Positioning method, apparatus and electronic device

Abstract

The application provides a positioning method, a device and electronic equipment, and applies to the technical field of positioning. The positioning method comprises the following steps: acquiring encoded data; wherein the encoded data comprises encoded real-time input data, intermediate data and positioning setting data; the intermediate data is determined according to the real-time input data and the positioning setting data; the encoded data is decoded to obtain corresponding real-time input data, intermediate data and positioning setting data; positioning is performed according to the real-time input data, the intermediate data and the positioning setting data, and a post-positioning result is determined. In the above scheme, since the post-positioning result can be determined on the basis of the real-time input data and the positioning setting data in combination with the intermediate data, the accuracy of the post-positioning result can be improved, so that the real-time positioning process can be reproduced, and problems existing in the positioning process or result can be found based on the post-positioning result.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and more specifically, to a positioning method, device, and electronic device. Background Technology

[0002] Real-time positioning is crucial for various industries that require navigation and positioning. However, due to its real-time nature, problems in the positioning process or results are often difficult to locate, requiring significant manpower and resources to troubleshoot. For example, the Global Navigation Satellite System (GNSS) is a space-based radio navigation and positioning system that provides users with all-weather three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space. GNSS can achieve real-time positioning.

[0003] In existing technologies, a common method to identify problems in the positioning process or results is to store the raw data during positioning and perform post-positioning analysis. However, this method results in a time discrepancy between real-time and post-positioning results. In other words, the accuracy of the post-positioning results obtained using this method is low, making it difficult to reproduce the real-time positioning process and identify problems in the positioning process or results. Summary of the Invention

[0004] The purpose of this application is to provide a positioning method, device, and electronic device to solve the technical problem that the accuracy of post-positioning results is low in the prior art, which makes it difficult to reproduce the real-time positioning process and find the problems existing in the positioning process or results.

[0005] In a first aspect, embodiments of this application provide a positioning method, comprising: acquiring encoded data; wherein the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, the intermediate data being determined based on the real-time input data and the positioning setting data; decoding the encoded data to obtain corresponding real-time input data, intermediate data, and positioning setting data; performing positioning based on the real-time input data, intermediate data, and positioning setting data, and determining a post-positioning result.

[0006] In the above scheme, intermediate data is determined in advance based on real-time input data and positioning setting data, and these data are encoded. When post-location is needed, the encoded data can be decoded, and the post-location result can be determined based on the real-time input data, intermediate data, and positioning setting data. Compared with the prior art, which directly determines the post-location result based on the real-time input data and positioning setting data stored during the real-time positioning process, the positioning method provided in this application improves the accuracy of the post-location result by combining intermediate data with the real-time input data and positioning setting data. This allows for the reproduction of the real-time positioning process and the identification of problems in the positioning process or result based on the post-location result.

[0007] In an optional implementation, the encoded data further includes time data; decoding the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data includes: decoding the encoded data in chronological order according to the time data to obtain the real-time input data, intermediate data, and positioning setting data corresponding to each time point. In the above scheme, during the encoding of real-time input data, intermediate data, and positioning setting data, time data can be encoded simultaneously. Thus, during the decoding of the encoded data, decoding can be performed in chronological order according to the time data, resulting in real-time input data, intermediate data, and positioning setting data arranged in chronological order. This allows for the determination of a highly accurate post-location result based on the aforementioned real-time input data, intermediate data, and positioning setting data.

[0008] In an optional implementation, before acquiring the encoded data, the method further includes: acquiring the real-time input data and the positioning setting data; performing positioning based on the real-time input data and the positioning setting data, and determining the intermediate data and the real-time positioning result; encoding the real-time input data, the intermediate data, and the positioning setting data to obtain the encoded data. In the above scheme, during real-time positioning, intermediate data can be determined based on the real-time input data and the positioning setting data, and the real-time input data, intermediate data, and positioning setting data can be encoded. Thus, since the post-positioning result can be determined by combining the intermediate data with the real-time input data and the positioning setting data, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and identifying problems in the positioning process or result based on the post-positioning result.

[0009] In an optional implementation, after performing positioning based on the real-time input data, the intermediate data, and the positioning setting data, and determining the post-positioning result, the method further includes: comparing the real-time positioning result with the post-positioning result to obtain a corresponding comparison result; if the comparison result indicates that the real-time positioning result and the post-positioning result are consistent, then the method analyzes the post-positioning result to determine whether an anomaly occurred in the real-time positioning process. In the above scheme, after determining the post-positioning result, if the real-time positioning result and the post-positioning result are consistent, problems in the positioning process or result can be found based on the post-positioning result. Since the post-positioning result is determined based on the real-time input data and the positioning setting data combined with intermediate data, the accuracy of the post-positioning result is high, thus allowing for the identification of problems in the positioning process or result based on the post-positioning result.

[0010] In optional implementations, the intermediate data includes at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data. In the above scheme, the intermediate data may include some data calculated during the real-time positioning process. Thus, during post-positioning, the post-positioning result can be determined by combining the intermediate data with the real-time input data and positioning settings data. Therefore, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and identifying problems in the positioning process or result based on the aforementioned post-positioning result.

[0011] In an optional implementation, the real-time input data includes: ephemeris data, first coordinate data, and first observation data corresponding to the mobile station; and second coordinate data and second observation data corresponding to the base station. In the above scheme, the second observation data corresponding to the base station may have a certain delay compared to other data in the real-time input data. Therefore, if the post-positioning is determined directly based on the real-time input data and positioning setting data stored during the real-time positioning process, the accuracy of the post-positioning result may be compromised. However, the positioning method provided in this application can improve the accuracy of the post-positioning result because it can combine intermediate data with the real-time input data and positioning setting data to determine the post-positioning result.

[0012] Secondly, embodiments of this application provide a positioning device, comprising: a first acquisition module for acquiring encoded data; wherein the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, the intermediate data being determined based on the real-time input data and the positioning setting data; a decoding module for decoding the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data; and a first positioning module for performing positioning based on the real-time input data, intermediate data, and positioning setting data, and determining the subsequent positioning result.

[0013] In the above scheme, intermediate data is determined in advance based on real-time input data and positioning setting data, and these data are encoded. When post-location is needed, the encoded data can be decoded, and the post-location result can be determined based on the real-time input data, intermediate data, and positioning setting data. Compared with the prior art, which directly determines the post-location result based on the real-time input data and positioning setting data stored during the real-time positioning process, the positioning method provided in this application improves the accuracy of the post-location result by combining intermediate data with the real-time input data and positioning setting data. This allows for the reproduction of the real-time positioning process and the identification of problems in the positioning process or result based on the post-location result.

[0014] In an optional implementation, the encoded data further includes time data; the decoding module is specifically used to: decode the encoded data according to the time data in chronological order to obtain the real-time input data, the intermediate data, and the positioning setting data corresponding to each time point. In the above scheme, during the encoding of the real-time input data, intermediate data, and positioning setting data, the time data can be encoded simultaneously. Thus, during the decoding of the encoded data, decoding can be performed according to the time data in chronological order, resulting in real-time input data, intermediate data, and positioning setting data arranged in chronological order. This allows for the determination of a highly accurate post-location result based on the aforementioned real-time input data, intermediate data, and positioning setting data.

[0015] In an optional implementation, the positioning device further includes: a second acquisition module for acquiring the real-time input data and the positioning setting data; a second positioning module for performing positioning based on the real-time input data and the positioning setting data, and determining the intermediate data and the real-time positioning result; and an encoding module for encoding the real-time input data, the intermediate data, and the positioning setting data to obtain the encoded data. In the above scheme, during real-time positioning, intermediate data can be determined based on the real-time input data and the positioning setting data, and the real-time input data, intermediate data, and positioning setting data can be encoded. Thus, since the post-positioning result can be determined by combining the intermediate data with the real-time input data and the positioning setting data, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and identifying problems in the positioning process or result based on the post-positioning result.

[0016] In an optional implementation, the positioning device further includes: a comparison module, used to compare the real-time positioning result with the post-positioning result to obtain a corresponding comparison result; and an analysis module, used to determine whether an anomaly occurred in the real-time positioning process by analyzing the post-positioning result if the comparison result indicates that the real-time positioning result and the post-positioning result are consistent. In the above scheme, after determining the post-positioning result, if the real-time positioning result and the post-positioning result are consistent, problems in the positioning process or result can be found based on the post-positioning result. Since the post-positioning result is determined based on real-time input data and positioning setting data combined with intermediate data, the accuracy of the post-positioning result is high, thus allowing problems in the positioning process or result to be found based on the post-positioning result.

[0017] In optional implementations, the intermediate data includes at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data. In the above scheme, the intermediate data may include some data calculated during the real-time positioning process. Thus, during post-positioning, the post-positioning result can be determined by combining the intermediate data with the real-time input data and positioning settings data. Therefore, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and identifying problems in the positioning process or result based on the aforementioned post-positioning result.

[0018] In an optional implementation, the real-time input data includes: ephemeris data, first coordinate data, and first observation data corresponding to the mobile station; and second coordinate data and second observation data corresponding to the base station.

[0019] Data. In the above scheme, in the real-time input data, since the second observation data corresponding to the base station may have a certain delay compared with other data, if the post-positioning is determined directly based on the real-time input data and positioning setting data stored in the real-time positioning process, the accuracy of the post-positioning result may be affected. However, by using the positioning method provided in this application embodiment, the post-positioning result can be determined by combining intermediate data with the real-time input data and positioning setting data, thus improving the accuracy of the post-positioning result.

[0020] 0. In a third aspect, embodiments of this application provide a computer program product, including computer program instructions, which are read and executed by a processor to perform the positioning method as described in the first aspect.

[0021] Fourthly, embodiments of this application provide an electronic device, including: a processor, a memory, and...

[0022] The processor and the memory communicate with each other via the bus; the memory stores computer program instructions that can be executed by the processor, and the processor can execute the positioning method as described in the first aspect by calling the computer program instructions.

[0023] Fifthly, embodiments of this application provide a computer-readable storage medium that stores computer program instructions, which, when executed by a computer, cause the computer to perform the positioning method as described in the first aspect.

[0024] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, embodiments of this application are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0027] Figure 2 A schematic diagram illustrating another positioning method provided in this application embodiment;

[0028] Figure 3 A structural block diagram of a positioning device provided in an embodiment of this application;

[0029] Figure 4 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0031] In this embodiment, the positioning process may include a real-time positioning process and a post-positioning process; wherein, the real-time positioning process is based on data acquired in real time, while the post-positioning process is based on data stored in advance. It is understood that, as one implementation, the post-positioning process may be executed after the real-time positioning process is completed; as another implementation, the post-positioning process may also be executed during the real-time positioning process.

[0032] The following section first describes the specific implementation method of the post-event location process. Please refer to... Figure 1 , Figure 1 A flowchart of a positioning method provided in this application embodiment, the positioning method may include the following steps:

[0033] Step S101: Obtain encoded data.

[0034] Step S102: Decode the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data.

[0035] Step S103: Perform positioning based on real-time input data, intermediate data, and positioning settings data, and determine the post-positioning result.

[0036] Specifically, in step S101 above, the encoded data includes encoded real-time input data, intermediate data, and positioning setting data. The real-time input data is data acquired during real-time positioning and used for positioning; the positioning setting data is pre-set data also used for positioning; and the intermediate data is data determined based on the real-time input data and positioning setting data. Therefore, by encoding the real-time input data, intermediate data, and positioning setting data, corresponding encoded data can be obtained.

[0037] It should be noted that the embodiments of this application do not impose specific limitations on the specific implementation methods for obtaining encoded data, and those skilled in the art can make appropriate adjustments according to the actual situation. For example, encoded data sent by external devices can be received; or encoded data can be read from the cloud or local storage; or, the corresponding encoded data can be obtained by encoding real-time input data, intermediate data, and positioning setting data, etc.

[0038] Furthermore, the specific implementation methods for encoding real-time input data, intermediate data, and positioning setting data in this application are not specifically limited, and those skilled in the art can make appropriate adjustments based on existing technology and actual circumstances. The following is a detailed description of an encoding method provided by an embodiment of this application.

[0039] In this encoding method, the structure of the encoded data can be: synchronization frame + data type + data byte length + data content + CRC32 checksum. Specifically, the synchronization frame is a fixed value, which can be set to 3 bytes: 0xAA, 0x44, and 0x13; the data type can be 2 bytes; the data byte length can be 2 bytes; and the data content can be multiple bytes, with each value encoded sequentially. The data type and data content can be customized according to specific requirements.

[0040] In step S102 above, corresponding to the encoding of real-time input data, intermediate data and positioning setting data to obtain encoded data, the encoded data can be decoded to obtain the corresponding real-time input data, intermediate data and positioning setting data.

[0041] It should be noted that the specific implementation method for decoding encoded data in this application is not limited, and those skilled in the art can make appropriate adjustments based on existing technology and actual conditions. The following is a detailed description of a decoding method provided by an embodiment of this application.

[0042] For encoded data with the following structure: synchronization frame + data type + data byte length + data content + CRC32 checksum, the decoding process can first find the synchronization frame, then perform CRC32 checksum on the data, and if the checksum passes, decode byte by byte according to the type to finally obtain the complete data.

[0043] In step S103 above, based on the real-time input data, intermediate data and positioning setting data obtained from the above decoding, post-location can be performed to determine the corresponding post-location result.

[0044] It should be noted that the embodiments of this application do not specifically limit the specific implementation method of positioning, and those skilled in the art can make appropriate adjustments in combination with existing technology and actual conditions. For example, positioning can be performed based on GNSS data; or, positioning can be performed using real-time kinematic (RTK) positioning technology, etc.

[0045] In the above scheme, intermediate data is determined in advance based on real-time input data and positioning setting data, and these data are encoded. When post-location is needed, the encoded data can be decoded, and the post-location result can be determined based on the real-time input data, intermediate data, and positioning setting data. Compared with the prior art, which directly determines the post-location result based on the real-time input data and positioning setting data stored during the real-time positioning process, the positioning method provided in this application improves the accuracy of the post-location result by combining intermediate data with the real-time input data and positioning setting data. This allows for the reproduction of the real-time positioning process and the identification of problems in the positioning process or result based on the post-location result.

[0046] Furthermore, based on the above embodiments, the encoded data may also include time data. Therefore, step S102 may specifically include the following steps:

[0047] The encoded data is decoded according to the time data in chronological order to obtain the real-time input data, intermediate data, and positioning setting data corresponding to each time point.

[0048] Specifically, in real-time positioning, acquiring real-time input data is a continuous process. During this process, different real-time input data is acquired at different times, and correspondingly, different intermediate data is also acquired at the same time. Therefore, in the process of encoding real-time input data, intermediate data, and positioning setting data, time data can also be encoded together. This way, the time sequence of each set of real-time input data and intermediate data can be known. Decoding the encoded data according to the time sequence yields the real-time input data, intermediate data, and positioning setting data corresponding to each time point.

[0049] In the above scheme, during the encoding of real-time input data, intermediate data, and positioning setting data, time data can be encoded simultaneously. In this way, during the decoding of encoded data, the time data can be decoded in chronological order, thus obtaining real-time input data, intermediate data, and positioning setting data arranged in chronological order. Based on the above real-time input data, intermediate data, and positioning setting data, a highly accurate post-location result can be determined.

[0050] Furthermore, based on the above embodiments, the specific implementation method of the real-time positioning process will be described below. Before step S101 above, the positioning method provided in this application embodiment may further include the following steps:

[0051] Step 1), obtain real-time input data and location setting data.

[0052] Step 2) Perform positioning based on real-time input data and positioning settings data, and determine intermediate data and real-time positioning results.

[0053] Step 3) Encode the real-time input data, intermediate data, and positioning setting data to obtain encoded data.

[0054] Specifically, in step 1) above, this application embodiment does not impose specific limitations on the specific implementation method for acquiring real-time input data and location setting data. Those skilled in the art can make appropriate adjustments according to the actual situation. For example, real-time input data and location setting data sent by external devices can be received; or, real-time input data and location setting data can be read from the cloud or local storage, etc.

[0055] It is understandable that, as one implementation method, the same approach can be used to acquire real-time input data and location setting data; as another implementation method, different approaches can be used to acquire real-time input data and location setting data, such as: receiving real-time input data sent by an external device and reading location setting data from the local device, etc.

[0056] In step 2) above, real-time positioning can be performed based on the real-time input data and positioning settings data. During the positioning process, corresponding intermediate data and real-time positioning results are generated. It is understood that the implementation method of real-time positioning is similar to that of post-positioning, the only difference being that the real-time positioning process first generates intermediate data based on the real-time input data and positioning settings data, and then generates the corresponding real-time positioning result; while the post-positioning process directly generates the corresponding post-positioning result based on the real-time input data, intermediate data, and positioning settings data.

[0057] Before performing step 2) above, the acquired real-time input data and positioning setting data can be preprocessed, and then real-time positioning can be performed based on the preprocessed data. It should be noted that the embodiments of this application do not specifically limit the specific implementation method for data preprocessing, and those skilled in the art can make appropriate adjustments in conjunction with existing technology.

[0058] In the above scheme, during real-time positioning, intermediate data can be determined based on real-time input data and positioning settings data, and these data are encoded. Thus, since the post-positioning result can be determined by combining the intermediate data with the real-time input data and positioning settings data, the accuracy of the post-positioning result can be improved. This allows for the reproduction of the real-time positioning process and, based on the post-positioning result, the identification of problems in the positioning process or result.

[0059] Furthermore, based on the above embodiments, after step S103, the positioning method provided in this application embodiment may further include the following steps:

[0060] Step 1) Compare the real-time positioning results with the post-positioning results to obtain the corresponding comparison results.

[0061] Step 2): If the comparison results show that the real-time positioning results are consistent with the post-positioning results, then the post-positioning results are analyzed to determine whether there is an anomaly in the real-time positioning process.

[0062] Specifically, in step 1) above, in order to determine whether the real-time positioning result is consistent with the post-positioning result, the real-time positioning result and the post-positioning result can be compared. It is understood that during the comparison, the real-time positioning result corresponding to the same time period can be compared with the post-positioning result.

[0063] In the above scheme, after determining the post-location result, if the real-time location result and the post-location result are consistent, problems in the location process or result can be found based on the post-location result. Since the post-location result is determined based on real-time input data, location setting data, and intermediate data, the accuracy of the post-location result is high, thus allowing for the identification of problems in the location process or result.

[0064] Furthermore, based on the above embodiments, when using RTK positioning technology for positioning, the intermediate data may include at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data.

[0065] Specifically, pseudorange single-point positioning data may include time, positioning results, and reference satellite data; pseudorange differential positioning data may include time, positioning results, reference satellite data, age data; floating-point solution calculation data may include time, positioning results, reference satellite data, age data, and reference satellite data; if multiple threads exist, the intermediate data may include thread interaction data.

[0066] It is understandable that the above intermediate data are all data used for positioning during the real-time positioning process, determined based on real-time input data and positioning settings data; the subsequent positioning result can be determined based on the above real-time input data, intermediate data, and positioning settings data.

[0067] In the above scheme, the intermediate data may include some data calculated during the real-time positioning process. In the post-positioning process, the post-positioning result can be determined by combining the intermediate data with the real-time input data and positioning settings data. Therefore, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and finding problems in the positioning process or result based on the above post-positioning result.

[0068] Furthermore, based on the above embodiments, when using RTK positioning technology for positioning, the real-time input data may include: ephemeris data, first coordinate data, and first observation data corresponding to the mobile station, and second coordinate data and second observation data corresponding to the base station.

[0069] Specifically, the ephemeris data corresponding to the mobile station may include broadcast ephemeris, precise ephemeris, and other data; the first observation data corresponding to the mobile station and the second observation data corresponding to the base station may include pseudorange, carrier, Doppler, signal-to-noise ratio, and other data.

[0070] It is understandable that the ephemeris data corresponding to the mobile station, the first observation data corresponding to the mobile station, and the second observation data corresponding to the base station in the above real-time input data will not affect the accuracy of the subsequent positioning results; however, if the differential age of the first observation data corresponding to the mobile station and the second observation data corresponding to the base station is inconsistent, it will lead to a decrease in the accuracy of the subsequent positioning results.

[0071] In the above scheme, since the second observation data corresponding to the base station may have a certain delay compared with other data in the real-time input data, if the post-positioning is determined directly based on the real-time input data and positioning setting data stored in the real-time positioning process, the accuracy of the post-positioning result may be affected. However, the positioning method provided in this application embodiment can improve the accuracy of the post-positioning result because it can combine intermediate data with the real-time input data and positioning setting data to determine the post-positioning result.

[0072] Furthermore, based on the above embodiments, when using RTK positioning technology for positioning, the above positioning setting data refers to the GNSS positioning library setting options, which may include: positioning model, reference satellite system, satellite frequency points, and other data.

[0073] Please refer to Figure 2 , Figure 2This is a schematic diagram of another positioning method provided in an embodiment of this application. The positioning method may include the following steps: starting real-time positioning; setting RTK positioning technology options to obtain positioning setting data; inputting real-time input data, including: ephemeris data, rover GNSS observations, base station GNSS observations, and base station coordinates; processing the real-time input data and positioning setting data to obtain raw data; executing the RTK positioning key process based on the processed real-time input data and positioning setting data to obtain real-time positioning results and intermediate data; encoding the raw data, intermediate data, and positioning setting data to obtain encoded GNSS data; after the real-time positioning process ends, retrieving the encoded data; decoding the data in chronological order; performing post-RTK positioning based on the decoded data to obtain post-positioning results; comparing the real-time positioning results with the post-positioning results; if they are consistent, they can be used to find problems in the real-time positioning process, thereby completing the entire playback process.

[0074] Please refer to Figure 3 , Figure 3 This application provides a structural block diagram of a positioning device 300, comprising: a first acquisition module 301 for acquiring encoded data, wherein the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, the intermediate data being determined based on the real-time input data and the positioning setting data; a decoding module 302 for decoding the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data; and a first positioning module 303 for performing positioning based on the real-time input data, intermediate data, and positioning setting data, and determining the subsequent positioning result.

[0075] In the above scheme, intermediate data is determined in advance based on real-time input data and positioning setting data, and these data are encoded. When post-location is needed, the encoded data can be decoded, and the post-location result can be determined based on the real-time input data, intermediate data, and positioning setting data. Compared with the prior art, which directly determines the post-location result based on the real-time input data and positioning setting data stored during the real-time positioning process, the positioning method provided in this application improves the accuracy of the post-location result by combining intermediate data with the real-time input data and positioning setting data. This allows for the reproduction of the real-time positioning process and the identification of problems in the positioning process or result based on the post-location result.

[0076] Furthermore, based on the above embodiments, the encoded data further includes: time data; the decoding module 302 is specifically used to: decode the encoded data according to the time data in chronological order to obtain the real-time input data, the intermediate data, and the positioning setting data corresponding to each time.

[0077] In the above scheme, during the encoding of real-time input data, intermediate data, and positioning setting data, time data can be encoded simultaneously. This allows for decoding of the encoded data in chronological order, resulting in a time-ordered decoded dataset.

[0078] The real-time input data, intermediate data, and positioning setting data are arranged in sequence, and a highly accurate post-location result is determined based on the above-mentioned real-time input data, intermediate data, and positioning setting data.

[0079] Furthermore, based on the above embodiments, the positioning device 300 further includes: a second acquisition module, used to acquire the real-time input data and the positioning setting data; and a second positioning module, used to perform positioning based on the real-time input data and the positioning setting data, and determine the...

[0080] Intermediate data and real-time positioning results; an encoding module, used to encode the real-time input data, the intermediate data, and the positioning setting data to obtain the encoded data.

[0081] In the above scheme, during real-time positioning, intermediate data can be determined based on real-time input data and positioning setting data, and these data, along with the positioning setting data, can be encoded. This allows for the determination of intermediate data based on real-time input data and positioning setting data.

[0082] Based on this, the post-location result is determined by combining intermediate data. Therefore, the accuracy of the post-location result can be improved by 5 degrees, thereby enabling the reproduction of the real-time location process, and identifying problems in the location process or result based on the above post-location result.

[0083] Furthermore, based on the above embodiments, the positioning device 300 further includes: a comparison module, used to compare the real-time positioning result with the post-positioning result to obtain a corresponding comparison.

[0084] The result analysis module is used to determine whether an anomaly occurred in the real-time positioning process by analyzing the post-positioning result if the comparison result indicates that the real-time positioning result is consistent with the post-positioning result.

[0085] In the above scheme, after determining the post-location result, if the real-time location result and the post-location result are consistent, problems in the location process or result can be found based on the post-location result. Since the post-location result is determined based on real-time input data, location setting data, and intermediate data, the accuracy of the post-location result is high, thus allowing for the identification of problems in the location process or result.

[0086] Furthermore, based on the above embodiments, the intermediate data includes at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data.

[0087] In the above scheme, the intermediate data may include some data calculated during the real-time positioning process. In this way, during the post-positioning process, the post-positioning result can be determined by combining the intermediate data with the real-time input data and positioning settings data. Therefore, the accuracy of the post-positioning result can be improved, thereby enabling the reproduction of the real-time positioning process and finding problems in the positioning process or result based on the above post-positioning result.

[0088] Furthermore, based on the above embodiments, the real-time input data includes: ephemeris data, first coordinate data, and first observation data corresponding to the mobile station, and second coordinate data and second observation data corresponding to the base station.

[0089] In the above scheme, since the second observation data corresponding to the base station may have a certain delay compared with other data in the real-time input data, if the post-positioning is determined directly based on the real-time input data and positioning setting data stored in the real-time positioning process, the accuracy of the post-positioning result may be affected. However, the positioning method provided in this application embodiment can improve the accuracy of the post-positioning result because it can combine intermediate data with the real-time input data and positioning setting data to determine the post-positioning result.

[0090] Please refer to Figure 4 , Figure 4 This application provides a structural block diagram of an electronic device 400, which includes at least one processor 401, at least one communication interface 402, at least one memory 403, and at least one communication bus 404. The communication bus 404 enables direct communication between these components, the communication interface 402 facilitates signaling or data communication with other node devices, and the memory 403 stores machine-readable instructions executable by the processor 401. When the electronic device 400 is running, the processor 401 communicates with the memory 403 via the communication bus 404, and the aforementioned positioning method is executed when the machine-readable instructions are invoked by the processor 401.

[0091] For example, the processor 401 in this embodiment of the application can read a computer program from the memory 403 via the communication bus 404 and execute the computer program to implement the following method: Step S101: Obtain encoded data. Step S102: Decode the encoded data to obtain corresponding real-time input data, intermediate data, and positioning setting data. Step S103: Perform positioning based on the real-time input data, intermediate data, and positioning setting data, and determine the subsequent positioning result.

[0092] The processor 401 comprises one or more, and can be an integrated circuit chip with signal processing capabilities. The processor 401 can be a general-purpose processor, including a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Network Processor (NP), or other conventional processors; it can also be a special-purpose processor, including a Neural-network Processing Unit (NPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Furthermore, when there are multiple processors 401, some can be general-purpose processors, and others can be special-purpose processors.

[0093] The memory 403 includes one or more, which may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0094] Understandable. Figure 4 The structure shown is for illustrative purposes only; the electronic device 400 may also include components that are more advanced than those shown. Figure 4 The more or fewer components shown, or having the same Figure 4 The different configurations shown. Figure 4 The components shown can be implemented using hardware, software, or a combination thereof. In the embodiments of this application, electronic device 400 can be, but is not limited to, physical devices such as desktop computers, laptops, smartphones, smart wearable devices, and in-vehicle devices, or virtual devices such as virtual machines. Furthermore, electronic device 400 is not necessarily a single device; it can be a combination of multiple devices, such as a server cluster, etc.

[0095] This application also provides a computer program product, including a computer program stored on a computer-readable storage medium. The computer program includes computer program instructions. When the computer program instructions are executed by a computer, the computer can perform the steps of the positioning method described in the above embodiments, such as: acquiring encoded data; wherein the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, and the intermediate data is determined based on the real-time input data and the positioning setting data; decoding the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data; performing positioning based on the real-time input data, intermediate data, and positioning setting data, and determining the subsequent positioning result.

[0096] This application also provides a computer-readable storage medium that stores computer program instructions. When the computer program instructions are executed by a computer, the computer performs the positioning method described in the foregoing method embodiments.

[0097] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0098] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0099] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0100] It should be noted that if the function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0101] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0102] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A positioning method, characterized in that, include: Acquire encoded data; wherein the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, and the intermediate data is determined based on the real-time input data and the positioning setting data; The encoded data is decoded to obtain the corresponding real-time input data, intermediate data, and positioning setting data; The location is determined based on the real-time input data, the intermediate data, and the location setting data, and the post-location result is determined. The intermediate data includes at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data.

2. The positioning method according to claim 1, characterized in that, The encoded data also includes: time data; Decoding the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data includes: The encoded data is decoded according to the time data in chronological order to obtain the real-time input data, the intermediate data, and the positioning setting data corresponding to each time point.

3. The positioning method according to claim 1, characterized in that, Before acquiring the encoded data, the method further includes: Obtain the real-time input data and the positioning setting data; Positioning is performed based on the real-time input data and the positioning settings data, and the intermediate data and real-time positioning results are determined. The real-time input data, the intermediate data, and the positioning setting data are encoded to obtain the encoded data.

4. The positioning method according to claim 3, characterized in that, After performing positioning based on the real-time input data, the intermediate data, and the positioning setting data, and determining the post-positioning result, the method further includes: The real-time positioning result is compared with the post-event positioning result to obtain the corresponding comparison result; If the comparison result indicates that the real-time positioning result is consistent with the post-positioning result, then the analysis of the post-positioning result is used to determine whether an anomaly occurred in the real-time positioning process.

5. The positioning method according to any one of claims 1-4, characterized in that, The real-time input data includes: ephemeris data, first coordinate data, and first observation data corresponding to the mobile station, and second coordinate data and second observation data corresponding to the base station.

6. A positioning device, characterized in that, include: The first acquisition module is used to acquire encoded data; wherein, the encoded data includes encoded real-time input data, intermediate data, and positioning setting data, and the intermediate data is determined based on the real-time input data and the positioning setting data; The decoding module is used to decode the encoded data to obtain the corresponding real-time input data, intermediate data, and positioning setting data; The first positioning module is used to perform positioning based on the real-time input data, the intermediate data, and the positioning setting data, and to determine the post-positioning result. The intermediate data includes at least one of the following: pseudorange single-point positioning data, pseudorange differential positioning data, floating-point solution calculation data, and thread interaction data.

7. A computer program product, characterized in that, It includes computer program instructions, which, when read and executed by a processor, perform the positioning method as described in any one of claims 1-5.

8. An electronic device, characterized in that, include: Processor, memory, and bus; The processor and the memory communicate with each other via the bus; The memory stores computer program instructions that can be executed by the processor, and the processor can execute the positioning method as described in any one of claims 1-5 by calling the computer program instructions.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a computer, cause the computer to perform the positioning method as described in any one of claims 1-5.

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