the identification information; determining first differential satellite navigation information of the target roadside device according to the geographical location information of the target roadside device; and sending the first differential satellite navigation information to the target roadside device so that an intelligent vehicle is positioned according to the first differential satellite navigation information.

[0006] According to one aspect of an embodiment of the present application, a differential positioning device is provided, including: a first acquisition unit, used to obtain a navigation information request of a target roadside device, the navigation information request including identification information of the target roadside device; a first execution unit, used to determine geographical location information of the target roadside device based on the identification information; a second execution unit, used to determine first differential satellite navigation information of the target roadside device based on the geographical location information of the target roadside device; and a first sending unit, used to send the first differential satellite navigation information to the target roadside device, so that an intelligent vehicle is positioned according to the first differential satellite navigation information.

[0007] In some embodiments of the present application, based on the aforementioned scheme, the first execution unit is configured to: obtain a first correspondence between the identification information and the geographic location information of the roadside device; and determine the geographic location information of the target roadside device based on the identification information and the first correspondence.

[0008] In some embodiments of the present application, based on the aforementioned scheme, the second execution unit is configured as: a first execution subunit, used to determine the second correspondence between the differential satellite navigation information and the geographic location information through a preset continuously running reference station; a second execution subunit, used to determine the first differential satellite navigation information based on the geographic location information of the target roadside device and the second correspondence.

[0009] In some embodiments of the present application, based on the aforementioned scheme, if the navigation information request also includes satellite positioning measurement data, the second execution unit is configured as: a third execution subunit, used to determine the first differential satellite navigation information based on the geographical location information of the target roadside device and the satellite positioning measurement data.

[0010] In some embodiments of the present application, based on the aforementioned scheme, the third execution subunit is configured to: determine the geographical location information of the target roadside device when satellite positioning is performed according to the satellite positioning measurement data; determine the second differential satellite navigation information according to the geographical location information of the target roadside device when satellite positioning is performed; determine a first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when satellite positioning is performed; and correct the second differential satellite navigation information based on the first difference to determine the first differential satellite navigation information.

[0011] In some embodiments of the present application, based on the aforementioned scheme, the third execution sub-unit is configured to: obtain corrected differential satellite navigation information according to the correction processing; determine the corrected geographical location information of the target roadside device when performing satellite positioning according to the corrected differential satellite navigation information and the satellite positioning measurement data; when the second difference between the corrected geographical location information of the target roadside device when performing satellite positioning and the geographical location information of the target roadside device is less than a predetermined threshold, use the corrected differential satellite navigation information as the first differential satellite navigation information of the target roadside device.

[0012] In some embodiments of the present application, based on the aforementioned scheme, the navigation information request also includes setting information, and the differential positioning device also includes: a second acquisition unit, used to obtain from the setting information the receiving period information of the request to receive the first differential satellite navigation information corresponding to the target roadside device; an updating unit, used to update the sending period of the first differential satellite navigation information sent to the target roadside device according to the receiving period information.

[0013] In some embodiments of the present application, based on the aforementioned solution, the differential positioning device further includes: a second sending unit, configured to send the updated sending cycle to the target roadside device.

[0014] According to one aspect of an embodiment of the present application, a differential positioning system is provided, including: a server, a target roadside device and an intelligent vehicle; the target roadside device is used to send a navigation information acquisition request to the server, receive the first differential satellite navigation information from the server, and broadcast the first differential satellite navigation information; the server is used to obtain the navigation information request of the target roadside device, the navigation information request includes identification information of the target roadside device, determine the geographical location information of the target roadside device according to the identification information, determine the first differential satellite navigation information of the target roadside device according to the geographical location information of the target roadside device, and send the first differential satellite navigation information to the target roadside device; the intelligent vehicle is used to receive the first differential satellite navigation information broadcasted by the target roadside device, and perform positioning according to the first differential satellite navigation information.

[0015] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the differential positioning method as described in the above embodiment is implemented.

[0016] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the differential positioning method as described in the above embodiments.

[0017] In the technical solutions provided in some embodiments of the present application, compared with determining the differential satellite navigation information only based on the continuously running reference stations deployed by the server, determining the differential satellite navigation information used for positioning by a roadside device arranged on the road on which the smart vehicle operates can more accurately reflect the observation link when the smart vehicle performs satellite positioning, and there is no need to install a positioning application of a specific service provider on the smart vehicle to realize the transmission of differential satellite navigation data. It can also avoid the situation where the smart vehicle obtains differential satellite navigation data in a timely manner due to poor quality of the operator's network, thereby significantly improving the positioning accuracy of the smart vehicle.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] In the attached picture:

[0021] Figure 1 A schematic diagram showing an exemplary system architecture to which the technical solution of the embodiments of the present application can be applied;

[0022] Figure 2 A flow chart of a differential positioning method according to an embodiment of the present application is shown.

[0023] Figure 3 A specific flow chart of step S220 of the differential positioning method according to an embodiment of the present application is shown.

[0024] Figure 4 A specific flow chart of step S230 of the differential positioning method according to an embodiment of the present application is shown.

[0025] Figure 5 A flow chart of a differential positioning method according to an embodiment of the present application is shown.

[0026] Figure 6 A specific flow chart of step S530 of the differential positioning method according to an embodiment of the present application is shown.

[0027] Figure 7 A flow chart of a differential positioning method according to an embodiment of the present application is shown.

[0028] Figure 8 A flow chart of a differential positioning method in a differential positioning system according to the present application is shown.

[0029] Fig. 9 A block diagram of a differential positioning device according to an embodiment of the present application is shown.

[0030] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0031] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be more comprehensive and complete and fully convey the concept of the example embodiments to those skilled in the art.

[0032] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0033] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0034] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0035] like Figure 1 As shown, the system architecture 100 may include a server 101 , a roadside device 102 , and an intelligent vehicle 103 , and the server 101 and the roadside device 102 , as well as the roadside device 102 and the intelligent vehicle 103 , are communicatively connected.

[0036] It should be understood that Figure 1The number of servers 101, roadside devices 102, and smart vehicles 103 in the embodiment is only for illustration. According to the implementation requirements, there may be any number of servers 101, roadside devices 102, and smart vehicles 103. For example, the server 101 may be a server cluster composed of multiple servers.

[0037] The server 101 may be a server providing differential satellite navigation information services, the roadside device 102 may be a roadside unit (RSU) arranged on the road where the intelligent vehicle is running, and the intelligent vehicle may be a vehicle capable of intelligent information exchange. When the target roadside device 102 needs to obtain differential satellite navigation information, the target roadside device 102 sends a navigation information request to the server 101, and the navigation information request carries the identification information of the target roadside device; the server 101 obtains the navigation information request from the target roadside device 102, and determines the geographical location information of the target roadside device according to the identification information; then determines the first differential satellite navigation information of the target roadside device according to the geographical location information, and sends the first differential satellite navigation information to the target roadside device, so that the intelligent vehicle receives the first differential satellite navigation information through the target roadside device, and then realizes positioning according to the first differential satellite navigation information. Compared with determining differential satellite navigation information only based on the continuously operating reference stations deployed by the server, determining the differential satellite navigation information used for positioning by the roadside device 102 set on the road where the smart vehicle is operating will more accurately reflect the observation link when the smart vehicle performs satellite positioning, and there is no need to install a positioning application of a specific service provider on the smart vehicle to realize the transmission of differential satellite navigation data. It can also avoid the situation where the smart vehicle obtains differential satellite navigation data in a timely manner due to poor quality of the operator's network, thereby significantly improving the positioning accuracy of the smart vehicle.

[0038] It should be noted that the differential positioning method provided in the embodiment of the present application is generally executed by the server 101 , and accordingly, the differential positioning device is generally disposed in the server 101 .

[0039] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0040] Figure 2 A flowchart of a differential positioning method according to an embodiment of the present application is shown. The differential positioning method can be executed by a server, which can be Figure 1 The server 101 shown in FIG. Figure 2 As shown, the differential positioning method at least includes steps S210 to S240, which are described in detail as follows.

[0041] In step S210, a navigation information request of a target roadside device is obtained, wherein the navigation information request includes identification information of the target roadside device.

[0042] In one embodiment of the present application, geographic location information refers to longitude information and latitude information. The roadside device may specifically be a roadside unit (RSU) arranged on the road where the intelligent vehicle is running, and is used to receive differential satellite navigation information from a server. The differential satellite navigation information is part of the parameter data when the intelligent vehicle performs satellite positioning and navigation, and may be GNSS (Global Navigation Satellite System) differential satellite navigation information, wherein the GNSS differential satellite navigation information may specifically include parameters such as pseudorange corrections, carrier phase corrections, and Doppler information corrections. The differential satellite navigation information is determined by the server based on the geographic location information of the roadside device, and the roadside device transmits the calculated differential satellite navigation information to the intelligent vehicle running on the road, so that the intelligent vehicle running on the road can be positioned according to the differential satellite navigation information.

[0043] The navigation information request is a request sent by the roadside device to the server to obtain differential satellite navigation information at the geographical location of the roadside device. In one embodiment, the request can be transmitted via the Ntrip (Networked Transport of RTCM via Internet Protocol) protocol. Of course, the request can also be transmitted via other protocols, which are not limited here.

[0044] The identification information of the roadside device serves as unique identification information for identifying different roadside devices, and the unique identification information may specifically be a device number of the roadside device.

[0045] In step S220, the geographical location information of the target roadside device is determined according to the identification information.

[0046] After obtaining the identification information in the navigation information request, the server can query the geographical location information of the target roadside device corresponding to the identification information in the geographical location information library containing the geographical location information of each roadside device according to the identification information. It should be pointed out that the geographical location information of each roadside device contained in the geographical location information library is the real geographical location information of the roadside device; the geographical location information library can be a geographical location information library stored locally or from an external geographical location information library, which is not limited here.

[0047] refer to Figure 3 , Figure 3A specific flow chart of step S220 of the differential positioning method according to an embodiment of the present application is shown. Step S220 may specifically include steps S310 to S320, which are described in detail as follows.

[0048] In step S310, a first correspondence between identification information and geographical location information of a roadside device is acquired.

[0049] When determining the geographic location information of the target roadside device based on the identification information, the first correspondence between the identification information and the geographic location information of the roadside device can be obtained from a database containing the geographic location information of each roadside device. The first correspondence can specifically be a mapping relationship table between the identification information of each roadside device and the geographic location information of each roadside device.

[0050] In step S320, the geographical location information of the target roadside device is determined according to the identification information and the first corresponding relationship.

[0051] After the identification information of the target roadside device is obtained, the geographical location information of the target roadside device can be obtained by querying from the first corresponding relationship between the identification information and the geographical location information of the roadside device.

[0052] Please continue to refer to Figure 2 In step S230, the first differential satellite navigation information of the target roadside device is determined according to the geographical location information of the target roadside device.

[0053] The first differential satellite navigation information is the differential satellite navigation information of the geographical location of the target roadside device obtained after calculation by the server, and is used as the differential satellite navigation information of the determined target roadside device. The server can calculate the differential satellite navigation information at the geographical location based on the geographical location information of the target roadside device and a preset virtual reference station algorithm.

[0054] refer to Figure 4 , Figure 4 A specific flow chart of step S230 of the differential positioning method according to an embodiment of the present application is shown. Step S230 may specifically include steps S410 to S420, which are described in detail as follows.

[0055] In step S410, a second corresponding relationship between the differential satellite navigation information and the geographical location information is determined by a preset continuously operating reference station.

[0056] The continuously operating reference station is a reference station deployed by the server, and the server can determine the second correspondence between the differential satellite navigation information and the geographic location information based on the multiple types of satellite positioning data measured by the multiple continuously operating reference stations. In the second correspondence, there is a mapping relationship between the differential satellite navigation information at different geographic locations and the geographic location information. It should be pointed out that since the satellite used for positioning is in a state of continuous motion, the second correspondence is a dynamically changing correspondence.

[0057] In step S420, the first differential satellite navigation information is determined according to the geographical location information of the target roadside device and the second corresponding relationship.

[0058] After determining the second correspondence between the differential satellite navigation information and the geographic location information, the first differential satellite navigation information of the target roadside device can be determined according to the geographic location information of the target roadside device and the second correspondence. It should be noted that since the second correspondence is a dynamic correspondence that changes in real time, the determined first differential satellite navigation information of the target roadside device is also dynamic information that changes in real time.

[0059] In one embodiment of the present application, if the navigation information request also includes satellite positioning measurement data, step S230 may include: determining the first differential satellite navigation information according to the geographical location information of the target roadside device and the satellite positioning measurement data.

[0060] In one embodiment of the present application, the satellite positioning measurement data is used as the measurement data measured by the satellite positioning module in the target roadside device for satellite positioning, and the measurement data includes at least pseudorange, carrier phase and Doppler information. Since the target roadside device may be blocked by buildings or obstacles, in order to calculate the differential satellite navigation information of the target roadside device when it is blocked by buildings or obstacles, the target roadside device sends the satellite positioning measurement data to the server, so that the server can more accurately calculate the differential satellite navigation information of the target roadside device at the geographical location when it is blocked by buildings or obstacles.

[0061] The server uses the geographical location information of the target roadside device and the satellite positioning measurement data as input data of a preset iterative algorithm, and calculates and obtains the first differential satellite navigation information of the target roadside device.

[0062] refer to Figure 5 , Figure 5A flowchart of a differential positioning method according to an embodiment of the present application is shown, and the step of determining the first differential satellite navigation information according to the geographical location information of the target roadside device and the satellite positioning measurement data may specifically include steps S510 to S540, which are described in detail as follows.

[0063] In step S510, the geographical location information of the target roadside device when performing satellite positioning is determined according to the satellite positioning measurement data.

[0064] The satellite positioning measurement data, which is the measurement data measured by the satellite positioning module in the target roadside device for satellite positioning, can be used as input parameter information for calculating the geographic location information of the target roadside device when performing satellite positioning. The geographic location information of the target roadside device when performing satellite positioning is calculated through a preset satellite positioning algorithm and the input parameter information. The geographic location information is the geographic location information obtained by the target roadside device when performing satellite positioning based on the measurement data used for satellite positioning.

[0065] In step S520, second differential satellite navigation information is determined according to the geographical location information of the target roadside device when performing satellite positioning.

[0066] The server determines the second differential satellite navigation information based on the geographic location information of the target roadside device when performing satellite positioning and the second corresponding relationship, and the second differential satellite navigation information is the second differential satellite navigation information determined based on the geographic location information of the target roadside device when performing satellite positioning.

[0067] In step S530, a first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when performing satellite positioning is determined.

[0068] In order to make the calculated second differential satellite navigation information accurate differential satellite navigation information, it can be determined to correct the second differential satellite navigation information to obtain accurate differential satellite navigation information. Thus, the first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when performing satellite positioning can be determined first. It should be noted that the first difference includes a longitude difference and a latitude difference.

[0069] In step S540, the second differential satellite navigation information is corrected based on the first difference to determine the first differential satellite navigation information.

[0070] The larger the first difference is, the greater the error between the calculated second differential satellite navigation information and the actual differential satellite navigation information. Therefore, the second differential satellite navigation information can be corrected by a preset iterative algorithm and the first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when satellite positioning is performed, thereby obtaining differential satellite navigation information with a smaller error as the first differential satellite navigation information of the determined target roadside device.

[0071] Figure 5 The scheme in the illustrated embodiment takes into account the situation where the target roadside device may be blocked by buildings or obstacles, thereby obtaining differential satellite navigation information that better reflects the scenario of the intelligent vehicle operating on the road, thereby improving the accuracy of satellite positioning of the intelligent vehicle.

[0072] refer to Figure 6 , Figure 6 A specific flow chart of step S540 of the differential positioning method according to an embodiment of the present application is shown. Step S540 may specifically include steps S610 to S630, which are described in detail as follows.

[0073] In step S610, corrected differential satellite navigation information is acquired according to the correction process.

[0074] When the second differential satellite navigation information is corrected by using a preset iterative algorithm and the first difference, after one correction process is performed, the corrected differential satellite navigation information is obtained as input parameter information for calculating the corrected geographic location information of the target roadside device when performing satellite positioning, so as to obtain the corrected geographic location information of the target roadside device when performing satellite positioning.

[0075] In step S620, the corrected geographical location information of the target roadside device during satellite positioning is determined based on the corrected differential satellite navigation information and the satellite positioning measurement data.

[0076] While obtaining the corrected differential satellite navigation information, satellite positioning measurement data is also obtained, and the corrected geographic location information of the target roadside device during satellite positioning is calculated through a preset satellite positioning algorithm.

[0077] In step S630, when the second difference between the corrected geographic location information of the target roadside device during satellite positioning and the geographic location information of the target roadside device is less than a predetermined threshold, the corrected differential satellite navigation information is used as the first differential satellite navigation information of the target roadside device.

[0078] The second difference includes a longitude difference and a latitude difference, and correspondingly, the predetermined threshold includes a longitude threshold and a latitude threshold. The second difference being less than the predetermined threshold refers to a situation where the longitude difference is less than the longitude threshold and the latitude difference is less than the latitude threshold. When the second difference is less than the predetermined threshold, the corrected differential satellite navigation information is used as the first differential satellite navigation information of the target roadside device. When the second difference is greater than or equal to the predetermined threshold, the operation of correcting the second differential satellite navigation information according to the second difference is continued until the second difference between the corrected geographic location information of the target roadside device during satellite positioning and the geographic location information of the target roadside device is less than the predetermined threshold.

[0079] Figure 6 In the scheme in the illustrated embodiment, by setting a predetermined threshold, during the process of correcting the differential satellite navigation information calculated when performing satellite positioning on the target roadside device, the entire correction process can be adjusted based on the required positioning accuracy. When the positioning accuracy required for the intelligent vehicle is low, the differential satellite navigation information that meets the error conditions can be determined more quickly, thereby reducing the amount of calculation and improving the efficiency of the correction.

[0080] Please continue to refer to Figure 2 In step S240, the first differential satellite navigation information is sent to the target roadside device so that the smart vehicle is positioned according to the first differential satellite navigation information.

[0081] The server sends the first differential satellite navigation information to the target roadside device. Specifically, the server can periodically send the corresponding first differential satellite navigation information to the target roadside device based on a preset sending period for the target roadside device. Specifically, the target roadside device can broadcast the first differential satellite navigation information in the form of periodic broadcasting, so that the smart vehicle can receive the first differential satellite navigation information. The target roadside device forwards the corresponding first differential satellite navigation information to the smart vehicle, so that the smart vehicle can perform satellite positioning according to the first differential satellite navigation information, thereby improving the accuracy of satellite positioning.

[0082] In one embodiment, Figure 2In the technical solution of the illustrated embodiment, compared with determining the differential satellite navigation information only based on the continuously operating reference stations deployed by the server, determining the differential satellite navigation information used for positioning by a roadside device arranged on the road on which the smart vehicle operates can more accurately reflect the observation link when the smart vehicle performs satellite positioning, and there is no need to install a positioning application of a specific service provider on the smart vehicle to realize the transmission of differential satellite navigation data. It can also avoid the situation where the smart vehicle obtains differential satellite navigation data in a timely manner due to poor quality of the operator's network, thereby significantly improving the positioning accuracy of the smart vehicle.

[0083] refer to Figure 7 , Figure 7 A flowchart of a differential positioning method according to an embodiment of the present application is shown. The navigation information request also includes setting information. The differential positioning method in this embodiment may also include steps S710 to S720, which are described in detail as follows.

[0084] In step S710, receiving period information of the target roadside device requesting to receive the first differential satellite navigation information is obtained from the setting information.

[0085] Since there is generally a certain period for the roadside device to receive the first differential satellite navigation information from the server, the target roadside device can add the receiving period information of receiving the first differential satellite navigation information from the server in the navigation information request, so that the server can use the receiving period information to set the sending period of the first differential satellite navigation information sent to the target roadside device.

[0086] In step S720, the sending period of the first differential satellite navigation information sent to the target roadside device is updated according to the receiving period information.

[0087] After receiving the receiving cycle information sent by the target roadside device, the server will update the sending cycle of the target roadside device according to the identification information of the target roadside device, so that the server can periodically send the first differential satellite navigation information to the target roadside device according to the sending cycle required by the target roadside device.

[0088] In one embodiment of the present application, the server may also choose not to update the sending period of the first differential satellite navigation information sent to the target roadside device based on the receiving period information. For example, the sending period of the target roadside device may be generated based on the current sending period of other roadside devices, thereby avoiding sending the corresponding first differential satellite navigation information to each roadside device in the same period, thereby avoiding conflicts.

[0089] In one embodiment of the present application, after step S720, the method may further include: sending the updated sending cycle to the target roadside device.

[0090] The server sends the updated sending cycle for the target roadside device to the target roadside device, so that the target roadside unit can timely know the sending cycle of the server for sending the first differential satellite navigation information.

[0091] In one embodiment of the present application, a differential positioning system is also provided, including: a server, a target roadside device and an intelligent vehicle, wherein the target roadside device is used to send a navigation information acquisition request to the server, receive first differential satellite navigation information from the server, and broadcast the first differential satellite navigation information; the server is used to obtain the navigation information request of the target roadside device, the navigation information request includes identification information of the target roadside device, determine the geographical location information of the target roadside device according to the identification information, determine the first differential satellite navigation information of the target roadside device according to the geographical location information, and send the first differential satellite navigation information to the target roadside device; the intelligent vehicle is used to receive the first differential satellite navigation information broadcasted by the target roadside device, and perform positioning according to the first differential satellite navigation information.

[0092] refer to Figure 8 , Figure 8 A flow chart of a differential positioning method in a differential positioning system according to the present application is shown, as shown in FIG8 , which may include steps S810 to S860 , which are described in detail as follows.

[0093] In step S810, a road side unit (RSU) disposed on the road where the intelligent vehicle is running sends a GNSS differential information request to a server for requesting GNSS differential information, wherein the GNSS differential information request carries identification information of the RSU.

[0094] In step S820, the server receives the GNSS differential information request of the RSU, obtains the identification information of the RSU, and determines the geographical location information of the RSU according to a mapping table of the identification information of each RSU and the geographical location information of the RSU.

[0095] In step S830, the server also determines the GNSS differential information of the geographical location of the RSU according to the geographical location information of the RSU and a preset virtual reference station algorithm.

[0096] In step S840 , the server feeds back GNSS differential information to the RSU.

[0097] In step S850, after receiving the GNSS differential information fed back by the server, the RSU broadcasts the GNSS differential information to the smart vehicles running on the road.

[0098] In step S860, the intelligent vehicle receives the GNSS differential information broadcast by the RSU, decodes the GNSS differential information to obtain decoded information, and performs satellite positioning according to the decoded information.

[0099] Figure 8 In the scheme in the illustrated embodiment, compared with determining the GNSS differential information only based on the continuously running reference station deployed by the server, determining the GNSS differential information used for positioning by the RSU set up on the road where the smart vehicle is running can more accurately reflect the observation link when the smart vehicle performs satellite positioning, and there is no need to install a positioning application of a specific service provider on the smart vehicle to realize the transmission of GNSS differential information. It can also avoid the situation where the smart vehicle obtains GNSS differential information in a timely manner due to poor quality of the operator's network, thereby significantly improving the positioning accuracy of the smart vehicle.

[0100] The following describes an apparatus embodiment of the present application, which can be used to execute the differential positioning method in the above-mentioned embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the above-mentioned embodiment of the differential positioning method of the present application.

[0101] refer to Fig. 9 , Fig. 9 A block diagram of a differential positioning device according to an embodiment of the present application is shown.

[0102] Reference Fig. 9 As shown, a differential positioning device 900 according to an embodiment of the present application includes: a first acquisition unit 910, used to obtain a navigation information request of a target roadside device, the navigation information request including identification information of the target roadside device; a first execution unit 920, used to determine geographical location information of the target roadside device according to the identification information; a second execution unit 930, used to determine first differential satellite navigation information of the target roadside device according to the geographical location information of the target roadside device; a first sending unit 940, used to send the first differential satellite navigation information to the target roadside device, so that the intelligent vehicle is positioned according to the first differential satellite navigation information.

[0103] In some embodiments of the present application, based on the aforementioned scheme, the first execution unit 920 is configured to: obtain a first correspondence between the identification information and the geographic location information of the roadside device; and determine the geographic location information of the target roadside device based on the identification information and the first correspondence.

[0104] In some embodiments of the present application, based on the aforementioned scheme, the second execution unit 930 is configured as: a first execution subunit, used to determine the second correspondence between the differential satellite navigation information and the geographic location information through a preset continuously running reference station; a second execution subunit, used to determine the first differential satellite navigation information based on the geographic location information of the target roadside device and the second correspondence.

[0105] In some embodiments of the present application, based on the aforementioned scheme, if the navigation information request also includes satellite positioning measurement data, the second execution unit 930 is configured as: a third execution subunit, used to determine the first differential satellite navigation information based on the geographical location information of the target roadside device and the satellite positioning measurement data.

[0106] In some embodiments of the present application, based on the aforementioned scheme, the third execution subunit is configured to: determine the geographical location information of the target roadside device when satellite positioning is performed according to the satellite positioning measurement data; determine the second differential satellite navigation information according to the geographical location information of the target roadside device when satellite positioning is performed; determine a first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when satellite positioning is performed; and correct the second differential satellite navigation information based on the first difference to determine the first differential satellite navigation information.

[0107] In some embodiments of the present application, based on the aforementioned scheme, the third execution sub-unit is configured to: obtain corrected differential satellite navigation information according to the correction processing; determine the corrected geographical location information of the target roadside device when performing satellite positioning according to the corrected differential satellite navigation information and the satellite positioning measurement data; when the second difference between the corrected geographical location information of the target roadside device when performing satellite positioning and the geographical location information of the target roadside device is less than a predetermined threshold, use the corrected differential satellite navigation information as the first differential satellite navigation information of the target roadside device.

[0108] In some embodiments of the present application, based on the aforementioned scheme, the navigation information request also includes setting information, and the differential positioning device also includes: a second acquisition unit, used to obtain from the setting information the receiving period information of the request to receive the first differential satellite navigation information corresponding to the target roadside device; an updating unit, used to update the sending period of the first differential satellite navigation information sent to the target roadside device according to the receiving period information.

[0109] In some embodiments of the present application, based on the aforementioned solution, the differential positioning device further includes: a second sending unit, configured to send the updated sending cycle to the target roadside device.

[0110] Fig.10 A schematic diagram of the structure of a computer system suitable for implementing an electronic device of an embodiment of the present application is shown.

[0111] It should be noted that Fig.10 The computer system 1000 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0112] like Fig.10 As shown, the computer system 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003, such as executing the method described in the above embodiment. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, the ROM 1002 and the RAM 1003 are connected to each other through the bus 1004. The input / output (I / O) interface 1005 is also connected to the bus 1004.

[0113] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0114] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication section 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0115] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, - but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable computer program is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0116] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0117] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0118] As another aspect, the present application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the above embodiment.

[0119] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0120] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0121] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0122] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A differential positioning method, characterized in that: include: Obtaining a navigation information request of a target roadside device, wherein the navigation information request includes identification information of the target roadside device; Determine the geographical location information of the target roadside device according to the identification information; Using the geographical location information of the target roadside device as input data of a preset iterative algorithm, and calculating and obtaining first differential satellite navigation information of the target roadside device; The first differential satellite navigation information is sent to the target roadside device, so that the intelligent vehicle is positioned according to the first differential satellite navigation information.

2. The differential positioning method according to claim 1, characterized in that: The determining the geographical location information of the target roadside device according to the identification information includes: Acquire a first correspondence between the identification information and the geographical location information of the roadside device; The geographical location information of the target roadside device is determined according to the identification information and the first corresponding relationship.

3. The differential positioning method according to claim 1, characterized in that: The determining the first differential satellite navigation information of the target roadside device according to the geographical location information of the target roadside device includes: Determining a second correspondence between the differential satellite navigation information and the geographic location information through a preset continuously operating reference station; The first differential satellite navigation information is determined according to the geographical location information of the target roadside device and the second corresponding relationship.

4. The differential positioning method according to claim 1, characterized in that: If the navigation information request also includes satellite positioning measurement data, the geographical location information of the target roadside device is used as input data of a preset iterative algorithm to calculate and obtain the first differential satellite navigation information of the target roadside device, including: The geographical location information of the target roadside device and the satellite positioning measurement data are used as input data of a preset iterative algorithm to calculate and obtain first differential satellite navigation information of the target roadside device.

5. The differential positioning method according to claim 4, characterized in that: The method of using the geographical location information of the target roadside device and the satellite positioning measurement data as input data of a preset iterative algorithm to calculate and obtain the first differential satellite navigation information of the target roadside device includes: Determining the geographical location information of the target roadside device when performing satellite positioning according to the satellite positioning measurement data; Determining second differential satellite navigation information according to geographical location information of the target roadside device when performing satellite positioning; Determine a first difference between the geographical location information of the target roadside device and the geographical location information of the target roadside device when performing satellite positioning; The second differential satellite navigation information is corrected based on the first difference to determine the first differential satellite navigation information.

6. The differential positioning method according to claim 5, characterized in that: The correcting the second differential satellite navigation information based on the first difference to determine the first differential satellite navigation information includes: Obtaining corrected differential satellite navigation information according to the correction processing; Determining the corrected geographical location information of the target roadside device when performing satellite positioning according to the corrected differential satellite navigation information and the satellite positioning measurement data; When the second difference between the corrected geographic location information of the target roadside device during satellite positioning and the geographic location information of the target roadside device is less than a predetermined threshold, the corrected differential satellite navigation information is used as the first differential satellite navigation information of the target roadside device.

7. The differential positioning method according to claim 1, characterized in that: The navigation information request also includes setting information, and the differential positioning method also includes: Acquire, from the setting information, reception period information corresponding to the target roadside device requesting to receive the first differential satellite navigation information; The sending period of the first differential satellite navigation information sent to the target roadside device is updated according to the receiving period information.

8. The differential positioning method according to claim 7, characterized in that: After updating the sending period of the first differential satellite navigation information sent to the target roadside device according to the receiving period information, the method further includes: The updated sending cycle is sent to the target roadside device.

9. A differential positioning device, characterized in that: include: A first acquiring unit, configured to acquire a navigation information request of a target roadside device, wherein the navigation information request includes identification information of the target roadside device; A first execution unit, configured to determine geographical location information of the target roadside device according to the identification information; A second execution unit is used to use the geographical location information of the target roadside device as input data of a preset iterative algorithm to calculate and obtain first differential satellite navigation information of the target roadside device; The first sending unit is used to send the first differential satellite navigation information to the target roadside device, so that the intelligent vehicle is positioned according to the first differential satellite navigation information.

10. A differential positioning system, characterized in that: include: A server, a target roadside device, and an intelligent vehicle; The target roadside device is configured to send a navigation information acquisition request to the server, receive first differential satellite navigation information from the server, and broadcast the first differential satellite navigation information; The server is configured to obtain a navigation information request from a target roadside device, wherein the navigation information request includes identification information of the target roadside device, determine geographical location information of the target roadside device according to the identification information, use the geographical location information of the target roadside device as input data of a preset iterative algorithm, calculate first differential satellite navigation information of the target roadside device, and send the first differential satellite navigation information to the target roadside device; The smart vehicle is used to receive the first differential satellite navigation information broadcast by the target roadside device and perform positioning according to the first differential satellite navigation information.

11. A computer readable medium, characterized in that The computer-readable medium stores a computer program, and when the computer program is executed by a processor, the differential positioning method according to any one of claims 1 to 8 is implemented.

12. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the one or more processors to implement the differential positioning method as described in any one of claims 1 to 8.

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