Positioning method, device, equipment, medium and product

Abstract

The present application discloses a positioning method, device, equipment, medium and product, and relates to the field of positioning technology. The positioning method comprises: obtaining a first GNSS observation quantity obtained by a terminal in a first epoch and a positioning solution result corresponding to the first GNSS observation quantity, wherein the positioning solution result is obtained by completing the positioning solution in the second epoch, and the second epoch is later than the first epoch; according to the second GNSS observation quantity, the first GNSS observation quantity and the positioning solution result corresponding to the third epoch, a positioning recursive result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch. According to the embodiment of the present application, the positioning delay can be reduced and the positioning efficiency can be improved.

Description

Technical Field

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

[0002] Precise point positioning is a positioning settlement performed by the receiver through receiving the precise satellite orbit, satellite clock error and pseudo-range carrier hardware deviation correction number broadcast by the server, which can achieve centimeter-level positioning accuracy. It has been widely used in surveying and mapping, navigation, aviation, unmanned driving and other fields.

[0003] However, in practical applications, the positioning delay is high due to the influence of receiver hardware. Summary of the invention

[0004] The embodiments of the present application provide a positioning method, device, equipment, medium and product, which can solve the problem of high positioning delay.

[0005] In a first aspect, an embodiment of the present application provides a positioning method, including:

[0006] Obtaining a first Global Navigation Satellite System (GNSS) observation value obtained by the terminal at a first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing the positioning solution at a second epoch, and the second epoch is later than the first epoch;

[0007] According to the second GNSS observation quantity, the first GNSS observation quantity and the positioning solution result corresponding to the third epoch, a positioning recursion result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch.

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

[0009] An acquisition module, used to acquire a first GNSS observation value acquired by the terminal in the first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing the positioning solution in the second epoch, and the second epoch is later than the first epoch;

[0010] The recursion module is used to obtain the positioning recursion result corresponding to the third epoch by recursion according to the second GNSS observation quantity, the first GNSS observation quantity and the positioning solution result corresponding to the third epoch, wherein the third epoch is later than the second epoch.

[0011] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the positioning method of the first aspect is implemented.

[0012] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the positioning method of the first aspect is implemented.

[0013] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning method of the first aspect.

[0014] In the embodiment of the present application, the first GNSS observation amount and the positioning solution result corresponding to the first GNSS observation amount obtained by the terminal in the first epoch are obtained, wherein the positioning solution result is obtained by completing the positioning solution in the second epoch, and the second epoch is later than the first epoch; according to the second GNSS observation amount, the first GNSS observation amount and the positioning solution result corresponding to the third epoch, the positioning recursive result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch. In this way, the positioning recursive result corresponding to the third epoch can be obtained by recursion in the third epoch, and compared with the positioning solution result obtained by filtering solution in the related art, the time to obtain the positioning result is shorter, which can reduce the positioning delay. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 It is a flowchart of the positioning method provided in the embodiment of the present application;

[0017] Figure 2 It is a first schematic diagram of each epoch provided in the embodiment of the present application;

[0018] Figure 3 is a second schematic diagram of each epoch provided in an embodiment of the present application;

[0019] Figure 4 It is a schematic diagram of the distribution of positioning solution step blocks provided in an embodiment of the present application;

[0020] Figure 5 This is a third distribution diagram of each epoch provided in the embodiment of the present application;

[0021] Figure 6 This is a fourth distribution diagram of each epoch provided in the embodiment of the present application;

[0022] Figure 7 is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

[0023] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application 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 application, rather than to limit the present application. For those skilled in the art, the present application 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 application by illustrating the examples of the present application.

[0025] 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.

[0026] The following, in conjunction with the accompanying drawings, describes in detail the positioning method, device, equipment, medium and product provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0027] Figure 1 is a flow chart of the positioning method provided in the embodiment of the present application. Figure 1 As shown, the positioning method may include:

[0028] S101: Acquire a first GNSS observation value acquired by a terminal in a first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing the positioning solution in a second epoch, and the second epoch is later than the first epoch;

[0029] S102: Obtaining a positioning recursive result corresponding to a third epoch by recursion according to the second GNSS observation quantity, the first GNSS observation quantity and the positioning solution result corresponding to the third epoch, wherein the third epoch is later than the second epoch.

[0030] The specific implementation of each of the above steps will be described in detail below.

[0031] In the embodiment of the present application, the first GNSS observation amount and the positioning solution result corresponding to the first GNSS observation amount obtained by the terminal in the first epoch are obtained, wherein the positioning solution result is obtained by completing the positioning solution in the second epoch, and the second epoch is later than the first epoch; according to the second GNSS observation amount, the first GNSS observation amount and the positioning solution result corresponding to the third epoch, the positioning recursive result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch. In this way, the positioning recursive result corresponding to the third epoch can be obtained by recursion in the third epoch, and compared with the positioning solution result obtained by filtering solution in the related art, the time to obtain the positioning result is shorter, which can reduce the positioning delay.

[0032] In some possible implementations of the embodiments of the present application, the positioning solution results in the embodiments of the present application include but are not limited to: single-point positioning solution results, precise single-point positioning (Precise Point Positioning, PPP) filtering solution results, and real-time kinematic carrier phase difference (Real-time kinematic, RTK) filtering solution results.

[0033] The relationship between the various epochs is as follows Figure 2 and Figure 3 As shown. Figure 2 and Figure 3 In , the second epoch is the M+1 epoch after the first epoch, that is, the second epoch is the M+1th epoch after the first epoch, where M is a natural number. Figure 2 In , the third epoch is the epoch after the second epoch. Figure 3 In the equation, the third epoch is the N+1 epoch below the second epoch, that is, the third epoch is the N+1th epoch after the second epoch, where N is a positive integer.

[0034] The terminal completes the positioning solution in the second epoch by performing the positioning solution corresponding to the first GNSS observation value acquired in the first epoch.

[0035] In the embodiment of the present application, the original filtering solution in one epoch (the first epoch) is implemented through M+2 epochs, which can reduce the calculation time of each epoch and thus reduce the positioning delay.

[0036] In some possible implementations of the embodiments of the present application, S102 may include: performing a differential operation on the second GNSS observation value and the first GNSS observation value to obtain a position change; and determining a positioning recursive result according to the positioning solution result and the position change.

[0037] In some possible implementations of the embodiments of the present application, the position change amount may be obtained according to different types of GNSS observations, for example, according to pseudorange observations or carrier phase observations.

[0038] The embodiment of the present application does not limit the specific process of performing a differential operation on the second GNSS observation value and the first GNSS observation value to obtain the position change amount, and any available method can be applied to the embodiment of the present application.

[0039] In some possible implementations of the embodiments of the present application, the sum of the position change obtained by performing a differential operation on the second GNSS observation value and the first GNSS observation value and the positioning solution result corresponding to the first GNSS observation value can be used as the positioning recursive result.

[0040] In some possible implementations of the embodiments of the present application, before S101, the positioning method provided by the embodiments of the present application may further include: distributing multiple positioning solution step blocks in multiple epochs, wherein the multiple epochs include a first epoch, a second epoch, and an epoch between the first epoch and the second epoch; in each epoch of the multiple epochs, solving the first GNSS observation using the positioning solution step blocks distributed in the epoch.

[0041] For example, Figure 4 As shown. Assume that the filter solution module is divided into 20 filter solution blocks, and every 4 filter solution blocks are a positioning solution step block. Then divide the 20 filter solution blocks into 5 positioning solution step blocks, and the 5 positioning solution step blocks are positioning solution step block A, positioning solution step block B, positioning solution step block C, positioning solution step block D, and positioning solution step block E. Positioning solution step block A is distributed in the first epoch, positioning solution step block B is distributed in the next epoch of the first epoch, positioning solution step block C is distributed in the next two epochs of the first epoch, positioning solution step block D is distributed in the next three epochs of the first epoch, and positioning solution step block E is distributed in the next four epochs of the first epoch (i.e., the second epoch).

[0042] In the first epoch, the first GNSS observation is solved using the positioning solution step block A; in the next epoch after the first epoch, the first GNSS observation is solved using the positioning solution step block B; in the next two epochs after the first epoch, the first GNSS observation is solved using the positioning solution step block C; in the next three epochs after the first epoch, the first GNSS observation is solved using the positioning solution step block D; in the second epoch, the first GNSS observation is solved using the positioning solution step block E. After the second epoch solution is completed, the positioning solution result corresponding to the first GNSS observation is obtained.

[0043] In some possible implementations of the embodiments of the present application, before distributing multiple positioning solution steps in blocks over multiple epochs, the positioning method provided by the embodiments of the present application may further include: determining a design value of the number of calculation cycle epochs corresponding to the positioning solution result based on the sampling rate of the GNSS observations; and determining a second epoch based on the first epoch and the design value of the number of calculation cycle epochs.

[0044] In some possible implementations of the embodiments of the present application, a value equal to the sampling rate of the GNSS observations may be determined as a design value of the number of epochs of the calculation cycle corresponding to the positioning solution result. When a value equal to the sampling rate of the GNSS observations is determined as a design value of the number of epochs of the calculation cycle corresponding to the positioning solution result, the second epoch is the epoch of the design value of the number of epochs of the calculation cycle starting from the first epoch.

[0045] For example, assuming that the sampling rate of the GNSS observations is 5 Hz, the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result is determined to be 5. The second epoch is the fifth epoch from the first epoch.

[0046] In some possible implementations of the embodiments of the present application, the difference between a value equal to the sampling rate of the GNSS observation and 1 may be determined as the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result. When the difference between a value equal to the sampling rate of the GNSS observation and 1 is determined as the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result, the second epoch is the epoch of the design value of the number of epochs of the calculation cycle after the first epoch.

[0047] For example, assuming that the sampling rate of the GNSS observations is 5 Hz, the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result is determined to be 5-1=4. The second epoch is the fourth epoch after the first epoch.

[0048] In the embodiment of the present application, according to the sampling rate of the GNSS observations, the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result can be determined according to actual needs.

[0049] In some possible implementations of the embodiments of the present application, the sampling rate of GNSS observations may change in real time or periodically. Since the design value of the number of periodic epochs is determined based on the sampling rate of GNSS observations, it is also affected by the sampling rate of GNSS observations and the design value of the number of periodic epochs may also change in real time or periodically.

[0050] In some possible implementations of the present application, the third epoch is the next epoch of the second epoch, the fourth epoch, and any epoch between the next epoch of the second epoch and the fourth epoch, wherein the fourth epoch is an epoch determined based on the next epoch of the second epoch and the design value of the number of epochs in the calculation cycle.

[0051] For example, Figure 5 As shown. Figure 5 , epoch i is the next epoch of the second epoch, epoch j is the next two epochs of the second epoch, epoch k is the next three epochs of the second epoch, epoch m is the next four epochs of the second epoch, and epoch n is the next five epochs of the second epoch, wherein epoch n is an epoch determined according to epoch i and the design value of the number of epochs in the calculation cycle, that is, epoch n is the fourth epoch in the embodiment of the present application. The third epoch can be any one of epoch i, epoch j, epoch k, epoch m, and epoch n.

[0052] In some possible implementations of the embodiments of the present application, the positioning method provided by the embodiments of the present application may further include: taking the next epoch of the second epoch as the first epoch, and returning to S101 to continue execution.

[0053] Exemplarily, the above-mentioned epoch i can be used as the first epoch, and then, according to epoch i and the design value of the number of epochs in the calculation period, epoch n is determined as the second epoch based on epoch i. For epoch x after epoch n, the positioning solution result of the GNSS observation corresponding to epoch x, the GNSS observation obtained by the terminal at epoch i, and the GNSS observation obtained by the terminal at epoch i after completing the positioning solution at epoch n is recursively used to obtain the positioning recursive result corresponding to epoch x.

[0054] In some possible implementations of the embodiments of the present application, at the third epoch, the GNSS observations corresponding to the third epoch may also be solved in blocks using the positioning solution steps distributed in the third epoch.

[0055] In some possible implementations of the embodiments of the present application, recursively calculating the positioning recursion result corresponding to the third epoch and solving the GNSS observation quantity corresponding to the third epoch can be executed in parallel or in series.

[0056] When executing in parallel, one thread may be used to recursively derive the positioning recursion result corresponding to the third epoch, while another thread may be used to solve the GNSS observation corresponding to the third epoch.

[0057] During serial execution, one thread may be used to recursively deduce the positioning recursion result corresponding to the third epoch, and then the thread may be used to solve the GNSS observation corresponding to the third epoch; or, one thread may be used to first solve the GNSS observation corresponding to the third epoch, and then the positioning recursion result corresponding to the third epoch may be recursively derived.

[0058] Combine the following Figure 6 The positioning process is described.

[0059] Assume that the sampling rate of GNSS observations is 5 Hz. Determine that the second epoch is the fourth epoch after the first epoch.

[0060] The filter solution module is divided into 20 filter solution blocks, and every 4 filter solution blocks form a positioning solution step block. Then the 20 filter solution blocks are divided into 5 positioning solution step blocks, and the 5 positioning solution step blocks are positioning solution step block A, positioning solution step block B, positioning solution step block C, positioning solution step block D, and positioning solution step block E.

[0061] For the 5(i-1)+1th epoch, the positioning solution result of the GNSS observations obtained by the terminal at the 5(i-1)+1 epoch, the GNSS observations obtained by the terminal at the 5(i-2)+1 epoch and the GNSS observations obtained by the terminal at the 5(i-1)+1 epoch after completing the positioning solution at the 5(i-1) epoch is recursively obtained to obtain the positioning recursive result corresponding to the 5(i-1)+1th epoch; the GNSS observations obtained by the terminal at the 5(i-1)+1 epoch are solved using the positioning solution step block A.

[0062] For the 5(i-1)+2th epoch, the positioning solution result of the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch, the GNSS observation quantity obtained by the terminal at the 5(i-2)+1 epoch and the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch after completing the positioning solution at the 5(i-1) epoch is recursively obtained to obtain the positioning recursive result corresponding to the 5(i-1)+2 epoch; the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch is solved using the positioning solution step block B.

[0063] For the 5(i-1)+3th epoch, the positioning solution result of the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch, the GNSS observation quantity obtained by the terminal at the 5(i-2)+1 epoch and the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch after completing the positioning solution at the 5(i-1) epoch is recursively obtained to obtain the positioning recursive result corresponding to the 5(i-1)+3th epoch; the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch is solved using the positioning solution step block C.

[0064] For the 5(i-1)+4th epoch, the positioning solution result of the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch, the GNSS observation quantity obtained by the terminal at the 5(i-2)+1 epoch and the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch after completing the positioning solution at the 5(i-1) epoch is recursively obtained to obtain the positioning recursive result corresponding to the 5(i-1)+4th epoch; the GNSS observation quantity obtained by the terminal at the 5(i-1)+1 epoch is solved using the positioning solution step block D.

[0065] For the 5i-th epoch, the positioning solution result of the GNSS observations obtained by the terminal at the 5(i-1)+1 epoch, the GNSS observations obtained by the terminal at the 5(i-2)+1 epoch and the 5(i-1) epoch is obtained by completing the positioning solution, and the positioning recursion result corresponding to the 5i-th epoch is obtained by recursion; the GNSS observations obtained by the terminal at the 5(i-1)+1 epoch are solved using the positioning solution step block E.

[0066] The present application also provides a positioning device, such as Figure 7 shown. Figure 7 : is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. The positioning device 700 may include:

[0067] An acquisition module 701 is used to acquire a first GNSS observation value acquired by a terminal at a first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing the positioning solution at a second epoch, and the second epoch is later than the first epoch;

[0068] The recursive module 702 is used to obtain a positioning recursive result corresponding to a third epoch by recursion according to the second GNSS observation quantity, the first GNSS observation quantity and the positioning solution result corresponding to the third epoch, wherein the third epoch is later than the second epoch.

[0069] In the embodiment of the present application, the first GNSS observation amount and the positioning solution result corresponding to the first GNSS observation amount obtained by the terminal in the first epoch are obtained, wherein the positioning solution result is obtained by completing the positioning solution in the second epoch, and the second epoch is later than the first epoch; according to the second GNSS observation amount, the first GNSS observation amount and the positioning solution result corresponding to the third epoch, the positioning recursive result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch. In this way, the positioning recursive result corresponding to the third epoch can be obtained by recursion in the third epoch, and compared with the positioning solution result obtained by filtering solution in the related art, the time to obtain the positioning result is shorter, which can reduce the positioning delay.

[0070] In some possible implementations of the embodiment of the present application, the recursive module 702 includes:

[0071] The differential calculation submodule is used to perform a differential operation on the second GNSS observation amount and the first GNSS observation amount to obtain a position change;

[0072] The recursive submodule is used to determine the positioning recursive result based on the positioning solution result and the position change.

[0073] In some possible implementations of the embodiments of the present application, the positioning device 700 may further include:

[0074] A distribution module, used for distributing the plurality of positioning solution steps into blocks over a plurality of epochs, wherein the plurality of epochs include a first epoch, a second epoch, and an epoch between the first epoch and the second epoch;

[0075] The solution module is used to solve the first GNSS observation quantity in each epoch of the plurality of epochs by using the positioning solution step length distributed in the epochs.

[0076] In some possible implementations of the embodiments of the present application, the positioning device 700 may further include:

[0077] The first determination module is used to determine the design value of the calculation cycle epoch number corresponding to the positioning solution result according to the sampling rate of the GNSS observation amount;

[0078] The second determination module is used to determine the second epoch according to the first epoch and the design value of the number of epochs in the calculation cycle.

[0079] In some possible implementations of the embodiments of the present application, the design value of the periodic epoch number changes in real time or periodically.

[0080] In some possible implementations of the present application, the third epoch is the next epoch of the second epoch, the fourth epoch, and any epoch between the next epoch of the second epoch and the fourth epoch, wherein the fourth epoch is an epoch determined based on the next epoch of the second epoch and the design value of the number of epochs in the calculation cycle.

[0081] In some possible implementations of the embodiments of the present application, the positioning device 700 may further include:

[0082] The third determination module is used to use the next epoch of the second epoch as the first epoch to trigger the acquisition module 701.

[0083] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0084] The electronic device may include a processor 801 and a memory 802 storing computer program instructions.

[0085] Specifically, the processor 801 may include a central processing unit (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 application.

[0086] The memory 802 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 802 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 appropriate cases, the memory 802 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 802 may be inside or outside the electronic device. In some specific embodiments, the memory 802 is a non-volatile solid-state memory.

[0087] In some specific embodiments, the memory may include a read-only memory (ROM), a random access memory (RAM), a disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, 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 positioning method provided according to the embodiments of the present application.

[0088] The processor 801 implements the positioning method provided in the embodiment of the present application by reading and executing the computer program instructions stored in the memory 802.

[0089] In one example, the electronic device may further include a communication interface 803 and a bus 810. Figure 8 As shown, the processor 801, the memory 802, and the communication interface 803 are connected via a bus 810 and communicate with each other.

[0090] The communication interface 803 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0091] The bus 810 includes hardware, software or both, coupling the components of the electronic device to each other. For example, but not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro channel architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus or other suitable buses or a combination of two or more of these. Where appropriate, the bus 810 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0092] The electronic device can execute the positioning method provided in the embodiment of the present application, thereby achieving the corresponding technical effects of the positioning method provided in the embodiment of the present application.

[0093] In addition, in combination with the positioning method in the above embodiment, the embodiment of the present application also provides a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, the positioning method provided in the embodiment of the present application is implemented. Examples of computer-readable storage media include non-transitory computer-readable media, such as ROM, RAM, magnetic disk or optical disk, etc.

[0094] An embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning method provided in the embodiment of the present application and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0095] It should be clear that the present application 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 application 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 application.

[0096] 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 application 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" may include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable read-only memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), 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.

[0097] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0098] 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.

[0099] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application 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 in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A positioning method, characterized in that: The method comprises: Acquire a first GNSS observation value acquired by the terminal at a first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing a positioning solution at a second epoch, and the second epoch is later than the first epoch; According to the second GNSS observation quantity corresponding to the third epoch, the first GNSS observation quantity and the positioning solution result, a positioning recursive result corresponding to the third epoch is obtained by recursion, wherein the third epoch is later than the second epoch; Before the acquiring terminal acquires the first GNSS observation value acquired in the first epoch and the positioning solution result corresponding to the first GNSS observation value, the method further includes: Distributing a plurality of positioning solution steps in blocks over a plurality of epochs, wherein the plurality of epochs include the first epoch, the second epoch, and an epoch between the first epoch and the second epoch; In each epoch of the plurality of epochs, the first GNSS observations are solved in blocks using positioning solution steps distributed in the epoch.

2. The method according to claim 1, characterized in that The recursive positioning result corresponding to the third epoch is obtained by recursion according to the second GNSS observation value corresponding to the third epoch, the first GNSS observation value and the positioning solution result, including: Performing a differential operation on the second GNSS observation value and the first GNSS observation value to obtain a position change; The positioning recursive result is determined according to the positioning solution result and the position change.

3. The method according to claim 1, characterized in that The method further comprises distributing the plurality of positioning solution steps in blocks before the plurality of epochs: Determine the design value of the number of epochs of the calculation cycle corresponding to the positioning solution result according to the sampling rate of the GNSS observations; The second epoch is determined based on the first epoch and the design value of the number of epochs in the calculation cycle.

4. The method according to claim 3, characterized in that The design value of the periodic epoch number changes in real time or periodically.

5. The method according to claim 3, characterized in that: The third epoch is any epoch among the next epoch of the second epoch, the fourth epoch, and the epoch between the next epoch of the second epoch and the fourth epoch, wherein the fourth epoch is an epoch determined based on the next epoch of the second epoch and the design value of the number of epochs in the calculation cycle.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The next epoch of the second epoch is used as the first epoch, and the step of obtaining the first GNSS observation value acquired by the terminal in the first epoch and the positioning solution result corresponding to the first GNSS observation value is returned to continue execution.

7. A positioning device, characterized in that: The device comprises: An acquisition module, configured to acquire a first GNSS observation value acquired by the terminal at a first epoch and a positioning solution result corresponding to the first GNSS observation value, wherein the positioning solution result is obtained by completing a positioning solution at a second epoch, and the second epoch is later than the first epoch; a recursion module, configured to obtain a positioning recursion result corresponding to a third epoch by recursion according to a second GNSS observation corresponding to a third epoch, the first GNSS observation and the positioning solution result, wherein the third epoch is later than the second epoch; The device also includes: A distribution module, configured to distribute the plurality of positioning solution steps in blocks over a plurality of epochs, wherein the plurality of epochs include the first epoch, the second epoch, and an epoch between the first epoch and the second epoch; A solution module is used to solve the first GNSS observation quantity in each epoch of the multiple epochs by using the positioning solution step size distributed in the epoch.

8. An electronic device, characterized in that: The electronic 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 as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the positioning method according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning method as described in any one of claims 1 to 6.

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