Positioning accuracy determination method, positioning method, apparatus, device, and storage medium

Abstract

The embodiment of the application provides a positioning precision determination method, a positioning method, a device, equipment and a storage medium. The positioning precision determination method comprises the following steps: a mobile station acquires multiple positioning data, i.e., satellite observation data collected by the mobile station and reference observation data collected by a reference station, and determines the data precision of the satellite observation data according to the multiple positioning data. Then, the data precision of the satellite observation data is taken as a parameter of an accuracy determination algorithm, so as to determine the positioning precision of a terminal device by using the accuracy algorithm parameter. It can be seen that the observation data in the observation domain, i.e., the satellite observation data and the reference observation data, is used in the above positioning precision determination process, that is, the positioning precision is directly determined by directly using the data in the observation domain.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, and in particular to a method for determining positioning accuracy, a positioning method, a device, an equipment, and a storage medium. Background Technology

[0002] Satellite positioning systems can provide timely location information for various industries, including transportation, agriculture, forestry and fisheries, hydrological monitoring, meteorological forecasting, power dispatching, and disaster relief. The most common positioning scenario is daily travel, where it provides location and navigation for vehicles or other user-used terminal devices.

[0003] Among common satellite positioning technologies based on the Global Positioning System (GPS), Real-time Kinematic (RTK) has become a mainstream method for achieving satellite positioning due to its advantages of high positioning speed and high accuracy.

[0004] In the process of positioning, positioning accuracy is an important indicator reflecting the accuracy of positioning. Therefore, how to obtain positioning accuracy has become an urgent problem to be solved. Summary of the Invention

[0005] In view of this, embodiments of this application provide a positioning accuracy determination method, positioning method, apparatus, device, and storage medium for obtaining positioning accuracy.

[0006] In a first aspect, embodiments of this application provide a method for determining positioning accuracy, including:

[0007] Acquire satellite observation data collected by the rover station and reference observation data collected by the base station;

[0008] The error of the satellite observation data is determined based on the satellite observation data and the reference observation data;

[0009] The accuracy of the satellite observation data is determined based on the error of the satellite observation data.

[0010] The accuracy of the satellite observation data is used as a parameter of the accuracy determination algorithm to determine the positioning accuracy of the mobile station.

[0011] Secondly, embodiments of this application provide a positioning accuracy determination device, comprising:

[0012] The acquisition module is used to acquire satellite observation data collected by the rover station and reference observation data collected by the base station;

[0013] An error determination module is used to determine the error of the satellite observation data based on the satellite observation data and the reference observation data;

[0014] The observation data accuracy determination module is used to determine the accuracy of the satellite observation data based on the error of the satellite observation data.

[0015] The positioning accuracy determination method uses the data accuracy of the satellite observation data as a parameter of the accuracy determination algorithm to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.

[0016] Thirdly, embodiments of this application provide a positioning method, including:

[0017] The initial positioning position is obtained based on carrier phase differential technology;

[0018] The initial positioning position is corrected based on the positioning accuracy to obtain the target positioning position, and the accuracy of the target positioning position is higher than that of the initial positioning position.

[0019] or,

[0020] Based on the positioning accuracy, display functional information prompts related to the positioning accuracy of the initial positioning position;

[0021] The positioning accuracy is determined based on the positioning accuracy determination method in the first aspect described above.

[0022] The positioning accuracy determination method provided in this application involves a mobile station receiving multiple types of positioning data, namely satellite observation data collected by the mobile station and reference observation data collected by a base station. The accuracy of the satellite observation data is determined based on these multiple types of positioning data. The accuracy of the satellite observation data is then used as a parameter for a preset accuracy determination algorithm to determine the positioning accuracy of the terminal device. Therefore, the mobile station determines the accuracy of the satellite observation data collected by the mobile station based on observation data collected by different devices, and obtains the positioning accuracy of the mobile station based on this accuracy. In other words, the positioning accuracy determination process uses observation data within the observation domain, thus achieving direct determination of positioning accuracy using observation data within the observation domain. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1A flowchart illustrating a method for determining positioning accuracy provided in an embodiment of this application;

[0025] Figure 2 A flowchart illustrating another method for determining positioning accuracy provided in this application embodiment;

[0026] Figure 3 A flowchart illustrating yet another method for determining positioning accuracy provided in this application embodiment;

[0027] Figure 4 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0028] Figure 5 This is a schematic diagram of a positioning accuracy determination device provided in an embodiment of this application;

[0029] Figure 6 To and Figure 5 A schematic diagram of the electronic device corresponding to the positioning accuracy determination device provided in the embodiment shown.

[0030] Figure 7 This is a schematic diagram of a positioning accuracy determination device provided in an embodiment of this application;

[0031] Figure 8 To and Figure 7 The illustrated embodiment provides a schematic diagram of the electronic device corresponding to the positioning accuracy determination device. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. “Multiple” generally includes at least two, but does not exclude the inclusion of at least one.

[0034] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0035] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to identification.” Similarly, depending on the context, the phrases “if determination” or “if identification (of the condition or event of the statement)” can be interpreted as “when determination” or “in response to determination” or “when identification (of the condition or event of the statement)” or “in response to identification (of the condition or event of the statement).”

[0036] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0037] The following describes some embodiments of this application in detail with reference to the accompanying drawings. Where there is no conflict between the embodiments, the following embodiments and features can be combined with each other. Furthermore, the timing of the steps in the following method embodiments is merely an example and not a strict limitation.

[0038] Figure 1 This is a flowchart illustrating a positioning accuracy determination method provided in an embodiment of this application. This positioning accuracy determination method can be executed by a positioning device. It is understood that the positioning device can be implemented as software, or a combination of software and hardware.

[0039] A satellite positioning system based on RTK technology may include a mobile station, a base station, and a satellite constellation. Therefore, the positioning device executing this embodiment and the following embodiments can specifically be a mobile station within this positioning system. The mobile station can be any terminal device whose location can change, such as a mobile phone, a car, etc. Figure 1 As shown, the method includes the following steps:

[0040] S101, acquire satellite observation data collected by the rover station and reference observation data collected by the base station.

[0041] The rover station can collect satellite observation data. Simultaneously, the base station can collect and transmit reference observation data to the rover station, enabling the rover station to receive this reference observation data.

[0042] Optionally, for a satellite constellation in a positioning system, the mobile station can collect satellite observation data from each satellite to obtain satellite observation data corresponding to each satellite. Similarly, the base station can also collect reference observation data from each satellite to obtain reference observation data corresponding to each satellite. When determining positioning accuracy using the method provided in this embodiment, satellite observation data and reference observation data corresponding to the same satellite, i.e., the target satellite, can be used, where the target satellite can be at least one satellite in the satellite constellation.

[0043] Optionally, the satellite observation data collected by the rover station may include pseudorange data and / or carrier observation data between the rover station and the satellite. Optionally, the reference observation data may include differential data collected by the base station, or positioning data collected by a high-precision positioning device. The positioning data may include pseudorange data and / or carrier observation data between the rover station and the satellite. It should be noted that the high-precision positioning device may be a positioning device with centimeter-level positioning accuracy, whose positioning accuracy is higher than that of the rover station.

[0044] S102, Determine the error of the satellite observation data based on satellite observation data and reference observation data.

[0045] S103, Determine the accuracy of satellite observation data based on the error of the satellite observation data.

[0046] It is easy to understand that satellite observation data usually contains errors, so reference observation data can be used to determine the errors in the satellite observation data.

[0047] In a simple way, optionally, when the satellite observation data and the reference observation data are pseudorange data collected by the rover station and the high-precision positioning equipment, respectively, the difference between the two can be directly determined as the error of the satellite observation data. Similarly, optionally, when the satellite observation data and the reference observation data are carrier observation data collected by the rover station and the high-precision positioning equipment, respectively, the difference between the two can also be determined as the error of the satellite observation data.

[0048] In practice, the error calculated in the above way can be either positive or negative. However, the concept of "data accuracy" is often non-negative. Therefore, the positive or negative nature of the error can be removed by processing the error of satellite observation data to ensure the non-negativity of data accuracy.

[0049] One optional approach is to use the square of the error in the satellite observation data as the data precision, thereby ensuring the non-negativity of the data precision. Another optional approach is to use the absolute value of the error in the satellite observation data as the data precision. Of course, this embodiment is not limited to any method for removing the non-negativity of the error; any method that ensures the non-negativity of the data precision is acceptable.

[0050] S104 uses the accuracy of satellite observation data as a parameter in the accuracy determination algorithm to determine the positioning accuracy of the rover station.

[0051] Ultimately, the accuracy of satellite observation data can be used as a parameter for a preset accuracy determination algorithm, which can then be used to calculate the positioning accuracy of the mobile station.

[0052] Optionally, if the satellite observation data is specifically carrier observation data, and the data accuracy of this carrier observation data can be calculated according to steps 101-103, then the data accuracy of the carrier observation data can be used as a parameter in the RTK Kalman filter algorithm. The positioning accuracy of the mobile station can then be obtained using the RTK Kalman filter algorithm, as shown in the following formula:

[0053]

[0054] Among them, D pos For positioning accuracy, I is the identity matrix, H x For the preset coefficient matrix, φ k,k-1 Let K be the state transition matrix from time k-1 to time k. k For the preset gain matrix, The state matrix at time K-1 The variance value, D ddres The data precision of carrier observation data.

[0055] in, L k For the preset observation matrix, X k-1,k-2 Here is the state transition equation from time k-2 to time k-1.

[0056] In this embodiment, the mobile station receives satellite observation data collected by itself and reference observation data collected by the base station, and determines the data accuracy of the satellite observation data based on multiple positioning data. The data accuracy of the satellite observation data is then used as a parameter for a preset accuracy determination algorithm, and the positioning accuracy of the mobile station is calculated based on this algorithm. Therefore, the mobile station can determine the data accuracy of the satellite observation data collected by the mobile station based on observation data collected by different devices, and obtain the positioning accuracy of the mobile station based on this data accuracy. The positioning accuracy determination process uses observation data within the observation domain, thus achieving the direct determination of positioning accuracy using data within the observation domain.

[0057] Furthermore, satellite observation data collected by the rover often contains errors. In cases where satellite observation data is unavailable due to these errors, the position coordinates can be determined first using the satellite data, and then the positioning accuracy can be determined by comparing these coordinates with reference coordinates—in other words, positioning accuracy is determined using data from the position domain. However, when using this method, the errors contained in the satellite observation data directly affect the accuracy of the position coordinates, and further impact the accuracy of the positioning.

[0058] The method provided in the above embodiments can directly calculate the error of satellite observation data and directly calculate the positioning accuracy of the mobile station based on the data accuracy of satellite observation data. Therefore, compared with the above methods, the positioning accuracy determination method provided in this embodiment can improve the accuracy of positioning.

[0059] As described above, the satellite observation data acquired by the mobile station contains errors, and these errors are often caused by various factors. Furthermore, different processing methods can typically be used to handle errors arising from different causes. Figure 2 A flowchart illustrating another method for determining positioning accuracy provided in an embodiment of this application. Figure 2 As shown, the method may include the following steps:

[0060] S201, acquire satellite observation data collected by the rover station and reference observation data collected by the base station.

[0061] and Figure 1 Similar to the illustrated embodiment, the mobile station can acquire satellite observation data and corresponding reference observation data for each satellite in the satellite constellation. The specific process for acquiring the observation data is similar to the corresponding steps in the aforementioned embodiments, and can be found in... Figure 1 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0062] Similar to the embodiments described above, the satellite observation data acquired by the rover station may include pseudorange observation data and / or carrier observation data. Furthermore, depending on the meaning of the data, the reference observation data acquired by the rover station can be specifically divided into first reference observation data, second reference observation data, and third reference observation data. The first reference observation data may include pseudorange data and / or carrier observation data between the base station and each satellite in the satellite positioning system. The second reference observation data may include the geometric distance between the rover station and each satellite. The third reference observation data may include the geometric distance between the base station and each satellite.

[0063] S202, Remove the transmission delay error caused by electromagnetic signal transmission in the satellite observation data to obtain the first satellite observation data, in which the electromagnetic signal carries the satellite observation data.

[0064] In practice, the satellite observation data corresponding to each satellite can be carried in the electromagnetic signals emitted by that satellite. However, after the electromagnetic signals propagate through the ionosphere and troposphere, a transmission delay error is introduced into the satellite observation data carried within the electromagnetic signals. Since the satellite observation data corresponding to different satellites all contain this error, it is optional to directly remove the transmission delay error contained in the satellite observation data corresponding to each satellite by subtracting the data, without needing to specifically calculate the value of this error.

[0065] Furthermore, it should be noted that during the execution of steps 202 to 205 below, the satellite observation data and the first reference observation data must simultaneously be either pseudorange observation data corresponding to the target satellite or carrier observation data corresponding to the target satellite. The target satellite is at least one of the non-reference satellites in the satellite constellation. The reference satellite can be the satellite with the most accurate clock in the satellite constellation. Based on the above description, when both the satellite observation data collected by the rover and the first reference observation data obtained by the base station are carrier observation data corresponding to the target satellite, optionally, the method for removing the transmission delay error contained in the satellite observation data corresponding to the target satellite can be understood in conjunction with the following formula:

[0066] Satellite observation data L collected by the rover station corresponding to the target satellite rover，sat1 It can be represented as:

[0067] L rover，sat1 =ρ rover，sat1 +c*(δt rover -δt sat1 )-I+T+λN rover (1)

[0068] Where, ρ rover，sat1 Let be the geometric distance between the mobile station and the target satellite, c be the speed of light, δ be a preset coefficient, and t be the distance between the mobile station and the target satellite. roverFor the clock offset of the mobile station, t sat1 Let I be the clock offset of the target satellite, I be the transmission delay error of the electromagnetic signal passing through the ionosphere, T be the transmission delay error of the electromagnetic signal passing through the troposphere, λ be the wavelength, and N be the wavelength. rover This represents the integer ambiguity value of the mobile station.

[0069] The first reference observation data L collected by the base station corresponding to the target satellite base，sat1 It can be represented as:

[0070] L base，sat1 =ρ base，sat1 +c*(δt base -δt sat1 )-I+T+λN base (2)

[0071] Where, ρ base，sat1 The geometric distance t between the base station and the target satellite is collected by the base station. base This represents the clock offset of the base station; the meanings of the other parameters can be found in the description above.

[0072] Based on the satellite observation data and reference observation data represented by the above two equations, the transmission delay error in the satellite observation data can be removed by subtracting the two equations. The first satellite observation data L corresponding to the target satellite obtained by subtracting the two equations is... rover，sat1 'Can be represented as:

[0073] L rover，sat1 '=ρ rover，sat1 -ρ base，sat1 +c(*δt rover -δt base )+λ(N rover,sat1 -N base,sat1 (3)

[0074] For satellite observation data corresponding to different satellites in the satellite cluster, the transmission delay error contained therein can be removed by following the methods shown in equations (1) to (3) above, so as to obtain the first satellite observation data corresponding to each different satellite.

[0075] S203, remove the clock deviation error caused by the mobile station's clock deviation in the first observation data to obtain the second satellite observation data.

[0076] Subsequently, based on the first satellite observation data corresponding to the target satellite obtained in step 202, optionally, the clock offset error contained in the first satellite observation data corresponding to the target satellite can also be removed using the satellite observation data corresponding to the reference satellite in the satellite constellation. Using the relatively accurate clock of the reference satellite, the clock offset error in the first satellite observation data corresponding to the target satellite can be removed based on the first satellite observation data corresponding to both the reference satellite and the target satellite, thus obtaining the second satellite observation data corresponding to the target satellite.

[0077] Optionally, to ensure the accuracy of clock skew error removal, the transmission delay error contained in the first reference observation data corresponding to the reference satellite can also be removed to obtain the first satellite observation data corresponding to the reference satellite. Then, the difference between the first satellite observation data corresponding to the target satellite and the reference satellite is determined as the second satellite observation data corresponding to the target satellite. The specific method for removing clock skew error can be understood using the following formula:

[0078] L rover，sat1 =L rover，sat1 '-L rover，sat2 '=ρ rover，sat1 -ρ base，sat1 -ρ rover，sat2 +ρ base ,sat2+λN ddres (4)

[0079] Among them, L rover，sat1 "L" refers to the second satellite observation data corresponding to the target satellite. rover，sat1 'This refers to the first satellite observation data corresponding to the target satellite, L' rover，sat2 'This is the first satellite observation data corresponding to the reference satellite,'

[0080] L rover，sat2 '=ρ rover，sat2 -ρ base，sat2 +c(*δt rover -δt base )+λ(N rover,sat2 -N base,sat2 ), ρ rover，sat1 ρ is the geometric distance between the rover and the target satellite. base，sat1 ρ is the geometric distance between the base station and the target satellite, collected by the base station. rover，sat2 ρ is the geometric distance between the rover and the reference satellite. base，sat2 N represents the geometric distance between the base station and the reference satellite, collected by the base station. ddres =(N rover,sat1 -N base,sat1 )-(N rover,sat2 -N base,sat2 ).

[0081] Following the above method, clock bias errors can be removed from the first satellite observation data corresponding to each non-reference satellite in the satellite cluster, thereby obtaining the second satellite observation data corresponding to each non-reference satellite.

[0082] S204. Determine the error of the satellite observation data based on the second satellite observation data and the reference observation data.

[0083] After step 203, the second satellite observation data corresponding to the target satellite still contains residual errors. Compared with the transmission delay error and clock deviation error mentioned above, this residual error can be considered as the true error value of the target satellite, used to reflect the data accuracy of the satellite observation data collected by this target satellite.

[0084] Alternatively, the residual error can be determined jointly using the second and third reference observations included in the reference observation data. The specific process can be understood using the following formula:

[0085] err rover,sat1 =L rover，sat1 "-(ρ high，sat1 -ρ base，sat1 -ρ high，sat2 +ρ base，sat2 (5)

[0086] Among them, err rover,sat1 ρ represents the residual error of the second satellite observation data corresponding to the target satellite. high，sat1 ρ is the geometric distance between the rover and the target satellite, collected by the measuring equipment. high，sat2 This refers to the geometric distance between the rover and the reference satellite, acquired by the measuring equipment. The meanings of the other parameters can be found in the description above. The measuring equipment can be... Figure 1 The high-precision positioning device in the illustrated embodiment can have centimeter-level positioning accuracy, which is higher than that of a mobile station.

[0087] Optionally, in practice, if the error of the satellite observation data corresponding to the target satellite is greater than a preset threshold, the target satellite is marked, and the satellite observation data corresponding to the target satellite is not used to calculate the positioning accuracy.

[0088] S205, Determine the accuracy of satellite observation data based on the errors in the satellite observation data.

[0089] The data precision D of the satellite observation data of the target satellite can be determined based on the error obtained in step 204. ddres Optional,

[0090] S206 uses the accuracy of satellite observation data as a parameter of the accuracy determination algorithm to determine the positioning accuracy of the rover station.

[0091] The execution process of step 206 described above is similar to the corresponding steps in the aforementioned embodiments, and can be found in the following examples: Figure 1 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0092] In this embodiment, when both the satellite observation data and reference observation data acquired by the mobile station are specifically represented as carrier observation data, a method for determining the data accuracy of the carrier observation data is provided. Based on this data accuracy, the positioning accuracy of the mobile station can be further obtained. Furthermore, in the process of determining the data accuracy of the carrier observation data, various errors caused by different reasons can be identified. Analysis of these errors provides a clear understanding of the reasons for low positioning accuracy and offers a clear direction for subsequent optimization of positioning accuracy.

[0093] The above embodiments utilize carrier wave observation data to determine positioning accuracy. In practice, pseudorange observation data can also be used to determine positioning accuracy, that is... Figure 2 The carrier observation data in the illustrated embodiment can also be replaced with pseudorange observation data.

[0094] When the satellite observation data corresponding to the target satellite is pseudorange observation data, the process of removing transmission delay errors from this data can be understood using the following formula:

[0095] Satellite observation data P corresponding to the target satellite acquired by the mobile station rover It can be represented as:

[0096] P rover，sat1 =ρ rover，sat1 +c*(δt rover -δt sat1 )-I+T (6)

[0097] Where, ρ rover，sat1 Let be the geometric distance between the mobile station and the target satellite, c be the speed of light, δ be a preset coefficient, and t be the distance between the mobile station and the target satellite. rover For the clock offset of the mobile station, t sat1 Let I be the clock deviation of the target satellite, I be the transmission delay error of the electromagnetic signal passing through the ionosphere, and T be the transmission delay error of the electromagnetic signal passing through the troposphere.

[0098] The first reference observation data P corresponding to the target satellite acquired by the base station base Sat1 can be represented as:

[0099] P base，sat1 =ρbase，sat1 +c*(δt base -δt sat1 )-I+T (7)

[0100] Where, ρ base，sat1 t represents the geometric distance between the base station and the target satellite, collected by the base station. base This represents the clock offset of the base station; the meanings of the other parameters can be found in the description above.

[0101] Subtracting the two equations above removes the transmission delay error in the satellite observation data corresponding to the target satellite, thus obtaining the first satellite observation data P corresponding to the target satellite. rover，sat1 ':

[0102] P rover，sat1 '=ρ rover，sat1 -ρ base，sat1 +c*(δt rover -δt base (8)

[0103] Based on the first satellite observation data corresponding to the target satellite, clock offset errors are further removed from this data to obtain the first satellite observation data corresponding to the target satellite. The specific removal process can be understood using the following formula:

[0104] P rover，sat1 =P rover，sat1 '-P rover，sat2 '=ρ rover，sat1 -ρ base，sat1 -ρ rover，sat2 +ρ base，sat2 (9)

[0105] Among them, P rover，sat1 "P" represents the second satellite observation data corresponding to the target satellite. rover，sat1 'This refers to the first satellite observation data corresponding to the target satellite, P' rover，sat2 'This refers to the first satellite observation data corresponding to the reference satellite.' rover，sat2 '=ρ rover，sat2 -ρ base，sat2 +c(*δt rover -δt base ), ρ rover，sat1 ρ is the geometric distance between the rover and the target satellite. base，sat1 ρ is the geometric distance between the base station and the target satellite, collected by the base station. rover，sat2 ρ is the geometric distance between the rover and the reference satellite. base，sat2 The geometric distance between the base station and the reference satellite is collected by the base station.

[0106] After removing the aforementioned errors, the pseudorange observation data also includes residual error err.rover,sat1 The remaining error can then be calculated as follows:

[0107] err rover,sat1 =P rover，sat1 "-(ρ high，sat1 -ρ base，sat1 -ρ high，sat2 +ρ base，sat2 (10)

[0108] Where, ρ high，sat1 ρ is the geometric distance between the rover and the target satellite, collected by the measuring equipment. high，sat2 The geometric distance between the rover and the reference satellite, collected by the measuring equipment.

[0109] Ultimately, optionally, the data precision D of the target satellite's satellite observation data. p-range It can be represented as:

[0110] Additionally, for the process of determining the data accuracy of pseudorange observations, the parts not described in detail can be found in the section on... Figure 2 The following is a description of the illustrated embodiment.

[0111] and Figure 2 Similar to the illustrated embodiment, in this embodiment, when both the satellite observation data and reference observation data acquired by the rover station are specifically represented as pseudorange observation data, a method for determining the data accuracy of the pseudorange observation data is provided. Based on this data accuracy, the positioning accuracy of the rover station can be further obtained. Furthermore, in the process of determining the data accuracy of the pseudorange observation data, various errors caused by different reasons can be identified. Analysis of these errors provides a clear understanding of the reasons for low positioning accuracy and offers a clear direction for subsequent optimization of positioning accuracy.

[0112] In practice, when the satellite observation data collected by the mobile station and the base station are specifically manifested as pseudorange observation data, the data accuracy of the pseudorange observation data can be determined by combining the methods described in equations (6) to (10) above. At the same time, the data accuracy of the ephemeris data can be further determined, and the positioning accuracy of the mobile station can be determined based on the respective data accuracy of the pseudorange observation data and the ephemeris data.

[0113] but Figure 3 A flowchart illustrating yet another method for determining positioning accuracy provided in an embodiment of this application. For example... Figure 3 As shown, the method may include the following steps:

[0114] S301, acquire satellite observation data and reference observation data received by the rover station.

[0115] S302, Remove the transmission delay error caused by electromagnetic signal transmission in the satellite observation data to obtain the first satellite observation data, the electromagnetic signal carries the satellite observation data.

[0116] S303, remove the clock deviation error caused by the mobile station's clock deviation in the first observation data to obtain the second satellite observation data.

[0117] S304. Determine the error of the satellite observation data based on the second satellite observation data and the reference observation data.

[0118] The execution process of steps 301 to 304 above is similar to the corresponding steps in the aforementioned embodiments, and can be found in equations (6) to (10) above. Figure 2 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0119] S305, determine the data precision of the ephemeris data based on ephemeris data and reference observation data.

[0120] Optionally, predicted observation data can be calculated based on the ephemeris data corresponding to the target satellite. Then, the difference between the reference observation data collected by the base station and this predicted observation data is determined as the error of the ephemeris data. This error can also be positive or negative. Finally, the error of the ephemeris data can be processed to obtain the data precision, thereby ensuring the non-negativity of the data precision. The ephemeris data includes broadcast ephemeris data and precise ephemeris data.

[0121] When the ephemeris data is broadcast ephemeris data, the predicted observation data P can be calculated using the following formula. base-c :

[0122] P base-c =ρ rover，brcm +c*(δt base,brdm -δt sat,brdm )+I brdm +T brdm (11)

[0123] Among them, P base-c This represents the pseudorange data between the rover and the target satellite, obtained from broadcast ephemeris data. It is a calculated value, ρ. rover，brcm The geometric distance between the mobile station and the target satellite, obtained from broadcast ephemeris data, is given by c, which is the speed of light, δ, a preset coefficient, and t. base,brdm To determine the clock offset of the mobile station based on broadcast ephemeris data, t sat,brdm To determine the clock offset of the target satellite based on broadcast ephemeris data, I brdm To account for the transmission delay error caused by the ionosphere in electromagnetic signals obtained from broadcast ephemeris data, T brdmThis represents the transmission delay error value of the electromagnetic signal obtained from broadcast ephemeris data as it passes through the troposphere.

[0124] The error in the broadcast ephemeris data corresponding to the target satellite can be expressed as: err brdm,sat1 =P base-c -P base,sat1 Among them, P base,sat1 The pseudorange data between the base station and the target satellite is collected by the base station.

[0125] Optionally, the error err of the broadcast ephemeris data corresponding to the aforementioned target satellite can be used. brdm,sat1 The square value is directly used to determine the data precision D of the broadcast ephemeris data corresponding to the target satellite. brdm,sat1 ,Right now

[0126] Similarly, when the ephemeris data is precise ephemeris data, the following formula can be used to calculate the predicted observation data P. base-c :

[0127] P base-c =ρ rover，prec +c*(δt base,prec -δt sat,prec )+I prec +T prec (12)

[0128] Among them, P base-c This represents the pseudorange data between the rover and the target satellite, obtained from precise ephemeris data. It is a calculated value, ρ. rover，prec The geometric distance between the mobile station and the target satellite is calculated based on precise ephemeris data, where c is the speed of light, δ is a preset coefficient, and t is the distance between the mobile station and the target satellite. base,prec To determine the clock offset of the mobile station based on precise ephemeris data, t sat，prec To determine the clock offset of the target satellite based on precise ephemeris data, I prec To account for the transmission delay error caused by the ionosphere in electromagnetic signals obtained from precise ephemeris data, T prec This represents the transmission delay error value of electromagnetic signals obtained from precise ephemeris data as they pass through the troposphere.

[0129] The error in the precise ephemeris data corresponding to the target satellite can be expressed as: err prec,sat1 =P base-c -P base,sat1 Among them, P base,sat1 The pseudorange data between the base station and the target satellite is collected by the base station.

[0130] Optionally, the error err of the precise ephemeris data corresponding to the aforementioned target satellite can be used. prec,sat1The square value is directly used to determine the data precision D of the precise ephemeris data corresponding to the target satellite. prec,sat1 ,Right now

[0131] S306 uses the precision of both satellite observation data and ephemeris data as parameters for the precision determination algorithm to determine the positioning precision of the rover station.

[0132] After obtaining the data accuracy of the satellite observation data (i.e., pseudorange observation data) collected by the rover station corresponding to the target satellite and the data accuracy of the ephemeris data through the above steps, these two data can be used as parameters for the accuracy determination algorithm, which calculates the positioning accuracy of the rover station. Optionally, the accuracy determination algorithm may include a pseudorange Kalman filter algorithm or a least squares algorithm.

[0133] Optionally, the positioning accuracy D of the rover station can be obtained using a pseudorange Kalman filter algorithm to determine the accuracy of satellite observation data and broadcast ephemeris data. pos，brdm :

[0134]

[0135] For the specific meanings of the parameters in the above formula, please refer to [link / reference]. Figure 1 The descriptions in the illustrated embodiments will not be repeated here.

[0136] Similarly, alternatively, the positioning accuracy D of the rover station can also be obtained using the pseudorange Kalman filter algorithm to determine the accuracy of satellite observation data and precise ephemeris data. pos，prec :

[0137]

[0138] In addition to the methods mentioned above, the positioning accuracy of the mobile station can also be determined by using the least squares algorithm.

[0139] Optionally, the precision of both broadcast ephemeris data and satellite observation data can be used as parameters for the least squares algorithm to obtain the positioning accuracy of the rover station. See the following formula for details:

[0140] D pos，brdm =(H T PH) -1 H T P(D p-range +D brdm )PH(H T PH) -1 (15)

[0141] Where H is the design matrix and P is the weight matrix.

[0142] Alternatively, the precision of both the precise ephemeris data and the satellite observation data can be used as parameters for the least squares algorithm to obtain the positioning accuracy of the rover station. See the following formula for details:

[0143] D pos，prec =(H T PH) -1 H T P(D p-range +D prec )PH(H T PH) -1 (16)

[0144] This embodiment provides a method for determining the data precision of broadcast ephemeris data and precise ephemeris data. Based on this, the positioning accuracy of the rover station can be directly determined by simultaneously utilizing the respective data precision of the broadcast ephemeris data and satellite observation data. The technical effects achieved by this embodiment can also be found in the relevant descriptions of the above embodiments, and will not be repeated here.

[0145] In summary, the methods provided in the above embodiments can directly determine positioning accuracy using data within the observation domain. These embodiments can eliminate or directly calculate various errors contained in satellite observation data, thereby further calculating the rover's positioning accuracy based on the data precision of the satellite observation data, thus improving the accuracy of positioning. Furthermore, since various errors caused by different reasons can be obtained separately from the satellite observation data, analysis of these errors can clearly reveal the causes of low positioning accuracy and provide a clear direction for subsequent optimization of positioning accuracy.

[0146] Based on the above methods for determining positioning accuracy Figure 4 A flowchart illustrating a positioning method provided in an embodiment of this application. Figure 4 As shown, the method may include the following steps:

[0147] S401 obtains the initial positioning position based on carrier phase differential technology.

[0148] S402, the initial positioning position is corrected based on the positioning accuracy to obtain the target positioning position, and the accuracy of the target positioning position is higher than that of the initial positioning position.

[0149] The base station collects reference observation data and transmits it to the rover station. The rover station uses the reference observation data sent by the base station and its own collected satellite observation data to determine its initial positioning position. The satellite observation data can be pseudorange data or carrier wave observation data.

[0150] Next, the mobile station can also follow the above... Figures 1-3 The method provided in the illustrated embodiment determines the positioning accuracy of the mobile station and uses this positioning accuracy to correct the initial positioning position, for example, by summing the positioning accuracy and the initial positioning position to obtain the target positioning position, thereby achieving positioning. Furthermore, the accuracy of the target positioning position is higher than that of the initial positioning position.

[0151] In practice, the mobile station mentioned in the above embodiments can specifically be a vehicle, and the above positioning method may further include the following steps:

[0152] S403, based on positioning accuracy, displays functional prompts related to the positioning accuracy of the initial positioning position.

[0153] During the vehicle location process, functional prompts related to location accuracy can be displayed. These prompts indicate whether the location accuracy meets or does not meet the conditions for activating assisted driving or autonomous driving functions. Users can understand the current location status based on these prompts.

[0154] Regarding the timing of this function prompt, optionally, the prompt can be displayed before the user activates the vehicle's autonomous driving mode or assisted driving mode to remind the user whether to activate the autonomous driving mode or assisted driving mode. Alternatively, the prompt can also be displayed after the user selects to activate the autonomous driving mode or assisted driving mode to inform the user whether the autonomous driving mode or assisted driving mode can be activated.

[0155] In this embodiment, the positioning accuracy determination method provided in the above embodiments can obtain accurate positioning accuracy, thereby further ensuring the accuracy of the initial positioning position correction and thus obtaining accurate positioning results. With the help of public prompt information, the user can also know whether the vehicle's autonomous driving mode or assisted driving mode needs to be activated or has been successfully activated.

[0156] Furthermore, the positioning accuracy determination apparatus of one or more embodiments of this application will be described in detail below. Those skilled in the art will understand that these positioning accuracy determination apparatuses can all be configured using commercially available hardware components through the steps taught in this solution.

[0157] Figure 5 This is a schematic diagram of a positioning accuracy determination device provided in an embodiment of this application, as shown below. Figure 5 As shown, the device includes:

[0158] The acquisition module 11 is used to acquire satellite observation data collected by the rover station and reference observation data collected by the base station.

[0159] Error determination module 12 is used to determine the error of the satellite observation data based on the satellite observation data and the reference observation data.

[0160] The observation data accuracy determination module 13 is used to determine the accuracy of the satellite observation data based on the error of the satellite observation data.

[0161] The positioning accuracy determination module 14 is used to use the data accuracy of the satellite observation data as a parameter of the accuracy determination algorithm to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.

[0162] Optionally, the error determination module 12 includes:

[0163] The first removal unit 121 is used to remove the transmission delay error caused by electromagnetic signal transmission in the satellite observation data to obtain the first satellite observation data, wherein the electromagnetic signal carries the satellite observation data.

[0164] The second removal unit 122 is used to remove the clock deviation error caused by the clock deviation of the mobile station in the first observation data, so as to obtain the second satellite observation data.

[0165] The determining unit 123 is used to determine the error of the satellite observation data based on the second satellite observation data and the reference observation data.

[0166] Optionally, the reference observation data includes the first reference observation data collected by the base station.

[0167] The first removal unit 121 is used to subtract the satellite observation data corresponding to the target satellite from the first reference observation data to obtain the first satellite observation data corresponding to the target satellite, wherein the target satellite is at least one of the non-reference satellites in the satellite positioning system.

[0168] Optionally, the second removal unit 122 is used to determine the first satellite observation data corresponding to the reference satellite, wherein the reference satellite is the satellite with the highest clock accuracy in the satellite positioning system; and to subtract the first satellite observation data corresponding to the target satellite and the reference satellite respectively to obtain the second satellite observation data corresponding to the target satellite.

[0169] Optionally, the reference observation data may further include second reference observation data collected by the measuring equipment and third reference observation data collected by the base station.

[0170] The determining unit 123 is used to determine the error of the satellite observation data corresponding to the target satellite based on the second satellite observation data corresponding to the target satellite, the second reference observation data corresponding to the target satellite and the reference satellite respectively, and the third reference observation data.

[0171] The satellite observation data and the first reference observation data include pseudorange observation data and / or carrier observation data, wherein the satellite observation data and the first reference observation are of the same type; the second reference observation data includes the geometric distances between the rover station and the target satellite and the reference satellite, respectively, and the third reference observation data includes the geometric distances between the base station and the target satellite and the reference satellite, respectively.

[0172] Optionally, the ephemeris data accuracy determination module 15 is used to determine the data accuracy of the ephemeris data based on the ephemeris data and the reference observation data.

[0173] The positioning accuracy determination module 14 is used to use the data accuracy of the satellite observation data and the ephemeris data as parameters of the accuracy determination algorithm, so as to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.

[0174] Optionally, the ephemeris data accuracy determination module 15 is specifically used for: determining predicted observation data based on ephemeris data; determining the difference between the predicted observation data and the reference observation data as the error of the ephemeris data; and determining the data accuracy of the ephemeris data based on the error of the ephemeris data.

[0175] Figure 5 The device shown can perform Figures 1 to 3 For the methods shown in the embodiments, the parts not described in detail in this embodiment can be referred to the following: Figures 1 to 3 The relevant descriptions of the illustrated embodiments are provided below. For the execution process and technical effects of this technical solution, please refer to [link / reference]. Figures 1 to 3 The descriptions in the illustrated embodiments will not be repeated here.

[0176] The above describes the internal function and structure of the positioning accuracy determination device. In one possible design, the positioning accuracy determination device can be implemented as an electronic device, such as... Figure 6 As shown, the electronic device may include a processor 21 and a memory 22. The memory 22 is used to store data supporting the electronic device in performing the above-described actions. Figures 1 to 3 The program for the positioning accuracy determination method provided in the illustrated embodiment is such that the processor 21 is configured to execute the program stored in the memory 22.

[0177] The program includes one or more computer instructions, wherein when the one or more computer instructions are executed by the processor 21, they can perform the following steps:

[0178] Acquire satellite observation data collected by the rover station and reference observation data collected by the base station;

[0179] The error of the satellite observation data is determined based on the satellite observation data and the reference observation data;

[0180] The accuracy of the satellite observation data is determined based on the error of the satellite observation data.

[0181] The accuracy of the satellite observation data is used as a parameter of the accuracy determination algorithm to determine the positioning accuracy of the mobile station.

[0182] Optionally, the processor 21 is further configured to perform the aforementioned Figures 1 to 3 All or part of the steps in the illustrated embodiments.

[0183] The structure of the electronic device may also include a communication interface 23 for the electronic device to communicate with other devices or communication networks.

[0184] Additionally, this application provides a computer storage medium for storing computer software instructions used by the aforementioned electronic device, which includes instructions for executing the above-mentioned... Figures 1 to 3 The procedure involved in the positioning accuracy determination method in the illustrated embodiment.

[0185] Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application, as shown below. Figure 7 As shown, the device includes:

[0186] The acquisition module 31 is used to obtain the initial positioning position based on carrier phase differential technology.

[0187] The correction module 32 is used to correct the initial positioning position based on the positioning accuracy to obtain the target positioning position, wherein the accuracy of the target positioning position is higher than that of the initial positioning position.

[0188] or,

[0189] Display module 33 is used to display functional information prompts related to the positioning accuracy of the initial positioning position, based on the positioning accuracy; wherein the positioning accuracy is based on... Figures 1-3 The positioning accuracy determination method provided in the illustrated embodiment is used to determine the accuracy.

[0190] Figure 7 The device shown can perform Figure 4For the methods shown in the embodiments, the parts not described in detail in this embodiment can be referred to the following: Figure 4 The relevant descriptions of the illustrated embodiments are provided below. For the execution process and technical effects of this technical solution, please refer to [link / reference]. Figures 1 to 3 The descriptions in the illustrated embodiments will not be repeated here.

[0191] The above describes the internal functions and structure of the positioning device. In one possible design, the positioning accuracy determination device can be implemented as an electronic device, such as... Figure 8 As shown, the electronic device may include a processor 41 and a memory 42. The memory 42 is used to store data supporting the electronic device in performing the above-described actions. Figure 4 The program for the positioning accuracy determination method provided in the illustrated embodiment is configured to execute the program stored in the memory 42.

[0192] The program includes one or more computer instructions, wherein when the one or more computer instructions are executed by the processor 41, they can perform the following steps:

[0193] The initial positioning position is obtained based on carrier phase differential technology;

[0194] The initial positioning position is corrected based on the positioning accuracy to obtain the target positioning position, and the accuracy of the target positioning position is higher than that of the initial positioning position.

[0195] or,

[0196] Based on the positioning accuracy, display functional information prompts related to the positioning accuracy of the initial positioning position;

[0197] The positioning accuracy is based on Figures 1-3 The positioning accuracy determination method provided in the illustrated embodiment is used to determine the accuracy.

[0198] Optionally, the processor 41 is further configured to perform the aforementioned Figure 4 All or part of the steps in the illustrated embodiments.

[0199] The structure of the electronic device may also include a communication interface 43 for the electronic device to communicate with other devices or communication networks.

[0200] Additionally, this application provides a computer storage medium for storing computer software instructions used by the aforementioned electronic device, which includes instructions for executing the above-mentioned... Figure 4 The procedure involved in the positioning method in the illustrated embodiment.

[0201] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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 this application.

Claims

1. A method for determining positioning accuracy, wherein, include: Acquire satellite observation data collected by the rover station and reference observation data collected by the base station; The error of the satellite observation data is determined based on the satellite observation data and the reference observation data; The accuracy of the satellite observation data is determined based on the error of the satellite observation data. The accuracy of the satellite observation data is used as a parameter of a preset accuracy determination algorithm to determine the positioning accuracy of the mobile station.

2. The method according to claim 1, wherein, The step of determining the error of the satellite observation data based on the satellite observation data and the reference observation data includes: The transmission delay error caused by electromagnetic signal transmission in the satellite observation data is removed to obtain the first satellite observation data, wherein the electromagnetic signal carries the satellite observation data; The clock deviation error caused by the clock deviation of the mobile station is removed from the first satellite observation data to obtain the second satellite observation data; The error of the satellite observation data is determined based on the second satellite observation data and the reference observation data.

3. The method according to claim 2, wherein, The reference observation data includes the first reference observation data collected by the base station; The process of removing transmission delay errors caused by electromagnetic signal transmission from the satellite observation data to obtain the first satellite observation data includes: Subtract the satellite observation data corresponding to the target satellite from the first reference observation data to obtain the first satellite observation data corresponding to the target satellite, wherein the target satellite is at least one of the non-reference satellites in the satellite positioning system.

4. The method according to claim 3, wherein, The step of removing clock deviation errors caused by the mobile station's clock deviation from the first satellite observation data to obtain the second satellite observation data includes: Determine the first satellite observation data corresponding to the reference satellite, wherein the reference satellite is the satellite with the highest clock accuracy in the satellite positioning system; Subtract the first satellite observation data corresponding to the target satellite and the reference satellite respectively to obtain the second satellite observation data corresponding to the target satellite.

5. The method according to claim 4, wherein, The reference observation data also includes second reference observation data collected by the measuring equipment and third reference observation data collected by the base station; The step of determining the error of the satellite observation data based on the second satellite observation data and the reference observation data includes: The error of the satellite observation data corresponding to the target satellite is determined based on the second satellite observation data corresponding to the target satellite, the second reference observation data corresponding to the target satellite and the reference satellite, and the third reference observation data.

6. The method according to claim 5, wherein, The satellite observation data and the first reference observation data include pseudorange observation data and / or carrier observation data, and the satellite observation data and the first reference observation data are of the same type. The second reference observation data includes the geometric distances between the rover station and the target satellite and the reference satellite, respectively; The third reference observation data includes the geometric distances between the base station and the target satellite and the reference satellite, respectively.

7. The method according to claim 2, wherein, The method further includes: The accuracy of the ephemeris data is determined based on the ephemeris data and the reference observation data. Determining the positioning accuracy of the mobile station based on the data accuracy of the satellite observation data includes: The accuracy of the satellite observation data and the ephemeris data are used as parameters of the accuracy determination algorithm to determine the positioning accuracy of the mobile station.

8. The method according to claim 7, wherein, The step of determining the data precision of the ephemeris data based on the ephemeris data and the reference observation data includes: Determine the predicted observation data based on ephemeris data; The difference between the predicted observation data and the reference observation data is determined as the error of the ephemeris data; The accuracy of the ephemeris data is determined based on the error in the ephemeris data.

9. A positioning accuracy determination device, wherein, include: The acquisition module is used to acquire satellite observation data collected by the rover station and reference observation data collected by the base station; An error determination module is used to determine the error of the satellite observation data based on the satellite observation data and the reference observation data; The observation data accuracy determination module is used to determine the accuracy of the satellite observation data based on the error of the satellite observation data. The positioning accuracy determination module is used to use the data accuracy of the satellite observation data as a parameter of a preset accuracy determination algorithm to determine the positioning accuracy of the mobile station according to the accuracy determination algorithm.

10. A positioning method, wherein, include: The initial positioning position is obtained based on carrier phase differential technology; The initial positioning position is corrected based on the positioning accuracy to obtain the target positioning position, and the accuracy of the target positioning position is higher than that of the initial positioning position. or, Based on the positioning accuracy, display functional information prompts related to the positioning accuracy of the initial positioning position; The positioning accuracy is determined based on the positioning accuracy determination method described in any one of claims 1-8.

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