Method for determining solution type of GNSS positioning terminal and related device

Abstract

The application discloses a GNSS positioning terminal solution type determination method and related devices, and the method comprises the following steps: acquiring a fixed coordinate sequence, the fixed coordinate sequence comprising ambiguity fixed solutions of multiple epochs in a first sliding window; when the number of solutions in the fixed coordinate sequence does not exceed a first number threshold, setting the solution type identifier of the current epoch as a floating point solution; when the number of solutions in the fixed coordinate sequence exceeds the first number threshold, acquiring a positioning scene of the current GNSS positioning; when the positioning scene is a static scene, performing stability analysis on the fixed coordinate sequence to determine the final output result of the solution type identifier of the current epoch; when the positioning scene is a dynamic scene, acquiring a change amount error sequence relative to a reference, and performing stability analysis on the change amount error sequence to determine the final output result of the solution type identifier of the current epoch.

Description

Technical Field

[0001] This application belongs to the field of satellite positioning technology, and in particular relates to a method, system, GNSS positioning terminal and computer storage medium for determining the solution type of a GNSS positioning terminal. Background Technology

[0002] Precise Point Positioning (PPP) technology can achieve centimeter-level positioning accuracy within minutes by receiving observation data. Because this technology has no regional limitations, it has wide applications in surveying and mapping, unmanned agriculture, navigation, aviation, and autonomous driving. However, in practical applications, numerous problems exist in the ambiguity fixation algorithm, resulting in inaccurate solution types and thus affecting the application of GNSS positioning terminals. Summary of the Invention

[0003] This application provides a method, system, GNSS positioning terminal, and computer storage medium for determining the solution type of a GNSS positioning terminal, which can improve the problem of inaccurate solution type in the prior art, which affects the application of GNSS positioning terminals.

[0004] Firstly, a method for determining the solution type of a GNSS positioning terminal is provided, which may include:

[0005] Obtain the fixed coordinate sequence, which includes the fixed ambiguity solution for multiple epochs within the first sliding window;

[0006] If the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold, the solution type identifier of the current epoch is set to floating point solution;

[0007] When the number of solutions in the fixed coordinate sequence exceeds the first threshold, the current GNSS positioning scenario is obtained.

[0008] When the location scene is static, a stability analysis is performed on the fixed coordinate sequence to determine the final output result of the solution type identifier for the current epoch.

[0009] When the positioning scenario is a dynamic scenario, the change error sequence relative to the benchmark is obtained, and stability analysis is performed based on the change error sequence to determine the final output result of the solution type identifier of the current epoch. The change error sequence includes multiple change errors, which are the errors of the change of the solution in adjacent epochs relative to the benchmark. The benchmark is preset or updated in real time through epoch difference.

[0010] Optionally, when the location scene is static, a stability analysis is performed on the fixed coordinate sequence to determine the final output result of the solution type identifier for the current epoch, including:

[0011] When the positioning scene is a static scene, the fixed coordinate sequence is analyzed to obtain the first analysis result. The first analysis result includes the first standard deviation and / or the residual of the solution in the current epoch. The first standard deviation is the standard deviation of the fixed coordinate sequence.

[0012] When the first standard deviation or the residual of the solution in the current epoch is greater than the corresponding threshold, the solution type identifier of the current epoch is set to floating point solution;

[0013] In other cases, the solution type identifier for the current epoch is set to a fixed solution.

[0014] Optionally, when the positioning scenario is a dynamic scenario, stability analysis is performed based on the change error sequence to determine the final output result of the solution type identifier for the current epoch, including:

[0015] When the positioning scenario is a dynamic scenario, the change error sequence is analyzed to obtain the second analysis result. The second analysis result includes the residual of the target change error and / or the second standard deviation. The target change error is the error of the change of the solution of the current epoch and the previous epoch relative to the benchmark. The second standard deviation is the standard deviation of the change error sequence.

[0016] When the residual of the second standard deviation or the target change error is greater than the corresponding threshold, the solution type identifier of the current epoch is set to floating point solution;

[0017] In other cases, the solution type identifier for the current epoch is set to a fixed solution.

[0018] Optionally, the method further includes:

[0019] Obtain the floating-point ambiguity of each satellite for all epochs within the second sliding window;

[0020] If the number of floating-point ambiguities in the second sliding window does not exceed the second quantity threshold, the solution type identifier of the current epoch is set to floating-point solution;

[0021] When the number of floating-point ambiguities in the second sliding window exceeds the second threshold, the floating-point ambiguities of each satellite in all epochs within the second sliding window are processed by inter-satellite single difference relative to the reference satellite to obtain the single difference ambiguity of each satellite in all epochs.

[0022] The final output result of the solution type identifier for the current epoch is determined by performing stability analysis on the single-difference ambiguity of each satellite across all epochs.

[0023] Optionally, stability analysis is performed on the single-difference ambiguities of each satellite across all epochs to determine the final output of the solution type identifier for the current epoch, including:

[0024] The single-difference ambiguity of each satellite in all epochs is analyzed to obtain the third analysis result for each satellite. The third analysis result includes the third standard deviation for each satellite. The third standard deviation is the standard deviation of the single-difference ambiguity of the corresponding satellite in all epochs and / or the residual of the single-difference ambiguity of each satellite in the current epoch.

[0025] When the target satellite accounts for more than the first proportion of all satellites, the solution type identifier of the current epoch is set to floating point solution, and the target satellite is either a satellite whose third standard deviation is greater than the corresponding threshold or a satellite whose residual of the single difference ambiguity of the current epoch is greater than the corresponding threshold.

[0026] Optionally, the reference satellite is the satellite with the most floating-point ambiguities among all satellites.

[0027] Optionally, the threshold is preset or dynamically adjusted on the GNSS positioning terminal.

[0028] Secondly, a solution type determination system for a GNSS positioning terminal is provided, which may include:

[0029] The acquisition module is used to acquire the fixed coordinate sequence, which includes the fuzzy fixed solution of multiple epochs within the first sliding window;

[0030] The setting module is used to set the solution type identifier of the current epoch to a floating-point solution when the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold.

[0031] The acquisition module is also used to acquire the current GNSS positioning scenario when the number of solutions in the fixed coordinate sequence exceeds a first quantity threshold.

[0032] The analysis module is used to perform stability analysis on the fixed coordinate sequence when the positioning scene is static, in order to determine the final output result of the solution type identifier of the current epoch; when the positioning scene is dynamic, it obtains the change error sequence relative to the reference, and performs stability analysis based on the change error sequence to determine the final output result of the solution type identifier of the current epoch. The change error sequence includes multiple change errors, which are the errors of the change of the solution in adjacent epochs relative to the reference. The reference is preset or updated in real time through epoch difference.

[0033] Thirdly, a GNSS positioning terminal is provided, which includes a memory, a processor, and a solution type determination program for the GNSS positioning terminal stored in the memory and running on the processor. The solution type determination program for the GNSS positioning terminal implements the steps of the solution type determination method for the GNSS positioning terminal as described in the first aspect.

[0034] Fourthly, a computer storage medium is provided, which, when executed by a processor, implements the steps of the solution type determination method for a GNSS positioning terminal as described in the first aspect.

[0035] Fifthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the steps of the solution type determination method for a GNSS positioning terminal as described in the first aspect.

[0036] Compared with existing technologies, the solution type determination method and related apparatus for GNSS positioning terminals provided in this application obtain a fixed coordinate sequence, which includes ambiguity fixed solutions for multiple epochs within a first sliding window. When the number of ambiguity fixed solutions in the fixed coordinate sequence does not exceed a first threshold, the solution type identifier for the current epoch is set to a floating-point solution. When the number of ambiguity fixed solutions in the fixed coordinate sequence exceeds the first threshold, by distinguishing whether the current GNSS positioning scenario is a static or dynamic scenario, stability analysis is performed using the fixed coordinate sequence and the error sequence of changes relative to the reference, thereby determining the final output result of the solution type identifier for the current epoch. Therefore, during GNSS positioning, the convergence of the solution is confirmed based on the number of ambiguity fixed solutions in the fixed coordinate sequence, and the influence of changes in ambiguity fixed solutions under different positioning scenarios is considered. By combining stability analysis with different positioning scenarios, the solution type identifier for the current epoch is finally determined, improving the accuracy of the solution type indicated by the GNSS positioning terminal. Thus, it can improve the problem of inaccurate solution types in existing technologies and enhance the application capabilities of GNSS positioning terminals. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic flowchart of a solution type determination method for a GNSS positioning terminal according to an embodiment of this application.

[0039] Figure 2 This is a schematic and detailed flowchart of S140 in the solution type determination method of a GNSS positioning terminal according to an embodiment of this application.

[0040] Figure 3 This is a schematic detailed flowchart of step S150 in the solution type determination method of a GNSS positioning terminal according to an embodiment of this application.

[0041] Figure 4 This is a schematic flowchart of steps S410 to S440 in a solution type determination method for a GNSS positioning terminal according to an embodiment of this application.

[0042] Figure 5 This is a schematic and detailed flowchart of step S440 in the solution type determination method of a GNSS positioning terminal according to an embodiment of this application.

[0043] Figure 6 This is a schematic block diagram of a solution type determination system for a GNSS positioning terminal according to another embodiment of this application.

[0044] Figure 7 This is a schematic block diagram of a GNSS positioning terminal according to another embodiment of this application. Detailed Implementation

[0045] The features and exemplary embodiments of various aspects of this application will now be described in detail. Numerous specific details are set forth in the following detailed description in order to provide a comprehensive understanding of this application. However, it will be apparent to those skilled in the art that this application can be implemented without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of this application by illustrating examples thereof.

[0046] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The embodiments will now be described in detail with reference to the accompanying drawings.

[0047] Precise Point Positioning (PPP) technology can achieve centimeter-level positioning accuracy by receiving observation data and converging in about a few minutes. Since this technology has no regional limitations and the positioning accuracy is uniform globally, it has a wide range of applications in surveying and mapping, unmanned agriculture, navigation, aviation and intelligent driving.

[0048] When a GNSS (Global Navigation Satellite System) positioning terminal uses PPP technology for positioning, in addition to displaying the final positioning result, it will also display the solution type identifier corresponding to the positioning result. This solution type identifier can be a fixed solution or a floating-point solution.

[0049] In low-latency satellite-based terminal solutions related to this technology, the determination of the GNSS positioning terminal's solution type identifier is mainly achieved through two main approaches. The first is through the positioning terminal's ambiguity fixation algorithm for solution type verification. For example, the ratio and success rate in the ambiguity fixation algorithm can be used for solution type verification. The second is through external verification methods, such as using multiple sets of positioning terminals for mutual verification of the solution type.

[0050] However, during their research on GNSS positioning, the inventors of this application discovered the following problems with the solution type confirmation schemes in related technologies:

[0051] 1. Using multiple sets of positioning terminals for mutual verification will increase costs.

[0052] 2. When performing solution type verification using the fuzziness fixation algorithm, due to the many problems with the fuzziness fixation verification algorithm, there may be cases where the solution type identifier of the positioning result is not accurate. For example, the positioning result may be poor, but the solution type identifier may show as a fixed solution, or the positioning result may be good, but the solution type identifier may show as a floating-point solution.

[0053] Therefore, considering cost factors, the solution type confirmation method for GNSS positioning terminals in related technologies affects the application performance of GNSS positioning terminals, resulting in a poor user experience in actual use. Based on this, this application proposes a solution type determination method, system, GNSS positioning terminal, and computer storage medium for GNSS positioning terminals to solve the above problems.

[0054] The following section first introduces the solution type determination method for the GNSS positioning terminal in this application. (See attached image) Figure 1 In one embodiment of the solution type determination method for GNSS positioning terminals in this application, the method includes:

[0055] S110, Obtain the fixed coordinate sequence, which may include the fuzzy fixed solutions of multiple epochs within the first sliding window.

[0056] S120, when the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold, the solution type identifier of the current epoch is set to floating point solution.

[0057] S130: When the number of solutions in the fixed coordinate sequence exceeds the first quantity threshold, obtain the current GNSS positioning scene.

[0058] S140, when the positioning scene is a static scene, perform stability analysis on the fixed coordinate sequence to determine the final output result of the solution type identifier of the current epoch.

[0059] S150: When the positioning scene is a dynamic scene, obtain the change error sequence relative to the reference, and perform stability analysis based on the change error sequence to determine the final output result of the solution type identifier of the current epoch.

[0060] The change error sequence can include multiple change errors, which are the errors in the change of the solution in adjacent epochs relative to the baseline. The baseline is either pre-set or updated in real time through epoch differencing.

[0061] This application embodiment obtains a fixed coordinate sequence, which includes ambiguity fixed solutions for multiple epochs within a first sliding window. When the number of ambiguity fixed solutions in the fixed coordinate sequence does not exceed a first threshold, the solution type identifier for the current epoch is set to a floating-point solution. When the number of ambiguity fixed solutions in the fixed coordinate sequence exceeds the first threshold, by distinguishing whether the current GNSS positioning scenario is static or dynamic, stability analysis is performed using the fixed coordinate sequence and the error sequence of changes relative to the reference, thereby determining the final output result of the solution type identifier for the current epoch. Therefore, during GNSS positioning, the convergence of the solution is confirmed based on the number of ambiguity fixed solutions in the fixed coordinate sequence, and the influence of changes in ambiguity fixed solutions under different positioning scenarios is considered. By combining stability analysis with different positioning scenarios, the final output result of the solution type identifier for the current epoch is determined, improving the accuracy of the solution type indicated by the GNSS positioning terminal. Thus, it can improve the problem of inaccurate solution types in the prior art and enhance the application capabilities of the GNSS positioning terminal.

[0062] The above method can be applied to GNSS positioning terminals, which can be GNSS receivers or electronic devices such as mobile phones.

[0063] In some optional examples of S110, the GNSS positioning terminal can receive observation data epoch by epoch and perform positioning processing based on the observation data to obtain the positioning result for each epoch.

[0064] The positioning result can include floating-point ambiguities of multiple satellites at that epoch, or it can include fixed ambiguity solutions at that epoch. The floating-point ambiguities of each satellite can be arranged and stored in epochal order to form a data sequence corresponding to the floating-point ambiguities of each satellite, and the fixed ambiguity solutions can be arranged and stored in epochal order to form a data sequence corresponding to the fixed ambiguity solutions.

[0065] When determining the solution type, a first sliding window and a second sliding window can be set. The window size and epoch span of the first and second sliding windows are fixed. The first sliding window can slide within the data sequence corresponding to the solution with fixed ambiguity, while the second sliding window can slide within the data sequence corresponding to the floating-point ambiguity of each satellite.

[0066] After selecting the positioning results of multiple epochs, including the current epoch, the first and second sliding windows form a fixed coordinate sequence and a floating-point ambiguity sequence, respectively. The solution type identifier for the current epoch can be further determined based on the number of solutions contained within the first sliding window.

[0067] In some optional examples of S120 and S130, after each movement of the first sliding window, it can be determined whether the number of fixed ambiguity solutions in the fixed coordinate sequence exceeds a first quantity threshold. If the number of fixed ambiguity solutions in the fixed coordinate sequence does not exceed the first quantity threshold, it indicates that the fixed ambiguity solutions of the current epoch have not converged, and the positioning result of the current epoch is essentially a floating-point solution. The solution type identifier of the current epoch can be set to a floating-point solution.

[0068] Conversely, if the number of fixed ambiguity solutions in the fixed coordinate sequence exceeds the first threshold, it indicates that the solution for the current epoch has converged, and the positioning result for the current epoch is a fixed solution.

[0069] To further improve the accuracy of solution type identification, considering the different application scenarios of GNSS positioning terminals, the solution type of the current epoch can be verified a second time according to the dynamic and static positioning scenarios of the GNSS positioning terminal, so as to obtain the final output result of the solution type identification of the current epoch.

[0070] The positioning scenario can be determined based on the data acquisition unit and / or sensors built into the GNSS positioning terminal. For example, when the GNSS positioning terminal is installed in a vehicle traveling at high speed, the positioning scenario is a dynamic scenario. Conversely, when the GNSS positioning terminal is installed in a vehicle that is powered off, the positioning scenario is a static scenario.

[0071] In some optional examples of S140, for static positioning scenarios, stability analysis can be performed by observing the changes in the fixed ambiguity solutions in the fixed coordinate sequence. Based on the results of the stability analysis, it can be determined whether the final output of the solution type identifier for the current epoch is a fixed solution.

[0072] It should be noted that in static scenarios, when the changes in the fixed ambiguity solutions in the fixed coordinate sequence are large, or when the error of the fixed ambiguity solution in the current epoch is large, the solution type identifier of the current epoch can be changed from a fixed solution to a floating-point solution. That is, the final output result of the solution type identifier of the current epoch is a floating-point solution.

[0073] If the variation of the fixed ambiguity solution in the fixed coordinate sequence is small or the error of the fixed ambiguity solution in the current epoch is small, the final output result of the solution type identifier in the current epoch can be kept as a fixed solution.

[0074] In these embodiments, by comparing the number of solutions in the fixed coordinate sequence with a first quantity threshold, and combining the stability analysis of the ambiguity-fixed solutions in the fixed coordinate sequence under static scenarios, a second-level verification of the solution type identifier of the current epoch under static scenarios is achieved, ensuring the accuracy of the final output result of the solution type identifier of the current epoch under static scenarios.

[0075] In some optional examples, please see Figure 2 The above-mentioned S140 may include the following steps:

[0076] S210, when the positioning scene is a static scene, analyze the fixed coordinate sequence to obtain the first analysis result.

[0077] The first analysis result may include the first standard deviation and / or the residual of the solution at the current epoch, wherein the first standard deviation is the standard deviation of the fixed coordinate sequence.

[0078] S220, when the first standard deviation or the residual of the solution in the current epoch is greater than the corresponding threshold, set the solution type identifier of the current epoch to floating point solution.

[0079] S220, otherwise, set the solution type identifier for the current epoch to a fixed solution.

[0080] It should be noted that when performing stability analysis in static scenarios, the standard deviation of the fixed coordinate sequence (i.e., the first standard deviation) can be used as the first analysis result. This first standard deviation can indicate the fluctuation of the fixed ambiguity solution within the first sliding window.

[0081] For example, when determining the final output result of the solution type identifier of the current epoch in a static scenario, if the first analysis result only includes the standard deviation of the fixed coordinate sequence (i.e., the first standard deviation), it can be determined whether the first standard deviation is greater than the corresponding threshold.

[0082] If the first standard deviation is greater than the corresponding threshold, it indicates that the fluctuation of the fixed ambiguity solution in the fixed coordinate sequence within the first sliding window is large, and the actual positioning result of the current epoch is inaccurate. In this case, the solution type identifier of the current epoch can be set to floating-point solution. Conversely, if the first standard deviation is less than or equal to the corresponding threshold, it indicates that the fluctuation of the fixed ambiguity solution in the fixed coordinate sequence within the first sliding window is small, and the actual positioning result of the current epoch is relatively accurate. In this case, the solution type identifier of the current epoch can be set to fixed solution.

[0083] In other examples, the residuals of the fixed ambiguity solution at the current epoch can also be used as the first result of the stability analysis. The residuals of the fixed ambiguity solution at the current epoch can indicate the magnitude of the error of the fixed ambiguity solution at the current epoch.

[0084] For example, when determining the final output result of the solution type identifier of the current epoch in a static scenario, if the first analysis result only includes the residual of the solution of the current epoch, it can be determined whether the residual of the fuzzy fixed solution of the current epoch is greater than the corresponding threshold.

[0085] If the residual of the fixed ambiguity solution in the current epoch is greater than the corresponding threshold, it indicates that the positioning result of the current epoch has a large error. Therefore, the solution type identifier of the current epoch can be set to floating-point solution. Conversely, if the residual of the fixed ambiguity solution in the current epoch is less than or equal to the corresponding threshold, it indicates that the positioning result of the current epoch has a small error. Therefore, the solution type identifier of the current epoch can be set to fixed solution.

[0086] In some other examples, the first analysis result can also be the residual and first standard deviation of the ambiguity fixed solution of the current epoch. The final output result of the solution type identifier of the current epoch can be determined by combining the two first analysis results.

[0087] For example, when determining the final output result of the solution type identifier for the current epoch in a static scenario, if either the first standard deviation or the residual of the solution for the current epoch is greater than the corresponding threshold, the solution type identifier for the current epoch is set to a floating-point solution. Conversely, if both the first standard deviation and the residual of the solution for the current epoch are less than the corresponding threshold, the solution type identifier for the current epoch is set to a fixed solution.

[0088] In these embodiments, the determination based on the first standard deviation and / or the residual of the solution at the current epoch in a static scenario takes into account the error and volatility of the positioning result at the current epoch. The resulting value is the final output of the solution type identifier for the current epoch. Therefore, considering cost issues, this scheme for confirming the final output of the solution type of the GNSS positioning terminal in a static scenario improves the accuracy of the solution type identifier, thereby enhancing the practical application effect and user experience of the GNSS positioning terminal.

[0089] It should also be noted that when determining the final output result of the solution type identifier for the current epoch, the threshold corresponding to the first standard deviation mentioned above is a critical value that can indicate the relative volatility of the first standard deviation. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal.

[0090] The threshold corresponding to the residual of the fixed ambiguity solution at the current epoch is a critical value that indicates the relative magnitude of the error. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal. For example, the threshold corresponding to the residual of the fixed ambiguity solution at the current epoch can be twice the first standard deviation.

[0091] In some optional examples of S150, for dynamic positioning scenarios, the ambiguity fixed solutions between different epochs are themselves quite different, and stability analysis can be performed by the error sequence of the change in relative to the benchmark.

[0092] The benchmark can be preset or updated in real time via epoch differencing during the solution type confirmation process. The sequence of variation errors can include multiple variation errors relative to the benchmark.

[0093] For example, the change in solutions between adjacent epochs can be obtained from the fixed ambiguity solution in the fixed coordinate sequence, and then the error of the change in solutions between adjacent epochs relative to the reference (i.e., the change error) can be calculated based on the change in solutions between adjacent epochs.

[0094] In dynamic scenarios, when the variation error in the variation error sequence fluctuates greatly, or when the variation error of the current epoch is large relative to the previous epoch, the solution type identifier of the current epoch can be changed from a fixed solution to a floating-point solution. That is, the final output result of the solution type identifier of the current epoch is a floating-point solution.

[0095] If the variation error sequence is small or the variation error of the current epoch is small relative to the previous epoch, the final output result of the solution type identifier of the current epoch can be kept as a fixed solution.

[0096] In these embodiments, by comparing the number of solutions in the fixed coordinate sequence with a first quantity threshold, and combining the change error in the change error sequence under dynamic scenarios for stability analysis, a second-level verification of the solution type identifier of the current epoch under dynamic scenarios is achieved, ensuring the accuracy of the final output result of the solution type identifier of the current epoch under dynamic scenarios.

[0097] In some optional examples, please see Figure 3 The above-mentioned S150 may include the following steps:

[0098] S310, when the positioning scene is a dynamic scene, acquire the change error sequence relative to the reference, analyze the change error sequence, and obtain the second analysis result.

[0099] The second analysis result may include the residual of the target change error and / or the second standard deviation, where the target change error is the error of the change in the solution of the current epoch and the previous epoch relative to the baseline, and the second standard deviation is the standard deviation of the change error sequence.

[0100] S320, when the residual of the second standard deviation or the target change error is greater than the corresponding threshold, set the solution type identifier of the current epoch to floating point solution.

[0101] S330, otherwise, set the solution type identifier for the current epoch to a fixed solution.

[0102] It should be noted that when performing stability analysis in dynamic scenarios, the standard deviation of the error sequence of changes (i.e., the second standard deviation) can be used as a second analysis result of the stability analysis. This second standard deviation can indicate the fluctuation of the solution change of the fixed ambiguity solution in adjacent epochs within the first sliding window relative to the baseline.

[0103] For example, when determining the final output result of the solution type identifier of the current epoch in a dynamic scenario, if the second analysis result only includes the standard deviation of the change error sequence (i.e., the second standard deviation), it can be determined whether the second standard deviation is greater than the corresponding threshold.

[0104] Specifically, if the second standard deviation is greater than the corresponding threshold, it indicates that the variation error sequence fluctuates significantly relative to the benchmark, and the actual positioning result of the current epoch is inaccurate. In this case, the solution type identifier for the current epoch can be set to a floating-point solution. Conversely, if the second standard deviation is less than or equal to the corresponding threshold, it indicates that the variation error sequence fluctuates less relative to the benchmark, and the actual positioning result of the current epoch is relatively accurate. In this case, the solution type identifier for the current epoch can be set to a fixed solution.

[0105] In other examples, the residual of the target change error can also be used as a second analysis result of the stability analysis. For example, when determining the final output result of the solution type identification of the current epoch in a dynamic scenario, if the second analysis result only includes the target change error, it can be determined whether the residual of the target change error is greater than the corresponding threshold.

[0106] If the residual of the target change error is greater than the corresponding threshold, it indicates that the positioning result error of the current epoch is large. Therefore, the solution type identifier of the current epoch can be set to floating-point solution. Conversely, if the residual of the target change error is less than or equal to the corresponding threshold, it indicates that the positioning result error of the current epoch is small. Therefore, the solution type identifier of the current epoch can be set to fixed solution.

[0107] In some other examples, the second analysis result can also be the residual of the second standard deviation and the target change error. The final output result of the solution type identifier for the current epoch can be determined by combining the two second analysis results.

[0108] For example, when determining the final output result of the solution type identifier for the current epoch in a dynamic scenario, if either the second standard deviation or the residual of the target change error is greater than the corresponding threshold, the solution type identifier for the current epoch is set to a floating-point solution. Conversely, if both the second standard deviation and the residual of the target change error are less than the corresponding threshold, the solution type identifier for the current epoch is set to a fixed solution.

[0109] In these embodiments, the determination based on the residuals of the second standard deviation and / or the target change error in dynamic scenarios takes into account the error and volatility of the positioning result at the current epoch. The resulting value is the final output of the solution type identifier for the current epoch. Therefore, considering cost issues, this scheme for confirming the final output of the solution type of the GNSS positioning terminal in dynamic scenarios improves the accuracy of the solution type identifier, thereby enhancing the practical application effect and user experience of the GNSS positioning terminal.

[0110] It should also be noted that when determining the final output result of the solution type identifier for the current epoch in a dynamic scenario, the threshold corresponding to the second standard deviation mentioned above is a critical value that can indicate the relative volatility of the second standard deviation. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal.

[0111] The threshold corresponding to the residual of the target change error is a critical value that indicates the magnitude of the error. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal. For example, the threshold corresponding to the residual of the target change error can be twice the second standard deviation.

[0112] See Figure 4 In some alternative examples, the above-described method for determining the solution type of a GNSS positioning terminal may also include the following steps S410 to S440.

[0113] S410, obtain the floating-point ambiguity of each satellite for all epochs within the second sliding window.

[0114] S420, when the number of floating-point ambiguities in the second sliding window does not exceed the second quantity threshold, the solution type identifier of the current epoch is set to floating-point solution.

[0115] S430, when the number of floating-point ambiguities in the second sliding window exceeds the second quantity threshold, perform inter-satellite single-difference processing on the floating-point ambiguities of each satellite relative to the reference satellite in all epochs to obtain the single-difference ambiguity of each satellite in all epochs.

[0116] S440 performs stability analysis on the single-difference ambiguity of each satellite across all epochs to determine the final output result of the solution type identifier for the current epoch.

[0117] The above steps S410 to S440 can be executed in parallel with S110 to S150 after the GNSS positioning terminal has processed the positioning results. They can also be executed when the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold.

[0118] As described above, after the second sliding window selects the floating-point ambiguities of multiple epochs for each satellite, including the current epoch, a floating-point ambiguity sequence is formed. Therefore, the solution type identifier of the current epoch can be further determined based on the number of floating-point ambiguities contained in the floating-point ambiguity sequence.

[0119] For example, after each movement of the second sliding window, it can be determined whether the number of floating-point ambiguities in the floating-point ambiguity sequence formed by the second sliding window exceeds a second quantity threshold. If the number of floating-point ambiguities in all epochs of the floating-point ambiguity sequence does not exceed the second quantity threshold, it indicates that the solution for the current epoch has not converged, and the positioning result for the current epoch is essentially a floating-point solution. The final output result of the solution type identifier for the current epoch can be set to a floating-point solution.

[0120] Conversely, to further improve the accuracy of the solution type identification, when the number of floating-point ambiguities in all epochs of the floating-point ambiguity sequence exceeds a second threshold, inter-satellite single-difference processing can be performed on the floating-point ambiguities of each satellite in all epochs within the second sliding window relative to the reference satellite to obtain the single-difference ambiguities of each satellite in all epochs within the second sliding window. Stability analysis can then be performed on the single-difference ambiguities of each satellite in all epochs within the second sliding window to obtain the final output result of the solution type identification for the current epoch.

[0121] It should be noted that the aforementioned reference satellite can be the satellite with the highest number of floating-point ambiguities among all satellites. In other examples, it can also be any satellite among the top M satellites in terms of the number of floating-point ambiguities. In these embodiments, determining the reference satellite by the number of floating-point ambiguities ensures the stability of inter-satellite single-difference processing and provides a reference basis for subsequent stability analysis.

[0122] Please refer to Figure 5 In some alternative examples, the above S440 may include:

[0123] S510 analyzes the single-difference ambiguity of each satellite across all epochs to obtain the third analysis result for each satellite.

[0124] The third analysis result may include the third standard deviation for each satellite and / or the residual of the single-difference ambiguity for each satellite in the current epoch, where the third standard deviation is the standard deviation of the single-difference ambiguity for the corresponding satellite across all epochs.

[0125] S520: When the target satellite accounts for more than the first proportion of all satellites, the solution type identifier of the current epoch is set to floating point solution.

[0126] For example, the first percentage can be 95%, 98%, or other values.

[0127] The target satellite can be a satellite whose third standard deviation is greater than the corresponding threshold or a satellite whose residual of the single difference ambiguity in the current epoch is greater than the corresponding threshold.

[0128] It should be noted that when analyzing the single-difference ambiguity of each satellite across all epochs within the second sliding window, the standard deviation (i.e., the third standard deviation) of the single-difference ambiguity of each satellite across all epochs within the second sliding window can be used as a third analysis result. This third standard deviation can indicate the fluctuation of the single-difference ambiguity of the corresponding satellite across all epochs within the second sliding window.

[0129] For example, when determining the final output result of the solution type identification for the current epoch using the single-difference ambiguity of each satellite, if the third analysis result only includes the third standard deviation, it can be determined whether the third standard deviation of each satellite is greater than the corresponding threshold. If the third standard deviation is greater than the corresponding threshold, then the satellite corresponding to the third standard deviation is the target satellite.

[0130] When the target satellite accounts for more than the first proportion of all satellites, it indicates that the single-difference ambiguity of most satellites fluctuates significantly across all epochs within the second sliding window. The actual positioning result at the current epoch is inaccurate and belongs to a non-converged state. In this case, the solution type identifier for the current epoch can be set to a floating-point solution. Conversely, when the target satellite accounts for less than the first proportion of all satellites, it indicates that the single-difference ambiguity of most satellites fluctuates less within the second sliding window, and the actual positioning result at the current epoch has converged.

[0131] In other examples, the residuals of the single-difference ambiguity for each satellite at the current epoch can also be used as a third analytical result of the stability analysis. The residuals of the single-difference ambiguity for each satellite at the current epoch can indicate the magnitude of the error in the single-difference ambiguity for each satellite at the current epoch.

[0132] For example, when determining the final output result of the solution type identification for the current epoch using the single-difference ambiguity of each satellite, if the third analysis result only includes the residual of the single-difference ambiguity of the corresponding satellite in the current epoch, it can be determined whether the residual of the single-difference ambiguity in the current epoch is greater than the corresponding threshold. If the residual of the single-difference ambiguity in the current epoch is greater than the corresponding threshold, then the satellite corresponding to the residual is the target satellite.

[0133] When the target satellite accounts for more than a certain percentage of all satellites, it indicates that the positioning error of most satellites in the current epoch is relatively large, and the solution type of the current epoch can be set to floating-point solution. Conversely, when the target satellite accounts for less than a certain percentage of all satellites, it indicates that the positioning error of most satellites in the current epoch is relatively small, and the actual positioning result of the current epoch has converged.

[0134] In some other examples, the third analysis result can also be the third standard deviation and the residual of the satellite's single-difference ambiguity at the current epoch. The final output result of the solution type identifier at the current epoch can be determined by combining the two third analysis results.

[0135] For example, when determining the final output result of the solution type identifier for the current epoch using single-difference ambiguity, if either the third standard deviation or the residual of the single-difference ambiguity for the current epoch is greater than the corresponding threshold, then the corresponding satellite is the target satellite. If the target satellite accounts for more than a first proportion of all satellites, the solution type identifier for the current epoch can be set to a floating-point solution. Conversely, if the target satellite accounts for less than the first proportion of all satellites, then the actual positioning result for the current epoch has converged.

[0136] In these embodiments, when determining the final output result of the solution type identifier for the current epoch using the single-difference ambiguity of each satellite, the error and fluctuation of the positioning result for the current epoch are considered. This allows for verification of cases where the positioning result is a floating-point solution, but the solution type identifier shows a fixed solution, thus obtaining the final output result of the solution type identifier for the current epoch. Therefore, while considering cost issues, the accuracy of the solution type identifier is improved, enhancing the practical application effect and user experience of the GNSS positioning terminal.

[0137] It should also be noted that when determining the final output result of the solution type identifier for the current epoch, the threshold corresponding to the third standard deviation mentioned above is a critical value that can indicate the relative volatility of the third standard deviation. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal.

[0138] The threshold corresponding to the residual of the single-difference ambiguity at the current epoch is a critical value that indicates the relative magnitude of the error. This threshold can be preset or dynamically adjusted on the GNSS positioning terminal. For example, the threshold corresponding to the residual of the single-difference ambiguity at the current epoch can be twice the third standard deviation.

[0139] The solution type determination method for the GNSS positioning terminal according to the embodiments of this application has been described in detail above. The following will combine... Figure 6 This application describes in detail the solution type determination system for a GNSS positioning terminal according to an embodiment of the present application.

[0140] The acquisition module 610 can be used to acquire the fixed coordinate sequence, which includes the fuzzy fixed solution of multiple epochs within the first sliding window;

[0141] The setting module 620 can be used to set the solution type identifier of the current epoch to a floating-point solution when the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold.

[0142] The acquisition module 610 can also be used to acquire the current GNSS positioning scenario when the number of solutions in the fixed coordinate sequence exceeds a first quantity threshold.

[0143] The analysis module 630 can be used to perform stability analysis on the fixed coordinate sequence when the positioning scene is static, so as to determine the final output result of the solution type identifier of the current epoch; when the positioning scene is dynamic, it can obtain the change error sequence relative to the reference, and perform stability analysis based on the change error sequence to determine the final output result of the solution type identifier of the current epoch. The change error sequence includes multiple change errors, which are the errors of the change of the solution in adjacent epochs relative to the reference. The reference is preset or updated in real time through epoch difference.

[0144] Optionally, the analysis module 630 may include:

[0145] The analysis unit can be used to analyze the fixed coordinate sequence when the positioning scene is a static scene, and obtain the first analysis result. The first analysis result includes the first standard deviation and / or the residual of the solution in the current epoch. The first standard deviation is the standard deviation of the fixed coordinate sequence.

[0146] The setting unit can be used to set the solution type identifier of the current epoch to a floating-point solution when the first standard deviation or the residual of the solution of the current epoch is greater than the corresponding threshold; otherwise, it can set the solution type identifier of the current epoch to a fixed solution.

[0147] Optionally, when the location scene is a dynamic scene, the analysis module 630 may include:

[0148] The analysis unit can be used to analyze the change error sequence when the positioning scene is a dynamic scene, and obtain a second analysis result. The second analysis result includes the residual of the target change error and / or the second standard deviation. The target change error is the error of the change of the solution of the current epoch and the previous epoch relative to the benchmark. The second standard deviation is the standard deviation of the change error sequence.

[0149] The setting unit can be used to set the solution type identifier of the current epoch to a floating-point solution when the residual of the second standard deviation or the target change error is greater than the corresponding threshold; otherwise, it can set the solution type identifier of the current epoch to a fixed solution.

[0150] Optionally, the system may also include a processing module. Among them,

[0151] The acquisition module 610 can also be used to acquire the floating-point ambiguity of each satellite in all epochs within the second sliding window;

[0152] The setting module 620 can be used to set the solution type identifier of the current epoch to a floating-point solution when the number of floating-point ambiguities in the second sliding window does not exceed the second quantity threshold.

[0153] The processing module can be used to perform inter-satellite single difference processing on the floating-point ambiguity of each satellite in all epochs of the second sliding window relative to the reference satellite when the number of floating-point ambiguities in the second sliding window exceeds the second quantity threshold, so as to obtain the single difference ambiguity of each satellite in all epochs.

[0154] Analysis module 630 can be used to perform stability analysis on the single-difference ambiguity of each satellite across all epochs to determine the final output result of the solution type identifier for the current epoch.

[0155] Optionally, the analysis module 630 may include:

[0156] The analysis unit can be used to analyze the single-difference ambiguity of each satellite in all epochs and obtain the third analysis result corresponding to each satellite. The third analysis result includes the third standard deviation corresponding to each satellite and / or the residual of the single-difference ambiguity of each satellite in the current epoch. The third standard deviation is the standard deviation of the single-difference ambiguity of the corresponding satellite in all epochs.

[0157] The setting unit can be used to set the solution type identifier of the current epoch to a floating-point solution when the target satellite accounts for more than a first proportion of all satellites. The target satellite is either a satellite whose third standard deviation is greater than the corresponding threshold or a satellite whose residual of the single difference ambiguity of the current epoch is greater than the corresponding threshold.

[0158] Alternatively, the reference satellite can be the one with the most floating-point ambiguities among all satellites.

[0159] Optionally, the threshold can be preset or dynamically adjusted on the GNSS positioning terminal.

[0160] Figure 7 A schematic diagram of the hardware structure of the GNSS positioning terminal provided in an embodiment of this application is shown.

[0161] The GNSS positioning terminal may include a processor 701 and a memory 702 storing computer program instructions.

[0162] Specifically, the processor 701 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0163] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where suitable, memory 702 may include removable or non-removable (or fixed) media. Where suitable, memory 702 may be internal or external to a GNSS positioning terminal. In a particular embodiment, memory 702 is a non-volatile solid-state memory.

[0164] Memory 702 may include read-only memory (ROM), flash memory device, random access memory (RAM), disk storage medium device, optical storage medium device, electrical, optical, or other physical / tangible memory storage device. Therefore, typically, memory 702 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software that may include computer-executable instructions and, when executed (e.g., by one or more processors), is operable to perform the operations described with reference to the methods described above according to the foregoing aspects of this disclosure.

[0165] The processor 701 reads and executes computer program instructions stored in the memory 702 to implement any of the GNSS positioning terminal solution type determination methods in the above embodiments.

[0166] In one example, the GNSS positioning terminal may also include a communication interface 703 and a bus 710. For example, Figure 7 As shown, the processor 701, memory 702, and communication interface 703 are connected through bus 710 and complete communication with each other.

[0167] The communication interface 703 is mainly used to realize communication between various modules, systems, devices, units and / or equipment in the embodiments of this application.

[0168] Bus 710 includes hardware, software, or both, that couples components of a GNSS positioning terminal together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0169] This GNSS positioning terminal can achieve a combination of [methods] based on the solution type determination method of the GNSS positioning terminal. Figures 1 to 6 The method and system for determining the solution type of a GNSS positioning terminal are described.

[0170] Based on the solution type determination method for GNSS positioning terminals in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the solution type determination methods for GNSS positioning terminals in the above embodiments.

[0171] Furthermore, in conjunction with the solution type determination method for GNSS positioning terminals in the above embodiments, this application embodiment can provide a computer program product for implementation. This computer program product stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the solution type determination methods for GNSS positioning terminals in the above embodiments.

[0172] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0173] It should be understood that in the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0174] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining the solution type of a GNSS positioning terminal, characterized in that, include: Obtain a fixed coordinate sequence, wherein the fixed coordinate sequence includes fuzzy fixed solutions for multiple epochs within a first sliding window; When the number of solutions in the fixed coordinate sequence does not exceed the first quantity threshold, the solution type identifier of the current epoch is set to a floating-point solution; When the number of solutions in the fixed coordinate sequence exceeds a first quantity threshold, the current GNSS positioning scenario is obtained. When the positioning scenario is a static scenario, a stability analysis is performed on the fixed coordinate sequence to determine the final output result of the solution type identifier for the current epoch; When the positioning scene is a static scene, a stability analysis is performed on the fixed coordinate sequence to determine the final output result of the solution type identifier for the current epoch, including: When the positioning scene is a static scene, the fixed coordinate sequence is analyzed to obtain a first analysis result. The first analysis result includes a first standard deviation and / or the residual of the solution in the current epoch. The first standard deviation is the standard deviation of the fixed coordinate sequence. When the first standard deviation or the residual of the solution in the current epoch is greater than the corresponding threshold, the solution type identifier of the current epoch is set to floating point solution. In other cases, the solution type identifier for the current epoch is set to a fixed solution; When the positioning scenario is a dynamic scenario, the change error sequence relative to the reference is obtained, and stability analysis is performed based on the change error sequence to determine the final output result of the solution type identifier of the current epoch. The change error sequence includes multiple change errors, and the change error is the error of the change of the solution in adjacent epochs relative to the reference. The reference is preset or updated in real time through epoch difference.

2. The method according to claim 1, characterized in that, When the positioning scenario is a dynamic scenario, the final output result of performing stability analysis based on the change error sequence to determine the solution type identifier of the current epoch includes: When the positioning scenario is a dynamic scenario, the change amount error sequence is analyzed to obtain a second analysis result. The second analysis result includes the residual of the target change amount error and / or the second standard deviation. The target change amount error is the error of the change amount of the solution of the current epoch and the previous epoch relative to the benchmark. The second standard deviation is the standard deviation of the change amount error sequence. When the residual of the second standard deviation or the target change error is greater than the corresponding threshold, the solution type identifier of the current epoch is set to floating point solution; In other cases, the solution type identifier for the current epoch is set to a fixed solution.

3. The method according to claim 1, characterized in that, The method further includes: Obtain the floating-point ambiguity of each satellite for all epochs within the second sliding window; If the number of floating-point ambiguities within the second sliding window does not exceed the second quantity threshold, the solution type identifier of the current epoch is set to a floating-point solution. When the number of floating-point ambiguities within the second sliding window exceeds the second quantity threshold, the floating-point ambiguities of each satellite in all epochs within the second sliding window are processed relative to the reference satellite to obtain the single-difference ambiguities of each satellite in all epochs. The final output result of the solution type identifier for the current epoch is determined by performing stability analysis on the single-difference ambiguity of each satellite across all epochs.

4. The method according to claim 3, characterized in that, The final output result, which determines the solution type identifier for the current epoch by performing stability analysis on the single-difference ambiguity of each satellite across all epochs, includes: The single-difference ambiguity of each satellite in all epochs is analyzed to obtain the third analysis result corresponding to each satellite. The third analysis result includes the third standard deviation corresponding to each satellite and / or the residual of the single-difference ambiguity of each satellite in the current epoch. The third standard deviation is the standard deviation of the single-difference ambiguity of the corresponding satellite in all epochs. When the target satellite accounts for more than the first proportion of all satellites, the solution type identifier of the current epoch is set to floating point solution. The target satellite is either a satellite whose third standard deviation is greater than the corresponding threshold or a satellite whose residual of the single difference ambiguity of the current epoch is greater than the corresponding threshold.

5. The method according to claim 4, characterized in that, The reference satellite is the one with the most floating-point ambiguities among all satellites.

6. The method according to claim 1, 2 or 4, characterized in that, The threshold is either preset or dynamically adjusted on the GNSS positioning terminal.

7. A solution type determination system for a GNSS positioning terminal, characterized in that, include: The acquisition module is used to acquire a fixed coordinate sequence, which includes a fixed ambiguity solution for multiple epochs within a first sliding window; The setting module is used to set the solution type identifier of the current epoch to a floating-point solution when the number of solutions in the fixed coordinate sequence does not exceed a first quantity threshold. The acquisition module is also used to acquire the current GNSS positioning scenario when the number of solutions in the fixed coordinate sequence exceeds a first quantity threshold. The analysis module is used to perform stability analysis on the fixed coordinate sequence when the positioning scene is a static scene, so as to determine the final output result of the solution type identifier of the current epoch; When the positioning scenario is a dynamic scenario, the change error sequence relative to the reference is obtained, and stability analysis is performed based on the change error sequence to determine the final output result of the solution type identifier of the current epoch. The change error sequence includes multiple change errors, and the change error is the error of the change of the solution in adjacent epochs relative to the reference. The reference is preset or updated in real time through epoch difference. An analysis unit is configured to analyze the fixed coordinate sequence when the positioning scene is a static scene, and obtain a first analysis result. The first analysis result includes a first standard deviation and / or the residual of the solution in the current epoch. The first standard deviation is the standard deviation of the fixed coordinate sequence. The setting unit is configured to set the solution type identifier of the current epoch to a floating-point solution when the first standard deviation or the residual of the solution of the current epoch is greater than the corresponding threshold; otherwise, it sets the solution type identifier of the current epoch to a fixed solution.

8. A GNSS positioning terminal, characterized in that, The GNSS positioning terminal includes a memory, a processor, and a solution type determination program for the GNSS positioning terminal stored in the memory and running on the processor. The solution type determination program for the GNSS positioning terminal performs the steps of the solution type determination method for the GNSS positioning terminal as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that, When the computer storage medium is executed by the processor, it implements the steps of the solution type determination method for the GNSS positioning terminal according to any one of claims 1 to 6.

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