A positioning method and device

Abstract

The present application provides a positioning method and device, wherein the method includes: S1, receiving a regional differential message through a broadcast network; S2, parsing the regional differential message to generate regional differential data; S3, judging whether the regional differential data contains regional differential data of the target area, if so, executing step S5, if not, executing step S4; S4, sending a retransmission request through a communication network and receiving the retransmitted regional differential message of the target area; S40, parsing the retransmitted regional differential message of the target area, generating regional differential data of the target area, and continuing to execute step S5; S5, generating positioning information based on the regional differential data and observation data of the target area. The positioning method and device provided by the present application have a wide range of applications, low cost, and can effectively improve the stability and accuracy of positioning.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a positioning method and apparatus, a computing device, and a computer-readable storage medium. Background Art

[0002] Satellite navigation refers to the technology of using navigation satellites to carry out navigation and positioning for users on the ground, sea, air and space. The Global Navigation Satellite System (GNSS) ground-based augmentation system consists of four parts: base station network, data processing platform, data broadcasting platform and user terminal.

[0003] Among them, the base station network is composed of multiple base stations distributed in a certain geographical area. The base stations collect GNSS observation data in real time and upload it.

[0004] After receiving the GNSS observation data sent by all base stations, the data processing platform performs real-time calculation to obtain the GNSS correction data and sends it to the data broadcasting platform; among them, the GNSS correction data can be divided into wide-area differential data and regional differential data.

[0005] The data broadcasting platform encodes the GNSS correction data and sends the GNSS correction data message to the user terminal in real time. Generally speaking, the wide area differential message is sent to the user terminal through networks such as broadcast networks, while the regional differential message is sent to the user terminal through networks such as the Internet.

[0006] The decoding module of the user terminal decodes the received GNSS correction data message and transmits the GNSS correction data to the high-precision positioning module. The high-precision positioning module uses the received GNSS observation data and GNSS correction data to perform real-time enhanced positioning solution to obtain high-precision positioning information of the user terminal.

[0007] Usually, under good observation conditions and high computing power of the data processing platform, user terminals can use regional differential data to assist in high-precision positioning. However, in the current high-precision positioning process, each user terminal must independently obtain its regional differential message, resulting in high message broadcast frequency requirements, and the system has high requirements for network connection stability and access bandwidth. However, it is very difficult to fully meet the above requirements and achieve high-precision positioning in large areas of the country, such as mountainous areas, forest areas, grasslands, and deserts. Summary of the invention

[0008] In view of this, the embodiments of the present application provide a positioning method and apparatus, a computing device, and a computer-readable storage medium to solve the technical defects existing in the prior art.

[0009] The present application provides a positioning method, including:

[0010] S1, receiving regional differential messages through the broadcast network;

[0011] S2. parsing the regional differential message to generate regional differential data;

[0012] S3, determining whether the regional differential data includes the regional differential data of the target area, if so, executing step S5, if not, executing step S4;

[0013] S4, sending a retransmission request through the communication network and receiving a regional differential message of the target area for retransmission;

[0014] S40, parsing the retransmitted regional differential message of the target area to generate regional differential data of the target area, and continuing to execute step S5;

[0015] S5. Generate positioning information based on the regional differential data and observation data of the target area.

[0016] Furthermore, the positioning method further includes:

[0017] S0. Receive an observation signal, and generate observation data based on the observation signal.

[0018] Furthermore, the positioning method further includes:

[0019] S41, when the regional differential message analysis of the target area for retransmission fails, determine whether the retransmission condition is met, if so, continue to execute step S4, if not, continue to execute step S6;

[0020] S6. Generate positioning information based on the regional differential data of the other regions and the observation data or based on the observation data.

[0021] Further, the retransmission condition includes whether the retransmission times out, and the step S41 includes:

[0022] In the case that the regional differential message analysis of the target area of ​​the retransmission fails, determining whether the retransmission has timed out, if so, continuing to execute step S4, if not, continuing to execute step S6;

[0023] Further, the retransmission condition includes whether the communication network signal strength is less than a preset threshold, and the step S41 includes:

[0024] In the case that the regional differential message analysis of the target area of ​​retransmission fails, it is determined whether the communication network signal strength is less than a preset threshold value, if so, step S4 is continued to be executed, if not, step S6 is continued to be executed.

[0025] Furthermore, the step S6 comprises:

[0026] S61, determine whether it contains regional differential data of other regions, if so, execute step S62, if not, execute step S63;

[0027] S62, generating positioning information based on the regional differential data and observation data of the other regions;

[0028] S63. Generate positioning information based on the observation data.

[0029] Furthermore, the step S62 includes:

[0030] Calculating and fitting the regional differential data of the target area based on the regional differential data of the other areas;

[0031] The regional differential data of the target area generated by fitting and the observation data are positioned and solved to generate positioning information.

[0032] The present application also provides a positioning device, comprising:

[0033] A broadcast receiving module, configured to receive a regional differential message via a broadcast network;

[0034] A first decoding module is configured to parse the regional differential message to generate regional differential data;

[0035] A selection module is configured to determine whether the regional differential data includes regional differential data of the target area, and if so, execute the first positioning module; if not, execute the communication receiving module;

[0036] A communication receiving module, configured to send a retransmission request through a communication network and receive a regional differential message of a retransmitted target area;

[0037] A second decoding module is configured to parse the retransmitted regional differential message of the target area, generate regional differential data of the target area, and continue to execute the first positioning module;

[0038] The first positioning module is configured to generate positioning information based on the regional differential data and observation data of the target area.

[0039] Furthermore, the positioning device further includes:

[0040] The observation receiving module is configured to receive an observation signal and generate observation data based on the observation signal.

[0041] Furthermore, the positioning device further includes:

[0042] The control module is configured to determine whether the retransmission condition is met when the regional differential message parsing of the target area of ​​the retransmission fails, and if so, continue to execute the communication receiving module, and if not, continue to execute the second positioning module;

[0043] The second positioning module is configured to generate positioning information based on the regional differential data of the other regions and the observation data or based on the observation data.

[0044] The present application also provides a computing device, including a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the steps of the positioning method are implemented when the processor executes the instructions.

[0045] The present application also provides a computer-readable storage medium storing computer instructions, which implement the steps of the positioning method when executed by a processor.

[0046] The positioning method and device provided in the present application receive and parse regional differential messages through a broadcast network, and when the regional differential messages of the target area cannot be received or parsed, send a retransmission request through a communication network, further receive and parse the retransmitted regional differential messages of the target area to generate regional differential data of the target area, and generate positioning information based on the regional differential data and observation data of the target area. The method and device have a wide range of applications, low cost, and can effectively improve the stability and accuracy of positioning, solving the problem that high-precision positioning cannot be performed in areas that are not covered by wireless communication networks and in areas where network quality is unstable due to various reasons. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of the structure of a computing device according to an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of the steps of the positioning method according to an embodiment of the present application;

[0049] Figure 3 is a schematic diagram of the steps of the positioning method according to an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of area division in the positioning method in an embodiment of the present application;

[0051] Figure 5 It is a structural schematic diagram of a positioning device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0053] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a", "said" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0054] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0055] First, the terms involved in one or more embodiments of the present invention are explained.

[0056] Global Navigation Satellite System (GNSS): GNSS positioning is an air-based radio navigation positioning system that uses a group of satellite pseudo-ranges, ephemeris, satellite launch time and other observations to provide users with all-weather three-dimensional coordinates, speed and time information at any location on the Earth's surface or in near-Earth space. GNSS includes GPS, BeiDou, Galileo, GLONASS and other global navigation satellites.

[0057] Broadcast network: a network based on geosynchronous orbit satellites to provide audio and video broadcasting and other information services.

[0058] Communication network: A network based on ground base stations to provide mobile communications and two-way data transmission, including 2C / two-way / xG.

[0059] Regional differential: also known as local differential or local differential, is a navigation positioning differential network deployed in a local area. The network consists of several differential reference stations and usually includes one or several monitoring stations. User receivers located in the local area obtain their own correction numbers after adjustment based on the correction numbers provided by multiple reference stations.

[0060] Data broadcasting platform: a system platform that sends regional differential messages to user terminals through a broadcast network or a communication network.

[0061] In the present application, a positioning method and apparatus, a computing device and a computer-readable storage medium are provided, which are described in detail one by one in the following embodiments.

[0062] Figure 1 1 is a block diagram showing a structure of a computing device 100 according to an embodiment of the present specification. The components of the computing device 100 include but are not limited to a memory 110 and a processor 120. The processor 120 is connected to the memory 110 via a bus 130, and a database 150 is used to store data.

[0063] The computing device 100 also includes an access device 140 that enables the computing device 100 to communicate via one or more networks 160. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 140 may include one or more of any type of network interface (e.g., a network interface card (NIC)) whether wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a World Wide Interoperability for Microwave Access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, a near field communication (NFC) interface, and the like.

[0064] In one embodiment of the present specification, the above components of the computing device 100 and Figure 1 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 1 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0065] The computing device 100 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or PC. The computing device 100 may also be a mobile or stationary server.

[0066] The processor 120 may execute Figure 2 Steps in the method shown. Figure 2 It is a schematic flow chart showing a positioning method according to an embodiment of the present application, including steps S210 to S260.

[0067] Step S210: Receive a regional differential message via a broadcast network.

[0068] Specifically, the regional differential message is a message containing positioning correction data, which is sent by the data broadcasting platform through the broadcast network, so the user terminal receives the regional differential message sent by the data broadcasting platform through the broadcast network.

[0069] It should be noted that the regional differential message received by the user terminal through the broadcast network is the regional differential message of all regions. For example, assuming that region Z is divided into n sub-regions including Z1-Zn, n ≥ 1, and n is an integer, the user terminal receives the regional differential message [P-Z1, P-Z2, ..., P-Zn] of sub-regions Z1-Zn through the broadcast network.

[0070] Step S220: parse the regional differential message to generate regional differential data.

[0071] Specifically, regional differential data is a type of positioning correction data used to correct positioning information. In this embodiment, the positioning information is GNSS observation data, that is, regional differential data is used to correct GNSS observation data. Parsing is the decoding process of regional differential messages. The user terminal generates regional differential data by decoding the regional differential messages.

[0072] For example, assuming that the received regional differential telegrams include [P-Z1, P-Z2, ..., P-Zn], the above regional differential telegrams are decoded to generate regional differential data [D-Z1, D-Z2, ..., D-Zn] corresponding to each regional differential telegram.

[0073] Step S230, determining whether the regional differential data includes the regional differential data of the target area, if so, executing step S260, if not, executing step S240.

[0074] Step S240: Send a retransmission request through the communication network and receive the regional differential message of the retransmitted target area.

[0075] Step S250, parsing the retransmitted regional differential message of the target area, generating regional differential data of the target area, and continuing to execute step S260.

[0076] Step S260: Generate positioning information based on the regional differential data and observation data of the target area.

[0077] The target area is the area where the user terminal is located. For example, assuming that area Z includes 10 sub-areas including Z1-Z10, and the user terminal is located in sub-area Z5, then sub-area Z5 is the target area of ​​the user terminal.

[0078] The retransmission request is a request sent by the user terminal to the data broadcasting platform through the communication network to retransmit the regional differential message of the target area, wherein the retransmission request carries the regional information of the target area. The observation data is the GNSS observation data received by the user terminal through the GNSS signal.

[0079] Specifically, since the regional differential message sent by the data broadcasting platform to the user terminal through the broadcast network is a collection of data messages, including regional differential messages of several sub-regions in the entire area, namely, regional differential data, the user terminal determines whether the regional differential data set obtained after parsing the regional differential message contains the regional differential data of the area where the user terminal is located, namely, the target area. In the case that the regional differential data set contains the regional differential data of the target area, the regional differential data of the target area is positioned and solved with the GNSS observation data to generate positioning information; in the case that the regional differential data set does not contain the regional differential data of the target area, a request for retransmitting the regional differential message of the target area is sent to the data broadcasting platform through the communication network. After receiving the retransmission request, the data broadcasting platform sends the regional differential message of the target area to the user terminal through the communication network. After receiving the regional differential message of the target area, the communication receiving module in the user terminal parses it again to generate the regional differential data of the target area, and positions the regional differential data of the target area with the GNSS observation data to generate positioning information.

[0080] For example, assuming that regional differential data [D-Z1, D-Z2, D-Z3, D-Z4, D-Z6] are generated through analysis, if the target area is Z5, that is, the regional differential data of the target area is D-Z5, and the regional differential data of the target area is not included in the generated regional differential data, a retransmission request is sent to the data broadcasting platform through the communication network. After receiving the retransmission request, the data broadcasting platform sends the regional differential telegram P-Z5 of the target area Z5 to the user terminal through the communication network. The user terminal receives the regional differential telegram P-Z5 of the target area Z5 and parses it. When the regional differential data D-Z5 is generated, D-Z5 is positioned and solved with the GNSS observation information to generate positioning data.

[0081] The above embodiment is further described below with reference to specific examples.

[0082] For example, it is assumed that area X includes 9 sub-areas including X1-X9, user terminal A1 is located in sub-area X2, user terminal A2 is located in sub-area X9, and GNSS observation data of area X is DX.

[0083] The data broadcasting platform sends regional differential messages [P-X1, P-X2, ... P-X9] to user terminals A1 and A2 through the broadcast network. After user terminal A1 parses the above regional differential messages, it obtains regional differential data [D-X1, D-X2, D-X4, D-X9]. After user terminal A2 parses the above regional differential messages, it obtains regional differential data [D-X1, D-X2, D-X4, D-X5, D-X6, D-X8].

[0084] The regional differential data parsed by the user terminal A1 includes the regional differential data of its target area X2. The regional differential data D-X2 of its target area X2 is used for positioning and solving with the GNSS observation data DX of area X to obtain the positioning information (x A1 ,y A1 , z A1 )

[0085] If the regional differential data parsed by the user terminal A2 does not include the regional differential data of its target area X9, the user terminal A2 sends a retransmission request to the data broadcasting platform through the communication network. After receiving the retransmission request, the data broadcasting platform sends the regional differential telegram P-X9 of its target area X9 to the user terminal A2 through the communication network. After receiving the regional differential telegram P-X9 of its target area X9, the user terminal A2 parses it to generate regional differential data D-X9, and performs positioning and solution on the regional differential data D-X9 of its target area X9 and the GNSS observation data DX of area X to obtain the positioning information (x A2 ,yA2 , z A2 ).

[0086] The positioning method described in this embodiment receives regional differential telegrams of all areas through a broadcast network, which solves the problem of high-precision positioning in areas not covered by the wireless communication network or in areas where the signal quality of the wireless communication network is unstable. The regional differential telegrams of all areas are analyzed to generate regional differential data. When the regional differential data of the target area is not generated, a retransmission request is sent through the communication network to receive and analyze again. The joint use of the broadcast network and the communication network provides a double guarantee for the realization of high-precision positioning, avoiding the problem of poor quality of the broadcast network or the communication network affecting the positioning accuracy. It has a wide range of applications, especially in remote areas, such as unmanned farms that require high-precision positioning. Unmanned farms usually have large areas, and the coverage cost of wireless communication networks is extremely high, and they cannot be fully popularized. The dual-channel positioning method of the broadcast network and the communication network provided in this application can achieve high-precision positioning of unmanned agricultural machinery in unmanned farms to ensure their normal operation.

[0087] like Figure 3 As shown, a positioning method includes steps S310 to S372.

[0088] S310: Receive an observation signal, and generate observation data based on the observation signal.

[0089] Specifically, the observation signal is a GNSS observation signal, which may be a GPS observation signal, a Beidou observation signal, a Galileo observation signal, a GLONASS observation signal, etc. The observation data is GNSS observation data, which may be GPS observation data, Beidou observation data, Galileo observation data, GLONASS observation data, etc. This application does not impose any restrictions on this.

[0090] S320: Receive the regional differential message through the broadcast network.

[0091] Specifically, the regional differential message is a message containing positioning correction data. The regional differential message is sent by the data broadcasting platform through the broadcast network, that is, the user terminal receives the regional differential message sent by the data broadcasting platform through the broadcast network. It should be noted that the regional differential message received by the user terminal through the broadcast network is the regional differential message of all regions, and the data broadcasting platform sends the regional differential message to all user terminals within a certain range at the same time.

[0092] For example, assuming that area M includes 10 sub-areas with a total of 1,000 user terminals, and area N includes 20 sub-areas with a total of 550 user terminals, the data broadcasting platform simultaneously sends regional differential telegrams of all sub-areas in area M to the 1,000 user terminals in area M through the broadcast network, and simultaneously sends regional differential telegrams of all sub-areas in area N to the 550 user terminals in area N through the broadcast network.

[0093] S330: parse the regional differential message to generate regional differential data.

[0094] Regional differential data is a type of positioning correction data used to correct positioning information. In this embodiment, the positioning information is GNSS observation information, that is, regional differential data is used to correct GNSS observation information. The user terminal decodes the regional differential message to generate regional differential data.

[0095] S340, determining whether the regional differential data includes the regional differential data of the target area, if so, executing step S361, if not, executing step S350.

[0096] The target area is the area where the user terminal is located. For example, assuming that area Z includes 6 sub-areas including Z1-Z6, the regional differential data obtained by parsing includes [D-Z2, D-Z3], and the user terminal A1 is located in the sub-area Z1, then the target area for the user terminal A1 is Z1, and the user terminal A2 is located in the sub-area Z2, then the target area for the user terminal A2 is Z2, and in the regional differential data obtained by parsing, there is no regional differential data D-Z1 of the target area Z1 of the user terminal A1, then the user terminal A1 continues to execute step S350, and there is regional differential data D-Z2 of the target area Z2 of the user terminal A2, then the user terminal A2 continues to execute step S361.

[0097] S350, sending a retransmission request through the communication network and receiving a regional differential message of the target area for retransmission.

[0098] The retransmission request is a request sent by the user terminal to the data broadcasting platform through the communication network to retransmit the regional differential message of the target area, wherein the retransmission request carries the regional information of the target area.

[0099] For example, assuming that area Z includes 6 sub-areas including Z1-Z6, and user terminal A1 is located in sub-area Z1, and the regional differential data obtained by parsing the regional differential message received through the broadcast network does not contain the regional differential data of sub-area Z1, then user terminal A1 sends a request to the data broadcasting platform through the communication network to re-transmit the regional differential message of sub-area Z1. After receiving the retransmission request, the data broadcasting platform re-sends the regional differential message of sub-area Z1 to user terminal A1 through the communication network. After receiving the regional differential message of sub-area Z1, user terminal A1 parses it.

[0100] S360, parsing the regional differential message of the retransmitted target area, and determining whether the regional differential data of the retransmitted target area is obtained, if so, executing step S361, if not, executing step S362.

[0101] S361. Generate positioning information based on the regional differential data and observation data of the target area.

[0102] Specifically, the regional differential data of the target area and the GNSS observation data can be positioned and solved to generate positioning information.

[0103] S362: Determine whether the retransmission condition is met. If so, continue to execute step S350; if not, execute step S370.

[0104] Specifically, the retransmission condition may be whether the retransmission has timed out, whether the signal strength of the communication network is less than a preset threshold, and the like. Where the retransmission condition is whether the retransmission has timed out, it is determined whether the retransmission has timed out, if so, step S350 is continued to be executed, if not, step S370 is continued to be executed; where the retransmission condition is whether the signal strength of the communication network is less than a preset threshold, it is determined whether the signal strength of the communication network is less than the preset threshold, if so, step S350 is continued to be executed, if not, step S370 is continued to be executed.

[0105] S370, determine whether it contains regional differential data of other regions, if so, execute step S371, if not, execute step S372.

[0106] Specifically, it can be determined whether there is regional differential data for any one or several other regions, or whether there is regional differential data for other regions within a preset range and / or reaching a preset number. If so, execute step S371; if not, execute step S372.

[0107] For example, Figure 4As shown, it is assumed that the area Z is pre-divided into 5×5 grids, and 25 grid areas including Z1-Z25 are obtained. Each grid area represents a sub-area in the area Z. The target area of ​​the user terminal A1 is Z8, and the parsed regional differential data includes [D-Z1, D-Z2, D-Z9, D-Z15, D-Z21, D-Z23]. There is no regional differential data of the target area Z8, so the following methods can be used for judgment:

[0108] (1) Determine whether there is regional differential data for any other area. The parsed regional differential data does not include the regional differential data for the target area Z8, but includes regional differential data for other areas such as areas Z1 and Z2. Therefore, regional differential data for other areas exists, and step S371 is continued.

[0109] (2) Determine whether there is regional differential data of other areas within the preset range. The preset range may be determined according to the specific situation and is not limited in this application. Here, the preset range is taken as an example of a nine-square grid formed with the target area Z8 as the center, that is, the areas within the preset range include Z2, Z3, Z4, Z7, Z9, Z12, Z13, and Z14. Since the parsed regional differential data include D-Z2 and D-Z9, there is regional differential data of other areas, and step S371 is continued.

[0110] (3) Determine whether there is a preset number of regional differential data of other regions. The preset number may be determined according to the specific situation and is not limited in this application. Here, the preset number of regional differential data of three other regions is taken as an example. If there are three or more regional differential data of other regions, step S371 is executed. If there are less than three regional differential data of other regions, step S372 is executed. In this example, there are a total of six regional differential data parsed, so there is a preset number of regional differential data of other regions, and step S371 is continued.

[0111] (4) Determine whether there is a preset number of regional differential data of other areas within the preset range. The preset range and the preset number can be determined according to the situation, and this application does not limit it. Here, take the preset range as a nine-square grid formed with the target area Z8 as the center and the preset number as three as an example. If there is regional differential data of other areas greater than or equal to the preset number within the preset range, then execute step S371. If there is no regional differential data of other areas greater than or equal to the preset number within the preset range, then execute step S372. In this example, the regional differential data of other areas within the preset range analyzed include D-Z2 and D-Z9, which do not reach the preset number. Therefore, there is no regional differential data of other areas within the preset range, and continue to execute step S372.

[0112] S371. Generate positioning information based on the regional differential data and observation data of the other regions.

[0113] Specifically, regional differential data of the target area can be calculated and fitted based on regional differential data of other areas, and then the regional differential data of the target area generated by fitting and the observation data are positioned and solved to generate positioning information.

[0114] S372. Generate positioning information based on the observation data.

[0115] Specifically, the observation data is GNSS observation data, and the GNSS observation data can be directly output as positioning information.

[0116] The present embodiment is further described below with reference to specific examples.

[0117] Assume that the unmanned farm is area Y, and divide area Y into grid sub-areas to obtain 25 grid sub-areas including sub-areas Y1-Y25. There are five user terminals in area Y, namely B1, B2, B3, B4 and B5. User terminal B1 is located in sub-area Y10, that is, the target area of ​​user terminal B1 is Y10. User terminal B2 is located in sub-area Y4, that is, the target area of ​​user terminal B2 is Y4. User terminal B3 is located in sub-area Y13, that is, the target area of ​​user terminal B3 is Y13. User terminal B4 is located in sub-area Y16, that is, the target area of ​​user terminal B4 is Y16. User terminal B5 is located in sub-area Y21, that is, the target area of ​​user terminal B5 is Y21.

[0118] User terminals B1, B2, B3, B4 and B5 receive GNSS observation signals respectively and generate GNSS observation information of each user terminal, which are D-B1, D-B2, D-B3, D-B4 and D-B5 respectively.

[0119] The data broadcasting platform sends regional differential messages [P-Y1, P-Y2, ...P-Y25] to each user terminal in area Y through the broadcast network.

[0120] User terminals B1, B2, B3, B4 and B5 all receive regional differential messages through the broadcast network, and each user terminal parses the received regional differential messages to obtain regional differential data. Among them, the regional differential data parsed by user terminal B1 includes regional differential data of all sub-regions in all regions Y, the regional differential data parsed by user terminal B2 includes [P-Y3, P-Y9, P-Y11, P-Y25], the regional differential data parsed by user terminal B3 includes [P-Y12], the regional differential data parsed by user terminal B4 includes [P-1, P-23, P-25], and the regional differential data parsed by user terminal B5 includes [P-3, P-10, P-13, P-16].

[0121] It is determined whether the regional differential data obtained by each user terminal has the regional differential data of the target area corresponding to the user terminal. If the regional differential data obtained by the user terminal B1 has the regional differential data D-Y10 of the target area Y10, the user terminal B1 performs positioning calculation on the regional differential data D-Y10 of the target area Y10 and the observation data D-B1 to generate the positioning information (x B1 ,y B1 , z B1 ). The regional differential data parsed by the user terminals B2, B3, B4 and B5 do not contain the regional differential data of the target area.

[0122] User terminals B2, B3, B4 and B5 send retransmission requests to the data broadcasting platform respectively through the communication network. After receiving the above retransmission requests, the data broadcasting platform sends the retransmission area differential telegrams P-Y4, P-Y13, P-Y16 and P-Y21 of its target area to user terminals B2, B3, B4 and B5 respectively through the communication network. After receiving the retransmission area differential telegrams of the target area, the user terminals parse them.

[0123] Determine whether the analysis is successful, that is, whether the retransmitted regional differential message of the target area is obtained. If the user terminal B2 successfully analyzes and obtains the regional differential data of the target area Y4, the user terminal B2 performs positioning calculation on the regional differential data P-Y4 of the target area Y4 and the observation data D-B2 to generate the positioning information (x B2 ,y B2 , z B2 ). User terminals B3, B4 and B5 failed to parse and did not obtain the regional differential data of the target area.

[0124] It is determined whether the user terminals B3, B4 and B5 meet the retransmission condition. Taking the retransmission condition as whether the retransmission timed out as an example, it is determined whether the retransmission of the user terminals B3, B4 and B5 has timed out. If the retransmission of the user terminal B4 has not timed out, it continues to send a retransmission request to the data broadcasting platform, and receives the regional differential message P-Y16 of its target area Y16 again, and parses the regional differential message P-Y16 of the target area Y16 again to generate regional differential data D-Y16 of the target area Y16. The user terminal B4 performs positioning and solution on the regional differential data P-Y16 of the target area Y16 and the observation data D-B4 to generate the positioning information (x B4 ,y B4 , z B4 ). User terminals B3 and B5 do not meet the retransmission condition.

[0125] It is determined whether user terminals B3 and B5 have regional differential data of other regions. Taking the existence of regional differential data of at least one adjacent other region as an example, it is determined whether user terminals B3 and B5 have regional differential data of at least one other region adjacent to their respective target regions. User terminal B3 has regional differential data D-Y12 of other region Y12 adjacent to its target region Y13. Then user terminal B3 calculates and generates regional differential data D-Y13 of its target region Y13 based on the regional differential data D-Y12 of its adjacent other region Y12. Then, the regional differential data D-Y13 of the target region Y13 is located and solved with the observation data D-B3 to generate the positioning information (x) of user terminal B3. B3 ,y B3 , z B3 ). If the user terminal B5 does not have regional differential data of other regions that meet the conditions, the positioning information (x) of the user terminal B5 is generated based on the observation data D-B5 of the user terminal B5. B5 ,y B5 , z B5 ).

[0126] The positioning method described in this embodiment receives regional differential telegrams of all regions through the broadcast network, which solves the problem of high-precision positioning in areas not covered by the wireless communication network or in areas where the signal quality of the wireless communication network is unstable. The regional differential telegrams of all regions are parsed to generate regional differential data. If the regional differential data of the target area cannot be parsed, it can be retransmitted through the communication network, providing double protection for the smooth implementation of high-precision positioning. In the case of retransmission failure, the regional differential data of the target area is estimated based on the regional differential data of other regions to generate positioning information, or the positioning information is generated based on the observation data, which can ensure the generation of positioning information when the signal quality of both the broadcast network and the communication network is unstable. The positioning method described in this embodiment has low cost and a wide range of applications. It can be applied to various scenarios such as drone inspection, lane-level navigation, advanced driver assistance, and automatic driving.

[0127] like Figure 5 As shown, the present application also provides a positioning device, including:

[0128] The broadcast receiving module 510 is configured to receive the regional differential message through the broadcast network.

[0129] Specifically, the broadcast receiving module 510 is used to receive the regional differential message sent by the data broadcasting platform through the broadcast network, and send the regional differential message to the first decoding module 520 .

[0130] The first decoding module 520 is configured to parse the regional differential message to generate regional differential data.

[0131] Specifically, the first decoding module 520 is used to parse the regional differential message received through the broadcast network to generate regional differential data.

[0132] The selection module 530 is configured to determine whether the regional differential data includes the regional differential data of the target area, and if so, execute the first positioning module 560 ; if not, execute the communication receiving module 540 .

[0133] Specifically, the selection module 530 is used to select the regional differential data of the target area from a set consisting of several regional differential data, or to determine whether the regional differential data of the target area exists in the set consisting of several regional differential data. If the regional differential data of the target area does not exist in the above set, a retransmission request is sent.

[0134] The communication receiving module 540 is configured to send a retransmission request through a communication network and receive a regional differential message of a target area for retransmission.

[0135] Specifically, the communication receiving module 540 is used to send a retransmission request to the data broadcasting platform and receive a regional differential message of a target area sent by the data broadcasting platform through a communication network, and send the regional differential message of the target area to the second decoding module 550 .

[0136] The second decoding module 550 is configured to parse the retransmitted regional differential message of the target area, generate regional differential data of the target area, and continue to execute the first positioning module 560 .

[0137] Specifically, the second decoding module 550 is used to parse the regional differential telegram of the target area received by the communication network to generate regional differential data of the target area, and send the parsed regional differential data of the target area to the first positioning module 560 .

[0138] The first positioning module 560 is configured to generate positioning information based on the regional differential data and the observation data of the target area.

[0139] Specifically, the first positioning module 560 is used to perform positioning calculations on the regional differential data and observation data of the target area to generate positioning information.

[0140] Furthermore, the positioning device further includes:

[0141] The observation receiving module 570 is configured to receive an observation signal and generate observation data based on the observation signal.

[0142] Specifically, the observation receiving module 570 is used to receive GNSS observation signals, and convert the received GNSS observation signals into GNSS observation data and send them to the positioning module.

[0143] Furthermore, the positioning device further includes:

[0144] The control module 580 is configured to determine whether the retransmission condition is met when the regional differential message parsing of the retransmitted target area fails, and if so, continue to execute the communication receiving module 540, and if not, continue to execute the second positioning module 590.

[0145] Specifically, the control module 580 receives the broadcast network signal indication sent by the broadcast receiving module 510, the communication network signal indication sent by the communication receiving module 540 and the retransmission timeout indication sent by the second decoding module 550, and receives the retransmission request issued by the selection module 530, and sends the above retransmission request to the communication receiving module 540.

[0146] When determining whether the conditions for retransmission are met, the control module 580 can determine the communication network signal quality based on the above-mentioned communication network signal indication, that is, whether the communication network signal strength is less than a preset threshold, or it can determine whether the retransmission has timed out based on the above-mentioned retransmission timeout indication. This application does not impose any restrictions on this.

[0147] The second positioning module 590 is configured to generate positioning information based on the regional differential data of the other regions and the observation data or based on the observation data.

[0148] Specifically, the second positioning module 590 and the first positioning module 560 are both used to generate positioning information and belong to the same general positioning module.

[0149] Optionally, the retransmission condition includes whether the retransmission times out, and the control module 580 is further configured to:

[0150] In the case that the regional differential message parsing of the retransmitted target area fails, it is determined whether the retransmission has timed out. If so, the communication receiving module 540 is continued to be executed, and if not, the second positioning module 590 is continued to be executed.

[0151] Optionally, the retransmission condition includes whether the communication network signal strength is less than a preset threshold, and the control module 580 is further configured to:

[0152] When the regional differential message analysis of the retransmitted target area fails, it is determined whether the communication network signal strength is less than a preset threshold. If so, the communication receiving module 540 is continued to be executed; if not, the second positioning module 590 is continued to be executed.

[0153] Optionally, the second positioning module 590 is further configured to:

[0154] Determine whether it contains regional differential data of other regions. If so, execute the third positioning module; if not, execute the fourth positioning module.

[0155] The third positioning module is configured to generate positioning information based on the regional differential data and observation data of the other areas.

[0156] The fourth positioning module is configured to generate positioning information based on the observation data.

[0157] Optionally, the third positioning module is further configured to:

[0158] The regional differential data of the target area is generated by calculation and fitting based on the regional differential data of the other areas.

[0159] The regional differential data of the target area generated by fitting and the observation data are positioned and solved to generate positioning information.

[0160] The present embodiment is further described below with reference to specific examples.

[0161] Taking area Z as an example, assume that area Z includes n sub-areas Z1-Zn, n≥1 and n is an integer, and the user terminal is located in sub-area Zi, where 1≤i≤n and i is an integer. The observation receiving module 570 receives GNSS observation signals and generates GNSS observation data to send to the positioning module.

[0162] The data broadcasting platform sends the regional differential message [P-Z1, P-Z2, ..., P-Zn] of area Z to the user terminal through the broadcast network. After receiving the regional differential message [P-Z1, P-Z2, ..., P-Zn], the broadcast receiving module 510 sends it to the first decoding module 520 for message parsing and processing to generate regional differential data [D-Z1, D-Z2, ..., D-Zn]. The first decoding module 520 converts the generated regional differential data [D-Z1, D-Z2, ..., D-Zn] is sent to the selection module 530, and the selection module 530 detects and determines whether there is regional differential data D-Zi of the target area Zi in the regional differential data [D-Z1, D-Z2, ..., D-Zn] according to the GNSS observation data sent by the positioning module. If so, the regional differential data D-Zi of the target area Zi is sent to the first positioning module 560 for positioning solution to generate positioning information. If not, the selection module 530 sends a retransmission request to the control module 580.

[0163] The control module 580 sends the above retransmission request to the communication receiving module 540, and the communication receiving module 540 sends the above retransmission request to the data broadcasting platform through the communication network. The data broadcasting platform sends the regional differential telegram P-Zi of the target area Zi to the communication receiving module 540 of the user terminal through the communication network based on the retransmission request. After receiving the regional differential telegram P-Zi, the communication receiving module 540 sends it to the second decoding module 550 for telegram analysis. When the regional differential data D-Zi of the target area Zi is generated, the regional differential data D-Zi is sent to the first positioning module 560 for positioning solution to generate positioning information. When the regional differential data D-Zi of the target area Zi is not generated, the control module 580 determines whether the retransmission conditions are met. The control module 580 determines whether there is regional differential data of other areas that meet the conditions. If so, the control module 580 issues an instruction to the selection module 530. The selection module 530 sends the regional differential data of other areas that meet the conditions to the second positioning module 590. The second positioning module 590 solves the regional differential data of other areas and the GNSS observation data to generate positioning information. If not, the control module 530 issues an instruction to the second positioning module 590. The second positioning module 590 generates positioning information based on the regional differential data of other areas and the GNSS observation data.

[0164] The positioning device provided by the present application receives and parses regional differential messages through a broadcast network, and when the regional differential messages of the target area cannot be parsed, sends a retransmission request through a communication network and receives and parses the regional differential messages of the target area again, generates regional differential data of the target area, and generates positioning information based on the regional differential data and observation data of the target area. It has a wide range of applications, low cost, and can effectively improve the stability and accuracy of positioning, solving the problem that high-precision positioning cannot be performed in areas that are not covered by wireless communication networks and in areas where the network quality is unstable due to various reasons.

[0165] An embodiment of the present application further provides a computing device, including a memory, a processor, and computer instructions stored in the memory and executable on the processor, wherein the processor implements the following steps when executing the instructions:

[0166] S1. Receive regional differential messages through the broadcast network.

[0167] S2. Analyze the regional differential message to generate regional differential data.

[0168] S3, determining whether the regional differential data includes the regional differential data of the target area, if so, executing step S5, if not, executing step S4.

[0169] S4. Send a retransmission request through the communication network and receive the regional differential message of the retransmitted target area.

[0170] S40, parsing the retransmitted regional differential message of the target area to generate regional differential data of the target area, and continuing to execute step S5.

[0171] S5. Generate positioning information based on the regional differential data and observation data of the target area.

[0172] An embodiment of the present application further provides a computer-readable storage medium storing computer instructions, which, when executed by a processor, implement the steps of the positioning method as described above.

[0173] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the positioning method described above are of the same concept, and the details not described in detail in the technical scheme of the storage medium can be referred to the description of the technical scheme of the positioning method described above.

[0174] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0175] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0176] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0177] The preferred embodiments of the present application disclosed above are only used to help explain the present application. The optional embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can understand and use the present application well. The present application is limited only by the claims and their full scope and equivalents.

Claims

1. A positioning method, characterized in that: include: S1. Receiving a regional differential message through a broadcast network, wherein the regional differential message is a regional differential message of all regions sent by a data broadcasting platform through the broadcast network; S2. parsing the regional differential message to generate regional differential data; S3, determining whether the regional differential data includes the regional differential data of the target area, if so, executing step S5, if not, executing step S4; S4, sending a retransmission request through the communication network and receiving a regional differential message of the target area for retransmission; S40, parsing the retransmitted regional differential message of the target area to generate regional differential data of the target area, and continuing to execute step S5; S41, when the regional differential message analysis of the target area for retransmission fails, determine whether the retransmission condition is met, if so, continue to execute step S4, if not, continue to execute step S6; S5. Generate positioning information based on the regional differential data and observation data of the target area; S6. Generate positioning information based on the regional differential data of other regions and the observation data or based on the observation data.

2. The positioning method according to claim 1, characterized in that: Also includes: S0. Receive an observation signal, and generate observation data based on the observation signal.

3. The positioning method according to claim 1, characterized in that: The retransmission condition includes whether the retransmission has timed out, and the step S41 includes: In the case that the regional differential message analysis of the target area of ​​the retransmission fails, it is determined whether the retransmission has timed out. If so, step S4 is continued to be executed; if not, step S6 is continued to be executed.

4. The positioning method according to claim 1, characterized in that: The retransmission condition includes whether the communication network signal strength is less than a preset threshold, and the step S41 includes: In the case that the regional differential message analysis of the target area of ​​retransmission fails, it is determined whether the communication network signal strength is less than a preset threshold value, if so, step S4 is continued to be executed, if not, step S6 is continued to be executed.

5. The positioning method according to claim 1, characterized in that: The step S6 comprises: S61, determine whether there is regional differential data of other regions, if yes, execute step S62, if no, execute step S63; S62, generating positioning information based on the regional differential data and observation data of the other regions; S63. Generate positioning information based on the observation data.

6. The positioning method according to claim 5, characterized in that: The step S62 comprises: Calculating and fitting the regional differential data of the target area based on the regional differential data of the other areas; The regional differential data of the target area generated by fitting and the observation data are positioned and solved to generate positioning information.

7. A positioning device, characterized in that: include: The broadcast receiving module is configured to receive a regional differential message through a broadcast network, wherein the regional differential message is a regional differential message of all regions sent by a data broadcasting platform through the broadcast network; A first decoding module is configured to parse the regional differential message to generate regional differential data; A selection module is configured to determine whether the regional differential data includes regional differential data of the target area, and if so, execute the first positioning module; if not, execute the communication receiving module; A communication receiving module, configured to send a retransmission request through a communication network and receive a regional differential message of a retransmitted target area; A second decoding module is configured to parse the retransmitted regional differential message of the target area, generate regional differential data of the target area, and continue to execute the first positioning module; The control module is configured to determine whether the retransmission condition is met when the regional differential message parsing of the target area of ​​the retransmission fails, and if so, continue to execute the communication receiving module, and if not, continue to execute the second positioning module; A first positioning module is configured to generate positioning information based on the regional differential data and observation data of the target area; The second positioning module is configured to generate positioning information based on the regional differential data of other regions and the observation data or based on the observation data.

8. The positioning device according to claim 7, characterized in that: Also includes: The observation receiving module is configured to receive an observation signal and generate observation data based on the observation signal.

9. A computing device comprising a memory, a processor, and computer instructions stored in the memory and executable on the processor, characterized in that: When the processor executes the instructions, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium storing computer instructions, characterized in that: When the instruction is executed by a processor, the steps of the method described in any one of claims 1 to 6 are implemented.

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