Positioning method, device, equipment and storage medium

Abstract

The embodiment of the present invention provides a positioning method, device, equipment and storage medium, the method comprising: obtaining target data, the target data comprising global navigation satellite system GNSS observation data, broadcast ephemeris, state domain space correction number SSR; inputting the target data into the precise single point positioning PPP positioning engine, performing positioning solution, and obtaining the PPP solution result; inputting the target data into the real-time dynamic carrier phase differential positioning RTK positioning engine, and obtaining the RTK solution result; in the case where there is a fixed solution in the PPP solution result and / or the RTK solution result, determining the position of the terminal device based on the fixed solution; in the case where both the PPP solution result and the RTK solution result are floating point solutions, determining the position of the terminal device based on the floating point solution. According to the method of the embodiment of the present invention, the two sets of positioning engines are completely heterogeneous, and a more reliable positioning output can be provided.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and in particular relates to a positioning method, device, equipment and storage medium. Background Art

[0002] At present, most terminal devices are equipped with a single positioning engine, such as a precise single-point positioning (PPP) positioning engine or a real-time dynamic carrier phase differential positioning (RTK) positioning engine. However, a single positioning engine can only provide positioning accuracy from an internal perspective, and when the solution fails, it cannot continuously provide reliable positioning results.

[0003] The existing solutions involving dual positioning engines are still imperfect and have many problems in use.

[0004] An existing solution is to use RTK for dynamic positioning, output positioning results and double-difference ambiguity; use the double-difference ambiguity output by RTK and observation data for PPP solution to obtain positioning results. However, this solution only fuses the positioning results, only implements RTK to PPP solution, and only uses the PPP algorithm as a supplementary solution for RTK, and does not provide a solution when RTK solution fails; and this solution only provides a solution when the RTK and PPP solution positions are consistent, and does not provide a solution when the positioning results are significantly different.

[0005] Another solution is to use RTK solution information to assist PPP convergence, but it does not consider the equivalent fusion of PPP and RTK algorithms; after PPP converges, the PPP independent convergence mode is adopted; this invention still needs to set up a reference station to provide differential data for the mobile station. At the same time, this solution still relies on the double difference ambiguity of the traditional RTK positioning method to accelerate PPP convergence. It is not dual-engine simultaneous positioning, and there is no positioning algorithm fusion. This technical solution does not consider the influence of satellite-side phase deviation when converting double difference ambiguity and inter-satellite single difference ambiguity, and there are obvious errors. Summary of the invention

[0006] The embodiments of the present invention provide a positioning method, an apparatus, a device and a storage medium. The two sets of positioning engines are completely heterogeneous and can provide more reliable positioning output.

[0007] In a first aspect, an embodiment of the present invention provides a positioning method, the method comprising: acquiring target data, the target data comprising global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain space correction number SSR; inputting the target data into a precise single point positioning PPP positioning engine, performing positioning solution, and obtaining a PPP solution result; inputting the target data into a real-time dynamic carrier phase differential positioning RTK positioning engine, performing positioning solution, and obtaining an RTK solution result; when a fixed solution exists in the PPP solution result and / or the RTK solution result, determining the position of a terminal device based on the fixed solution; when both the PPP solution result and the RTK solution result are floating-point solutions, determining the position of the terminal device based on the floating-point solution.

[0008] In a second aspect, an embodiment of the present invention provides a positioning device, the device comprising:

[0009] The first acquisition module is configured to acquire target data, the target data including global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain spatial correction number SSR;

[0010] The first positioning module is configured to input the target data into the precise point positioning (PPP) positioning engine, perform positioning solution, and obtain a PPP solution result;

[0011] The second positioning module is configured to input the target data into the real-time dynamic carrier phase differential positioning RTK positioning engine to perform positioning solution and obtain the RTK solution result;

[0012] The fusion positioning module is configured to determine the position of the terminal device based on the fixed solution when there is a fixed solution in the PPP solution result and / or the RTK solution result; and to determine the position of the terminal device based on the floating-point solution when both the PPP solution result and the RTK solution result are floating-point solutions.

[0013] In a third aspect, an embodiment of the present invention provides a positioning device, comprising: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the positioning method provided in the first aspect and any optional implementation manner in the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides a computer storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the positioning method provided in the first aspect and any optional implementation manner in the first aspect is implemented.

[0015] The fused positioning method, apparatus, device and storage medium of the embodiments of the present invention can obtain global navigation satellite system GNSS observation data and broadcast ephemeris through terminal equipment, and simultaneously receive state domain spatial correction numbers SSR broadcast by Starlink or the Internet; use the real-time precise point positioning PPP positioning engine and the dynamic relative positioning RTK positioning engine to perform real-time positioning respectively, obtain the inter-satellite single difference ambiguity fixing results and double difference ambiguity fixing results, perform fused positioning, and determine the position of the terminal equipment. The two sets of engines are completely heterogeneous and can provide more reliable positioning output. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following is a brief introduction to the drawings required for use in the embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a schematic diagram of a positioning method flow provided by an embodiment of the present invention;

[0018] Figure 2 is a schematic diagram of a data acquisition link of a terminal device provided in an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of a dual-engine architecture in an embodiment of the present invention;

[0020] Figure 4 is a structural schematic diagram of a positioning device provided by an embodiment of the present invention;

[0021] Figure 5 It is a structural schematic diagram of a positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention, rather than to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by illustrating examples of the present invention.

[0023] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0024] In order to better understand the present application, before introducing the specific implementation methods of the present application, the technical terms used in describing the implementation methods of the present application are first introduced.

[0025] (1) Global Navigation Satellite System (GNSS) refers to all satellite navigation systems, including global, regional and enhanced systems, such as the US GPS, Russia's Glonass, Europe's Galileo, China's BeiDou Satellite Navigation System, and related augmentation systems, such as the US WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System) and Japan's MSAS (Multi-purpose Transport Satellite Augmentation System), and also covers other satellite navigation systems that are under construction or to be built in the future. The international GNSS system is a complex combination of multiple systems, multiple levels and multiple modes.

[0026] (2) Precise Point Positioning (PPP): PPP is a technology that uses the precise satellite orbits and satellite clock errors calculated from observation data from several ground tracking stations around the world to perform positioning on the phase and pseudorange observations collected by a single receiver. It uses the first level of state domain spatial corrections (First Level of SSR, SSR1) "orbit / clock corrections" and the second level of state domain spatial corrections (Second Level of SSR, SSR2) "pseudorange / phase deviation corrections", and the carrier observation information of a single GNSS device. On the basis of carefully considering the precise correction of various errors, it adopts a reasonable parameter estimation strategy (such as the least squares method or Kalman filter) to simultaneously solve parameters such as user coordinates, receiver clock errors, atmospheric delays, and carrier phase ambiguities, and can obtain centimeter to decimeter positioning accuracy on a global scale.

[0027] (3) Real-time Kinematic (RTK) is GNSS real-time differential positioning technology. Based on the relevant characteristics of various errors within the regional range, inter-station and inter-satellite double differences are constructed to eliminate or reduce the impact of various errors, thereby achieving centimeter-level positioning. In practical applications, it generally includes two measuring stations, namely the base station and the mobile station. The base station obtains observation data in real time and sends the known site coordinate information and observation data to the mobile station through a specific network protocol. The mobile station obtains observation data in real time and receives data from the base station at the same time. Using specific estimation methods, the high-precision position of the mobile station can be obtained in real time.

[0028] (4) Network RTK technology refers to the establishment of multiple evenly distributed continuous observation reference stations in a certain area, the fusion of observation data from each reference station, the construction of various error correction models, and the generation of corresponding error model correction numbers or virtual observation data. The mobile station uploads the probabilistic position, obtains the error model correction number or virtual observation value at the probabilistic position, and uses the RTK positioning method to obtain high-precision positioning results. In the conventional RTK working mode, there is only one base station, and the distance between the mobile station and the base station cannot be too long, generally less than 40km. In network RTK, there are multiple base stations, and users do not need to establish their own base stations. The distance between users and base stations can be extended to hundreds of kilometers. Network RTK reduces error sources, especially distance-related errors.

[0029] Based on the above technical terms, the relevant technologies of GNSS positioning have been briefly introduced.

[0030] At present, most GNSS terminal devices are equipped with a single positioning engine. However, a single positioning engine can only provide positioning accuracy from the perspective of internal conformity, and cannot continuously provide reliable positioning results when the solution fails. The existing solutions involving dual positioning engines are still imperfect, as described in the background technology section, and there are many problems in use.

[0031] Therefore, based on the above problems, the present application provides a positioning method, device, equipment and storage medium. The positioning method is PPP / RTK fusion positioning based on ambiguity equivalence, which not only verifies the ambiguity but also fuses the positioning results. The two sets of engines are completely heterogeneous and can provide more reliable positioning output.

[0032] Combine the following Figure 1 The present invention specifically introduces a positioning method 100 provided in an embodiment of the present invention, which can be applied to a GNSS terminal device. Figure 1 As shown, the method 100 may include steps S101-S105.

[0033] Step S101, acquiring target data, the target data including global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain spatial correction number SSR.

[0034] Reference Figure 2 GNSS terminal equipment can obtain GNSS observation data and broadcast ephemeris from the global navigation satellite system, and simultaneously receive the state domain spatial correction number SSR broadcast from Starlink or the Internet. GNSS observation data may include carrier phase observation values, pseudorange observation values, Doppler observation values, carrier-to-noise ratio, etc.

[0035] Step S102, input the target data into the precise point positioning (PPP) positioning engine, perform positioning solution, and obtain the PPP solution result.

[0036] The PPP solution result may specifically be an inter-satellite single difference ambiguity fixing result.

[0037] The PPP positioning engine may adopt a non-combined intersatellite single-difference PPP positioning engine or a non-combined non-difference PPP positioning engine. When the PPP positioning engine adopts a non-combined intersatellite single-difference method, the specific implementation process may include three parts: error equation, parameter estimation and error correction.

[0038] In one example, the error equation, i.e., the GNSS observation equation, can be expressed as:

[0039]

[0040] Where i is the frequency number; m is the receiving end number; p is the satellite number; t r,m ,t s,p are the clock errors of the receiving end and the satellite end respectively, and the relativistic effect is corrected; are carrier phase and pseudorange observation values ​​respectively; is the distance between the phase center of the receiving end and the satellite end, and corrects the effect of the earth's rotation and the station displacement caused by tides, etc.; i is the wavelength; is the integer ambiguity; I1 is the ionospheric delay corresponding to the first frequency point; α i Ionospheric delay coefficient; b r,i,m ,b s,i,p are the phase deviations of the receiving end and the satellite end respectively; B r,i,m ,B s,i,p is the pseudorange deviation between the receiving end and the satellite end; is phase winding; T zwd,m ,T zhd,m are the tropospheric wet delay and dry delay in the zenith direction, respectively; They are the tropospheric wet projection function and dry projection function respectively;

[0041] Select satellite p as the reference satellite, construct the inter-satellite single difference, eliminate the influence of the receiving end clock error, pseudorange bias, and phase bias, and obtain the inter-satellite single difference observation equation:

[0042]

[0043] Where q is the satellite number; pq represents the inter-satellite single-difference satellite pair, and the other parameters are the same as those in formula (1).

[0044] In one example, in the parameter estimation part, i.e. in the PPP model, the parameters to be estimated can be expressed as:

[0045]

[0046] Among them, x m ,y m ,z m is the receiving end position parameter; T zwd,m is the tropospheric wet delay in the zenith direction; is the ionospheric difference of different satellite pairs corresponding to the first frequency point; is the ambiguity difference between different satellite pairs corresponding to the first frequency point; is the ambiguity difference corresponding to different satellite pairs at the second frequency point.

[0047] In one example, the error correction part can use the SSR1-3 layer correction data in step S102 to perform various error corrections. The detailed steps are as follows:

[0048] The receiving end uses the first layer of correction numbers SSR1 (orbit and clock correction numbers) to correct the orbit and clock errors calculated by the broadcast ephemeris.

[0049] The receiving end uses the received second-layer correction number SSR2 "phase / pseudorange deviation correction number" to correct the phase / pseudorange observation value.

[0050] The receiving end uses the received third-layer correction number SSR3 "Tropospheric / ionospheric delay error correction number" to correct the tropospheric and ionospheric delay errors.

[0051] Based on the above information, the parameters are estimated by using estimation methods such as least squares or Kalman filtering. The ambiguity is fixed to obtain a fixed solution, thereby obtaining high-precision position information.

[0052] Step S103, input the target data into the real-time dynamic carrier phase differential positioning RTK positioning engine, perform positioning solution, and obtain the RTK solution result.

[0053] The RTK solution result may specifically be a double-difference ambiguity fixing result.

[0054] The target data in step S101 is input into the real-time dynamic carrier phase differential positioning RTK positioning engine for positioning solution. The positioning solution process mainly includes two parts: constructing virtual observation values ​​and double-difference RTK positioning solution.

[0055] In one example, to construct virtual observation values, the broadcast ephemeris and SSR1-3 layer corrections can be used to restore the virtual observation values ​​corresponding to the visible satellites at station n:

[0056]

[0057] In one example, a double-difference RTK positioning solution can be

[0058] The double-difference positioning solution is performed using the GNSS observations of site m and the restored virtual observations at site n. The inter-satellite single difference is constructed for site m as follows:

[0059]

[0060] Similarly, constructing the inter-satellite single difference for site n, we can obtain:

[0061]

[0062] For stations m and n, a single difference is constructed between stations. Considering that the single-point positioning accuracy is <100m, it can be assumed that the tropospheric error, ionospheric error, and station displacement caused by tides at stations m and n are basically the same. After the double difference between stations, the errors at the satellite end are eliminated, and the following is obtained:

[0063]

[0064] After double difference, only ambiguity parameters and position parameters remain.

[0065] In the RTK model, the parameters to be estimated are:

[0066]

[0067] The above parameters can be estimated in real time by using estimation methods such as least squares or Kalman filtering. Ambiguity fixation can be achieved by using integer least squares or other ambiguity fixation methods to obtain a fixed solution.

[0068] It should be noted that the present application does not limit the order of S102 and S103. As an example, the above steps S102 and S103 can be performed simultaneously, or S102 can be performed first and then S103, or S103 can be performed first and then S102.

[0069] When step S102 and step S103 are executed simultaneously, the GNSS observation data, broadcast ephemeris, and SSR1-3 layer corrections can be simultaneously input into the PPP engine and the RTK engine for PPP and RTK positioning solutions, and the inter-satellite single difference ambiguity fixation results and double difference ambiguity fixation results are obtained respectively. The execution of step S104 or step S105 is determined according to the solution results.

[0070] Step S104: when a fixed solution exists in the PPP solution result and / or the RTK solution result, determine the position of the terminal device based on the fixed solution.

[0071] Step S105: When only floating-point solutions are available in the PPP solution results and the RTK solution results, the position of the terminal device is determined based on the floating-point solutions.

[0072] The positioning fusion system in the GNSS terminal device can select different fusion strategies to obtain more accurate positioning results according to the inter-satellite single difference ambiguity fixed result, i.e., the PPP fixed result, and the double difference ambiguity fixed result, i.e., the RTK fixed result. Among them, the PPP fixed result and the RTK fixed result can include three cases, namely, in the first case, both obtain fixed solutions, in the second case, one of the two obtains a fixed solution and the other is a floating point solution, and in the third case, neither obtains a fixed solution and only obtains a floating point solution. In the first case and the second case, step S104 is performed, and in the third case, step S105 is performed.

[0073] The positioning method provided in this embodiment can obtain global navigation satellite system GNSS observation data and broadcast ephemeris through the terminal device, and simultaneously receive the state domain spatial correction number SSR broadcast by Starlink or the Internet; use the real-time precise single point positioning PPP positioning engine and the dynamic relative positioning RTK positioning engine to perform real-time positioning respectively, obtain the inter-satellite single difference ambiguity fixing result and the double difference ambiguity fixing result, perform fusion positioning, and determine the position of the terminal device. The two sets of engines are completely heterogeneous and can provide more reliable positioning output.

[0074] In one embodiment, the PPP fixed result and the RTK fixed result are in the first case, that is, both obtain fixed solutions. At this time, step S104 is executed. At this time, step S104 can be specifically to determine the position of the receiving end based on the PPP fixed solution and the RTK fixed solution. Step S104 may include steps S1041-S1042.

[0075] Step S1041, calculating the difference between the PPP fixed solution and the RTK fixed solution.

[0076] In one example, when the difference between the PPP fixed solution and the RTK fixed solution in step S1041 is not less than the first preset threshold, the specific process may be:

[0077] Determine the overlapping and identical ambiguities in the ambiguity sequence fixed by the PPP positioning engine and the ambiguity sequence fixed by the RTK positioning engine; obtain a first fixed solution based on the overlapping and identical ambiguities fixed by PPP; obtain a second fixed solution based on the overlapping and identical ambiguities fixed by RTK; and calculate the difference between the first fixed solution and the second fixed solution.

[0078] Step S1042: When the difference between the PPP fixed solution and the RTK fixed solution is less than a first preset threshold, determine the position of the receiving end based on the PPP fixed solution, the PPP covariance information, the RTK fixed solution and the RTK covariance information.

[0079] At this time, step S1042 can be specifically to use the least squares method or Kalman filter to determine the position of the receiving end based on the PPP fixed solution, PPP covariance information, RTK fixed solution and RTK covariance information when the difference between the first fixed solution and the second fixed solution is less than the first preset threshold.

[0080] In one example, in step S1042, when the difference between the first fixed solution and the second fixed solution is not less than the first preset threshold, the PPP positioning engine searches for overlapping and identical ambiguities to obtain a corresponding first ratio value, and the RTK positioning engine searches for overlapping and identical ambiguities to obtain a corresponding second ratio value; the first ratio value is the ratio of the second smallest and the smallest residual quadratic form of the PPP fixed solution, and the second ratio value is the ratio of the second smallest and the smallest residual quadratic form of the RTK fixed solution. When the first ratio value is greater than or equal to the second ratio value, the position of the receiving end is determined based on the first fixed solution and the first covariance information; when the first ratio value is less than the second ratio value, the position of the receiving end is determined based on the second fixed solution and the second covariance information.

[0081] In one embodiment, the PPP fixation result and the RTK fixation result are in the second case, that is, both obtain a fixed solution. At this time, step S104 is executed. At this time, step S104 can be specifically to determine the position of the receiving end based on the successfully fixed solution.

[0082] In an example, before determining the position of the receiving end based on the successfully fixed solution, the method may further include step S1043 and step S1044.

[0083] Step S1043, the ambiguity that has been fixed by the PPP positioning engine but not fixed by the RTK positioning engine is constrained to the RTK fixed solution as a virtual observation value.

[0084] Step S1044, the ambiguity that has been fixed by the RTK positioning engine but not by the PPP positioning engine is constrained to the PPP fixed solution as a virtual observation value.

[0085] like Figure 3 As shown, the specific implementation of the above steps S104 and S105 is based on the output result of the PPP positioning engine and the output result of the RTK positioning engine in step S103 to perform fusion positioning. In the specific implementation process, the PPP positioning engine and the RTK positioning engine are completely heterogeneous. For ease of understanding, the following is a specific example to explain in detail the specific process of fusion positioning of PPP and RTK after the dual-engine solution is completed in steps S104 and S105 of the above embodiment.

[0086] (1) If the PPP and RTK ambiguities are successfully fixed, the number of overlapping and identical ambiguities in the PPP and RTK fixed ambiguity sequences is greater than n (e.g., 5), and the difference between the PPP fixed solution position P1 and the RTK fixed solution position R1 is less than dr (e.g., 0.2), the output position information is:

[0087]

[0088] Where x, y, z represent the position vectors, and q represents the variance information corresponding to the x, y, z parameters.

[0089] The ambiguities that PPP has fixed but RTK has not fixed are constrained to RTK as virtual observations. The same method is used for the ambiguities that RTK has fixed but PPP has not fixed.

[0090] In the ambiguity sequences that have been fixed by PPP and RTK, the number of overlapping and identical ambiguities is greater than n, and the difference between P1 and R1 is greater than dr, then only the overlapping and identical ambiguities are fixed in the PPP and RTK filters, respectively, and the position differences are compared. If the difference between P1 and R1 is less than dr, the result is considered reliable. If the difference between P1 and R1 is greater than dr, the output result of the solution engine with a larger ratio value is selected as the final positioning result.

[0091] In the ambiguity sequences that have been fixed by PPP and RTK, if the number of overlapping and identical ambiguities is less than n, then compare P1 and R1. If the difference between P1 and R1 is less than dr, output the positioning result according to formula (9), and constrain the ambiguity fixed by PPP to the RTK fixed solution, and constrain the ambiguity fixed by RTK to the PPP fixed solution.

[0092] In the ambiguity sequences that have been fixed by PPP and RTK, if the number of overlapping and identical ambiguities is less than n, then compare P1 and R1. If the difference between P1 and R1 is greater than dr, then continue to compare the ambiguity correspondences and continue to compare the ratio values, and select the positioning result of the solution engine with the larger ratio value as the output.

[0093] (2) If only one of the PPP and RTK solvers is successfully fixed, the output of the engine that has successfully fixed the ambiguity will be used as the final positioning result.

[0094] (3) If only a single solving engine successfully solves the floating-point solution, the floating-point solution result is output.

[0095] Based on the positioning method provided in the above embodiment, correspondingly, the embodiment of the present application also provides a positioning device, please refer to Figure 4 ,include:

[0096] The first acquisition module 401 is configured to acquire target data, the target data including global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain spatial correction number SSR;

[0097] The first positioning module 402 is configured to input the target data into the precise point positioning (PPP) positioning engine, perform positioning calculation, and obtain a PPP calculation result;

[0098] The second positioning module 403 is configured to input the target data into the real-time dynamic carrier phase differential positioning RTK positioning engine to perform positioning solution and obtain the RTK solution result;

[0099] The fusion positioning module 404 is configured to locate the position of the terminal device based on the fixed solution when there is a fixed solution in the PPP solution result and / or the RTK solution result; and to locate the position of the terminal device based on the floating-point solution when both the PPP solution result and the RTK solution result are floating-point solutions.

[0100] In one example, the PPP positioning engine in the first positioning module 402 may adopt a non-combined inter-satellite single-difference PPP positioning engine or a non-combined non-difference PPP positioning engine.

[0101] The positioning device provided in this embodiment has a first acquisition module that can acquire global navigation satellite system GNSS observation data and broadcast ephemeris, and simultaneously receive state domain spatial correction numbers SSR broadcast by Starlink or the Internet; the first positioning module and the second positioning module respectively perform real-time positioning using a real-time precise point positioning PPP positioning engine and a dynamic relative positioning RTK positioning engine, and the fusion positioning module acquires inter-satellite single-difference ambiguity fixing results and double-difference ambiguity fixing results, performs fusion positioning, and determines the position of the terminal device. The two sets of engines are completely heterogeneous and can provide more reliable positioning output.

[0102] In one embodiment, the fusion positioning module 404 may include a first fusion unit and a second fusion unit.

[0103] The first fusion unit is configured to locate the position of the receiving end based on the PPP fixed solution and the RTK fixed solution when both the inter-satellite single difference ambiguity fixing result and the double difference ambiguity fixing result are fixed successfully.

[0104] The second fusion unit is configured to locate the position of the receiving end based on the successfully fixed solution when only one fixed solution among the inter-satellite single-difference ambiguity fixed results or the double-difference ambiguity fixed results is successfully solved.

[0105] In one example, the first fusion unit is specifically configured as follows:

[0106] When both the inter-satellite single-difference ambiguity fixation results and the double-difference ambiguity fixation results are successfully fixed, the difference between the PPP fixed solution and the RTK fixed solution is calculated;

[0107] When the difference between the PPP fixed solution and the RTK fixed solution is less than a first preset threshold, the position of the receiving end is located based on the PPP fixed solution, the PPP covariance information, the RTK fixed solution and the RTK covariance information.

[0108] In an example, the first fusion unit may also be configured as:

[0109] Determine the overlapping and identical ambiguities in the ambiguity sequence fixed by the PPP positioning engine and the ambiguity sequence fixed by the RTK positioning engine;

[0110] When the difference between the PPP fixed solution and the RTK fixed solution is not less than a first preset threshold, a first fixed solution is obtained based on the PPP fixed overlapping and identical ambiguities;

[0111] Based on the RTK fixed overlapping and identical ambiguities, a second fixed solution is obtained;

[0112] Calculating a difference between the first fixed solution and the second fixed solution;

[0113] When the difference between the first fixed solution and the second fixed solution is less than a first preset threshold, the least squares method or Kalman filter is used to locate the position of the receiving end based on the PPP fixed solution, PPP covariance information, RTK fixed solution and RTK covariance information.

[0114] In one example, before the first fusion unit locates the position of the receiving end based on the PPP fixed solution, the PPP covariance information, the RTK fixed solution, and the RTK covariance information, it is also used to:

[0115] The ambiguities that are fixed by the PPP positioning engine but not by the RTK positioning engine are constrained to the RTK fixed solution as virtual observations;

[0116] The ambiguities where the RTK positioning engine is fixed but the PPP positioning engine is not fixed are constrained to the PPP fixed solution as virtual observations.

[0117] In one example, the first fusion unit calculates a ratio value of the PPP fixed solution and a ratio value of the RTK fixed solution when a difference between the first fixed solution and the second fixed solution is not less than a first preset threshold;

[0118] Based on the ratio value of the PPP fixed solution and the ratio value of the RTK fixed solution, a target fixed solution is determined. The target fixed solution is the fixed solution with the larger ratio value between the PPP fixed solution and the RTK fixed solution.

[0119] Based on the target fixed solution, the position of the receiver is determined.

[0120] The positioning methods provided in the above embodiments can be Figure 5 The positioning device shown is executed.

[0121] The boundary interpolation accuracy determination device may include a processor 501 and a memory 502 storing computer program instructions.

[0122] Specifically, the processor 501 may include a CPU, or an Application Specific Integrated Circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

[0123] The memory 502 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 502 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In one example, the memory 502 may include a removable or non-removable (or fixed) medium, or the memory 502 is a non-volatile solid-state memory. The memory 502 may be inside or outside the integrated gateway disaster recovery device.

[0124] In one example, the memory 502 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0125] The memory 502 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0126] The processor 501 implements the positioning method provided by any of the above embodiments by reading and executing the computer program instructions stored in the memory 502, and achieves the corresponding technical effect achieved by the method, which will not be repeated here for the sake of brevity.

[0127] In one example, the positioning device may further include a communication interface 503 and a bus 510. Figure 5 As shown, the processor 501, the memory 502, and the communication interface 503 are connected via a bus 510 and communicate with each other.

[0128] The communication interface 503 is mainly used to implement the communication between the modules, devices, units and / or equipment in the embodiment of the present invention.

[0129] Bus 510 includes hardware, software or both, and couples the components of online data traffic billing equipment to each other. For example, but not limitation, the bus may include Accelerated Graphics Port (AGP) or other graphics bus, Enhanced Industry Standard Architecture (EISA) bus, Front Side Bus (FSB), Hyper Transport (HT) interconnection, Industry Standard Architecture (ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 510 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0130] This positioning device not only checks the ambiguity, but also fuses the positioning results. The two sets of engines are completely heterogeneous and can provide more reliable positioning output.

[0131] In combination with the positioning method in the above embodiments, the present invention can provide a computer storage medium to implement the positioning method. The computer storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, any one of the positioning methods in the above embodiments is implemented.

[0132] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0133] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), appropriate firmware, plug-in, function card, etc. When implemented in software, the elements of the present invention are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or communication link by a data signal carried in a carrier. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (Radio Frequency, RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0134] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0135] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0136] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A positioning method, characterized in that: Applied to a terminal device, the method comprises: Acquiring target data, wherein the target data includes global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain spatial correction number SSR; Input the target data into the precise point positioning (PPP) positioning engine to perform positioning calculation to obtain a PPP calculation result; Input the target data into a real-time dynamic carrier phase differential positioning RTK positioning engine to perform positioning solution to obtain an RTK solution result; In the case where a fixed solution exists in the PPP solution result and / or the RTK solution result, determining the position of the terminal device based on the fixed solution; In a case where both the PPP solution result and the RTK solution result are floating-point solutions, determining the position of the terminal device based on the floating-point solutions; When there is a fixed solution in the PPP solution result and the RTK solution result, determining the position of the terminal device based on the fixed solution includes: When both the PPP solution result and the RTK solution result are fixed solutions, determining the position of the terminal device based on the PPP fixed solution and the RTK fixed solution; In a case where only one of the PPP solution result or the RTK solution result is a fixed solution, determining the position of the terminal device based on the fixed solution; When both the PPP solution result and the RTK solution result are fixed solutions, determining the position of the terminal device based on the PPP fixed solution and the RTK fixed solution includes: When both the PPP solution result and the RTK solution result are fixed solutions, calculating the difference between the PPP fixed solution and the RTK fixed solution; When the difference between the PPP fixed solution and the RTK fixed solution is less than a first preset threshold, determining the position of the terminal device based on the PPP fixed solution and the PPP covariance information in the PPP solution result, and the RTK fixed solution and the RTK covariance information in the RTK solution result; In the case where both the PPP solution result and the RTK solution result are fixed solutions, the method further includes: Determining overlapping and identical ambiguities in an ambiguity sequence fixed by the PPP positioning engine and an ambiguity sequence fixed by the RTK positioning engine; When the difference between the PPP fixed solution and the RTK fixed solution is not less than a first preset threshold, fixing the overlapping and identical ambiguities based on PPP to obtain a first fixed solution and first covariance information; Fixing the overlapping and identical ambiguities based on RTK obtains a second fixed solution and second covariance information; calculating a difference between the first fixed solution and the second fixed solution; When the difference between the first fixed solution and the second fixed solution is less than a first preset threshold, the position of the terminal device is determined based on the first fixed solution, the first covariance information, the second fixed solution and the second covariance information.

2. The method according to claim 1, characterized in that When the difference between the first fixed solution and the second fixed solution is not less than a first preset threshold, searching the overlapping and identical ambiguities by the PPP positioning engine to obtain a corresponding first ratio value, and searching the overlapping and identical ambiguities by the RTK positioning engine to obtain a corresponding second ratio value; When the first ratio value is greater than or equal to the second ratio value, determining the position of the terminal device based on the first fixed solution and the first covariance information; When the first ratio value is less than the second ratio value, the position of the terminal device is determined based on the second fixed solution and the second covariance information.

3. The method according to claim 1, characterized in that When only one of the PPP solution result or the RTK solution result is a fixed solution, determining the position of the terminal device based on the fixed solution includes: When the PPP solution result is a fixed solution and the RTK solution result is not a fixed solution, constraining the ambiguity of the PPP positioning engine that is fixed but not fixed by the RTK positioning engine as a virtual observation value to the RTK positioning engine to obtain an RTK fixed solution; or When the RTK solution result is a fixed solution and the PPP solution result is not a fixed solution, the ambiguity of the RTK positioning engine that is fixed but the PPP positioning engine that is not fixed is constrained to the PPP positioning engine as a virtual observation value to obtain a PPP fixed solution.

4. The method according to claim 1, characterized in that: The PPP positioning engine adopts a non-combined inter-satellite single-difference PPP positioning engine or a non-combined non-difference PPP positioning engine.

5. A positioning device, characterized in that: Applied to a terminal device, the device comprises: A first acquisition module is configured to acquire target data, wherein the target data includes global navigation satellite system GNSS observation data, broadcast ephemeris, and state domain spatial correction number SSR; The first positioning module is configured to input the target data into a precise point positioning (PPP) positioning engine to perform positioning calculation to obtain a PPP calculation result; The second positioning module is configured to input the target data into a real-time dynamic carrier phase differential positioning RTK positioning engine to perform positioning solution to obtain an RTK solution result; a fusion positioning module, configured to, when there is a fixed solution in the PPP solution result and / or the RTK solution result, determine the position of the terminal device based on the fixed solution; when both the PPP solution result and the RTK solution result are floating point solutions, determine the position of the terminal device based on the floating point solution; The fusion positioning module includes: A first fusion unit is configured to determine the position of the terminal device based on a PPP fixed solution and an RTK fixed solution when both the PPP solution result and the RTK solution result are fixed solutions; A second fusion unit is configured to determine the position of the terminal device based on the fixed solution when only one of the PPP solution result or the RTK solution result is a fixed solution; The first fusion unit is specifically configured as follows: When both the PPP solution result and the RTK solution result are fixed solutions, calculating the difference between the PPP fixed solution and the RTK fixed solution; When the difference between the PPP fixed solution and the RTK fixed solution is less than a first preset threshold, determining the position of the terminal device based on the PPP fixed solution and the PPP covariance information in the PPP solution result, and the RTK fixed solution and the RTK covariance information in the RTK solution result; The first fusion unit is further configured to: Determining overlapping and identical ambiguities in an ambiguity sequence fixed by the PPP positioning engine and an ambiguity sequence fixed by the RTK positioning engine; When the difference between the PPP fixed solution and the RTK fixed solution is not less than a first preset threshold, fixing the overlapping and identical ambiguities based on PPP to obtain a first fixed solution and first covariance information; Fixing the overlapping and identical ambiguities based on RTK obtains a second fixed solution and second covariance information; calculating a difference between the first fixed solution and the second fixed solution; When the difference between the first fixed solution and the second fixed solution is less than a first preset threshold, the position of the terminal device is determined based on the first fixed solution, the first covariance information, the second fixed solution and the second covariance information.

6. A positioning device, characterized in that: The device comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to implement the positioning method according to any one of claims 1-4.

7. A computer storage medium, characterized in that: The computer storage medium stores computer program instructions, and when the computer program instructions are executed by the processor, the positioning method according to any one of claims 1 to 4 is implemented.

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