A positioning compensation method, vehicle-mounted unit, medium and system

Abstract

An embodiment of the present application relates to a positioning compensation method for a slave device, comprising: receiving positioning assistance information from a master device, the positioning assistance information comprising at least one of a first pseudorange and a first total electron content (TEC) of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a master satellite, the first total electron content indicates a total electron content of a first propagation path between the master device and the master satellite, and at least partially based on the positioning assistance information, determining an ionospheric delay associated with a second propagation path between the slave device and the slave satellite, and compensating a positioning error of the slave device according to the ionospheric delay. The embodiment of the present application also relates to a positioning compensation method for a master device, a positioning compensation method for a relay device, and a vehicle-mounted unit, a medium, and a system.

Description

Technical Field

[0001] One or more embodiments of the present application generally relate to the field of communications, and specifically relate to a positioning compensation method, a vehicle-mounted unit, a medium, and a system. Background Art

[0002] The Global Navigation Satellite System (GNSS) plays an increasingly important role in people's lives.

[0003] The most important error in the GNSS positioning process is ionospheric delay. Due to the presence of a large number of free electrons in the ionosphere in the Earth's atmosphere, the propagation speed of the GNSS signal sent by the positioning satellite will change when it passes through the ionosphere, and the propagation path will also bend, causing a systematic deviation between the pseudorange (i.e., the approximate distance between the ground receiver and the satellite) and the carrier phase observation correction value. This deviation is the ionospheric delay. The magnitude of the ionospheric delay is determined by the total electron content (TEC) on the signal propagation path.

[0004] The current dual-frequency positioning technology can use two GNSS signals of different frequencies to correct the positioning accuracy, so positioning devices based on dual-frequency GNSS are also becoming more and more widely used. However, positioning devices that only support single-frequency GNSS signals will still exist in large numbers in the future. In order to improve the positioning accuracy of single-frequency GNSS devices, single-frequency GNSS can be upgraded to dual-frequency GNSS, but this must be achieved by changing hardware, etc. This method is costly and does not meet user needs. Summary of the invention

[0005] The present application is introduced below from multiple aspects, and the implementation methods and beneficial effects of the following multiple aspects can be referenced to each other.

[0006] In a first aspect, an embodiment of the present application provides a positioning compensation method for a slave device, comprising:

[0007] Receive positioning assistance information from a master device, the positioning assistance information comprising at least one of a first pseudorange and a first total electron content (TEC) of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a master satellite, and the first total electron content indicates a total electron content of a first propagation path between the master device and the master satellite, and determine an ionospheric delay associated with a second propagation path between the slave device and the slave satellite based at least in part on the positioning assistance information, and compensate for a positioning error of the slave device according to the ionospheric delay.

[0008] According to the technical solution of the present application, when the slave device supports GNSS single-frequency signals, the ionospheric delay of the slave device can be calculated through the positioning auxiliary information shared by the master device, and the positioning error of the slave device can be compensated, thereby achieving the effect of improving positioning accuracy.

[0009] In a possible implementation of the first aspect above, the master satellite supports a first receiving frequency of a first frequency receiver of the master device, and the slave satellite supports a second receiving frequency of a second receiver of the slave device, wherein the master satellite and the slave satellite are the same satellite, or different satellites.

[0010] In a possible implementation of the first aspect, when the positioning assistance information includes the first pseudorange, determining the ionospheric delay associated with the second propagation path between the slave device and the slave satellite further includes:

[0011] determining a second pseudorange of the slave device, wherein the second pseudorange indicates a pseudorange between the second frequency receiver of the slave device and the slave satellite;

[0012] determining a second total electron content based on the first pseudorange and the second pseudorange, wherein the second total electron content indicates a total electron content of the second propagation path between the slave device and the slave satellite; and

[0013] The ionospheric delay is determined based on the second total electron content and a second receiving frequency of the slave device.

[0014] In a possible implementation of the first aspect, determining the second total electron content further includes:

[0015] The second total electron content is determined according to the following formula,

[0016]

[0017] Wherein, f1 is the first receiving frequency of the master device, f2 is the second receiving frequency of the slave device, ρ′1 is the first pseudorange of the master device, and ρ′2 is the second pseudorange of the slave device.

[0018] In a possible implementation of the first aspect, the determining the ionospheric delay further includes:

[0019] The ionospheric delay is determined according to the following formula,

[0020]

[0021] wherein f is the second receiving frequency of the slave device, and TEC is the second total electron content.

[0022] In a possible implementation of the first aspect, when the positioning assistance information includes the first total electron content, determining the ionospheric delay associated with the second propagation path between the slave device and the slave satellite further includes:

[0023] The ionospheric delay is determined based on the first total electron content and a second receive frequency of the slave device.

[0024] In a possible implementation of the first aspect, the determining the ionospheric delay further includes:

[0025] The ionospheric delay is determined according to the following formula,

[0026]

[0027] wherein f is the second receiving frequency of the slave device, and TEC is the second total electron content.

[0028] In a possible implementation of the first aspect, when the positioning assistance information includes the first pseudorange and the first total electron content, the determining the ionospheric delay associated with the second propagation path between the slave device and the slave satellite further includes:

[0029] Based at least in part on capabilities of the slave device, either the first pseudorange or the first total electron content is selected for use in determining the ionospheric delay.

[0030] In a possible implementation of the first aspect above, it also includes: determining that the confidence of the positioning assistance information from the master device is higher than a threshold based at least in part on the distance between the master device and the slave device and at least one of the speed of the master device.

[0031] In a possible implementation of the first aspect above, it also includes: receiving other positioning assistance information from other master devices; determining that the distance between the master device and the slave device is less than the distance between the other master device and the slave device; and determining that the confidence level of the positioning assistance information from the master device is higher than the confidence level of the other positioning assistance information from the other master devices.

[0032] In a possible implementation of the first aspect above, the slave device includes a user equipment with a single receiving frequency.

[0033] In a possible implementation of the first aspect above, the master device includes a road side unit (RSU) or a master user equipment.

[0034] In a second aspect, an embodiment of the present application provides a positioning compensation method for a master device, comprising: determining positioning assistance information, wherein the positioning assistance information includes at least one of a first pseudorange and a first total electron content (TEC) of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a main satellite, and the first total electron content indicates a total electron content of a first propagation path between the master device and the main satellite; and sending the positioning assistance information to a slave device.

[0035] In a possible implementation of the second aspect above, when the master device is a single-receiving frequency device, the positioning assistance information includes a first pseudorange; and, when the master device is a dual-receiving frequency device, the positioning assistance information includes at least one of the first pseudorange and the first total electronic content.

[0036] In a third aspect, an embodiment of the present application provides a positioning compensation method for a relay device, comprising: receiving positioning assistance information from a master device, wherein the positioning assistance information includes at least one of a first pseudorange and a first total electron content (TEC) of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a primary satellite, and the first total electron content indicates a total electron content of a first propagation path between the master device and the primary satellite; judging whether a confidence level of the positioning assistance information is higher than a threshold based at least in part on at least one of a distance between the master device and the relay device and a speed of the master device; and sending the positioning assistance information to a slave device if the confidence level is higher than the threshold.

[0037] In a possible implementation of the second aspect above, it also includes: receiving other positioning assistance information from other master devices; and determining that the confidence level of the positioning assistance information is higher than the confidence level of the other positioning assistance information based at least in part on the distances between the master device and the other master devices and the relay device respectively.

[0038] In a possible implementation of the second aspect above, the relay device includes a road side unit (RSU), and the master device includes a master user equipment.

[0039] In a fourth aspect, an embodiment of the present application provides an on-board unit (OBU) for a slave device, comprising: a transceiver unit for receiving positioning assistance information from a master device, the positioning assistance information comprising at least one of a first pseudorange and a first total electron content (TEC) of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver in the transceiver unit and a master satellite, and the first total electron content indicates a total electron content of a first propagation path between the master device and the master satellite; and a control unit for determining an ionospheric delay associated with a second propagation path between the slave device and the slave satellite based at least in part on the positioning assistance information, and compensating for the positioning error of the slave device according to the ionospheric delay.

[0040] In a fifth aspect, an embodiment of the present application provides a machine-readable medium on which instructions are stored. When the instructions are executed on the machine, the machine executes the method described in the first aspect above.

[0041] In a sixth aspect, an embodiment of the present application provides a system, comprising: a processor; a memory, wherein instructions are stored in the memory, and when the instructions are executed by the processor, the system executes the method described in the first aspect above.

[0042] According to the technical solution of the present application, whether the master device is a single-frequency or dual-frequency device, pseudo-range information or TEC can be used to help the slave device improve positioning accuracy. In addition, RSU, as a relay device, can expand the propagation range of positioning auxiliary information. Moreover, by judging the confidence of positioning auxiliary information, the security of positioning information can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic diagram of an application scenario according to an embodiment of the present application;

[0044] Figure 2 is a schematic diagram of a system architecture according to an embodiment of the present application;

[0045] Figure 3 is a schematic diagram of a scenario according to an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of a system architecture according to an embodiment of the present application;

[0047] Figure 5 is a flow chart of a positioning compensation method for a slave vehicle according to an embodiment of the present application;

[0048] Figure 6 is a flow chart of a positioning compensation method for a slave vehicle according to an embodiment of the present application;

[0049] Figure 7 is a flow chart of a positioning compensation method for a slave vehicle according to an embodiment of the present application;

[0050] Figure 8 is a flow chart of a positioning compensation method for a slave vehicle according to an embodiment of the present application;

[0051] Fig. 9 is a flow chart of a positioning compensation method of a host vehicle according to an embodiment of the present application;

[0052] Fig.10 is a schematic diagram of a scenario according to another embodiment of the present application;

[0053] Fig.11 is a schematic diagram of a system architecture according to another embodiment of the present application;

[0054] Fig.12 is a flow chart of a positioning compensation method of an RSU according to another embodiment of the present application;

[0055] Fig.13 is a schematic diagram of a scene according to another embodiment of the present application;

[0056] Fig.14 is a schematic diagram of a system architecture according to yet another embodiment of the present application;

[0057] Fig.15 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;

[0058] Fig.16 is a software structure block diagram of an electronic device according to an embodiment of the present invention;

[0059] Fig.17 It is a schematic diagram of the structure of a system according to an embodiment of the present application. DETAILED DESCRIPTION

[0060] The present application is further described below in conjunction with specific embodiments and drawings. It is understood that the illustrative embodiments of the present disclosure include but are not limited to methods, systems, and devices for controlling antenna output power, and the specific embodiments described herein are only for the purpose of explaining the present application, rather than limiting the present application. In addition, for ease of description, only some, but not all, structures or processes related to the present application are shown in the drawings.

[0061] The following specific embodiments illustrate the implementation of the present application, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Although the description of the present application will be introduced in conjunction with the preferred embodiment, this does not mean that the features of this invention are limited to this implementation. On the contrary, the purpose of introducing the invention in conjunction with the implementation is to cover other options or modifications that may extend based on the claims of the present application. In order to provide a deep understanding of the present application, the following description will include many specific details. The present application can also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0062] Furthermore, various operations will be described as multiple discrete operations in a manner that is most helpful for understanding the illustrative embodiments; however, the order of description should not be construed as implying that these operations are necessarily order dependent. In particular, these operations do not need to be performed in the order presented.

[0063] Unless the context dictates otherwise, the terms "comprising," "having," and "including" are synonymous. The phrase "A / B" means "A or B." The phrase "A and / or B" means "(A and B) or (A or B)."

[0064] As used herein, the term "module" or "unit" may refer to, be or include: an application specific integrated circuit (ASIC), an electronic circuit, a (shared, dedicated or group) processor and / or memory that executes one or more software or firmware programs, a combinational logic circuit and / or other suitable components that provide the described functionality.

[0065] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. The disclosed embodiments may also be implemented as instructions carried or stored on one or more temporary or non-temporary machine-readable (e.g., computer-readable) storage media, which may be read and executed by one or more processors. For example, instructions may be distributed over a network or by other computer-readable media. Therefore, machine-readable media may include any mechanism for storing or transmitting information in a machine (e.g., computer) readable form, but not limited to, floppy disks, optical disks, optical disks, read-only memories (CD-ROMs), magneto-optical disks, read-only memories (ROMs), random access memories (RAMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), magnetic or optical cards, flash memory, or a tangible machine-readable memory for transmitting information through the Internet via electrical, optical, acoustic, or other forms of propagation signals (e.g., carrier waves, infrared signals, digital signals, etc.). Therefore, machine-readable media include any type of machine-readable media suitable for storing or transmitting electronic instructions or information in a machine (e.g., computer) readable form.

[0066] In the accompanying drawings, some structural or method features are shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. In some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a specific figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0067] It should be understood that although the terms "first", "second", etc. may be used here to describe various units or data, these units or data should not be limited by these terms. These terms are used only to distinguish one feature from another. For example, without departing from the scope of the exemplary embodiment, a first feature may be referred to as a second feature, and similarly, a second feature may be referred to as a first feature.

[0068] It should be noted that in this specification, similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0069] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0070] Figure 1is a schematic diagram of an application scenario according to an embodiment of the present application. The application scenario includes at least one slave vehicle (only one is shown) and at least one master vehicle (only one is shown), which respectively communicate with satellites through their own OBUs (On Board Units) to achieve positioning. Figure 1 As shown in the figure, the OBU carried by the slave vehicle only supports single-frequency GNSS signals, so it can only receive single-frequency GNSS signals, for example, it can only receive GNSS signals of the L1 frequency band sent by the L1 satellite. The OBU carried by the master vehicle supports dual-frequency GNSS signals and can receive dual-frequency GNSS signals, for example, it can receive GNSS signals of the L1 and L2 frequency bands sent by the L1 satellite and the L2 / L5 satellites, and then the master vehicle can use the two different frequency GNSS signals of L1 and L2 to correct the positioning accuracy.

[0071] According to the technical solution of the present application, based on V2X (Vehicle To Everything, information exchange between vehicles and the outside world) technology, the slave vehicle can share the pseudorange and / or TEC positioning auxiliary information of the master vehicle, thereby compensating for the ionospheric delay of the single-frequency GNSS signal of the slave vehicle, thereby achieving the effect of improving the positioning accuracy of the slave vehicle.

[0072] Those skilled in the art should understand that although Figure 1 The application scenario shown in FIG. 1 is two vehicles, namely a master vehicle and a slave vehicle. Other slave devices and master devices may also implement the following Figure 1 The embodiment shown. Wherein, the slave device is a device that supports a single-frequency GNSS signal, and examples of the slave device include, but are not limited to, portable or mobile devices, mobile phones, personal digital assistants, cellular phones, handheld PCs, wearable devices (e.g., smart watches, smart bracelets, etc.), portable media players, handheld devices, navigation devices, servers, network devices, graphics devices, video game devices, set-top boxes, laptop devices, virtual reality and / or augmented reality devices, Internet of Things devices, industrial control devices, in-vehicle infotainment devices, streaming client devices, e-books, reading devices, POS machines and other devices. The master device is a device that supports dual-frequency GNSS signals, and examples of the master device include a roadside unit (RSU), a portable or mobile device, a mobile phone, a personal digital assistant, a cellular phone, a handheld PC, wearable devices (e.g., smart watches, smart bracelets, etc.), portable media players, handheld devices, navigation devices, servers, network devices, graphics devices, video game devices, set-top boxes, laptop devices, virtual reality and / or augmented reality devices, Internet of Things devices, industrial control devices, in-vehicle infotainment devices, streaming client devices, e-books, reading devices, POS machines and other devices

[0073] In addition, although Figure 1In the application scenario shown in FIG. 1 , the master vehicle supports dual-frequency GNSS signals, but the master vehicle may also support GNSS signals of other frequencies. For example, similar to the slave vehicle, the master vehicle also only supports single-frequency GNSS signals, such as Figure 1 The GNXX signal in the L2 band, or the GNSS signal in the L5 band.

[0074] Figure 2 Schematic diagram of the system architecture according to an embodiment of the present application. Figure 2 As shown, the system according to the embodiment of the present application is composed of a master vehicle, a slave vehicle and a road side unit (RSU). The master vehicle and the slave vehicle communicate with the master satellite and the slave satellite respectively. The master vehicle and the slave vehicle can exchange information based on V2V (Vehicle To Vehicle), and the master vehicle, the slave vehicle and the RSU can exchange information based on V2I (Vehicle To Infrastructure).

[0075] The OBU of the master vehicle and the slave vehicle include a transceiver unit (not shown) and a control unit (not shown). The transceiver unit is a communication unit that sends or receives signals through a wired or wireless network, and can be a communication unit for cellular communication with the master vehicle according to the third generation (3G), fourth generation (4G), fifth generation (5G) of the 3GPP standard, or for other existing generations, generations under development or to be developed in the future (for example, the sixth generation (6G), etc.), or a unit that performs wireless communication according to standards such as IEEE802.11, or a communication unit that realizes information exchange between the vehicle and the outside world according to the V2X standard, or a unit that communicates with a positioning satellite according to the GNSS standard.

[0076] The control unit is a unit used to control the transceiver unit to send or receive signals, modulate and demodulate data, and control the vehicle to implement some specific applications and other functions. The control unit may include, but is not limited to, a modem, a central processing unit (CPU), an application processor (AP), a microprocessor (MCU), an artificial intelligence (AI) processor, or a programmable logic device (Field Programmable Gate Array, FPGA) and other control circuits. Among them, different control circuits can be independent devices or integrated in one or more controllers. In one possible implementation, the controller can run an operating system, such as Android, iOS, Windows OS, Linux, and Hongmeng operating system. In other possible implementations, the controller can run a specific application. A memory can also be set in the controller for storing instructions and data.

[0077] Specifically, according to Figure 2 As shown, the transceiver unit includes a PC5 module for implementing V2V communication, wherein the PC5 module includes an antenna supporting a PC5 communication port and a radio frequency integrated circuit (RFIC) for PC5 communication. The transceiver unit also includes a GNSS module for implementing communication with the positioning WeChat, wherein the GNSS module includes an antenna port for GNSS and a radio frequency integrated circuit for GNSS communication. The control unit includes a central processor and a modem for GNSS. The control unit may also include other processors not shown.

[0078] Figure 2 It is shown that the calculation of TEC value and ionospheric delay is performed by the processor of the modem, but according to the technical solution of the present application, the TEC value and ionospheric delay can be calculated in the CPU of the GNSS module, or in other vehicle-mounted devices other than the OBU.

[0079] In addition, the OBU may also include a Uu module for realizing connection with network devices through the Uu port according to the V2X standard. The network devices mentioned here include, but are not limited to: base stations, evolved Node B (eNB), radio network controller (RNC), Node B (NB), Base Station Controller (BSC), Base Transceiver Station (BTS), home network devices (e.g., Home evolved NodeB, or Home Node B, HNB), baseband unit (BBU), etc. The network devices include network devices of various frequency formats, such as, but not limited to: low-frequency network devices and high-frequency network devices.

[0080] The Road Test Unit (RSU) is a device installed on the roadside to communicate with the vehicle's OBU to achieve functions such as vehicle identification and electronic billing.

[0081] It is understandable that the OBU and RSU of the master vehicle or slave vehicle mentioned above include hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0082] The embodiment of the present application can divide the functional modules of OBU and RSU according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0083] Above through Figure 1 and Figure 2 The application scenarios and system architecture of the present application are described. Next, the present application will be described in detail with reference to some specific examples.

[0084] Figure 3Schematic diagram of a scenario according to an embodiment of the present application. Figure 3 As shown in , the OBU of the slave vehicle only supports single-frequency GNSS signals and compensates for the positioning error by receiving positioning assistance information from at least one master vehicle OBU.

[0085] Figure 4 According to one embodiment of the present application Figure 3 Schematic diagram of the system architecture in the scenario of Figure 2 Similarly, the slave vehicle and the master vehicle communicate via V2V, which will not be described in detail here.

[0086] In this example, the positioning assistance information sent by the master vehicle to the slave vehicle is at least one of pseudorange information and TEC information. It should be noted here that the type of positioning assistance information sent by the master vehicle depends on whether the GNSS module of the master vehicle OBU can receive single-frequency or dual-frequency GNSS signals.

[0087] When the master vehicle only supports single-frequency GNSS signals, the slave vehicle can only receive the master vehicle's pseudorange information; when the master vehicle supports dual-frequency GNSS signals, the slave vehicle can receive the master vehicle's pseudorange and / or TEC information. For different types of positioning assistance information, there are some differences in the positioning compensation method according to this application. Figure 5-7 Explain them separately.

[0088] Figure 5 The flowchart shown is a positioning compensation method of a slave vehicle when the positioning assistance information only includes pseudorange information.

[0089] At 501, the slave vehicle issues a positioning assistance request. For example, the issuance of the positioning assistance request may be based on the user's choice. For example, when the user needs more accurate positioning navigation while driving the slave vehicle, the positioning assistance request may be issued through the human-computer interaction interface. After receiving the positioning assistance request, the OBU of the slave vehicle sends a message to the surrounding master vehicles via the PC5 interface and V2V.

[0090] At 502, the OBU of the slave vehicle receives the positioning assistance information shared by the master vehicle. Figure 5 In the flowchart shown, the positioning assistance information only includes pseudorange information.

[0091] Optionally, according to an example of the present application, the transmission of the positioning assistance information may be achieved without sending a positioning assistance request by the slave vehicle. For example, the master vehicle may continuously send the positioning assistance information in the form of active broadcasting, so that the slave vehicle can detect and receive the positioning assistance information of the master vehicle. In this case, steps 501 and 502 may be omitted.

[0092] At 503 , the slave vehicle calculates TEC based on the received pseudorange information of the master vehicle and its own pseudorange information.

[0093] Here, the total electron content TEC on the propagation path between the slave vehicle and the slave satellite is calculated based on the following formula (1):

[0094]

[0095] Where f1 and f2 are the receiving frequencies of the GNSS signals of the master vehicle and the slave vehicle, respectively. ρ′1 and ρ′2 are the pseudo-range information of the master vehicle and the slave vehicle, respectively.

[0096] It should be noted here that the GNSS signal receiving frequency of the master vehicle in the above formula must be different from the GNSS signal receiving frequency of the slave vehicle. The master vehicle and the slave vehicle can receive GNSS signals of different frequencies from different satellites, or the master vehicle and the slave vehicle can receive GNSS signals of different frequencies from the same satellite.

[0097] Next, at 504, the slave vehicle calculates the ionospheric delay Δ on the propagation path of the slave vehicle's GNSS signal based on the TEC value calculated by the above formula (1) and the receiving frequency of the slave vehicle's GNSS signal. ion .

[0098] Here, the ionospheric delay Δ is calculated from the vehicle based on the following formula (2): ion .

[0099]

[0100] Where f represents the receiving frequency of the GNSS signal from the vehicle.

[0101] Finally, at 505, the slave vehicle uses the ionospheric delay calculated according to formula (2) to compensate for its own positioning error. Those skilled in the art will appreciate that any existing calculation model and calculation method can be used to compensate for the positioning error according to the ionospheric delay, which will not be described in detail here.

[0102] In accordance with Figure 5 In the positioning compensation method of the slave vehicle shown, the slave vehicle needs to calculate the TEC value and the ionospheric delay Δ ion The specific calculation process can be executed in the Modem of the slave vehicle OBU, in the CPU of the slave vehicle GNSS module, or even in other vehicle-mounted devices other than the OBU.

[0103] Figure 6 The flowchart of the positioning compensation method of the slave vehicle is shown in the case where the positioning auxiliary information only includes TEC information.

[0104] At 601 , a request for positioning assistance is issued from a vehicle.

[0105] At 602 , the slave vehicle receives positioning assistance information of the TEC shared by the master vehicle.

[0106] At 603, the slave vehicle calculates the ionospheric delay Δ on the propagation path of the slave vehicle's GNSS signal based on the positioning assistance information of the TEC and the receiving frequency of the slave vehicle's GNSS signal. ion Here, the ionospheric delay Δ ion The calculation of is also applicable to the above formula (2).

[0107] At 604, the slave vehicle uses the ionospheric delay calculated according to formula (2) to compensate for its own positioning error.

[0108] Figure 6 The process shown is similar to Figure 5 The difference between the processes shown is that, since the slave vehicle directly obtains the positioning auxiliary information of the TEC shared by the master vehicle, the process of calculating the TEC value of the slave vehicle is omitted. Figure 6 The other process steps are Figure 5 The same as in, no further description is given here.

[0109] Figure 7 The flowchart of the positioning compensation method of the slave vehicle is shown when the positioning assistance information includes both TEC information and pseudorange information.

[0110] and Figure 5 or Figure 6 Similarly, the slave vehicle still calculates the ionospheric delay based on the positioning assistance information received from the master vehicle, thereby compensating for the positioning error. Steps 701, 702, 704 and 705 are not described in detail.

[0111] and Figure 5 or Figure 6 Differently, since the slave vehicle obtains the TEC and pseudorange information shared by the master vehicle, at 703, the slave vehicle needs to select one of the TEC or pseudorange information according to its own capability to perform the calculation of the ionospheric delay.

[0112] When the positioning auxiliary information only includes pseudorange information, the calculation is more complicated than directly obtaining the TEC value. Therefore, in an example of the present application, the slave vehicle can make a selection based on its own computing capability.

[0113] In actual application scenarios, there may be multiple master vehicles within the coverage of the slave vehicle's V2V communication. Therefore, optionally, according to a specific example of the present application, the slave vehicle may obtain positioning assistance information from multiple master vehicles, and filter the positioning assistance information from different master vehicles based on the confidence of the positioning assistance information.

[0114] Figure 8The flow of a positioning compensation method when a slave vehicle obtains positioning auxiliary information from multiple master vehicles is shown.

[0115] and Figure 5-7 Similarly, at 801, the slave vehicle sends a request for positioning assistance, and at 802, the slave vehicle receives positioning assistance information from the master vehicle, which will not be repeated here.

[0116] Next, at 803, the slave vehicle determines the confidence level of the acquired positioning assistance information of the host vehicle. If the confidence level of the positioning assistance information of the host vehicle is higher than a threshold, the positioning assistance information can be used.

[0117] If the confidence level is lower than the threshold, the slave vehicle will discard the current positioning assistance information and re-accept the positioning assistance information from other master vehicles.

[0118] Optionally, according to an example of the present application, the slave vehicle may sequentially obtain positioning assistance information of different master vehicles and make confidence judgments in turn until positioning assistance information with a confidence level higher than a threshold is obtained.

[0119] Optionally, according to an example of the present application, the slave vehicle may obtain and store the positioning auxiliary information of multiple master vehicles at the same time, and then make confidence judgments one by one.

[0120] Optionally, according to an example of the present application, the confidence level may be determined based on at least one of the distance between the host vehicle and the slave vehicle and the speed of the host vehicle.

[0121] For example, when the distance between the master vehicle and the slave vehicle is used as the confidence judgment standard, the smaller the distance between the master vehicle and the slave vehicle, the higher the confidence. The slave vehicle can select the positioning assistance information of the master vehicle closest to itself from the positioning assistance information received from multiple master vehicles.

[0122] The PC5 port in the V2X protocol can support a communication distance of approximately 300 meters, so the distance threshold can be set to 300 meters as a standard for confidence judgment.

[0123] Alternatively, the current speed of the master vehicle can be used as the confidence judgment standard. The slower the current speed of the master vehicle, the higher the confidence. The slave vehicle can select the positioning auxiliary information of the master vehicle with the slowest current speed from the received positioning auxiliary information of multiple master vehicles. Alternatively, both distance and speed can be used as the confidence judgment standard.

[0124] Next, at 804, the slave vehicle calculates ionospheric delay based on the positioning assistance information, and at 805, the calculated ionospheric delay is used to compensate for the positioning error. Figure 5-7 The steps are similar and will not be repeated here.

[0125] The above combined Figure 3-8 , a positioning compensation method for a slave vehicle according to a specific example of the present application is described in detail. For the master vehicle, its positioning compensation method is as follows Fig. 9 shown.

[0126] At 901 , the master vehicle receives a positioning assistance request sent by the slave vehicle.

[0127] Optionally, according to an example of the present application, the transmission of the positioning assistance information may be achieved without sending a positioning assistance request from the slave vehicle. For example, the master vehicle may continuously send the positioning assistance information in the form of active broadcasting, so that the slave vehicle can detect and receive the positioning assistance information of the master vehicle. In this case, step 901 may be omitted.

[0128] At 902, the host vehicle determines its own capability, that is, whether the host vehicle can receive single-frequency or dual-frequency GNSS signals. As described above, when the host vehicle supports single-frequency or dual-frequency GNSS, the positioning assistance information that can be shared is different.

[0129] At 903, based on the master vehicle being able to receive single-frequency or dual-frequency GNSS signals, positioning assistance information that can be provided to the slave vehicle is obtained. Specifically, when the master vehicle only supports receiving single-frequency GNSS signals, the master vehicle can only provide pseudorange information; when the master vehicle supports receiving dual-frequency GNSS signals, the master vehicle can provide pseudorange and / or TEC information.

[0130] Finally, at 904 , the master vehicle sends positioning assistance information to the slave vehicle for positioning compensation of the slave vehicle.

[0131] Fig.10 FIG. 1 is a schematic diagram of a scenario according to another embodiment of the present application. Fig.10 As shown in , the OBU of the slave vehicle only supports single-frequency GNSS signals, and the positioning error is compensated by receiving positioning assistance information from the master vehicle OBU forwarded by at least one RSU.

[0132] Fig.11 According to another embodiment of the present application Fig.10 Schematic diagram of the system architecture in the scenario. Fig.11 As shown, the master vehicle OBU sends the positioning assistance information to the RSU, and the slave vehicle receives the positioning assistance information via the RSU. Fig.11 Other aspects of Figure 2 Similar, no further elaboration is required here.

[0133] according to Fig.10 and 11 According to another specific example of the present application, for different situations where the positioning assistance information includes pseudorange information and / or TEC, the positioning compensation method performed by the slave vehicle is different from Figure 5-7 The same is not repeated here.

[0134] If there are multiple RSUs, the slave vehicle also needs to judge the confidence of the positioning assistance information received from the RSU. If the confidence of the positioning assistance information from the RSU is higher than the threshold, the positioning assistance information can be used. If the confidence is lower than the threshold, the slave vehicle will discard the current positioning assistance information and re-accept the positioning assistance information from other RSUs.

[0135] Optionally, according to an example of the present application, the slave vehicle may sequentially obtain positioning assistance information forwarded by different RSUs and make a confidence judgment until the positioning assistance information with a confidence level higher than a threshold is obtained.

[0136] Optionally, according to an example of the present application, the slave vehicle may obtain and store positioning assistance information from multiple RSUs at the same time, and then make confidence judgments one by one.

[0137] Optionally, according to an example of the present application, the confidence level may be determined based on the distance between the host vehicle and the RSU.

[0138] For example, the smaller the distance between the RSU and the slave vehicle, the higher the confidence. The slave vehicle can select the positioning assistance information of the RSU closest to itself from the positioning assistance information received from multiple RSUs.

[0139] Alternatively, the channel quality may be used as a confidence judgment standard. The better the channel quality, the higher the confidence. For example, the channel quality may be judged by indicators such as retransmission rate and bit error rate, and then the confidence may be judged.

[0140] When there are multiple RSUs, except for the different confidence judgment criteria for positioning auxiliary information, the other processes of slave vehicle positioning compensation are the same as Figure 8 Similar, I will not repeat it here.

[0141] according to Figure 10-11 In another embodiment of the present application shown, the RSU acts as a relay to forward the positioning assistance information of the master vehicle to the slave vehicle. Fig.12 The flow of the positioning compensation method for RSU in the case of acting as a relay is shown.

[0142] like Fig.12 As shown, at 1201, the RSU receives a positioning assistance request sent from a vehicle. As described above, this positioning assistance request may be initiated by a user.

[0143] At 1202, after receiving the positioning assistance request from the slave vehicle, the RSU forwards the positioning assistance request to the master vehicle.

[0144] At 1203 , after the host vehicle responds to the positioning assistance request, the RSU receives positioning assistance information from the host vehicle.

[0145] As described above, the master vehicle can actively transmit positioning assistance information in the form of broadcasting. In this case, the RSU can directly obtain the positioning assistance request from the master vehicle and send it to the slave vehicle, and the above steps 1201-1203 can be omitted.

[0146] At 1204 , the RSU also determines the confidence level of the positioning assistance information from the host vehicle.

[0147] Similarly, the RSU can make a confidence judgment based on at least one of the distance between the RSU and the host vehicle and the speed of the host vehicle. Figure 8 The confidence determination steps in step 803 are similar and will not be described in detail.

[0148] Finally, at 1205, the RSU forwards the positioning assistance information of the master vehicle to the slave vehicle.

[0149] In this embodiment, the master vehicle receives the positioning assistance request from the slave vehicle forwarded by the RSU, and sends the positioning assistance information to the RSU based on its own capabilities. Therefore, the process of the positioning compensation method for the master vehicle is the same as that of Fig. 9 Similar, I will not repeat it here.

[0150] As mentioned above, according to Figure 10-11 In another embodiment of the present application shown, the RSU only acts as a relay. In another embodiment of the present application, the RSU itself can also receive and process single-frequency or dual-frequency GNSS signals, and has the ability to calculate pseudorange information and / or TEC data, so it can directly share the pseudorange information and / or TEC data with the slave vehicle.

[0151] Fig.13 It is a schematic diagram of a scene according to another embodiment of the present application. Fig.14 According to another embodiment of the present application Fig.13 Schematic diagram of the system architecture in the scenario.

[0152] As described above, in this embodiment, the RSU has the ability to receive and process single-frequency or dual-frequency GNSS signals, so that positioning assistance information can be directly transmitted between the vehicle and the RSU. Figure 3-4 The main vehicle shown in the embodiment.

[0153] for Figure 13-14 According to another embodiment of the present application, the process of the positioning compensation method for the slave vehicle and the RSU can refer to Figure 5-9 , I will not go into details here.

[0154] In the embodiments of the present application, the above embodiments can refer to and learn from each other, and the same or similar steps and nouns will not be repeated one by one.

[0155] According to an embodiment of the present application, an electronic device is also provided. Fig.15 A schematic structural diagram of an electronic device 100 according to an embodiment of the present invention is shown.

[0156] The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) connector 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0157] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may include more or fewer components than shown in the figure, or combine some components, or separate some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0158] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0159] The processor can generate operation control signals based on instruction opcodes and timing signals to complete the control of instruction fetching and execution.

[0160] The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0161] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, and a subscriber identity module (SIM) interface.

[0162] The I2C interface is a bidirectional synchronous serial bus, including a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple groups of I2C buses. The processor 110 may be coupled to the touch sensor 180K, the charger, the flash, the camera 193, etc. through different I2C bus interfaces. For example: the processor 110 may be coupled to the touch sensor 180K through the I2C interface, so that the processor 110 communicates with the touch sensor 180K through the I2C bus interface, thereby realizing the touch function of the electronic device 100.

[0163] The I2S interface can be used for audio communication. In some embodiments, the processor 110 can include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to achieve communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit an audio signal to the wireless communication module 160 via the I2S interface to achieve the function of answering a call through a Bluetooth headset.

[0164] The PCM interface can also be used for audio communication, sampling, quantizing and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via a PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface to realize the function of answering calls via a Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

[0165] The UART interface is a universal serial data bus for asynchronous communication. The bus can be a bidirectional communication bus. It converts the data to be transmitted between serial communication and parallel communication. In some embodiments, the UART interface is generally used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 through the UART interface to implement the Bluetooth function. In some embodiments, the audio module 170 can transmit an audio signal to the wireless communication module 160 through the UART interface to implement the function of playing music through a Bluetooth headset.

[0166] The MIPI interface can be used to connect the processor 110 with peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI), a display serial interface (DSI), etc. In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to implement the shooting function of the electronic device 100. The processor 110 and the display screen 194 communicate via the DSI interface to implement the display function of the electronic device 100.

[0167] The GPIO interface can be configured by software. The GPIO interface can be configured as a control signal or as a data signal. In some embodiments, the GPIO interface can be used to connect the processor 110 with the camera 193, the display 194, the wireless communication module 160, the audio module 170, the sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0168] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0169] The USB connector 130 is a connector that complies with the USB standard specification and can be used to connect the electronic device 100 and peripheral devices. Specifically, it can be a standard USB connector (such as a Type C connector), a Mini USB connector, a Micro USB connector, etc. The USB connector 130 can be used to connect a charger to charge the electronic device 100, and can also be used to transfer data between the electronic device 100 and peripheral devices. It can also be used to connect headphones to play audio through the headphones. The connector can also be used to connect other electronic devices, such as AR devices, etc. In some embodiments, the processor 110 can support a universal serial bus (Universal Serial Bus), and the standard specifications of the universal serial bus can be USB1.x, USB2.0, USB3.x, USB4.

[0170] The charging management module 140 is used to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger through the USB connector 130. In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through a wireless charging coil of the electronic device 100. While the charging management module 140 is charging the battery 142, it may also power the electronic device through the power management module 141.

[0171] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the display screen 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0172] The wireless communication function of the electronic device 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0173] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of antennas. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0174] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G, etc., applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0175] The modem processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After the low-frequency baseband signal is processed by the baseband processor, it is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to a speaker 170A, a receiver 170B, etc.), or displays an image or video through a display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0176] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the electronic device 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the frequency of the electromagnetic wave signal and performs filtering, and sends the processed signal to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency of it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0177] In some embodiments, the antenna 1 of the electronic device 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time-division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology. The GNSS may include a global positioning system (GPS), a global navigation satellite system (GLONASS), a Beidou navigation satellite system (BDS), a quasi-zenith satellite system (QZSS) and / or a satellite based augmentation system (SBAS).

[0178] The electronic device 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

[0179] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

[0180] The electronic device 100 can realize the shooting function through ISP, camera 193, video codec, GPU, display screen 194 and application processor.

[0181] ISP is used to process the data fed back by camera 193. For example, when taking a photo, the shutter is opened, and the light is transmitted to the camera photosensitive element through the lens. The light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to ISP for processing and converts it into an image visible to the naked eye. ISP can also perform algorithm optimization on the noise, brightness, and skin color of the image. ISP can also optimize the exposure, color temperature and other parameters of the shooting scene. In some embodiments, ISP can be set in camera 193.

[0182] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0183] The digital signal processor is used to process digital signals, and can process not only digital image signals but also other digital signals. For example, when the electronic device 100 is selecting a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0184] Video codecs are used to compress or decompress digital videos. The electronic device 100 may support one or more video codecs. Thus, the electronic device 100 may play or record videos in a variety of coding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0185] NPU is a neural network (NN) computing processor. By drawing on the structure of biological neural networks, such as the transmission mode between neurons in the human brain, it can quickly process input information and can also continuously self-learn. Through NPU, applications such as intelligent cognition of electronic device 100 can be realized, such as image recognition, face recognition, voice recognition, text understanding, etc.

[0186] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0187] The internal memory 121 can be used to store computer executable program codes, which include instructions. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the electronic device 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 110 executes various functional applications and data processing of the electronic device 100 by running instructions stored in the internal memory 121, and / or instructions stored in a memory provided in the processor.

[0188] The electronic device 100 can implement audio functions such as music playing and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the headphone jack 170D, and the application processor.

[0189] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signals. The audio module 170 can also be used to encode and decode audio signals. In some embodiments, the audio module 170 can be arranged in the processor 110, or some functional modules of the audio module 170 can be arranged in the processor 110.

[0190] The speaker 170A, also called a "speaker", is used to convert an audio electrical signal into a sound signal. The electronic device 100 can listen to music or listen to a hands-free call through the speaker 170A.

[0191] The receiver 170B, also called a "earpiece", is used to convert audio electrical signals into sound signals. When the electronic device 100 receives a call or voice message, the voice can be received by placing the receiver 170B close to the human ear.

[0192] Microphone 170C, also called "microphone" or "microphone", is used to convert sound signals into electrical signals. When making a call or sending a voice message, the user can speak by putting their mouth close to microphone 170C to input the sound signal into microphone 170C. The electronic device 100 can be provided with at least one microphone 170C. In other embodiments, the electronic device 100 can be provided with two microphones 170C, which can not only collect sound signals but also realize noise reduction function. In other embodiments, the electronic device 100 can also be provided with three, four or more microphones 170C to collect sound signals, reduce noise, identify the sound source, realize directional recording function, etc.

[0193] The earphone interface 170D is used to connect a wired earphone and can be a USB connector 130 or a 3.5 mm open mobile terminal platform (OMTP) standard interface or a cellular telecommunications industry association of the USA (CTIA) standard interface.

[0194] The pressure sensor 180A is used to sense the pressure signal and can convert the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A can be set on the display screen 194. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, capacitive pressure sensors, etc. The capacitive pressure sensor can be a parallel plate including at least two conductive materials. When a force acts on the pressure sensor 180A, the capacitance between the electrodes changes. The electronic device 100 determines the intensity of the pressure according to the change in capacitance. When a touch operation acts on the display screen 194, the electronic device 100 detects the touch operation intensity according to the pressure sensor 180A. The electronic device 100 can also calculate the touch position according to the detection signal of the pressure sensor 180A. In some embodiments, touch operations acting on the same touch position but with different touch operation intensities can correspond to different operation instructions. For example: when a touch operation with a touch operation intensity less than the first pressure threshold acts on the short message application icon, an instruction to view the short message is executed. When a touch operation with a touch operation intensity greater than or equal to the first pressure threshold acts on the short message application icon, an instruction to create a new short message is executed.

[0195] The gyro sensor 180B can be used to determine the motion posture of the electronic device 100. In some embodiments, the angular velocity of the electronic device 100 around three axes (i.e., x, y, and z axes) can be determined by the gyro sensor 180B. The gyro sensor 180B can be used for anti-shake shooting. For example, when the shutter is pressed, the gyro sensor 180B detects the angle of the electronic device 100 shaking, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse movement to achieve anti-shake. The gyro sensor 180B can also be used for navigation and somatosensory game scenes.

[0196] The air pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist positioning and navigation.

[0197] The magnetic sensor 180D includes a Hall sensor. The electronic device 100 can use the magnetic sensor 180D to detect the opening and closing of the flip leather case. In some embodiments, when the electronic device 100 is a flip phone, the electronic device 100 can detect the opening and closing of the flip cover according to the magnetic sensor 180D. Then, according to the detected opening and closing state of the leather case or the opening and closing state of the flip cover, the flip cover can be automatically unlocked.

[0198] The acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in all directions (generally three axes). When the electronic device 100 is stationary, the magnitude and direction of gravity can be detected. It can also be used to identify the posture of the electronic device and is applied to applications such as horizontal and vertical screen switching and pedometers.

[0199] The distance sensor 180F is used to measure the distance. The electronic device 100 can measure the distance by infrared or laser. In some embodiments, when shooting a scene, the electronic device 100 can use the distance sensor 180F to measure the distance to achieve fast focusing.

[0200] The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The light emitting diode may be an infrared light emitting diode. The electronic device 100 emits infrared light outward through the light emitting diode. The electronic device 100 uses a photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that there is an object near the electronic device 100. When insufficient reflected light is detected, the electronic device 100 can determine that there is no object near the electronic device 100. The electronic device 100 can use the proximity light sensor 180G to detect that the user holds the electronic device 100 close to the ear to talk, so as to automatically turn off the screen to save power. The proximity light sensor 180G can also be used in leather case mode and pocket mode to automatically unlock and lock the screen.

[0201] The ambient light sensor 180L is used to sense the ambient light brightness. The electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the perceived ambient light brightness. The ambient light sensor 180L can also be used to automatically adjust the white balance when taking pictures. The ambient light sensor 180L can also cooperate with the proximity light sensor 180G to detect whether the electronic device 100 is in a pocket to prevent accidental touches.

[0202] The fingerprint sensor 180H is used to collect fingerprints. The electronic device 100 can use the collected fingerprint characteristics to implement fingerprint unlocking, access application locks, fingerprint photography, fingerprint call answering, etc.

[0203] The temperature sensor 180J is used to detect temperature. In some embodiments, the electronic device 100 uses the temperature detected by the temperature sensor 180J to execute a temperature processing strategy. For example, when the temperature reported by the temperature sensor 180J exceeds a threshold, the electronic device 100 reduces the performance of a processor located near the temperature sensor 180J to reduce power consumption and implement thermal protection. In other embodiments, when the temperature is lower than another threshold, the electronic device 100 heats the battery 142 to avoid abnormal shutdown of the electronic device 100 due to low temperature. In other embodiments, when the temperature is lower than another threshold, the electronic device 100 performs a boost on the output voltage of the battery 142 to avoid abnormal shutdown caused by low temperature.

[0204] The touch sensor 180K is also called a "touch control device". The touch sensor 180K can be set on the display screen 194. The touch sensor 180K and the display screen 194 form a touch screen, also called a "touch control screen". The touch sensor 180K is used to detect touch operations acting on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. In other embodiments, the touch sensor 180K can also be set on the surface of the electronic device 100, which is different from the position of the display screen 194.

[0205] The bone conduction sensor 180M can obtain a vibration signal. In some embodiments, the bone conduction sensor 180M can obtain a vibration signal of a vibrating bone block of the vocal part of the human body. The bone conduction sensor 180M can also contact the human pulse to receive a blood pressure beat signal. In some embodiments, the bone conduction sensor 180M can also be set in an earphone and combined into a bone conduction earphone. The audio module 170 can parse out a voice signal based on the vibration signal of the vibrating bone block of the vocal part obtained by the bone conduction sensor 180M to realize a voice function. The application processor can parse the heart rate information based on the blood pressure beat signal obtained by the bone conduction sensor 180M to realize a heart rate detection function.

[0206] The key 190 includes a power key, a volume key, etc. The key 190 may be a mechanical key or a touch key. The electronic device 100 may receive key input and generate key signal input related to user settings and function control of the electronic device 100.

[0207] Motor 191 can generate vibration prompts. Motor 191 can be used for incoming call vibration prompts, and can also be used for touch vibration feedback. For example, touch operations acting on different applications (such as taking pictures, audio playback, etc.) can correspond to different vibration feedback effects. For touch operations acting on different areas of the display screen 194, motor 191 can also correspond to different vibration feedback effects. Different application scenarios (for example: time reminders, receiving messages, alarm clocks, games, etc.) can also correspond to different vibration feedback effects. The touch vibration feedback effect can also support customization.

[0208] Indicator 192 may be an indicator light, which may be used to indicate charging status, power changes, messages, missed calls, notifications, etc.

[0209] The SIM card interface 195 is used to connect a SIM card. The SIM card can be connected to and separated from the electronic device 100 by inserting it into the SIM card interface 195 or pulling it out from the SIM card interface 195. The electronic device 100 can support 1 or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, and the like. Multiple cards can be inserted into the same SIM card interface 195 at the same time. The types of the multiple cards can be the same or different. The SIM card interface 195 can also be compatible with different types of SIM cards. The SIM card interface 195 can also be compatible with external memory cards. The electronic device 100 interacts with the network through the SIM card to implement functions such as calls and data communications. In some embodiments, the electronic device 100 uses an eSIM, i.e., an embedded SIM card. The eSIM card can be embedded in the electronic device 100 and cannot be separated from the electronic device 100.

[0210] The software system of the electronic device 100 may adopt a layered architecture, an event-driven architecture, a micro-core architecture, a micro-service architecture, or a cloud architecture. In the embodiment of the present invention, the Android system of the layered architecture is taken as an example to exemplify the software structure of the electronic device 100.

[0211] Fig.16 is a software structure block diagram of the electronic device 100 according to an embodiment of the present invention.

[0212] The layered architecture divides the software into several layers, each with clear roles and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom: the application layer, the application framework layer, the Android runtime and system library, and the kernel layer.

[0213] The application layer can include a series of application packages.

[0214] like Fig.16 As shown, the application package may include camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message and other applications.

[0215] The application framework layer provides an application programming interface (API) and a programming framework for the applications in the application layer. The application framework layer includes some predefined functions.

[0216] like Fig.16 As shown, the application framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, and the like.

[0217] The window manager is used to manage window programs. The window manager can obtain the display screen size, determine whether there is a status bar, lock the screen, capture the screen, etc.

[0218] Content providers are used to store and retrieve data and make it accessible to applications. The data may include videos, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.

[0219] The view system includes visual controls, such as controls for displaying text, controls for displaying images, etc. The view system can be used to build applications. A display interface can be composed of one or more views. For example, a display interface including a text notification icon can include a view for displaying text and a view for displaying images.

[0220] The phone manager is used to provide communication functions of the electronic device 100, such as management of call status (including connecting, hanging up, etc.).

[0221] The resource manager provides various resources for applications, such as localized strings, icons, images, layout files, video files, and so on.

[0222] The notification manager enables applications to display notification information in the status bar. It can be used to convey notification-type messages and can disappear automatically after a short stay without user interaction. For example, the notification manager is used to notify download completion, message reminders, etc. The notification manager can also be a notification that appears in the system top status bar in the form of a chart or scroll bar text, such as notifications of applications running in the background, or a notification that appears on the screen in the form of a dialog window. For example, a text message is displayed in the status bar, a prompt sound is emitted, an electronic device vibrates, an indicator light flashes, etc.

[0223] Android Runtime includes core libraries and virtual machines. Android runtime is responsible for scheduling and management of the Android system.

[0224] The core library consists of two parts: one part is the function that needs to be called by the Java language, and the other part is the Android core library.

[0225] The application layer and the application framework layer run in a virtual machine. The virtual machine executes the Java files of the application layer and the application framework layer as binary files. The virtual machine is used to perform functions such as object life cycle management, stack management, thread management, security and exception management, and garbage collection.

[0226] The system library may include multiple functional modules, such as surface manager, media library, 3D graphics processing library (such as OpenGL ES), 2D graphics engine (such as SGL), etc.

[0227] The surface manager is used to manage the display subsystem and provide the fusion of 2D and 3D layers for multiple applications.

[0228] The media library supports playback and recording of a variety of commonly used audio and video formats, as well as static image files, etc. The media library can support a variety of audio and video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

[0229] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

[0230] A 2D graphics engine is a drawing engine for 2D drawings.

[0231] The kernel layer is the layer between hardware and software. The kernel layer contains at least display driver, camera driver, audio driver, and sensor driver.

[0232] According to an embodiment of the present application, a system is also provided. Fig.17 A schematic diagram of the structure of a system 1700 according to an embodiment of the present application is shown. The system 1700 may include one or more processors 1702, a system control logic 1708 connected to multiple processors 1702, a system memory 1704 connected to the system control logic 1708, a non-volatile memory (NVM) 1706 connected to the system control logic 1708, and a network interface 1710 connected to the system control logic 1708.

[0233] The processor 1702 may include one or more single-core or multi-core processors. The processor 1702 may include any combination of a general-purpose processor and a dedicated processor (e.g., a graphics processor, an application processor, a baseband processor, etc.). In an embodiment of the present application, the processor 1702 may be configured to execute the method flow in the above embodiment.

[0234] In some embodiments, system control logic 1708 may include any suitable interface controller to provide any suitable interface to any suitable devices or components in communication with processor 1702 and / or with system control logic 1708 .

[0235] In some embodiments, system control logic 1708 may include one or more memory controllers to provide an interface to system memory 1704. System memory 1704 may be used to load and store data and / or instructions for system 1700. In some embodiments, memory 1704 of system 1700 may include any suitable volatile memory, such as a suitable dynamic random access memory (DRAM).

[0236] NVM / memory 1706 may include one or more tangible, non-transitory computer-readable media for storing data and / or instructions. In some embodiments, NVM / memory 1706 may include any suitable non-volatile memory such as flash memory and / or any suitable non-volatile storage device, such as a HDD (Hard Disk Drive), a CD (Compact Disc) drive, a DVD (Digital Versatile Disc, Digital Versatile Disc) drive.

[0237] NVM / storage 1706 may include a portion of storage resources installed on an apparatus of system 1700, or it may be accessible by the device but not necessarily a portion of the device. For example, NVM / storage 1706 may be accessed over a network via network interface 1710.

[0238] In particular, the system memory 1704 and the NVM / storage 1706 may include, respectively, a temporary copy and a permanent copy of the instructions 1820. The instructions 1820 may include instructions that, when executed by at least one of the processors 1702, cause the system 1700 to implement the method flow in the above-described embodiments. In some embodiments, the instructions 1820, hardware, firmware, and / or software components thereof may be additionally / alternatively placed in the system control logic 1708, the network interface 1710, and / or the processor 1702.

[0239] The network interface 1710 may include a transceiver for providing a radio interface for the system 1700, thereby communicating with any other suitable device (such as a front-end module, an antenna, etc.) through one or more networks. In some embodiments, the network interface 1710 may be integrated with other components of the system 1700. For example, the network interface 1710 may include at least one of a processor 1702, a system memory 1704, an NVM / storage 1706, and a firmware device (not shown) having instructions. When at least one of the processors 1702 executes the instructions, the system 1700 implements the method flow in the above-mentioned embodiments.

[0240] The network interface 1710 may further include any suitable hardware and / or firmware to provide a multiple-input multiple-output radio interface. For example, the network interface 1710 may be a network adapter, a wireless network adapter, a telephone modem and / or a wireless modem.

[0241] In one embodiment, multiple of the processors 1702 may be packaged together with logic for one or more controllers of the system control logic 1708 to form a system in package (SiP). In one embodiment, multiple of the processors 1702 may be integrated on the same die with logic for one or more controllers of the system control logic 1708 to form a system on a chip (SoC).

[0242] The system 1700 may further include an input / output (I / O) interface 1712. The I / O interface 1712 may include a user interface that enables a user to interact with the system 1700; and a peripheral component interface that enables peripheral components to interact with the system 1700. In some embodiments, the system 1700 further includes a sensor for determining at least one of an environmental condition and location information related to the system 1700.

[0243] In some embodiments, the user interface may include, but is not limited to, a display (e.g., an LCD display, a touch screen display, etc.), a speaker, a microphone, one or more cameras (e.g., a still image camera and / or a video camera), a flashlight (e.g., an LED flash), and a keyboard.

[0244] In some embodiments, the peripheral component interface may include, but is not limited to, a non-volatile memory port, an audio jack, and a power interface.

[0245] In some embodiments, the sensors may include, but are not limited to, gyroscope sensors, accelerometers, proximity sensors, ambient light sensors, and positioning units. The positioning unit may also be part of or interact with the network interface 1710 to communicate with components of a positioning network (e.g., global positioning system (GPS) satellites).

[0246] Although the description of the present application will be introduced in conjunction with a preferred embodiment, this does not mean that the features of this invention are limited to this embodiment. On the contrary, the purpose of introducing the invention in conjunction with the embodiment is to cover other options or modifications that may be extended based on the claims of the present application. In order to provide a deep understanding of the present application, many specific details will be included in the following description. The present application may also be implemented without using these details. In addition, in order to avoid confusion or blurring the focus of the present application, some specific details will be omitted in the description. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0247] Furthermore, various operations will be described as multiple discrete operations in a manner that is most helpful for understanding the illustrative embodiments; however, the order of description should not be construed as implying that these operations are necessarily order dependent. In particular, these operations do not need to be performed in the order presented.

[0248] As used herein, the term "module" or "unit" may refer to, be or include: an application specific integrated circuit (ASIC), an electronic circuit, a (shared, dedicated or group) processor and / or memory that executes one or more software or firmware programs, a combinational logic circuit and / or other suitable components that provide the described functionality.

[0249] In the accompanying drawings, some structural or method features are shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. In some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a specific figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0250] The various embodiments of the mechanism disclosed in the present application can be implemented in hardware, software, firmware or a combination of these implementation methods. The embodiments of the present application can be implemented as a computer program or program code executed on a programmable system, which includes multiple processors, a storage system (including volatile and non-volatile memory and / or storage elements), multiple input devices and multiple output devices.

[0251] Program code can be applied to input instructions to perform the functions described in this application and generate output information. The output information can be applied to one or more output devices in a known manner. For the purposes of this application, a processing system includes any system having a processor such as, for example, a digital signal processor (DSP), a microcontroller, an application specific integrated circuit (ASIC), or a microprocessor.

[0252] Program code can be implemented with high-level programming language or object-oriented programming language to communicate with the processing system. When necessary, program code can also be implemented with assembly language or machine language. In fact, the mechanism described in this application is not limited to the scope of any specific programming language. In either case, the language can be a compiled language or an interpreted language.

[0253] In some cases, the disclosed embodiments may be implemented in hardware, firmware, software, or any combination thereof. In some cases, one or more aspects of at least some embodiments may be implemented by representative instructions stored on a computer-readable storage medium, which represent various logics in a processor, and when the instructions are read by a machine, the machine makes logic for performing the techniques described herein. These representations, known as “IP cores,” may be stored on a tangible computer-readable storage medium and provided to multiple customers or production facilities to be loaded into a manufacturing machine that actually manufactures the logic or processor.

[0254] Such computer-readable storage media may include, but are not limited to, a non-transitory tangible arrangement of an article manufactured or formed by a machine or apparatus, including storage media such as: a hard disk, any other type of disk, including a floppy disk, an optical disk, a compact disk-read only memory (CD-ROM), a compact disk-rewritable (CD-RW), and a magneto-optical disk; semiconductor devices, such as read-only memory (ROM), random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), erasable programmable read-only memory (EPROM), flash memory, electrically erasable programmable read-only memory (EEPROM); phase change memory (PCM); a magnetic card or an optical card; or any other type of medium suitable for storing electronic instructions.

[0255] Therefore, various embodiments of the present application also include non-transitory computer-readable storage media that contain instructions or contain design data, such as hardware description language (HDL), which defines the structures, circuits, devices, processors and / or system features described in the present application.

Claims

1. A positioning compensation method for a slave device, characterized in that: include: receiving positioning assistance information from a master device, the positioning assistance information comprising a first pseudorange of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a master satellite, the first frequency receiver being used to receive a satellite signal of a first receiving frequency; and receiving a satellite signal of a second receiving frequency, and determining a second pseudorange of the slave device, wherein the second pseudorange indicates a pseudorange between a second frequency receiver of the slave device and a slave satellite; Determine a second total electron content according to the first pseudorange and the second pseudorange, wherein the second total electron content indicates a total electron content of a second propagation path between the slave device and the slave satellite; An ionospheric delay is determined according to the second total electron content and a second receiving frequency of the slave device, and a positioning error of the slave device is compensated according to the ionospheric delay.

2. The method according to claim 1, characterized in that The master satellite supports a first receiving frequency of a first frequency receiver of the master device, and the slave satellite supports a second receiving frequency of a second frequency receiver of the slave device, wherein the master satellite and the slave satellite are the same satellite or different satellites.

3. The method according to claim 1, characterized in that The determining of the second total electron content further comprises: The second total electron content is determined according to the following formula, Wherein, f1 is the first receiving frequency of the master device, f2 is the second receiving frequency of the slave device, and p ′ 1 is the first pseudorange of the master device, p ′ 2 is the second pseudorange of the slave device.

4. The method according to claim 1, characterized in that The determining the ionospheric delay further comprises: The ionospheric delay is determined according to the following formula, wherein f is the second receiving frequency of the slave device, and TEC is the second total electron content.

5. The method according to any one of claims 1 to 4, characterized in that: Also includes: Based at least in part on at least one of a distance between the master device and the slave device and a speed of the master device, it is determined that a confidence level of the positioning assistance information from the master device is above a threshold.

6. The method according to claim 1, characterized in that Also includes: Receive other positioning assistance information from other master devices; Determining that the distance between the master device and the slave device is less than the distance between the other master devices and the slave device; and It is determined that the confidence level of the positioning assistance information from the master device is higher than the confidence levels of the other positioning assistance information from the other master devices.

7. The method according to claim 1, characterized in that The slave device includes a user device with a single receiving frequency.

8. The method according to claim 1, characterized in that The master device includes a road side unit (RSU) or a master user equipment.

9. A positioning compensation method for a master device, characterized in that: include: Determine positioning assistance information, wherein the positioning assistance information includes a first pseudorange of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a master satellite, the first frequency receiver being used to receive a satellite signal of a first receiving frequency; and sending the positioning assistance information to a slave device, wherein the slave device is used to receive a satellite signal at a second receiving frequency, determine a second pseudorange of the slave device, wherein the second pseudorange indicates a pseudorange between a second frequency receiver of the slave device and a slave satellite, and Determine a second total electron content according to the first pseudorange and the second pseudorange, wherein the second total electron content indicates a total electron content of a second propagation path between the slave device and the slave satellite; An ionospheric delay is determined according to the second total electron content and a second receiving frequency of the slave device, and a positioning error of the slave device is compensated according to the ionospheric delay.

10. A positioning compensation method for a relay device, characterized in that: include: receiving positioning assistance information from a master device, wherein the positioning assistance information includes a first pseudorange of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver of the master device and a master satellite, the first frequency receiver being used to receive a satellite signal of a first receiving frequency; Determining whether a confidence level of the positioning assistance information is above a threshold based at least in part on at least one of a distance between the master device and the relay device and a speed of the master device; and In a case where the confidence level is higher than the threshold, the positioning assistance information is sent to a slave device, wherein the slave device is used to receive a satellite signal at a second receiving frequency, determine a second pseudorange of the slave device, wherein the second pseudorange indicates a pseudorange between a second frequency receiver of the slave device and a slave satellite, and Determine a second total electron content according to the first pseudorange and the second pseudorange, wherein the second total electron content indicates a total electron content of a second propagation path between the slave device and the slave satellite; An ionospheric delay is determined according to the second total electron content and a second receiving frequency of the slave device, and a positioning error of the slave device is compensated according to the ionospheric delay.

11. The method according to claim 10, characterized in that Also includes: Receive other positioning assistance information from other master devices; and The confidence level of the positioning assistance information is determined to be higher than the confidence level of the other positioning assistance information based at least in part on the distances between the master device and the other master devices and the relay device, respectively.

12. The method according to claim 11, characterized in that The relay device includes a road side unit (RSU), and the master device includes a master user equipment.

13. An on-board unit (OBU) for a slave device, characterized in that: include: a transceiver unit, configured to receive positioning assistance information from a master device, wherein the positioning assistance information includes a first pseudorange of the master device, wherein the first pseudorange indicates a pseudorange between a first frequency receiver in the transceiver unit and a master satellite, wherein the first frequency receiver is configured to receive a satellite signal of a first receiving frequency; and a control unit, configured to receive a satellite signal of a second receiving frequency, determine a second pseudorange of the slave device, wherein the second pseudorange indicates a pseudorange between a second frequency receiver of the slave device and a slave satellite, and Determine a second total electron content according to the first pseudorange and the second pseudorange, wherein the second total electron content indicates a total electron content of a second propagation path between the slave device and the slave satellite; An ionospheric delay is determined according to the second total electron content and a second receiving frequency of the slave device, and a positioning error of the slave device is compensated according to the ionospheric delay.

14. The vehicle-mounted unit according to claim 13, characterized in that: The master satellite supports a first receiving frequency of a first frequency receiver of the master device, and the slave satellite supports a second receiving frequency of a second frequency receiver of the slave device, wherein the master satellite and the slave satellite are the same satellite or different satellites.

15. The vehicle-mounted unit according to claim 14, characterized in that: The control unit is used to determine the second total electron content, and further includes: The second total electron content is determined according to the following formula, Wherein, f1 is the first receiving frequency of the master device, f2 is the second receiving frequency of the slave device, and p ′ 1 is the first pseudorange of the master device, p ′ 2 is the second pseudorange of the slave device.

16. The vehicle-mounted unit according to claim 14, characterized in that: The control unit is used to determine the ionospheric delay, and further includes: The ionospheric delay is determined according to the following formula, wherein f is the second receiving frequency of the slave device, and TEC is the second total electron content.

17. The vehicle-mounted unit according to any one of claims 14 to 16, characterized in that: The control unit is also used to: Based at least in part on at least one of a distance between the master device and the slave device and a speed of the master device, it is determined that a confidence level of the positioning assistance information from the master device is above a threshold.

18. The vehicle-mounted unit according to claim 14, characterized in that: The transceiver unit is also used to receive other positioning assistance information from other master devices; and the control unit is also used to determine that the distance between the master device and the slave device is less than the distance between the other master devices and the slave devices; and determine that the confidence level of the positioning assistance information from the master device is higher than the confidence level of the other positioning assistance information from the other master devices.

19. The vehicle-mounted unit according to claim 14, characterized in that: The transceiver unit includes at least one of a global navigation satellite system positioning (GNSS) transceiver unit and a PC5 port transceiver unit, and the control unit includes at least one of a global navigation satellite system positioning (GNSS) processor and a modem.

20. A machine-readable medium, characterized in that Instructions are stored on the medium, and when the instructions are executed on the machine, the machine is caused to execute the method according to any one of claims 1 to 12.

21. A positioning compensation system, characterized in that: include: processor; A memory having instructions stored therein, wherein when the instructions are executed by the processor, the positioning compensation system executes the method described in any one of claims 1 to 12.

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