Positioning method, device, electronic device and storage medium

Abstract

The present application discloses a positioning method, device, electronic device and storage medium, the method comprising: obtaining the three-axis attitude information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively; obtaining the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the ground-fixed coordinates of the first antenna, the rotation matrix, the carrier coordinates of the inertial detector in the carrier coordinate system and the carrier coordinates of the first antenna in the carrier coordinate system; performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain the positioning result. The scenarios in which the solution can be applied include but are not limited to autonomous driving, smart transportation, vehicle-road collaboration, and Internet of Vehicles.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and more specifically, to a positioning method, device, electronic device and storage medium. Background Art

[0002] With the development of navigation applications, many application scenarios require the navigation system to provide accurate position and speed information, as well as accurate carrier attitude information, such as aircraft, ships, vehicles, etc.

[0003] At present, the navigation information generated by the navigation system usually includes positioning information and attitude information, wherein the attitude angle included in the attitude information is obtained by an inertial navigation element, but this method of obtaining the attitude angle will produce errors, and the errors of the attitude angle will accumulate over time. Accordingly, the attitude angle obtained is not accurate enough, so the accuracy of the positioning result obtained based on the attitude angle and position information is difficult to guarantee. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a positioning method, device, electronic device and storage medium, which can quickly and accurately perform positioning.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising: obtaining a current speed of an electronic device, and obtaining carrier coordinates of a first antenna, a second antenna, and a third antenna in a carrier coordinate system, horizontal coordinates in a horizontal coordinate system, and ground-fixed coordinates in a ground-fixed coordinate system, respectively; obtaining three-axis attitude information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates, and ground-fixed coordinates corresponding to the first antenna, the second antenna, and the third antenna, respectively; obtaining the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix, and the carrier coordinates of the first antenna in the carrier coordinate system; performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed, and the inertial data detected by the inertial detector to obtain a positioning result.

[0006] In the second aspect, the embodiment of the present application provides a positioning device, the device includes a data acquisition module, a rotation matrix acquisition module, a ground-fixed coordinate acquisition module and a positioning result acquisition module. The data acquisition module is used to acquire the current speed of the electronic device, and acquire the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system and the ground-fixed coordinates in the ground-fixed coordinate system respectively; the rotation matrix acquisition module is used to obtain the three-axis attitude information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively; the ground-fixed coordinate acquisition module is used to obtain the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix and the carrier coordinates of the first antenna in the carrier coordinate system, and the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system; the positioning result acquisition module is used to perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain the positioning result.

[0007] In a possible implementation, the data acquisition module is also used to obtain the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system, the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system, and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system based on the differential data received by the first antenna and the satellite signals received by the first antenna, the second antenna, and the third antenna, respectively.

[0008] In a possible implementation, the data acquisition module includes: a first coordinate acquisition submodule and a second coordinate acquisition submodule. The first coordinate acquisition submodule is used to perform differential analysis on the satellite signal and differential data received by the first antenna to obtain the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system; the second coordinate acquisition submodule is used to obtain the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the satellite signals and the first ground-fixed coordinates received by the first antenna, the second antenna and the third antenna respectively.

[0009] In a possible implementation, the second coordinate acquisition submodule includes a baseline solution unit and a coordinate acquisition unit. The baseline solution unit is used to perform baseline solutions on the satellite signals respectively received by the first antenna, the second antenna, and the third antenna to obtain a first baseline vector between the first antenna and the second antenna, a second baseline vector between the second antenna and the third antenna, and a third baseline vector between the third antenna and the first antenna, wherein the vector sum of the first baseline vector, the second baseline vector, and the third baseline vector is zero, or the sum of the ambiguity parameter vectors corresponding to the first baseline vector, the second baseline vector, and the third baseline vector is zero; the coordinate acquisition unit is used to obtain the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the first baseline vector, and obtain the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the third baseline vector.

[0010] In a possible implementation, the data acquisition module further includes: a carrier coordinate system establishment submodule and a third coordinate acquisition submodule. The carrier coordinate system establishment submodule is used to establish a carrier coordinate system with the location of the first antenna as the coordinate origin and the plane where the first antenna, the second antenna and the third antenna are located as the coordinate plane, wherein the second antenna is located on the y-axis of the carrier coordinate system; and the third coordinate acquisition submodule is used to acquire the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system respectively.

[0011] In a possible implementation, the data acquisition module further includes: a horizontal coordinate system establishment submodule and a fourth coordinate acquisition submodule. The horizontal coordinate system establishment submodule is used to establish a horizontal coordinate system with the first antenna as the origin; the fourth coordinate acquisition submodule is used to obtain the horizontal coordinates corresponding to the second antenna and the third antenna in the horizontal coordinate system according to the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively and the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system.

[0012] In a possible implementation, the three-axis attitude information includes a heading angle, a pitch angle, and a roll angle, and the rotation matrix acquisition module includes: a first angle acquisition submodule, a rotation submodule, a second angle acquisition submodule, and a rotation matrix acquisition submodule. The first angle acquisition submodule is used to obtain the heading angle and the pitch angle of the electronic device according to the horizontal coordinates corresponding to the first antenna and the second antenna respectively; the rotation submodule is used to rotate the horizontal coordinate corresponding to the third antenna by an angle corresponding to the pitch angle to obtain a first horizontal coordinate, and rotate the first horizontal coordinate by an angle corresponding to the heading angle to obtain a second horizontal coordinate; the second angle acquisition submodule is used to obtain the roll angle of the electronic device according to the second horizontal coordinate and the carrier coordinate corresponding to the third antenna; the rotation matrix acquisition submodule is used to obtain the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the heading angle, the pitch angle, and the roll angle.

[0013] In a possible implementation, the rotation matrix acquisition submodule includes a matrix establishment unit and a matrix acquisition unit. The matrix establishment unit is used to establish a rotation matrix between the carrier coordinate system and the horizontal coordinate system according to the heading angle, the pitch angle, and the roll angle; the matrix acquisition unit is used to obtain the rotation matrix between the carrier coordinate system and the earth-fixed coordinate system according to the rotation matrix between the carrier coordinate system and the horizontal coordinate system, and the rotation matrix between the horizontal coordinate system and the earth-fixed coordinate system.

[0014] In a possible implementation, the ground-fixed coordinate acquisition module includes a direction vector acquisition submodule and a ground-fixed coordinate acquisition submodule. The direction vector acquisition submodule is used to obtain the direction vector of the inertial detector and the first antenna in the carrier coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system and the carrier coordinates of the first antenna in the carrier coordinate system respectively; the ground-fixed coordinate acquisition submodule is used to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the direction vector, the ground-fixed coordinates of the first antenna and the rotation matrix.

[0015] In a possible implementation, the ground-fixed coordinate acquisition submodule is further used to multiply the direction vector and the rotation matrix to obtain a product result; add the product result to the ground-fixed coordinate of the first antenna in the ground-fixed coordinate system to obtain the ground-fixed coordinate of the inertial detector in the ground-fixed coordinate system.

[0016] In a possible implementation, the positioning device further includes an error acquisition module and a correction module. The error acquisition module is used to establish a Kalman filter model of the integrated navigation system and obtain an inertial navigation error using the Kalman filter model, wherein the integrated navigation system includes the first antenna, the second antenna, the third antenna and an inertial detector; and the correction module is used to perform feedback correction on the positioning result using the inertial navigation error to obtain a corrected positioning result.

[0017] In a possible implementation, the inertial guidance error includes a zero bias error and a proportional factor error of the inertial detector, and the positioning device further includes a parameter correction module. The parameter correction module is used to correct the initial zero bias of the inertial detector using the zero bias error to obtain a corrected initial zero bias, and to correct the initial proportional factor of the inertial detector using the proportional factor error to obtain a corrected proportional factor.

[0018] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory; one or more programs are stored in the memory and configured to be executed by the processor to implement the above method.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a program code is stored, wherein the above method is executed when the program code is executed by a processor.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device obtains the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the above method.

[0021] The present application provided by the embodiments of the present application provides a positioning method, device, electronic device and storage medium. During the navigation process, the three-axis attitude information (attitude information in three directions) and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system can be accurately obtained according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively. In addition, since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, therefore, by performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, when the positioning result is obtained, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram showing a system architecture of an electronic device proposed in an embodiment of the present application;

[0024] Figure 2 A flowchart of a positioning method proposed in an embodiment of the present application is shown;

[0025] Figure 3 Shows Figure 2 Schematic diagram of the process of step S110;

[0026] Figure 4 A schematic diagram of a carrier coordinate system established based on a combined navigation system proposed in an embodiment of the present application is shown;

[0027] Figure 5 A schematic diagram of a ground-fixed coordinate system proposed in an embodiment of the present application is shown;

[0028] Figure 6 Shows Figure 2 Another schematic diagram of the process of step S110;

[0029] Figure 7 A schematic diagram of carrier coordinates and horizontal coordinates established based on a combined navigation system proposed in an embodiment of the present application is shown;

[0030] Figure 8 Shows Figure 2 Schematic diagram of the process of step S120;

[0031] Fig. 9 Shows Figure 2 Schematic diagram of the process of step S130;

[0032] Fig.10 A schematic diagram of the process of arranging inertial navigation machinery proposed in an embodiment of the present application is shown;

[0033] Fig.11 Another flow chart of a positioning method proposed in an embodiment of the present application is shown;

[0034] Fig.12 Shows Fig.11 Schematic diagram of the process of step S220;

[0035] Fig.13 Shows Fig.12 Schematic diagram of the process of step S224;

[0036] Fig.14 A schematic diagram of a modeling scenario of a double-difference observation equation is shown;

[0037] Fig.15 Another flow chart of a positioning method proposed in an embodiment of the present application is shown;

[0038] Fig.16 A connection block diagram of a positioning device proposed in an embodiment of the present application is shown;

[0039] Fig.17 A connection block diagram of an electronic device proposed in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0040] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The following is an introduction to terms that may be involved in the embodiments of the present application.

[0042] Electronic devices, in this embodiment, may refer to computer devices that can perform positioning operations, including mobile phones, laptops, tablet computers, car computers, navigation devices on aircraft or ships, etc. They may be provided with a combined navigation system for receiving and processing satellite signals and performing positioning.

[0043] Combined navigation system, a combined navigation system is a navigation system that uses computers and data processing technology to combine navigation devices with different characteristics. The combined navigation system is an information integrated system used to solve problems such as positioning, motion control, and equipment calibration and alignment. It has the advantages of high precision, high reliability, and high degree of automation, and is an inevitable trend in the development of networked navigation systems. Since each single navigation system has its own unique performance and limitations, if several different single systems are combined to form a combined navigation system, multiple information sources can be used to complement each other to form a multi-dimensional and multifunctional system with higher navigation accuracy. In an embodiment of the present application, the combined navigation system includes an antenna and an inertial detector, that is, the combined navigation system can be composed of an antenna and an inertial detector. Specifically, the combined navigation system includes a first antenna, a second antenna, a third antenna, and an inertial detector.

[0044] Antenna, an antenna is a converter used to convert guided waves propagating on a transmission line into electromagnetic waves propagating in an unbounded medium (usually free space), or vice versa. A component used to transmit or receive electromagnetic waves in radio equipment. Engineering systems such as radio communications, broadcasting, television, radar, navigation, electronic countermeasures, remote sensing, and radio astronomy, all of which use electromagnetic waves to transmit information, rely on antennas to work. In addition, in terms of transmitting energy with electromagnetic waves, non-signal energy radiation also requires antennas. Generally, antennas are reversible, that is, the same antenna can be used as both a transmitting antenna and a receiving antenna, and the basic characteristic parameters of the same antenna as a transmitter or receiver are the same.

[0045] Inertial detector, an inertial detector is a device that detects and measures acceleration, tilt, shock, vibration, rotation and multi-degree-of-freedom motion, and is an important component for solving navigation, orientation and motion carrier control. Among them, the inertial detector can be an inertial sensor or an inertial measurement unit (IMU), which can include an accelerometer for detecting acceleration and a gyroscope for detecting angles.

[0046] The carrier coordinate system refers to a three-dimensional coordinate system established based on the carrier (electronic device) on which the above-mentioned integrated navigation system is installed. For example, the origin of the coordinate system is located at the electronic device (e.g., it can be located at the center of the electronic device or the center of the integrated navigation system), and the direction of the carrier's movement is taken as the x coordinate of the carrier coordinate system. b axis, which is parallel to the antenna plane formed by the first antenna, the second antenna and the third antenna and is b The direction perpendicular to the axis is taken as the y direction of the carrier coordinate system b Axis, z of the carrier coordinate system b The axis is formed with the same b Axis and y b For another example, without loss of generality, it can be assumed that the first antenna, the second antenna, and the third antenna form an antenna plane, where the origin of the carrier coordinate system is at the first antenna, and the y axis of the carrier coordinate system is b The axis (yaw direction) is along the line between the first antenna and the second antenna, and the x b The axis lies in the plane of the antenna, pointing to the right and perpendicular to the y b Axis, z of the carrier coordinate system b The x axis is the same as above b Axis, y b The axes form a right-handed Cartesian coordinate system.

[0047] The horizontal coordinate system refers to a point in the electronic device (such as the point where the first antenna, the second antenna or the third antenna is located) as the origin of the horizontal coordinate system. n Axis and y n The axes are in the local horizontal plane, pointing to the east and north respectively. The z n The x axis is the same as above n Axis, y n The axes form a right-handed Cartesian coordinate system and are perpendicular to the Earth's ellipsoid, that is, pointing to the sky or the center of the Earth.

[0048] Earth-fixed coordinate system, the origin of the Earth-fixed coordinate system coincides with the center of mass of the Earth, z e The axis points to the agreed earth pole, x e The axis points to the intersection of the equator and the prime meridian (Greenwich meridian), y e The axis is in the equatorial plane and x e Axis and z e The axes form a right-handed Cartesian coordinate system.

[0049] Inertial coordinate system, inertial coordinate system refers to the coordinate system that remains stationary or moves at a uniform speed in a relative inertial space. It is an ideal coordinate system. The geocentric inertial system takes the center of mass of the earth as the coordinate origin. i The x axis of the geocentric inertial system is consistent with the direction of the earth's rotation axis. i The axis points to the mean vernal equinox, the y axis of the geocentric inertial system i The axis lies in the equatorial plane, and the y i The x axis of the Earth-centered inertial system i Axis, z i The axes form a right-handed Cartesian coordinate system.

[0050] Inertial navigation mechanical arrangement, including the mechanical entity layout of the integrated navigation system, the coordinate system used and the analytical calculation method, is manifested in the process of obtaining the real-time speed and position of the carrier from the output information of the inertial navigation elements (such as antennas and inertial detectors, etc.). Performing inertial navigation mechanical arrangement means determining and proposing a set of equations that reflect the relationship between the mechanical quantities in the integrated navigation system, and then solving the equations based on the set of equations to obtain the positioning results such as the real-time speed and position of the carrier.

[0051] Three-axis attitude information, including three attitude angles, reflects the attitude of the electronic device relative to the ground (horizontal plane). The three attitude angles are pitch angle, heading angle and roll angle.

[0052] Pitch angle, pitch angle refers to the x b Axis and x in the horizontal coordinate system n Axis and yn The angle between the horizontal plane formed by the axis. b When the positive half axis of the axis is above the horizontal plane passing through the origin of the coordinate system, the pitch angle is positive, otherwise it is negative.

[0053] Heading angle: refers to the carrier coordinate system x b The projection of the axis on the horizontal plane is the same as the x n The angle between the axes is determined by the x n The axis rotates counterclockwise to the x coordinate of the carrier b The yaw angle is positive when it is the projection line of the axis, and negative otherwise.

[0054] Roll angle: refers to the z of the carrier coordinate system b The x axis passes through the vector coordinate system b The angle between the vertical planes of the axes is positive when the carrier rolls to the right and negative when the carrier rolls to the right.

[0055] With the research and advancement of artificial intelligence technology, artificial intelligence technology has been studied and applied in many fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, drones, robots, smart medical care, smart customer service, etc. I believe that with the development of technology, artificial intelligence technology will be applied in more fields and play an increasingly important role.

[0056] Among them, autonomous driving technology usually includes high-precision maps, environmental perception, behavioral decision-making, path planning, motion control, navigation and positioning technologies. Therefore, autonomous driving technology has broad application prospects.

[0057] The inventor has found through research that with the continuous development of navigation technology, a single navigation system can no longer meet the user's requirements for navigation accuracy. Therefore, a combined navigation technology that combines at least two navigation systems has been applied. The commonly used combined navigation system is usually a single-antenna GPS / INS combined navigation, which can meet real-time and high-dynamic applications, but when the carrier is in a static state, small maneuvers or linear motion, its azimuth observation is weak and accurate three-axis attitude information cannot be obtained. Therefore, the drift error will gradually accumulate over time, thereby affecting the accuracy of the positioning result.

[0058] In view of this, the present application provides a positioning method, device, electronic device and storage medium, which obtains the three-axis attitude information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively. The ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system are obtained according to the ground-fixed coordinates of the first antenna, the rotation matrix, the carrier coordinates of the inertial detector in the carrier coordinate system and the carrier coordinates of the first antenna in the carrier coordinate system. The inertial navigation machinery is arranged based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain a more accurate positioning result.

[0059] Specifically, by adopting the above method, since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, and the three-axis attitude information obtained based on the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna are respectively calculated in real time, the obtained three-axis attitude information is more accurate and reliable. By performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, when the positioning result is obtained, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured.

[0060] Figure 1 A schematic diagram of an application scenario of an exemplary electronic device to which the technical solution of an embodiment of the present application can be applied is shown.

[0061] in, Figure 1 The schematic diagram of the system architecture of a vehicle when the electronic device is applied to the vehicle is shown in FIG. Figure 1 In the application scenario shown, the electronic device may be a vehicle-mounted device. It should be understood that the electronic device may also be a mobile terminal, a tablet computer, a notebook computer, a PDA, etc. The electronic device may also be arranged on an airplane or a ship, etc.

[0062] The vehicle may include an integrated navigation system 110, a vehicle body 120, a processor, a central control display, etc. The integrated navigation system 110 and the central control display are respectively connected to the processor, and the integrated navigation system 110, the processor, and the central control display may be respectively installed at different positions of the vehicle body 120. The integrated navigation system 110 may be composed of a first antenna, a second antenna, a third antenna, an inertial detector, etc.

[0063] Figure 1The shown schematic diagram of the setting position relationship between the antennas (the first antenna, the second antenna and the third antenna) in the combined navigation system 110 and the vehicle body 120. It should be understood that the antennas in the combined navigation system 110 can also be installed on the A-pillar or B-pillar on the front side of the vehicle body 120 (wherein the A-pillar refers to the support column on the left side of the windshield on the front side of the vehicle body 120, and the B-pillar refers to the support column on the right side of the windshield on the front side of the vehicle body 120), or can be installed in the water receiving trough below the front windshield of the vehicle body 120 or above the front windshield, or can be installed above or above the rear windshield, as long as the signal receiving surface of the antenna can receive signals.

[0064] When positioning the electronic device based on the integrated navigation system 110, the processor may perform the following method steps:

[0065] The current speed of the electronic device, the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system and the ground-fixed coordinates in the ground-fixed coordinate system are obtained; the three-axis attitude information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system are obtained according to the carrier coordinates, the horizontal coordinates and the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively; the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system are obtained according to the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix and the carrier coordinates of the first antenna in the carrier coordinate system; the inertial navigation machinery is arranged based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain a positioning result.

[0066] By using the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively, the three-axis attitude information (attitude information in three directions) and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system can be accurately obtained. In addition, since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, when the positioning result is obtained by performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured.

[0067] It should be noted that the positioning method provided in the embodiment of the present application is generally executed by a processor in the electronic device, and accordingly, the positioning device is generally arranged in the processor. However, in other embodiments of the present application, the electronic device may also be associated with a server, and the server may have similar functions as the electronic device, so as to execute the positioning method provided in the embodiment of the present application.

[0068] It should be understood that after obtaining the positioning result, the electronic device can also control the central control display screen to display the positioning result, and can also control the mobile terminal associated with the electronic device to display the positioning result.

[0069] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0070] Figure 2 A flowchart of a positioning method according to an embodiment of the present application is schematically shown. The executor of the positioning method can be a processor in an electronic device or a server associated with the electronic device. The electronic device is provided with a combined navigation system consisting of a first antenna, a second antenna, a third antenna and an inertial detector.

[0071] Reference Figure 2 As shown, the positioning method at least includes steps S110 to S140, which are described in detail as follows:

[0072] Step S110: obtaining the current speed of the electronic device, and obtaining the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system and the ground-fixed coordinates in the ground-fixed coordinate system respectively.

[0073] There are many ways to obtain the current speed of the electronic device.

[0074] As an implementation method, the state of the electronic device can be obtained first. If the electronic device is in a stationary state or an initialization state (the state when the electronic device is just started), the current speed of the electronic device is confirmed to be zero; if the electronic device is in a moving state, the running speed of the electronic device can be obtained according to the horizontal coordinates corresponding to the current epoch and the previous epoch of the current epoch, the time corresponding to the current epoch, and the time corresponding to the previous epoch. Among them, the epoch belongs to the concept of astronomy, which is a time point with some astronomical variables as reference.

[0075] As another implementation, the speed of the electronic device may be acquired by acquiring a speed value detected by a speed detection device disposed in the electronic device.

[0076] The method of obtaining the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system may be: establishing a carrier coordinate system, and obtaining the coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system. It should be understood that when the first antenna, the second antenna, and the third antenna are installed in the electronic device, their relative positions are fixed. Therefore, the positional relationship between the first antenna, the second antenna, and the third antenna can be obtained through measurement. Correspondingly, the coordinates of each antenna in the carrier coordinate system can also be determined based on the positional relationship between the coordinate origin of the carrier coordinate system and the first antenna, the second antenna, and the third antenna.

[0077] The coordinate origin of the carrier coordinate system may be located at the center of gravity, the center or any designated position of the electronic device, and may also be set according to actual needs.

[0078] See also Figure 3 In one possible implementation manner, the method for obtaining the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system respectively comprises the following sub-steps:

[0079] Step S111: establishing a carrier coordinate system with the location of the first antenna as the coordinate origin and the plane where the first antenna, the second antenna and the third antenna are located as the coordinate plane, wherein the second antenna is located on the y-axis of the carrier coordinate system.

[0080] See also Figure 4 Without loss of generality, we can assume Figure 1 The phase centers corresponding to the first antenna, the second antenna, and the third antenna in the combined navigation system shown in the figure respectively form an antenna plane (x in the carrier coordinate system). b oy b plane), where the origin of the carrier coordinate system is at the phase center of the first antenna, and the y coordinate of the carrier coordinate system is b The yaw axis (yaw direction) is the direction of the line from the phase center of the first antenna to the phase center of the second antenna. The x b The axis lies in the plane of the antenna, pointing to the right and perpendicular to the y b Axis, z of the carrier coordinate system b The x axis is the same as above b Axis, y b The axes form a right-handed Cartesian coordinate system.

[0081] It should be noted that the phase center of an antenna refers to the electromagnetic wave radiated by the antenna. After leaving the antenna at a certain distance, its equal phase plane will approximate a sphere, and the center of the sphere is the equivalent phase center of the antenna.

[0082] Step S112: Obtain the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system respectively.

[0083] After the positions of the antennas are determined, the phase centers of the antennas are also fixed. The first line L between the phase center of the first antenna and the phase center of the second antenna is 12 The length of the second connection line L between the first antenna and the third antenna is a fixed value. 13 The length of the third line L between the second antenna and the third antenna is a fixed value. 23 The length of is also a fixed value, and the angle α between the first connecting line and the second connecting line is also a fixed value. Based on the above content, it can be known that the carrier coordinates of the first antenna are (0,0,0) and the carrier coordinates of the second antenna are (0,L 12 sin α, 0), the carrier coordinates of the third antenna are (0, L 13 cosα, 0).

[0084] The method for obtaining the ground-fixed coordinates of the first antenna, the second antenna and the third antenna in the ground-fixed coordinate system can be: obtaining the satellite signals and differential data respectively received by the first antenna, the second antenna and the third antenna, and calculating according to the satellite signals and differential data respectively received by the first antenna, the second antenna and the third antenna to obtain the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively.

[0085] like Figure 5 The figure is a schematic diagram of the Earth-fixed coordinate system, where the coordinate origin of the Earth-fixed coordinate system coincides with the center of mass of the Earth, and the z e The axis points to the pole of the protocol, the x of the earth-fixed coordinate system e The axis points to the intersection of the equator and the prime meridian, and the y axis of the Earth-fixed coordinate system e The axis is in the equatorial plane and x e Axis and z e The axes form a right-handed Cartesian coordinate system.

[0086] The method for obtaining the horizontal coordinates of the first antenna, the second antenna, and the third antenna in the horizontal coordinate system can be, after obtaining the coordinates of the first antenna, the second antenna, and the third antenna in the ground-fixed coordinate system, performing coordinate conversion calculations based on the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system and the ground-fixed coordinates of the first antenna, the second antenna, and the third antenna in the ground-fixed coordinate system, to obtain the coordinates of the first antenna, the second antenna, and the third antenna in the horizontal coordinate system.

[0087] Please see Figure 6 In one possible implementation mode, obtaining the horizontal coordinates of the first antenna, the second antenna, and the third antenna respectively corresponding to the horizontal coordinate system includes:

[0088] Step S114: establishing a horizontal coordinate system with the first antenna as the origin.

[0089] like Figure 7 FIG. 1 is a schematic diagram of a horizontal coordinate system in an embodiment of the present application, wherein the phase center of the first antenna is the origin of the horizontal coordinate system, and the x n Axis and y n The axes are in the local horizontal plane, pointing to the east and north respectively. The z n The x axis is the same as above n Axis, y n The axes form a right-handed Cartesian coordinate system and their directions are perpendicular to the Earth's ellipsoid, that is, they point to the sky or the center of the Earth.

[0090] Step S115: Obtain the horizontal coordinates corresponding to the second antenna and the third antenna in the horizontal coordinate system according to the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively and the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system.

[0091] Among them, since the rotation matrix between the ground-fixed point system and the horizontal coordinate system is an inherent value, when the horizontal coordinate of the first antenna is known, the horizontal coordinates of the second antenna and the third antenna in the horizontal coordinate system can be obtained according to the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively and the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system.

[0092] Step S120: Obtain three-axis posture information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively.

[0093] The three-axis attitude information may include heading angle, pitch angle and roll angle.

[0094] As an implementable embodiment, if the carrier coordinate system and the horizontal coordinate system are established with the same coordinate origin, then the above-mentioned method of obtaining the three-axis attitude information of the electronic device according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively can be: the heading angle and the pitch angle can be calculated using the heading angle calculation formula and the pitch angle calculation formula for the horizontal coordinates and the carrier coordinates corresponding to the first antenna and the second antenna respectively, and the roll angle can be obtained according to the heading angle, the pitch angle and the horizontal coordinates and the carrier coordinates corresponding to the first antenna and the third antenna respectively.

[0095] As an implementable embodiment, if the carrier coordinate system and the horizontal coordinate system are not established with the same coordinate origin, then the above-mentioned method of obtaining the three-axis attitude information of the electronic device according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively can also be: the coordinate origin of the carrier coordinate system and / or the horizontal coordinate system is translated so that the coordinate origin of the carrier coordinate system and the horizontal coordinate system is located at the same point (for example, the coordinate origin after translation is located at the phase center of the first antenna, the second antenna or the third antenna), and the three-axis attitude information is obtained according to the carrier coordinates and horizontal coordinates of the first antenna, the second antenna and the third antenna after movement.

[0096] See also Figure 8 If the coordinate origins of the carrier coordinate system and the horizontal coordinate system are located at the same point and the coordinate origin is located at the position of the first antenna, step S120 includes:

[0097] Step S122: Obtain the heading angle and pitch angle of the electronic device according to the horizontal coordinates corresponding to the first antenna and the second antenna respectively.

[0098] Specifically, the heading angle of the electronic device can be calculated using a heading angle calculation formula according to the horizontal coordinates corresponding to the first antenna and the second antenna, and the pitch angle of the electronic device can be calculated using a pitch angle calculation formula according to the horizontal coordinates corresponding to the first antenna and the second antenna.

[0099] The heading angle calculation formula includes: q = -tan -1 (x2 / y2), the pitch angle calculation formula includes Among them, q is the heading angle, p is the pitch angle, and x2 is the x between the first antenna and the second antenna in the horizontal coordinate system. n The difference in the y-axis direction, y2 is the difference between the first antenna and the second antenna in the horizontal coordinate system. n The difference in the axis direction, z2 is the difference between the first antenna and the second antenna in the horizontal coordinate system z n The difference in the axis direction.

[0100] Step S124: rotating the horizontal coordinate corresponding to the third antenna by an angle corresponding to the pitch angle to obtain a first horizontal coordinate, and rotating the first horizontal coordinate by an angle corresponding to the heading angle to obtain a second horizontal coordinate.

[0101] In one possible implementation, the above step S124 may be: rotating the horizontal coordinate corresponding to the third antenna around the z-axis of the horizontal coordinate system by an angle corresponding to the pitch angle to obtain a first horizontal coordinate, and rotating the first horizontal coordinate around the x-axis of the horizontal coordinate system by an angle corresponding to the heading angle to obtain a second horizontal coordinate.

[0102] Assume that the second horizontal coordinate is (x″3, y″3, z″3). Then, the second horizontal coordinate is converted through y n The axis can be rotated by the roll angle to rotate (x″3, y″3, z″3) to the following Figure 3 The coordinates shown (L 13 sinα,L 13 cosα,0). Therefore, the roll angle of the electronic device can be obtained according to the second horizontal coordinate and the coordinate of the antenna in the carrier coordinate system.

[0103] Step S126: Obtain the roll angle of the electronic device according to the second horizontal coordinate and the carrier coordinate corresponding to the third antenna.

[0104] In one possible implementation, the second horizontal coordinate and the carrier corresponding to the third antenna may be marked and the roll angle of the electronic device may be calculated using a roll angle calculation formula. The roll angle calculation formula includes: Where, L 12 is the length of the first line between the phase center of the first antenna and the phase center of the second antenna, L 23 is the length of the second line between the first antenna and the third antenna, α is the angle between the first line and the second line, (x″3, y″3, z″3) is the second horizontal coordinate, and r is the rolling angle.

[0105] Step S128: Obtain a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the heading angle, the pitch angle, and the roll angle.

[0106] Specifically, since the heading angle, pitch angle and roll angle represent the conversion relationship between the carrier coordinate system and the horizontal coordinate system of the combined navigation system, the above-mentioned step S128 can be specifically: obtain the rotation matrix between the carrier coordinate system and the horizontal coordinate system according to the heading angle, pitch angle and roll angle; since the rotation matrix between the horizontal coordinate system and the earth-fixed coordinate system is a known quantity, the rotation matrix between the carrier coordinate system and the horizontal coordinate system can be multiplied with the rotation matrix between the horizontal coordinate system and the earth-fixed coordinate system to obtain the rotation matrix between the carrier coordinate system and the earth-fixed coordinate system.

[0107] Step S130: Obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the ground-fixed coordinates of the first antenna, the rotation matrix, the carrier coordinates of the inertial detector in the carrier coordinate system, and the carrier coordinates of the first antenna in the carrier coordinate system.

[0108] The positions of the inertial detector and the first antenna, the second antenna, and the third antenna are relatively fixed, that is, after the carrier coordinates of the first antenna, the second antenna, and the third antenna are determined, the carrier coordinates of the inertial sensor are also known quantities. Therefore, the inertial detector can be transformed according to the positional relationship between the first antenna and the inertial detector in the carrier coordinate system, the rotation matrix between the carrier coordinates and the ground-fixed coordinates, and the carrier coordinates of the first antenna to obtain the ground-fixed coordinates of the inertial detector.

[0109] See also Fig. 9 As an implementable method, the above step S130 may include the following steps:

[0110] Step S132: obtaining direction vectors of the inertial detector and the first antenna in the carrier coordinate system according to the carrier coordinates of the inertial detector and the first antenna in the carrier coordinate system respectively.

[0111] Specifically, the carrier coordinates of the inertial detector in the carrier coordinate system may be subtracted from the carrier coordinates of the first antenna in the carrier coordinate system to obtain a direction vector of the inertial detector and the first antenna in the carrier coordinate system, and the direction vector points from the inertial detector to the first antenna.

[0112] Step S134: Obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the direction vector, the ground-fixed coordinates of the first antenna, and the rotation matrix.

[0113] Among them, the above-mentioned step S134 can be: multiplying the direction vector and the rotation matrix to obtain a product result; adding the product result to the ground-fixed coordinates of the first antenna in the ground-fixed coordinate system to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system.

[0114] Specifically, the direction vector, the earth-fixed coordinates of the first antenna, and the rotation matrix may be calculated using a preset coordinate calculation formula to obtain the earth-fixed coordinates of the inertial detector in the earth-fixed coordinate system. The preset coordinate calculation formula includes: in, are the Earth-fixed coordinates of the first antenna, is the earth-fixed coordinate of the inertial detector in the earth-fixed coordinate system, is the rotation matrix, is the direction vector.

[0115] Step S140: Perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed, and the inertial data detected by the inertial detector to obtain a positioning result.

[0116] Inertial navigation mechanical arrangement is essentially an inertial navigation derivation algorithm based on Newton's second law, which is used to calculate the position, velocity and three-axis attitude information of the inertial detector at the next moment according to the position, velocity and three-axis attitude information at the previous moment. The inertial detector specifically includes an accelerometer and a gyroscope.

[0117] Specifically, the inertial navigation machine arrangement provides three-axis attitude information in a discrete form. By combining these three-axis attitude information with the initial state of the integrated navigation system (the current speed of the electronic device), the positioning result can be obtained. The positioning result here can include position, speed and three-axis attitude information.

[0118] Please refer to Figure 10, when performing inertial navigation mechanical arrangement, take the inertial navigation position calculation in the earth-centered earth-fixed coordinate system as an example. Fig.10 As can be seen from the figure, the inertial navigation machinery arrangement is mainly divided into two parts, one is the integration route of the accelerometer, and the other is the integration route of the angular velocity meter. As can be seen from the figure, the integration route of the angular velocity meter can be run independently, and it only needs the attitude matrix of the previous epoch and the angular increment or angular velocity of the current epoch to calculate the attitude information of the current epoch. The integration of acceleration depends on the attitude matrix calculated at the current epoch (the rotation matrix between the carrier coordinate system and the horizontal coordinate system), so as to obtain the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system of the current epoch, and then combine the specific force or velocity increment information output by itself to calculate the corresponding velocity parameters and position parameters. Therefore, the integration of the angular velocity meter is performed first, and then the integration route of the accelerometer is performed.

[0119] Specifically, on the accelerometer integration route, according to the specific force f given by the accelerometer b The definition of specific force is the projection of the acceleration between the carrier coordinate system and the inertial coordinate system in the carrier coordinate system, and then the rotation matrix between the carrier coordinate system and the Earth-centered Earth-fixed system calculated according to the current epoch and will It converts to f e (That is, its projected coordinate system is the Earth-centered Earth-fixed coordinate system), and then combined with gravity g e and the Golgi integral The velocity v of the current epoch can be obtained by integrating ∫ e Finally, the position r of the current epoch is obtained by integrating the velocity ∫ e .

[0120] On the gyroscope integration route, the angular velocity of the carrier coordinate system relative to the inertial system coordinate system output by the gyroscope is Angular velocity of rotation of the earth-fixed coordinate system relative to the inertial system coordinate system Angular velocity of the Earth-centered Earth-fixed system relative to the inertial system The angular velocity of the carrier system relative to the Earth-centered Earth-fixed coordinate system and the previous epoch You can calculate the current epoch Then, because there is a fixed rotation relationship between the earth-fixed coordinate system and the local horizontal coordinate system So we can get the current epoch Thus obtaining the posture information.

[0121] In one possible implementation, the derivation algorithm of the inertial navigation corresponding to the inertial navigation mechanical arrangement includes the following differential equations: Where v e is the speed of the integrated navigation system in the e system (earth-fixed coordinate system), is the rotation matrix of the carrier coordinate system relative to the ground-fixed coordinate system, f b For comparison, is the antisymmetric matrix of the projection of the angular velocity of the earth-fixed coordinate system relative to the inertial coordinate system in the inertial coordinate system, is the antisymmetric matrix of the projection of the angular velocity of the vehicle coordinate system relative to the inertial coordinate system in the inertial coordinate system, γ e represents the projection of the local Earth gravity in the Earth-fixed coordinate system, The differential of position, The differential of velocity, represents the differential of the rotation matrix.

[0122] By adopting the positioning method provided by the present application, since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, and the three-axis attitude information obtained based on the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively is calculated in real time, it is more accurate and reliable. By performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, when the positioning result is obtained, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured.

[0123] See also Fig.11 The embodiment of the present application also provides a positioning method. The execution subject of the positioning method can be a processor in an electronic device or a server associated with the electronic device. The electronic device is provided with a combined navigation system consisting of a first antenna, a second antenna, a third antenna and an inertial detector. The positioning method includes at least steps S210 to S260, which are described in detail as follows:

[0124] Step S210: obtaining the current speed of the electronic device, and obtaining the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system respectively.

[0125] Step S220: Obtaining the ground-fixed coordinates of the first antenna, the second antenna and the third antenna in the ground-fixed coordinate system according to the differential data received by the first antenna and the satellite signals received by the first antenna, the second antenna and the third antenna respectively.

[0126] The differential data received by the first antenna may be differential data sent by the Qianxun base station. The ground-fixed coordinates of the first antenna in the ground-fixed coordinate system are the first ground-fixed coordinates, the ground-fixed coordinates of the second antenna in the ground-fixed coordinate system are the second ground-fixed coordinates, and the ground-fixed coordinates of the third antenna in the ground-fixed coordinate system are the third ground-fixed coordinates.

[0127] See also Fig.12 As an implementable method, the above step S220 may include the following sub-steps:

[0128] Step S222: performing differential analysis on the satellite signal and differential data received by the first antenna to obtain a first ground-fixed coordinate of the first antenna in the ground-fixed coordinate system.

[0129] As an implementable method, the above step S222 may be to solve the satellite signal and differential data received by the first antenna using a network RTK solution method to obtain the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system. The RTK solution method refers to a differential method for processing the carrier phase observations of two measurement stations in real time using RTK (Real-time kinematic) carrier phase differential technology, and is used to send the carrier phase collected by the base station to the user receiver (the antenna in this application, such as the first antenna), and perform differential solution coordinates (i.e., solve the first ground-fixed coordinates).

[0130] Step S224: obtaining the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the satellite signals and the first ground-fixed coordinates received by the first antenna, the second antenna and the third antenna respectively.

[0131] See also Fig.13 As an implementable method, the above step S224 includes the following steps:

[0132] Step S224a: Perform baseline calculations on the satellite signals received by the first antenna, the second antenna, and the third antenna, respectively, to obtain a first baseline vector between the first antenna and the second antenna, a second baseline vector between the second antenna and the third antenna, and a third baseline vector between the third antenna and the first antenna.

[0133] The vector sum of the first baseline vector, the second baseline vector and the third baseline vector is zero, or the sum of the blur parameter vectors corresponding to the first baseline vector, the second baseline vector and the third baseline vector is zero.

[0134] It should be understood that the first antenna, the second antenna and the third antenna are installed on the electronic device at the same time, that is, the distance between the first antenna, the second antenna and the third antenna is relatively close, such as within a few centimeters or a few meters, so the first antenna, the second antenna and the third antenna can receive satellite signals transmitted by the same satellite. Correspondingly, the satellite signals received by the first antenna, the second antenna and the third antenna at the same time are usually multiple groups (that is, the same position usually corresponds to multiple satellites, that is, the position is located in the signal coverage range of multiple satellites). By making the vector sum of the calculated first baseline vector, the second baseline vector and the third baseline vector zero, or making the sum of the ambiguity parameter vectors corresponding to the first baseline vector, the second baseline vector and the third baseline vector respectively zero, it can be ensured that the satellite signals of the three antennas when performing position calculation are derived from the same satellite, thereby ensuring the accuracy of the obtained antenna position.

[0135] Specifically, the vector sum of the first baseline vector, the second baseline vector and the third baseline vector is zero, that is, in, is the first baseline vector, is the second baseline vector, is the third baseline vector. The sum of the blur parameter vectors corresponding to the first baseline vector, the second baseline vector, and the third baseline vector is zero, that is, in, is the ambiguity parameter corresponding to the first baseline vector, is the ambiguity parameter corresponding to the second baseline vector, is the fuzziness parameter corresponding to the third baseline vector.

[0136] The ambiguity parameters corresponding to the first baseline vector, the second baseline vector, and the third baseline vector can be obtained through the double difference observation equation. Fig.14 As shown, assuming that at the same time, the satellites observed by the first antenna, the second antenna, and the third antenna include reference satellite i and non-reference satellite j, the first antenna is used as the reference station A and the second antenna or the third antenna is used as the mobile station B, then the double difference observation equation can be established. The double difference observation equation includes and By solving the double difference observation equation, we can get the ambiguity parameter corresponding to the baseline vector, where A represents the reference station, B represents the mobile station, i represents the reference star, and j represents the non-reference star. represents the double difference operator. Specifically, represents the double-difference pseudorange, represents the true double-difference satellite ground distance, represents the noise of pseudorange, represents the carrier phase, λ represents the wavelength corresponding to the carrier phase observation value, Represents the phase noise.

[0137] Step S224b: obtaining the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the first baseline vector, and obtaining the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the third baseline vector.

[0138] As an implementation mode, the second coordinates of the second antenna in the ground-fixed coordinate system can be obtained by adding the first ground-fixed coordinates to the first baseline vector, and the coordinates of the third antenna in the ground-fixed coordinate system can be obtained by adding the first ground-fixed coordinates to the third baseline vector.

[0139] Step S230: performing coordinate transformation calculation on the first ground-fixed coordinate, the second ground-fixed coordinate and the third ground-fixed coordinate according to the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system to obtain horizontal coordinates of the first antenna, the second antenna and the third antenna in the horizontal coordinate system.

[0140] As an implementable embodiment, the above step S230 can be that the first ground-fixed coordinate, the second ground-fixed coordinate and the third ground-fixed coordinate are respectively multiplied by the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system to obtain the horizontal coordinates of the first antenna, the second antenna and the third antenna in the horizontal coordinate system.

[0141] Step S240: Obtain three-axis posture information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively.

[0142] Step S250: Obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the ground-fixed coordinates of the first antenna, the rotation matrix, the carrier coordinates of the inertial detector in the carrier coordinate system, and the carrier coordinates of the first antenna in the carrier coordinate system.

[0143] Step S260: Perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed, and the inertial data detected by the inertial detector to obtain a positioning result.

[0144] By adopting the positioning method provided by the present application, the ground-fixed coordinates of the first antenna, the second antenna and the third antenna in the ground-fixed coordinate system can be accurately obtained according to the differential data received by the first antenna and the satellite signals received by the first antenna, the second antenna and the third antenna respectively. Since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, and the three-axis attitude information obtained based on the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively is calculated in real time, it is more accurate and reliable. By performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, when the positioning result is obtained, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured.

[0145] See also Fig.15 The embodiment of the present application also provides a positioning method. The execution subject of the positioning method may be a processor in an electronic device or a server associated with the electronic device. The electronic device is provided with a combined navigation system consisting of a first antenna, a second antenna, a third antenna, and an inertial detector. The positioning method includes at least steps S310 to S360, which are described in detail as follows:

[0146] Step S310: obtaining the current speed of the electronic device, and obtaining the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system and the ground-fixed coordinates in the ground-fixed coordinate system respectively.

[0147] Step S320: Obtain three-axis posture information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively.

[0148] Step S330: Obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the ground-fixed coordinates of the first antenna, the rotation matrix, the carrier coordinates of the inertial detector in the carrier coordinate system, and the carrier coordinates of the first antenna in the carrier coordinate system.

[0149] Step S340: Perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed, and the inertial data detected by the inertial detector to obtain a positioning result.

[0150] Step S350: Establish a Kalman filter model of the integrated navigation system, and use the Kalman filter model to obtain the inertial navigation error.

[0151] The integrated navigation system includes a first antenna, a second antenna, a third antenna and an inertial detector.

[0152] The Kalman filter model for establishing the integrated navigation system is as follows: In the formula, It represents the position error of the integrated navigation system in the Earth-centered Earth-fixed system. represents the velocity error of the integrated navigation system in the Earth-centered Earth-fixed system, φ represents the attitude error, and b g and b a Denote the bias errors of the gyro and accelerometer, s g and a Represent the scale factor errors of the gyro and accelerometer respectively.

[0153] The above step S350 may be to establish a Kalman filter model of the integrated navigation system, and based on the Kalman filter model, a 21-dimensional error model may be obtained and solved to obtain the inertial navigation error. The 21-dimensional error model is: In the formula, is the Kalman filter model, F is the system matrix of the integrated navigation system; G is the driving noise array; w is the driving white noise.

[0154] Step S360: using the inertial navigation error to perform feedback correction on the positioning result to obtain a corrected positioning result.

[0155] As an implementable method, the inertial navigation error includes the position error of the integrated navigation system in the earth-centered earth-fixed system, the three-axis attitude error and the speed error of the integrated navigation system in the earth-centered earth-fixed system. The positioning result includes the position positioning result, the speed positioning result and the three-axis attitude positioning result.

[0156] The positioning result is feedback-corrected by using the inertial navigation error to obtain the corrected positioning result, including: according to the position error, attitude error and speed error, the position positioning result, the speed positioning result and the attitude positioning result are corrected by using a preset correction formula to obtain the corrected position positioning result, the corrected speed positioning result and the corrected attitude positioning result.

[0157] Among them, the preset correction formula is: The subscript mech in the formula indicates the positioning result obtained by mechanical arrangement, r indicates the position positioning result after correction, and r mech Indicates the location positioning result. represents the position error of the integrated navigation system in the Earth-centered Earth-fixed system, v mech represents the speed positioning result, v represents the corrected speed positioning result, represents the velocity error of the integrated navigation system under the Earth-centered Earth-fixed system, R represents the corrected three-axis attitude positioning result, I represents the unit matrix, φ× represents the antisymmetric matrix of the attitude error, and R mechIndicates the three-axis attitude positioning result.

[0158] By adopting the positioning method provided by the present application, according to the differential data received by the first antenna, and the satellite signals received by the first antenna, the second antenna and the third antenna respectively, the ground-fixed coordinates of the first antenna, the second antenna and the third antenna in the ground-fixed coordinate system can be accurately obtained. Since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, and the three-axis attitude information obtained based on the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna are calculated in real time, it is more accurate and reliable. By performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, when the positioning result is obtained, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured. Furthermore, by establishing a Kalman filter model of the combined navigation system, and using the Kalman filter model to obtain the inertial navigation error, and using the inertial navigation error to feedback correct the positioning result, the corrected positioning result is obtained to further improve the reliability of the obtained positioning result.

[0159] In order to improve the accuracy of the calibration results in the subsequent calibration process, the zero bias and scale factor of the accelerometer and gyroscope in the inertial detector can also be calibrated. Specifically, the inertial guidance error includes the zero bias error and scale factor error of the inertial detector, and the positioning method also includes:

[0160] The initial zero bias of the inertial detector is corrected by using the zero bias error to obtain a corrected initial zero bias, and the initial scale factor of the inertial detector is corrected by using the scale factor error to obtain a corrected scale factor.

[0161] The initial zero bias of the inertial detector includes the initial zero bias of the gyroscope and the initial zero bias of the accelerometer. Similarly, the initial scale factor of the inertial detector includes the initial scale factor of the gyroscope and the initial scale factor of the accelerometer.

[0162] Specifically, the inertial navigation error also includes the gyro bias error b g , accelerometer bias error b a , gyroscope scale factor error s g and the accelerometer scale factor error s a The initial zero bias and initial proportional factor of the inertial detector are corrected using the correction calculation formula to obtain the corrected zero bias and corrected proportional factor of the inertial detector, wherein the correction calculation formula includes: In the formula, a k-1 represents the corrected zero bias of the accelerometer, a kRepresents the corrected zero bias of the accelerometer, S a,k-1 is the initial scale factor of the accelerometer, S a,k is the corrected scale factor of the accelerometer, ε k-1 is the initial zero bias of the gyro, ε k is the corrected zero bias of the gyro, S ε,k-1 is the initial scale factor of the gyroscope, S ε,k is the corrected scale factor of the gyro.

[0163] It should be understood that the corrected zero bias and the corrected proportional factor of the inertial detector will affect the output of the inertial detector at the next moment adjacent to the current moment, for example, it will affect the speed increment and angle increment at the next moment. Specifically, the speed increment and angle increment at the next moment can be obtained by the following calculation formula: In the formula is the speed increment with error at the next moment, Δv k+1 is the velocity increment at the next moment, a k represents the corrected zero bias of the accelerometer, Δt is the time difference between the current moment and the next moment, S a,k is the corrected scale factor of the accelerometer, is the error angle increment at the next moment, Δω k+1 is the angular velocity increment at the next moment, ε k is the corrected zero bias of the gyro, S a,k is the corrected scale factor of the accelerometer.

[0164] By adopting the above settings, it is possible to implement error feedback correction of the positioning results during the navigation process, thereby achieving the purpose of correcting the positioning results in real time, thereby ensuring the accuracy of the positioning results output during the navigation process.

[0165] See also Fig.16 The present application provides a positioning device 400, which is applied to a processor in an electronic device or a server associated with the electronic device. The electronic device is provided with a combined navigation system consisting of a first antenna, a second antenna, a third antenna and an inertial detector. The device 400 includes: a data acquisition module 410, a rotation matrix acquisition module 420, a ground-fixed coordinate acquisition module 430 and a positioning result acquisition module 440.

[0166] The data acquisition module 410 is used to acquire the current speed of the electronic device, and acquire the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system and the ground-fixed coordinates in the ground-fixed coordinate system respectively.

[0167] As an implementable embodiment, the data acquisition module 410 can be used to obtain the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system, the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system, and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system based on the differential data received by the first antenna and the satellite signals received by the first antenna, the second antenna, and the third antenna, respectively.

[0168] In this implementation, the data acquisition module 410 may include: a first coordinate acquisition submodule and a second coordinate acquisition submodule.

[0169] The first acquisition submodule is used to perform differential analysis on the satellite signal and differential data received by the first antenna to obtain the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system.

[0170] The second coordinate acquisition submodule is used to obtain the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the satellite signals and the first ground-fixed coordinates received by the first antenna, the second antenna and the third antenna respectively.

[0171] The second coordinate acquisition submodule includes a baseline solving unit and a coordinate acquisition unit.

[0172] A baseline solution unit is used to perform baseline solutions on the satellite signals respectively received by the first antenna, the second antenna and the third antenna to obtain a first baseline vector between the first antenna and the second antenna, a second baseline vector between the second antenna and the third antenna, and a third baseline vector between the third antenna and the first antenna, wherein the vector sum of the first baseline vector, the second baseline vector and the third baseline vector is zero, or the sum of the ambiguity parameter vectors corresponding to the first baseline vector, the second baseline vector and the third baseline vector is zero.

[0173] The coordinate acquisition unit is used to obtain the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the first baseline vector, and to obtain the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system according to the first ground-fixed coordinates and the third baseline vector.

[0174] As another possible implementation mode, the data acquisition module 410 further includes: a carrier coordinate system establishment submodule and a third coordinate acquisition submodule.

[0175] The carrier coordinate system establishment submodule is used to establish a carrier coordinate system with the location of the first antenna as the coordinate origin and the plane where the first antenna, the second antenna and the third antenna are located as the coordinate plane, wherein the second antenna is located on the y-axis of the carrier coordinate system.

[0176] The third coordinate acquisition submodule is used to acquire the carrier coordinates of the first antenna, the second antenna and the third antenna in the carrier coordinate system respectively.

[0177] In this implementation, the data acquisition module 410 further includes: a horizontal coordinate system establishment submodule and a fourth coordinate acquisition submodule.

[0178] The horizontal coordinate system establishing submodule is used to establish a horizontal coordinate system with the first antenna as the origin.

[0179] The fourth coordinate acquisition submodule is used to obtain the horizontal coordinates corresponding to the second antenna and the third antenna in the horizontal coordinate system according to the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively and the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system.

[0180] The rotation matrix acquisition module 420 is used to obtain the three-axis posture information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively.

[0181] As an implementable embodiment, if the data acquisition module 410 includes a carrier coordinate system establishment submodule, a third coordinate acquisition submodule, a horizontal coordinate system establishment submodule and a fourth coordinate acquisition submodule, and the three-axis attitude information includes heading angle, pitch angle and roll angle, then the rotation matrix acquisition module 420 includes: a first angle acquisition submodule, a rotation submodule, a second angle acquisition submodule and a rotation matrix acquisition submodule.

[0182] The first angle obtaining submodule is used to obtain the heading angle and the pitch angle of the electronic device according to the horizontal coordinates respectively corresponding to the first antenna and the second antenna.

[0183] The rotation submodule is used to rotate the horizontal coordinate corresponding to the third antenna by an angle corresponding to the pitch angle to obtain a first horizontal coordinate, and to rotate the first horizontal coordinate by an angle corresponding to the heading angle to obtain a second horizontal coordinate.

[0184] The second angle obtaining submodule is used to obtain the rolling angle of the electronic device according to the second horizontal coordinate and the carrier coordinate corresponding to the third antenna.

[0185] In one possible implementation, the second angle obtaining submodule is specifically used to calculate the second horizontal coordinate and the carrier coordinate corresponding to the third antenna using an angle calculation formula to obtain the roll angle of the electronic device, and the angle calculation formula includes: (x″3,y″3,z″3) is the second horizontal coordinate, (L 13 sinα,L 13cosα,0) is the carrier coordinate corresponding to the third antenna, and r is the roll angle.

[0186] The rotation matrix acquisition submodule is used to obtain the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the heading angle, pitch angle and roll angle.

[0187] As an implementable method, the rotation matrix obtaining submodule includes a matrix establishing unit and a matrix obtaining unit.

[0188] The matrix building unit is used to build a rotation matrix between the carrier coordinate system and the horizontal coordinate system according to the heading angle, the pitch angle and the roll angle.

[0189] The matrix obtaining unit is used to obtain the rotation matrix between the carrier coordinate system and the earth-fixed coordinate system according to the rotation matrix between the carrier coordinate system and the horizontal coordinate system and the rotation matrix between the horizontal coordinate system and the earth-fixed coordinate system.

[0190] The ground-fixed coordinate obtaining module 430 is used to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the ground-fixed coordinates of the first antenna, the rotation matrix, the inertial detector and the carrier coordinates of the first antenna in the carrier coordinate system.

[0191] In one possible implementation, the ground-fixed coordinate acquisition module 430 includes a direction vector acquisition submodule and a ground-fixed coordinate acquisition submodule.

[0192] The direction vector obtaining submodule is used to obtain the direction vectors of the inertial detector and the first antenna in the carrier coordinate system according to the carrier coordinates of the inertial detector and the first antenna in the carrier coordinate system respectively.

[0193] The ground-fixed coordinate acquisition submodule is used to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the direction vector, the ground-fixed coordinates of the first antenna and the rotation matrix.

[0194] In one possible implementation, the ground-fixed coordinate acquisition submodule is further used to multiply the direction vector and the rotation matrix to obtain a product result; add the product result and the ground-fixed coordinate of the first antenna in the ground-fixed coordinate system to obtain the ground-fixed coordinate of the inertial detector in the ground-fixed coordinate system.

[0195] Specifically, the ground-fixed coordinate acquisition submodule can also be used to calculate the direction vector, the ground-fixed coordinates of the first antenna, and the rotation matrix using a preset coordinate calculation formula to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system. The preset coordinate calculation formula includes: in, are the Earth-fixed coordinates of the first antenna, is the earth-fixed coordinate of the inertial detector in the earth-fixed coordinate system, is the rotation matrix, Direction vector.

[0196] The positioning result obtaining module 440 is used to perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain the positioning result.

[0197] In one possible implementation, the positioning device 400 further includes an error acquisition module and a correction module.

[0198] The error acquisition module is used to establish a Kalman filter model of the integrated navigation system and obtain the inertial navigation error using the Kalman filter model. The integrated navigation system includes a first antenna, a second antenna, a third antenna and an inertial detector.

[0199] The correction module is used to perform feedback correction on the positioning result by using the inertial navigation error to obtain the corrected positioning result.

[0200] In one possible implementation, the inertial guidance error includes a zero bias error and a proportional factor error of the inertial detector, and the positioning device 400 further includes a parameter correction module.

[0201] The parameter correction module is also used to correct the initial zero bias of the inertial detector using the zero bias error to obtain a corrected initial zero bias, and to correct the initial proportional factor of the inertial detector using the proportional factor error to obtain a corrected proportional factor.

[0202] It should be noted that the device 400 embodiment in the present application corresponds to the aforementioned method embodiment. The specific principles of the device 400 embodiment can be found in the aforementioned method embodiment, which will not be repeated here.

[0203] The following will describe an electronic device 100 provided in the present application in combination with FIG17 .

[0204] See also Fig.17 Based on the positioning method provided in the above embodiment, the present application also provides an electronic device 100 that can execute the above method. The electronic device 100 can be a smart phone, a tablet computer, a computer, a vehicle, a ship, or an airplane. As a method, the electronic device 100 can be as follows: Figure 1 Onboard equipment in the vehicle shown.

[0205] The electronic device 100 includes a processor 102, a memory 104, and an integrated navigation system 110. The processor 102 is connected to the memory 104 and the antenna and the inertial detector in the integrated navigation system 110. The memory 104 stores a program that can execute the contents of the aforementioned embodiments, and the processor 102 can execute the program stored in the memory 104.

[0206] The processor 102 may include one or more cores and a message matrix unit for processing data. The processor 102 uses various interfaces and lines to connect various parts of the entire electronic device 100, and executes various functions of the electronic device 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 104, and calling data stored in the memory 104.

[0207] Optionally, the processor 102 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 102 can integrate one or a combination of a central processing unit 102 (CPU), a graphics processing unit 102 (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0208] The integrated navigation system 110 is a navigation system that combines navigation devices with different characteristics by using computers and data processing technology. In this embodiment, the integrated navigation system 110 is composed of a first antenna, a second antenna, a third antenna, and an inertial detector.

[0209] The memory 104 may include a random access memory 104 (Random Access Memory, RAM), and may also include a read-only memory 104 (Read-Only Memory). The memory 104 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function, etc. The data storage area may also store data acquired by the electronic device 100 during use.

[0210] The electronic device 100 may also include a network module 106, which is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other devices, such as communicating with an audio playback device. The network module 106 may include various existing circuit elements for performing these functions, such as an antenna, a radio frequency transceiver, a digital signal processor 102, an encryption / decryption chip, a user identity module (SIM) card, a memory 104, etc. The network module 106 may communicate with various networks such as the Internet, an intranet, a wireless network, or communicate with other devices via a wireless network. The above-mentioned wireless network may include a cellular telephone network, a wireless local area network, or a metropolitan area network.

[0211] In some embodiments, the electronic device 100 may further include: a peripheral interface 108 and at least one peripheral device. The processor 102, the memory 104 and the peripheral interface 108 may be connected via a bus or a signal line. Each peripheral device may be connected to the peripheral interface 108 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency component 112, a camera 114, an audio component 116 and a display screen 118.

[0212] The peripheral interface 108 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 102 and the memory 104. In some embodiments, the processor 102, the memory 104, and the peripheral interface 108 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 102, the memory 104, and the peripheral interface 108 may be implemented on a separate chip or circuit board, which is not limited in the embodiments of the present application.

[0213] The radio frequency component 112 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency component 112 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency component 112 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency component 112 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor 102, a codec chipset, a user identity module card, and the like. The radio frequency component 112 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency component 112 may also include circuits related to NFC (Near Field Communication), which is not limited in this application.

[0214] The camera 114 is used to capture images or videos. Optionally, the camera 114 includes a front camera 114 and a rear camera 114. Typically, the front camera 114 is disposed on the front panel of the electronic device 100, and the rear camera 114 is disposed on the back of the electronic device 100. In some embodiments, the rear camera 114 is at least two, which are any one of a main camera 114, a depth of field camera 114, a wide-angle camera 114, and a telephoto camera 114, so as to realize the fusion of the main camera 114 and the depth of field camera 114 to realize the background blur function, the fusion of the main camera 114 and the wide-angle camera 114 to realize the panoramic shooting and VR (Virtual Reality) shooting function or other fusion shooting functions. In some embodiments, the camera 114 may also include a flash. The flash may be a monochrome temperature flash or a dual color temperature flash. A dual color temperature flash refers to a combination of a warm light flash and a cold light flash, which can be used for light compensation at different color temperatures.

[0215] The audio component 116 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, and convert the sound waves into electrical signals and input them into the processor 102 for processing, or input them into the RF component 112 to achieve voice communication. For the purpose of stereo acquisition or noise reduction, there may be multiple microphones, which are respectively arranged at different parts of the electronic device 100. The microphone may also be an array microphone or an omnidirectional acquisition microphone. The speaker is used to convert the electrical signal from the processor 102 or the RF component 112 into sound waves. The speaker may be a traditional film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can not only convert the electrical signal into sound waves audible to humans, but also convert the electrical signal into sound waves inaudible to humans for purposes such as ranging. In some embodiments, the audio component 116 may also include a headphone jack.

[0216] The display screen 118 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 118 is a touch display screen 118, the display screen 118 also has the ability to collect touch signals on the surface or above the surface of the display screen 118. The touch signal can be input to the processor 102 as a control signal for processing. At this time, the display screen 118 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 118 can be one, and the front panel of the electronic device 100 is set; in other embodiments, the display screen 118 can be at least two, which are respectively set on different surfaces of the electronic device 100 or are folded; in some other embodiments, the display screen 118 can be a flexible display screen 118, which is set on the curved surface or folded surface of the electronic device 100. Even, the display screen 118 can also be set as a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 118 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, machine light-emitting diode).

[0217] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable medium stores program codes, which can be called by a processor to execute the method described in the above method embodiment.

[0218] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0219] The embodiment of the present application also provides a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. The processor of the computer device reads the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device performs the method described in the above various optional implementations.

[0220] In summary, the present application provides a positioning method, device, electronic device and storage medium, which can accurately obtain three-axis attitude information (attitude information in three directions) and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively. In addition, since the three-axis attitude information can accelerate the efficiency of mechanical inertial navigation arrangement, when the positioning result is obtained by performing inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector, the efficiency of obtaining the positioning result can be effectively improved, and the reliability of the obtained positioning result can be effectively ensured.

[0221] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, characterized in that: The method comprises: Acquire the current speed of the electronic device, and acquire the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system, and the ground-fixed coordinates in the ground-fixed coordinate system, respectively; Obtaining three-axis attitude information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively; Obtaining the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix, and the carrier coordinates of the first antenna in the carrier coordinate system; Inertial navigation machinery arrangement is performed based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain a positioning result.

2. The method according to claim 1, characterized in that Obtaining the ground-fixed coordinates of the first antenna, the second antenna, and the third antenna in a ground-fixed coordinate system, respectively, includes: Based on the differential data received by the first antenna and the satellite signals received by the first antenna, the second antenna and the third antenna respectively, the first ground-fixed coordinates of the first antenna in the ground-fixed coordinate system, the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system are obtained.

3. The method according to claim 2, characterized in that The obtaining, according to the differential data received by the first antenna and the satellite signals respectively received by the first antenna, the second antenna and the third antenna, a first ground-fixed coordinate of the first antenna in a ground-fixed coordinate system, a second ground-fixed coordinate of the second antenna in the ground-fixed coordinate system, and a third ground-fixed coordinate of the third antenna in the ground-fixed coordinate system, comprises: Performing differential analysis on the satellite signal and differential data received by the first antenna to obtain a first ground-fixed coordinate of the first antenna in a ground-fixed coordinate system; According to the satellite signals respectively received by the first antenna, the second antenna and the third antenna and the first ground-fixed coordinates, the second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system are obtained.

4. The method according to claim 3, characterized in that Obtaining, according to the satellite signals respectively received by the first antenna, the second antenna, and the third antenna and the first ground-fixed coordinates, a second ground-fixed coordinate of the second antenna in the ground-fixed coordinate system and a third ground-fixed coordinate of the third antenna in the ground-fixed coordinate system, comprising: Performing baseline solutions on satellite signals respectively received by the first antenna, the second antenna, and the third antenna to obtain a first baseline vector between the first antenna and the second antenna, a second baseline vector between the second antenna and the third antenna, and a third baseline vector between the third antenna and the first antenna, wherein a vector sum of the first baseline vector, the second baseline vector, and the third baseline vector is zero, or a sum of ambiguity parameter vectors respectively corresponding to the first baseline vector, the second baseline vector, and the third baseline vector is zero; The second ground-fixed coordinates of the second antenna in the ground-fixed coordinate system are obtained according to the first ground-fixed coordinates and the first baseline vector, and the third ground-fixed coordinates of the third antenna in the ground-fixed coordinate system are obtained according to the first ground-fixed coordinates and the third baseline vector.

5. The method according to claim 1, characterized in that: Obtaining the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system respectively includes: Establishing a carrier coordinate system with the location of the first antenna as the coordinate origin and the plane where the first antenna, the second antenna and the third antenna are located as the coordinate plane, wherein the second antenna is located on the y-axis of the carrier coordinate system; The carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system are obtained respectively.

6. The method according to claim 5, characterized in that Obtaining the horizontal coordinates of the first antenna, the second antenna, and the third antenna in the horizontal coordinate system respectively, including: Establishing a horizontal coordinate system with the first antenna as the origin; According to the ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively and the rotation matrix between the ground-fixed coordinate system and the horizontal coordinate system, the horizontal coordinates corresponding to the second antenna and the third antenna respectively in the horizontal coordinate system are obtained.

7. The method according to claim 5, characterized in that The three-axis attitude information includes a heading angle, a pitch angle, and a roll angle. The three-axis attitude information of the electronic device and a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system are obtained according to the carrier coordinates, the horizontal coordinates, and the ground-fixed coordinates corresponding to the first antenna, the second antenna, and the third antenna, respectively, including: Obtaining a heading angle and a pitch angle of the electronic device according to the horizontal coordinates corresponding to the first antenna and the second antenna respectively; The horizontal coordinate corresponding to the third antenna is rotated by an angle corresponding to the pitch angle to obtain a first horizontal coordinate, and the first horizontal coordinate is rotated by an angle corresponding to the heading angle to obtain a second horizontal coordinate; Obtaining a roll angle of the electronic device according to the second horizontal coordinate and the carrier coordinate corresponding to the third antenna; A rotation matrix between the carrier coordinate system and the ground-fixed coordinate system is obtained according to the heading angle, the pitch angle, and the roll angle.

8. The method according to claim 7, characterized in that Obtaining a rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the heading angle, the pitch angle, and the roll angle, including: Establishing a rotation matrix between the carrier coordinate system and the horizontal coordinate system according to the heading angle, the pitch angle and the roll angle; The rotation matrix between the carrier coordinate system and the earth-fixed coordinate system is obtained according to the rotation matrix between the carrier coordinate system and the horizontal coordinate system, and the rotation matrix between the horizontal coordinate system and the earth-fixed coordinate system.

9. The method according to claim 1, characterized in that: Obtaining the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix, and the carrier coordinates of the first antenna in the carrier coordinate system, including: Obtaining direction vectors of the inertial detector and the first antenna in the carrier coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system and the carrier coordinates of the first antenna in the carrier coordinate system respectively; The ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system are obtained according to the direction vector, the ground-fixed coordinates of the first antenna, and the rotation matrix.

10. The method according to claim 9, characterized in that Obtaining the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the direction vector, the ground-fixed coordinates of the first antenna, and the rotation matrix, includes: Multiplying the direction vector and the rotation matrix to obtain a product result; The product result is added to the ground-fixed coordinate of the first antenna in the ground-fixed coordinate system to obtain the ground-fixed coordinate of the inertial detector in the ground-fixed coordinate system.

11. The method according to claim 1, characterized in that: The method further comprises: Establishing a Kalman filter model of an integrated navigation system, and obtaining an inertial navigation error using the Kalman filter model, wherein the integrated navigation system includes the first antenna, the second antenna, the third antenna, and the inertial detector; The inertial navigation error is used to perform feedback correction on the positioning result to obtain a corrected positioning result.

12. The method according to claim 11, characterized in that The inertial guidance error includes a zero bias error and a proportional factor error of the inertial detector, and the method further includes: The initial zero bias of the inertial detector is corrected by using the zero bias error to obtain a corrected initial zero bias, and the initial scale factor of the inertial detector is corrected by using the scale factor error to obtain a corrected scale factor.

13. A positioning device, characterized in that: The device comprises: a data acquisition module, used to acquire the current speed of the electronic device, and acquire the carrier coordinates of the first antenna, the second antenna, and the third antenna in the carrier coordinate system, the horizontal coordinates in the horizontal coordinate system, and the ground-fixed coordinates in the ground-fixed coordinate system, respectively; A rotation matrix acquisition module, used to obtain the three-axis attitude information of the electronic device and the rotation matrix between the carrier coordinate system and the ground-fixed coordinate system according to the carrier coordinates, horizontal coordinates and ground-fixed coordinates corresponding to the first antenna, the second antenna and the third antenna respectively; a ground-fixed coordinate acquisition module, configured to obtain the ground-fixed coordinates of the inertial detector in the ground-fixed coordinate system according to the carrier coordinates of the inertial detector in the carrier coordinate system, the ground-fixed coordinates of the first antenna, the rotation matrix, and the carrier coordinates of the first antenna in the carrier coordinate system; The positioning result obtaining module is used to perform inertial navigation mechanical arrangement based on the three-axis attitude information, the ground-fixed coordinates of the inertial detector, the current speed and the inertial data detected by the inertial detector to obtain a positioning result.

14. An electronic device, characterized in that: The method comprises a processor and a memory; one or more programs are stored in the memory and configured to be executed by the processor to implement the method according to any one of claims 1 to 12.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program code, wherein when the program code is executed by a processor, the method according to any one of claims 1 to 12 is executed.

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