A positioning method, apparatus, device, and storage medium

Abstract

The application discloses a positioning method, device, equipment and storage medium, to solve the problem of inaccurate positioning caused by the fact that the existing positioning service is not comprehensive and satellite signals are blocked. The method comprises the following steps: receiving carrier signals of each base station and satellite signals of each satellite; when the number of base stations is greater than a first preset value, determining a first position based on the carrier signals; when the number of satellites is greater than a second preset value, determining a second position based on the satellite signals, and judging whether the distance between the terminal device and the ground reference station of the CORS system is greater than a first distance threshold; if yes, the second position is corrected by using a first correction parameter to obtain a third position; if no, the second position is corrected by using a second correction parameter to obtain a fourth position; determining a fifth position according to the accuracy of the second position, the third position and the fourth position, fusing the first position and the fifth position by using a position fusion algorithm, and determining the positioning result of the terminal device.

Description

TECHNICAL FIELD

[0001] The present application relates to the positioning field, and in particular to a positioning method, device, equipment and storage medium. BACKGROUND

[0002] At present, in the field of high-precision positioning, common positioning technical means include network real-time kinematic (RTK) technology and satellite-based augmentation positioning technology based on geosynchronous orbit satellites or medium-high orbit satellites. Among them, the network RTK technology needs to build a continuously operating reference stations (CORS) system on the ground, and the positioning is realized based on the ground reference stations of the CORS system and satellite information. Although this method can realize rapid positioning, the implementation process is limited by the integrity of the ground CORS system, so the positioning service provided by the network RTK technology is discontinuous. Moreover, when performing network RTK positioning, the terminal needs to establish a bidirectional communication link with the service system, and the resources of the CORS service system are limited, which cannot meet the demand of large-scale users.

[0003] At present, the satellite-based navigation augmentation positioning technology based on geosynchronous orbit satellites or medium-high orbit satellites can meet the demand of large-scale positioning. The orbit of the satellite used in this technology is high, the signal landing power is low and easy to be disturbed, and it takes a long time to obtain high-precision positioning results. In addition, whether it is network RTK technology or satellite-based navigation augmentation positioning technology based on geosynchronous orbit satellites or medium-high orbit satellites, the satellite signal is blocked by obstacles and has a large multipath effect, which leads to inaccurate positioning results. SUMMARY

[0004] The present application provides a positioning method, device, equipment and storage medium to solve the problems of incomplete coverage of existing positioning services and inaccurate positioning caused by blocked satellite signals used for positioning.

[0005] In a first aspect, the present application provides a positioning method, which is applied to a terminal device, comprising:

[0006] receiving carrier signals from each base station and satellite signals from each satellite;

[0007] when the number of base stations is greater than a first preset value, determining the first position of the terminal device based on the carrier signals;

[0008] determining a second position of the terminal device based on the satellite signals when the number of the satellites is greater than a second preset value, and determining whether a distance between the terminal device and a ground reference station of a continuous operation reference station (CORS) system is greater than a first distance threshold value;

[0009] if greater, correcting the second position by using a first correction parameter to obtain a third position; and if not greater, correcting the second position by using a second correction parameter to obtain a fourth position; wherein the first correction parameter is used to represent compensation for loss in a satellite signal transmission process, and the second correction parameter is determined based on the first correction parameter;

[0010] determining a fifth position based on the accuracy of the second position, the third position and the fourth position, and fusing the first position and the fifth position by using a pre-set position fusion algorithm to determine a positioning result of the terminal device.

[0011] In one or more embodiments, the correcting the first position by using the second correction parameter to obtain the fourth position of the terminal device specifically comprises:

[0012] determining whether the distance between the terminal device and the ground reference station is less than a second distance threshold value, the second distance threshold value being less than the first distance threshold value;

[0013] if less, sending a positioning request to a server of the CORS system, and correcting the first position by using the second correction parameter returned by the server to obtain the fourth position;

[0014] if not less, converting the first correction parameter carried by the satellite signals to obtain the second correction parameter, and correcting the first position by using the converted second correction parameter to obtain the fourth position.

[0015] In one or more embodiments, the determining the first position of the terminal device based on the carrier signals specifically comprises:

[0016] obtaining an angle of arrival and a time difference of arrival of the carrier signals;

[0017] when the number of the base stations is greater than a third preset value, calculating the first position based on the time difference of arrival of the carrier signals and the positions of the base stations;

[0018] when the number of the base stations is less than or equal to the third preset value, calculating the first position based on the angle of arrival of the carrier signals and the positions of the base stations.

[0019] In one or more embodiments, the method further comprises:

[0020] parsing the satellite signals to obtain the elevation angles of the satellites and the first correction parameter;

[0021] determining that the elevation angles of the satellites are greater than a preset angle.

[0022] In one or more embodiments, before sending the positioning request to the server, the method further comprises:

[0023] sending a login request to the server; the login request comprises account information of the terminal device, and is used to request services of the server;

[0024] receiving login confirmation information returned by the server.

[0025] In a second aspect, the present application provides a positioning device, which is applied to a terminal device or is the terminal device, and comprises:

[0026] a communication unit, configured to receive carrier signals from base stations and satellite signals from satellites;

[0027] a processing unit, configured to perform:

[0028] when the number of the base stations is greater than a first preset value, determining a first position of the terminal device based on the carrier signals;

[0029] when the number of the satellites is greater than a second preset value, determining a second position of the terminal device based on the satellite signals, and determining whether a distance between the terminal device and a ground reference station of a continuous operation reference station (CORS) system is greater than a first distance threshold value;

[0030] if yes, correcting the second position by using a first correction parameter to obtain a third position; if no, correcting the second position by using a second correction parameter to obtain a fourth position; wherein the first correction parameter is used to represent compensation for loss in the process of satellite signal transmission, and the second correction parameter is determined based on the first correction parameter;

[0031] determining a fifth position according to the accuracies of the second position, the third position and the fourth position, fusing the first position and the fifth position by using a pre-set position fusion algorithm, and determining a positioning result of the terminal device.

[0032] In one or more embodiments, when the processing unit corrects the first position by using the second correction parameter to obtain the fourth position of the terminal device, the processing unit is specifically configured to:

[0033] determining whether a distance between the terminal device and the ground reference station is less than a second distance threshold, the second distance threshold being less than the first distance threshold;

[0034] if less, instructing the communication unit to send a positioning request to a server of the CORS system, and correcting the first position according to a second correction parameter returned by the server to obtain the fourth position;

[0035] if not less, converting the first correction parameter carried by the satellite signal to obtain the second correction parameter, and correcting the first position according to the second correction parameter obtained by the conversion to obtain the fourth position.

[0036] In one or more embodiments, the processing unit, when determining the first position of the terminal device based on the carrier signal, is specifically configured to:

[0037] obtain an angle of arrival and a time difference of arrival of the carrier signal;

[0038] when the number of the base stations is greater than a third preset value, calculate the first position according to the time difference of arrival of the carrier signal and the positions of the base stations;

[0039] when the number of the base stations is less than or equal to the third preset value, calculate the first position according to the angle of arrival of the carrier signal and the positions of the base stations.

[0040] In one or more embodiments, the processing unit is further configured to:

[0041] parsing the satellite signal to obtain the elevation angles of the satellites and the first correction parameter;

[0042] determining that the elevation angles of the satellites are greater than a preset angle.

[0043] In one or more embodiments, the processing unit, before instructing the communication unit to send the positioning request to the server, is further configured to:

[0044] instructing the communication unit to send a login request to the server; the login request includes account information of the terminal device, and is used to request services of the server;

[0045] receiving login confirmation information returned by the server through the communication unit.

[0046] In a third aspect, an electronic device is provided, which includes a controller and a memory. The memory is configured to store computer execution instructions, and the controller executes the computer execution instructions in the memory to perform the operation steps of the method of any possible implementation of the first aspect by using hardware resources in the controller.

[0047] In a fourth aspect, a computer-readable storage medium is provided, and the computer-readable storage medium stores instructions which, when executed on a computer, cause the computer to perform the method of any of the aspects.

[0048] The positioning method provided by the embodiments of the present application sets different positioning strategies under different distances based on the distance between the terminal device and the ground reference station of the CORS system. The position determined by the positioning under different strategies is a satellite-based positioning result. The ground station positioning result and the satellite positioning result are fused by using a set fusion algorithm to determine the final positioning result of the terminal device. High-precision positioning can be achieved in an area where the coverage of the ground station is not comprehensive or in an area where the satellite signal is severely blocked. The problem that positioning cannot be performed or positioning is not accurate due to the fact that the coverage of the CORS system is not comprehensive or the satellite signal is blocked in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0050] Figure 1 An architecture schematic diagram of a communication system provided by the embodiments of the present application is shown in the figure.

[0051] Figure 2 A flowchart of a positioning method provided by the embodiments of the present application is shown in the figure.

[0052] Figure 3 A schematic diagram of a service area of a CORS system provided by the embodiments of the present application is shown in the figure.

[0053] Figure 4 A flowchart of a satellite positioning method provided by the embodiments of the present application is shown in the figure.

[0054] Figure 5 A flowchart of another satellite positioning method provided by the embodiments of the present application is shown in the figure.

[0055] Figure 6 A structure schematic diagram of a positioning device provided by the embodiments of the present application is shown in the figure.

[0056] Figure 7 A structure schematic diagram of an electronic device provided by the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0057] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application.

[0058] It should be noted that the terms "first", "second", and the like in the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The implementation described in the following exemplary embodiments does not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0059] Satellite positioning technology is a technology for accurately positioning an object using satellites. From the earliest Meridian satellite system to the current commonly used global positioning system and regional positioning system, the development of satellite positioning technology is very rapid. The basic principle of satellite positioning is to measure the distance between a satellite with a known position and an object to be positioned, and then to determine the position information of the object to be positioned by synthesizing the data of multiple satellites. Since the three-dimensional position of the object needs to be calculated, and the deviation in calculating the distance needs to be considered, at least four satellites are currently required to achieve satellite positioning.

[0060] However, due to the errors of satellite clocks and object clocks to be positioned, as well as the delay of satellite signals passing through the ionosphere and the troposphere, there is a certain gap between the actual measured distance and the geometric distance from the satellite to the object. Therefore, the currently measured distance is called pseudo-range, and the position calculated based on the pseudo-range is called pseudo-range position. In order to correct the pseudo-range position, the State Space Representation (SSR) parameters (or also known as correction parameters or correction parameters) carried in the satellite signals transmitted by the Low Earth Orbit (LEO) satellite are used to correct the calculated pseudo-range position, thereby improving the accuracy of satellite positioning.

[0061] In order to facilitate understanding of the scheme introduced in the embodiments of the present application, first, the technical terms related to the present application are introduced:

[0062] (1) Continuously Operating Reference Stations (CORS) system: composed of ground reference stations, data processing centers of service ends and terminal devices, each ground reference station is connected to the service end through a data transmission link to form an integrated system, forming a dedicated network for terminal positioning.

[0063] (2) Network Real-Time Kinematic (NRTK): Through the CORS system, combined with baseline processing and observation interpolation technology, the terminal device realizes real-time dynamic high-precision relative positioning. NRTK technology can improve the flexibility of operation, reduce operating costs, and to some extent, improve coverage, but the positioning range it can meet is also limited.

[0064] (3) Observation Space Representation (OSR) enhanced service: based on the CORS system, the terminal device needs to send its approximate position to the data processing center of the service side, and the service side calculates the expected observation error of the terminal device through the ground reference station network. Then return this information to the terminal device for the terminal device to adjust the pseudo-range. OSR is generally used in the process of RTK positioning and NRTK positioning.

[0065] (4) SSR enhanced service: using global navigation satellite system (GNSS) data received by the reference station network to perform physical modeling of the state space, simulating the error of the entire region. Through modeling, the parameters of the state space model at any given time can be described, and then sent to the terminal device within the region. The method based on SSR provides correction services by broadcasting a single correction data stream for the entire service area to all terminal devices.

[0066] (5) Federated Kalman Filter (FKF): The principle of Kalman filtering is an algorithm that uses linear system state equations to optimally estimate the system state through system input and output observation data. There are two ways to use Kalman filtering technology to optimally fuse multi-sensor data: centralized Kalman filtering and decentralized Kalman filtering. Centralized Kalman filtering uses a filter to centrally process information from all subsystems. Decentralized Kalman filtering uses a sub-filter to process the information of a subsystem to achieve information fusion of all subsystems through a global filter.

[0067] The current positioning technology is mainly divided into NRTK technology and satellite positioning technology based on SSR. Among them, the NRTK technology depends on the construction of the ground CORS system, is limited by the distribution of the ground reference station, and has poor integrity service of positioning. In addition, NRTK needs the terminal device to establish a bidirectional transmission link with the server of the CORS system, which cannot meet the use demand of a large number of users at the same time. In the satellite positioning technology based on SSR, there are problems such as high satellite orbit and low satellite signal landing power, which result in low positioning accuracy. And whether it is NRTK technology or satellite positioning technology based on SSR, there are problems such as satellite signal being easily blocked and large multipath effect, which result in unsatisfactory positioning results.

[0068] In order to solve the above problems, the present application proposes a positioning method, which performs positioning based on satellite signals and carrier signals sent by base stations at the same time, and fuses the two positioning information obtained to obtain the final positioning result. In this way, the problems of NRTK service coverage not being comprehensive, the number of service users being limited, and the service integrity being insufficient are solved, and the problems of satellite signal being blocked and large multipath effect existing in the satellite positioning technology based on SSR are also solved. The user is provided with seamless, efficient, fast and high-precision positioning service.

[0069] The positioning method and device proposed by the present application will be described in detail below. In the embodiments described below, "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple. The singular expressions "one", "a kind", "the", "the above", "the", and "this" are intended to also include expressions such as "one or more", unless the context clearly indicates otherwise. In addition, unless otherwise stated, the ordinal numbers "first", "second", etc. mentioned in the embodiments of the present application are used to distinguish a plurality of objects, and are not used to limit the order, time sequence, priority or importance of the plurality of objects. For example, the first task execution device and the second task execution device are only used to distinguish different task execution devices, and do not mean that the priority or importance of the two task execution devices is different.

[0070] Reference within the specification of this application to "one embodiment" or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrases "in one embodiment" or "in some embodiments" within various places in the specification are not necessarily all referring to the same embodiment, however, unless otherwise specifically stated. The terms "including," "containing," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

[0071] First, a brief introduction is given to the communication system architecture involved in the present application. Referring to Figure 1 , a communication system architecture diagram is provided for implementing the positioning method provided by the embodiments of the present application. It should be understood that the embodiments of the present application are not limited to Figure 1 the system shown, and in addition, Figure 1 The apparatus in may be hardware, or functionally divided software, or a combination of the two. As Figure 1 shown, the system architecture provided by the embodiments of the present application includes GNSS satellites, LEO satellites, base stations, ground reference stations of the CORS system, servers of the CORS system, and terminal devices.

[0072] The terminal device (User Equipment, UE) is an object to be positioned, also known as a mobile station (Mobile Station, MS), a mobile terminal (Mobile Terminal, MT), etc., which is a device that provides voice and / or data connectivity to users, such as handheld devices with wireless connection functions, vehicle-mounted devices, etc. Currently, some examples of terminals are: mobile phones, tablet computers, notebook computers, palm computers, mobile Internet devices (Mobile Internet Device, MID), wearable devices, virtual reality (Virtual Reality, VR) devices, augmented reality (Augmented Reality, AR) devices, wireless terminals in industrial control, wireless terminals in self driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city, wireless terminals in smart home, etc.

[0073] The base station involved in the embodiments of the present application may also be referred to as a network device, an access network device, or an access node (AN). A base station is a public mobile communication base station and is an interface device for mobile terminals to access the Internet. The base station may specifically be an evolved base station (eNB or eNodeB) in a Long Term Evolution (LTE) system, or a base station device (gNB) in a 5G network, but this application does not limit this.

[0074] Figure 1 The ground reference station included in the CORS system shown in FIG can also be the base station introduced above, that is, Figure 1 The base station and the ground reference station shown in the figure can be the same, that is, the ground reference station can be any one of multiple base stations. The functions of the server included in the CORS system can be implemented by a single server, or by a server cluster consisting of multiple servers, or the server can also be a cloud computing platform, which is not limited in this application.

[0075] It should be noted that Figure 1 As an example only, this application does not limit the number of GNSS satellites, LEO satellites, base stations, ground reference stations, and servers included in the communication system architecture involved. It can be seen that the more satellites and base stations there are, the more accurate the positioning results will be.

[0076] The following is based on Figure 1 The communication system architecture shown in FIG2 is used to introduce the positioning method proposed in this application. Figure 2 , is a flow chart of a positioning method provided in an embodiment of the present application. In one or more embodiments, Figure 2 The method flow shown can be Figure 1 The method is executed by the terminal device included in the system. The method process specifically includes:

[0077] 201. A terminal device receives carrier signals from base stations and satellite signals from satellites.

[0078] In one or more embodiments, the terminal device may be located within the coverage of the carrier signals of each base station, that is, the terminal device is located in the overlapping area covered by the signals of each base station. The carrier signals from each base station may be carrier signals transmitted by each base station at the same time, and the satellite signals may also be carrier signals transmitted by each satellite at the same time.

[0079] Optionally, each of the base stations can be a base station whose carrier signal can be stably tracked by the terminal device. Similarly, each of the satellites can be a satellite whose satellite signal can be stably tracked by the terminal device.

[0080] 202. When the number of the base stations is greater than a first preset value, the terminal device determines a first position of the terminal device based on the received carrier signals.

[0081] In one or more embodiments, the terminal device can obtain the angle of arrival and the time difference of arrival of the multiple carrier signals received from different base stations at the same time, and determine the distance between the terminal device and each base station based on the angle of arrival and the time difference of arrival of each carrier signal. The terminal device can determine its first position based on the distance and the position information of each base station.

[0082] 203. When the number of the satellites is greater than a second preset value, the terminal device determines a second position of the terminal device based on the received satellite signals.

[0083] In one or more embodiments, the terminal device can determine its second position based on the time difference of the satellite signals received from each satellite and the information representing the position of each satellite (also referred to as the ephemeris of each satellite).

[0084] It should be noted that the application does not limit the execution order of steps 202 and 203, and the terminal device can execute steps 202 and 203 simultaneously.

[0085] 204. The terminal device determines whether the distance between the terminal device and the ground reference station of the CORS system is greater than a first distance threshold.

[0086] If it is greater, step 205 is executed.

[0087] If it is not greater, step 206 is executed.

[0088] 205. The terminal device corrects the second position using a first correction parameter to obtain a third position.

[0089] In one or more embodiments, the satellite signals from multiple satellites can carry a first correction parameter, which is used to compensate for the loss in the transmission process of the satellite signals. Since the satellite signals will pass through the ionosphere and the troposphere in the transmission process, the transmission time of the satellite signals will be increased, resulting in errors in the time difference of the satellite signals. The first correction parameter is used to eliminate such errors.

[0090] Optionally, the first correction parameter can be referred to as an SSR parameter, and can include one or more of satellite precise orbit information, satellite clock bias information, satellite signal bias information, ionosphere delay grid information, and troposphere delay grid information.

[0091] In one or more embodiments, after receiving the satellite signals from the respective satellites, the terminal device can parse the satellite signals to obtain the first correction parameter. The calculated second position can be corrected using the parsed first correction parameter to obtain a third position.

[0092] 206. The terminal device corrects the second position using the second correction parameter to obtain a fourth position.

[0093] When the distance between the terminal device and the ground reference station of the CORS system is not greater than the first distance threshold, positioning can be implemented based on the server of the CORS system. In one or more embodiments, the terminal device can request the server of the CORS system for a second correction parameter for correcting the second position, and correct the second position using the obtained second correction parameter to obtain a fourth position.

[0094] 207. The terminal device determines a fifth position according to the accuracy of the second position, the third position, and the fourth position, and fuses the first position and the fifth position using a pre-set position fusion algorithm to determine the positioning result of the terminal device.

[0095] In one or more embodiments, the terminal device can take the position with the highest accuracy among the second position, the third position, and the fourth position as the fifth position.

[0096] In one or more embodiments, the terminal device can fuse the first position and the fifth position using a federated Kalman filter (for details of the federated Kalman filter, please refer to the technical terms section above) to obtain the final positioning result of the terminal device.

[0097] Based on the above scheme, the positioning method provided by the embodiments of the present application fuses ground station positioning and satellite positioning technology, and can achieve high-precision positioning in areas where the coverage of base stations is not comprehensive, or areas where satellite signals are severely blocked. The problem of being unable to position or inaccurate positioning due to the incomplete coverage of the CORS system or the blocking of satellite signals in the prior art is solved.

[0098] In one or more embodiments, when implementing positioning of the terminal device according to the satellite signals, based on the distance between the terminal device and the ground reference station of the CORS system, the positioning can be implemented according to the CORS system built on the ground, or the single point positioning can be implemented based on the satellite signals. Or the two ways can be fused, for example, the two positioning ways are used simultaneously to implement positioning, and then the positioning results are fused or the second position of satellite positioning is obtained by selection. In the following, different scenarios are introduced.

[0099] Scenario one: CORS system positioning based on satellite signals.

[0100] In one or more embodiments, the terminal device can determine the distance between the terminal device and each satellite according to the time difference of arrival of the satellite signals. The time difference of arrival of the satellite signals is the time difference between the receiving time and the sending time of the satellite signals. For example, the speed of the satellite signals is the speed of light, and then the distance between the terminal device and each satellite can be calculated according to the product of the speed of light and the time difference of arrival. After determining the distance, the terminal device can determine the position information of itself according to the distance and the position of each satellite. In order to facilitate the description, the position determined here is referred to as the second position.

[0101] In one or more embodiments, after determining the second position, the terminal device can further determine whether the CORS system can be used for positioning. Optionally, the terminal device can determine whether the CORS system can be used for positioning according to the distance between the terminal device and the ground reference station of the CORS system. In one or more embodiments, the terminal device can determine whether the distance between the terminal device and the ground reference station is greater than a first distance threshold. If not, it indicates that the terminal device can connect the ground reference station of the CORS system. After determining that it can be connected, it can further determine whether the terminal device is in the service area of the CORS system. For example, referring to Figure 3 , a CORS service area diagram provided by an embodiment of the present application, Figure 3 The polygon inside the diagram is the service area of the CORS system. When the terminal device is located at the position shown in Figure 3 , it can connect the ground reference station A of the CORS system, but it is not in the service area. In one or more embodiments, the terminal device can determine whether it is in the service area of the CORS system by determining whether the distance between the terminal device and the ground reference station is less than a second distance threshold. The second distance threshold is less than the first distance threshold.

[0102] In a possible case, if the distance between the terminal device and the ground reference station is less than the second distance threshold, a positioning request is sent to a server of the CORS system, and the second position is corrected according to a second correction parameter returned by the server to obtain a fourth position. Optionally, the positioning request can include the pseudo-range position of the terminal device calculated by the terminal device. The server can determine the second correction parameter needed by the terminal device for position correction according to the received pseudo-range position, and return the determined second correction parameter to the terminal device. After receiving the second correction parameter, the terminal device can correct the second position by using the second correction parameter to determine the fourth position.

[0103] In one or more embodiments, before sending the positioning request to the server, the terminal device can also send a login request to the server, wherein the login request includes account information of the terminal device, for requesting the server to provide services. After receiving the positioning request, the server can verify the account information of the terminal device, and if the verification is passed, the server provides the terminal device with the positioning service, that is, returns the second correction parameter. If the verification is not passed, the server can return indication information of the verification not being passed to the terminal device.

[0104] In another possible case, if the distance between the terminal device and the ground reference station is not less than the second distance threshold, the first correction parameter carried by the satellite signal is converted to obtain the second correction parameter, and the second position is corrected according to the converted second correction parameter to obtain the fourth position. Optionally, when the distance between the terminal device and the ground reference station is less than the first distance threshold and greater than or equal to the second distance threshold, the terminal device can convert the first correction parameter into the second correction parameter. Optionally, the second correction parameter can be referred to as OSR data.

[0105] For example, when the second correction parameter is generated, the terminal device can interpolate and calculate the ionospheric delay grid information and the tropospheric delay grid information in the first correction parameter to obtain the non-difference ionospheric tilt direction correction value included in the second correction parameter. Alternatively, the satellite signal tilt direction correction value included in the second correction parameter can also be calculated through the satellite precise orbit information and the satellite clock difference information. Further, the terminal device can correct the second position according to the converted second correction parameter to eliminate the influence of the ionosphere and the convection process and the like on distance calculation, and obtain the fourth position.

[0106] In order to further understand the scheme of network RTK positioning based on the CORS system provided in the scenario one, specific embodiments will be introduced below. Referring to Figure 4 The satellite positioning method provided in the embodiments of the present application specifically includes:

[0107] 401, the terminal device receives satellite signals from multiple satellites.

[0108] 402, the terminal device parses the satellite signals to obtain position information of the multiple satellites and a first correction parameter.

[0109] 403, the terminal device determines a second position of the terminal device according to a time difference of arrival of the satellite signals and the position information of the multiple satellites.

[0110] The time difference of arrival of the satellite signals and the process of calculating the second position of the terminal device can be referred to the above embodiments and will not be repeated here.

[0111] 404, the terminal device determines whether a distance between the terminal device and the ground reference station is less than a second distance threshold.

[0112] If yes, the terminal device continues to perform step 405.

[0113] If no, the terminal device continues to perform step 406.

[0114] 405, the terminal device sends a positioning request to a server of a CORS system and receives a second correction parameter returned by the server.

[0115] 406, the terminal device converts the first correction parameter to obtain the second correction parameter.

[0116] The process of generating the second correction parameter can be referred to the above embodiments and will not be repeated here.

[0117] 407, the terminal device corrects the second position by using the second correction parameter to obtain a fourth position.

[0118] Scenario two: single point positioning based on satellite signals.

[0119] In one or more embodiments, after receiving the satellite signals from the multiple satellites, the terminal device can determine a second position of the terminal device based on a time difference of arrival of the satellite signals and position information of the multiple satellites. The process of calculating the second position can be referred to the above scenario one and will not be repeated here.

[0120] In one or more embodiments, after determining the second position, it can be judged whether the first correction parameter is carried in the satellite signal (for details about the first correction parameter, please refer to the relevant description in scenario one), if yes, the second position can be corrected according to the first correction parameter to obtain a third position. For example, the ionospheric delay error in the satellite pseudo-range and carrier phase observation value can be eliminated by the ionospheric delay grid information included in the first correction parameter, so as to improve the positioning accuracy. If the first correction parameter is not carried in the satellite signal, the second position can be directly output.

[0121] In the following, in order to further understand the method of satellite signal-based single point positioning provided in scenario two, specific embodiments are introduced. Please refer to Figure 5 The satellite positioning method provided in the embodiments of the present application specifically includes:

[0122] 501, the terminal device receives satellite signals from each satellite.

[0123] 502, the terminal device determines a second position of the terminal device according to the position information of each satellite carried in the satellite signals.

[0124] For details, please refer to the above description in scenario one, which will not be repeated.

[0125] 503, the terminal device judges whether the first correction parameter is carried in the satellite signal.

[0126] If yes, step 504 is continued.

[0127] If no, step 505 is continued.

[0128] 504, the terminal device corrects the second position according to the first correction parameter to obtain a third position.

[0129] 505, the terminal device outputs the second position.

[0130] In one or more embodiments, before satellite positioning according to the satellite signal, the satellite signals that cannot be used in the received satellite signals can also be deleted. In one or more embodiments, the terminal device can obtain the elevation angles of each satellite signal received, and the satellite signals with elevation angles less than a set angle are regarded as satellite signals that cannot be used.

[0131] In one or more embodiments, before satellite positioning, the terminal device can first determine that the number of satellites capable of receiving signals is greater than a preset value. For example, after deleting the satellite signals that cannot be used, the terminal device can count the number of remaining satellites. If the number of satellites is not greater than a second preset value, the base station positioning method is used. Similarly, if the number of base stations is not greater than a first preset value, the satellite positioning method is used.

[0132] In one or more embodiments, the satellite signals remaining after the unavailable satellite signals are removed can be acquired, and the terminal device can be positioned by the methods provided in scenario one and scenario two to obtain the second position, the third position and the fourth position. The position with the highest accuracy among the second position, the third position and the fourth position obtained in scenario one and scenario two can be taken as the result of satellite positioning. Alternatively, the position with the highest accuracy can be referred to as the fifth position of the terminal device.

[0133] The above describes the process of satellite positioning proposed by the embodiments of the present application. Next, the process of base station positioning proposed by the embodiments of the present application is described.

[0134] In one or more embodiments, the terminal device can acquire the angle of arrival and the time difference of arrival of the carrier signals sent by each base station, and calculate the position information of the terminal device based on the time difference of arrival and the angle of arrival of the carrier signals and the position information of each base station. For ease of description, the position of the terminal device determined hereinafter is referred to as the first position. The time difference of arrival of the carrier signals is the time difference between the sending time of the carrier signals and the arrival time of the terminal device.

[0135] In some embodiments, the terminal device can determine the number of base stations, that is, determine how many base stations the terminal device is in the signal coverage range of. If the number of base stations is greater than a set threshold, the terminal device can calculate the first position based on the time difference of arrival of the carrier signals and the position of each base station. If the number of base stations is less than or equal to the set threshold, the terminal device can calculate the first position based on the angle of arrival of the carrier signals and the position of each base station.

[0136] In one or more embodiments, before performing base station positioning, the terminal device can also determine the number of base stations, that is, the number of base stations whose signals the terminal device can receive. The terminal device can start to perform base station positioning when it determines that the number of base stations is greater than a first preset value. If the terminal device determines that the number of base stations is not greater than the first preset value, the terminal device can not use the carrier signals sent by the base stations for positioning.

[0137] After satellite positioning based on the satellite signals sent by the satellites to obtain the fifth position and base station positioning based on the carrier signals sent by the base stations to obtain the first position, the terminal device can fuse the two positions to obtain the final positioning result of the terminal device.

[0138] Based on the same concept as the above method, see Figure 6 A positioning apparatus 600 is provided by the embodiments of the present application. The apparatus 600 is configured to implement each step in the above method, and thus will not be described here again. The apparatus 600 comprises a communication unit 601 and a processing unit 602.

[0139] The communication unit 601 is configured to receive carrier signals from base stations and satellite signals from satellites;

[0140] The processing unit 602 is configured to perform:

[0141] When the number of the base stations is greater than a first preset value, determine a first position of a terminal device based on the carrier signals;

[0142] When the number of the satellites is greater than a second preset value, determine a second position of the terminal device based on the satellite signals, and determine whether a distance between the terminal device and a ground reference station of a continuous operation reference station (CORS) system is greater than a first distance threshold value;

[0143] If yes, correct the second position by using a first correction parameter to obtain a third position; if no, correct the second position by using a second correction parameter to obtain a fourth position; wherein the first correction parameter is used to represent compensation for loss in a satellite signal transmission process, and the second correction parameter is determined based on the first correction parameter;

[0144] Determine a fifth position according to the accuracy of the second position, the third position and the fourth position, fuse the first position and the fifth position by using a pre-set position fusion algorithm, and determine a positioning result of the terminal device.

[0145] In one or more embodiments, when the processing unit 602 corrects the first position by using the second correction parameter to obtain the fourth position of the terminal device, the processing unit 602 is specifically configured to:

[0146] Determine whether the distance between the terminal device and the ground reference station is less than a second distance threshold value, wherein the second distance threshold value is less than the first distance threshold value;

[0147] If yes, instruct the communication unit 601 to send a positioning request to a server of the CORS system, and correct the first position by using the second correction parameter returned by the server to obtain the fourth position;

[0148] If no, convert the first correction parameter carried by the satellite signal to obtain the second correction parameter, and correct the first position by using the converted second correction parameter to obtain the fourth position.

[0149] In one or more embodiments, when the processing unit 602 determines the first position of the terminal device based on the carrier signals, the processing unit 602 is specifically configured to:

[0150] obtaining the angle of arrival and the time difference of arrival of the carrier signals;

[0151] when the number of the base stations is greater than a third preset value, calculating the first position according to the time difference of arrival of the carrier signals and the positions of the base stations;

[0152] when the number of the base stations is less than or equal to the third preset value, calculating the first position according to the angle of arrival of the carrier signals and the positions of the base stations.

[0153] In one or more embodiments, the processing unit 602 is further configured to:

[0154] parsing the satellite signals to obtain the elevation angles of the satellites and the first correction parameters;

[0155] determining that the elevation angles of the satellites are greater than a preset angle.

[0156] In one or more embodiments, the processing unit 602 is further configured to, before instructing the communication unit 601 to send a positioning request to the server:

[0157] instructing the communication unit 601 to send a login request to the server; the login request includes account information of the terminal device, and is used to request services of the server;

[0158] receiving login confirmation information returned by the server through the communication unit 601.

[0159] Figure 7 An electronic device 700 according to an embodiment of the present application is shown. The electronic device 700 according to an embodiment of the present application can further include a communication interface 703, for example, a network interface. The electronic device can transmit data through the communication interface 703, for example, can be used to implement the functions of the communication unit 601 in the above Figure 6 .

[0160] In the embodiments of the present application, the memory 702 stores instructions executable by the at least one controller 701. The at least one controller 701 can be used to execute each step in the above method by executing the instructions stored in the memory 702, for example, the controller 701 can implement the functions of the processing unit 602 in the above Figure 6 .

[0161] The controller 701 is the control center of the electronic device, and can connect each part of the electronic device by using various interfaces and lines, execute instructions stored in the memory 702, and call data stored in the memory 702. Optionally, the controller 701 can include one or more processing units, and the controller 701 can integrate an application controller and a modem controller, where the application controller mainly processes operating systems and application programs, and the modem controller mainly processes wireless communication. It can be understood that the above modem controller can also not be integrated into the controller 701. In some embodiments, the controller 701 and the memory 702 can be implemented on the same chip, and in some embodiments, they can also be implemented on separate chips respectively.

[0162] The controller 701 can be a general-purpose controller, for example, a central controller (English: Central Processing Unit, CPU for short), a digital signal controller, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose controller can be a microcontroller or any conventional controller. The steps performed by the data statistical platform disclosed in the embodiments of the present application can be directly executed by the hardware controller, or executed by a combination of hardware and software modules in the controller.

[0163] The memory 702, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 702 can include at least one type of storage medium, for example, can include flash memory, hard disk, multimedia card, card type memory, random access memory (English: Random Access Memory, for short: RAM), static random access memory (English: Static Random Access Memory, for short: SRAM), programmable read-only memory (English: Programmable Read Only Memory, for short: PROM), read-only memory (English: Read Only Memory, for short: ROM), electrically erasable programmable read-only memory (English: Electrically Erasable Programmable Read-Only Memory, for short: EEPROM), magnetic memory, magnetic disk, optical disk, etc. The memory 702 is any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited to this. The memory 702 in the embodiments of the present application can also be a circuit or any other device capable of realizing a storage function, used to store program instructions and / or data.

[0164] By designing and programming the controller 701, for example, the code corresponding to the training method of the neural network model introduced in the foregoing embodiments can be fixed in the chip, so that the chip can execute the steps of the foregoing neural network model training method at runtime. How to design and program the controller 701 is a technology known to those skilled in the art, which will not be described here.

[0165] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0166] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0167] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0168] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0169] While the preferred embodiments of the application have been described, additional variations and modifications can be made to the embodiments described and shown, and it is therefore intended that the application be limited only by the scope of the claims presented with this written description.

[0170] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims, the application can be practiced otherwise than as specifically described herein.

Claims

1. A positioning method, characterized in that: The method is applied to a terminal device, and the method includes: Receiving carrier signals from each base station and satellite signals from each satellite; When the number of the base stations is greater than a first preset value, determining a first position of the terminal device based on the carrier signal; When the number of each satellite is greater than a second preset value, determining a second position of the terminal device based on the satellite signal, and determining whether a distance between the terminal device and a ground reference station of a Continuous Operation Reference Station (CORS) system is greater than a first distance threshold; If it is greater than, the first correction parameter is used to correct the second position to obtain a third position; if it is not greater than, the second correction parameter is used to correct the second position to obtain a fourth position; wherein the first correction parameter is used to represent compensation for loss during the transmission of the satellite signal, and the second correction parameter is determined based on the first correction parameter or obtained from the server of the CORS system; The fifth position is determined based on the accuracy of the second position, the third position and the fourth position, and the first position and the fifth position are fused using a preset position fusion algorithm to determine the positioning result of the terminal device.

2. The method according to claim 1, characterized in that Correcting the second position using the second correction parameter to obtain the fourth position of the terminal device specifically includes: Determining whether a distance between the terminal device and the ground reference station is less than a second distance threshold, the second distance threshold being less than the first distance threshold; If it is less than, sending a positioning request to the server of the CORS system, and correcting the second position according to the second correction parameter determined and returned by the server to obtain the fourth position; If it is not less than, the first correction parameter carried by the satellite signal is converted into the second correction parameter, and the second position is corrected according to the converted second correction parameter to obtain the fourth position.

3. The method according to claim 1 or 2, characterized in that The determining a first position of the terminal device based on the carrier signal includes: Obtaining the arrival angle and arrival time difference of the carrier signal; When the number of the base stations is greater than a third preset value, calculating the first position according to the arrival time difference of the carrier signals and the positions of the base stations; When the number of the base stations is less than or equal to a third preset value, the first position is calculated according to the arrival angle of the carrier signal and the positions of the base stations.

4. The method according to claim 1 or 2, characterized in that The method further comprises: parsing the satellite signals to obtain the altitude angle of each satellite and the first correction parameter; Determine that the elevation angle of each satellite is greater than a preset angle.

5. The method according to claim 2, characterized in that Before sending the positioning request to the server, the method further includes: Sending a login request to the server; the login request includes the account information of the terminal device and is used to request the service of the server; Receive the login confirmation information returned by the server.

6. A positioning device, characterized in that: The apparatus is applied to a terminal device, or the apparatus is the terminal device, and the apparatus includes: a communication unit, configured to receive carrier signals from base stations and satellite signals from satellites; A processing unit configured to perform: When the number of the base stations is greater than a first preset value, determining a first position of the terminal device based on the carrier signal; When the number of each satellite is greater than a second preset value, determining a second position of the terminal device based on the satellite signal, and determining whether a distance between the terminal device and a ground reference station of a Continuous Operation Reference Station (CORS) system is greater than a first distance threshold; If it is greater than, the first correction parameter is used to correct the second position to obtain a third position; if it is not greater than, the second correction parameter is used to correct the second position to obtain a fourth position; wherein the first correction parameter is used to represent compensation for loss during the transmission of the satellite signal, and the second correction parameter is determined based on the first correction parameter or obtained from the server of the CORS system; The fifth position is determined based on the accuracy of the second position, the third position and the fourth position, and the first position and the fifth position are fused using a preset position fusion algorithm to determine the positioning result of the terminal device.

7. The device according to claim 6, characterized in that The processing unit, when correcting the first position using the second correction parameter to obtain the fourth position of the terminal device, is specifically configured to: Determining whether a distance between the terminal device and the ground reference station is less than a second distance threshold, the second distance threshold being less than the first distance threshold; If it is less than, instructing the communication unit to send a positioning request to the server of the CORS system, and correcting the first position according to the second correction parameter determined and returned by the server to obtain the fourth position; If it is not less than, the first correction parameter carried by the satellite signal is converted into the second correction parameter, and the first position is corrected according to the converted second correction parameter to obtain the fourth position.

8. The device according to claim 6 or 7, characterized in that The processing unit, when determining the first position of the terminal device based on the carrier signal, is specifically configured to: Obtaining the arrival angle and arrival time difference of the carrier signal; When the number of the base stations is greater than a third preset value, calculating the first position according to the arrival time difference of the carrier signals and the positions of the base stations; When the number of the base stations is less than or equal to a third preset value, the first position is calculated according to the arrival angle of the carrier signal and the positions of the base stations.

9. The device according to claim 6 or 7, characterized in that The processing unit is further configured to: parsing the satellite signals to obtain the altitude angle of each satellite and the first correction parameter; Determine that the elevation angle of each satellite is greater than a preset angle.

10. The device according to claim 7, characterized in that The processing unit is further configured to: before instructing the communication unit to send a positioning request to the server: Instructing the communication unit to send a login request to the server; the login request includes the account information of the terminal device and is used to request the service of the server; The communication unit receives the login confirmation information returned by the server.

11. An electronic device, characterized in that: include: Memory and controller; a memory for storing program instructions; A controller is configured to call the program instructions stored in the memory and execute the method according to any one of claims 1 to 5 according to the obtained program.

12. A computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute the method according to any one of claims 1 to 5.

Images