A method for realizing positioning processing, computer storage medium and terminal

Abstract

Disclosed herein are a method, computer storage medium, and terminal for implementing positioning processing. In an embodiment of the present invention, a first antenna and a second antenna with a second phase center distance are pre-set, and first positioning information is determined based on a first differential correction and a first global navigation satellite system (GNSS) carrier observation value of the first antenna, and second positioning information is determined based on the first differential correction and the second GNSS carrier observation value of the second antenna; third positioning information and a first phase center distance value are obtained based on the second differential correction and the second GNSS carrier observation value obtained from the first GNSS carrier observation value and the first positioning information; an RTK positioning result is determined based on the second positioning information, the third positioning information, the first phase center distance value, and the second phase center distance value; the probability of detecting real-time dynamic differential positioning (RTK) positioning errors is increased, the reliability of the output positioning information is improved, and technical support is provided for achieving high-reliability safety requirements such as autonomous driving.

Description

Technical Field

[0001] This article relates to, but is not limited to, real-time dynamic differential positioning technology, and in particular to a method, computer storage medium, and terminal for implementing positioning processing. Background Art

[0002] RTK (Real-time kinematic) technology can achieve centimeter-level positioning accuracy in real time in the wild and is widely used in unmanned driving, precision agriculture, deformation monitoring, mechanical control, and drones.

[0003] However, RTK technology requires satellite signals for orientation. Therefore, in practice, multipath and antenna signal quality can lead to inaccurate RTK orientation results. For example, when a vehicle passes through forests, tree shade, tall buildings, urban canyons, bridges, tunnels, and other locations, obstruction can result in poor satellite signal quality, leading to erroneous RTK orientation results. Incorrect RTK orientation results can have serious consequences. For example, in autonomous driving, inaccurate RTK orientation results can cause the autonomous vehicle system to issue erroneous commands, leading to navigation errors or even vehicle damage. Similarly, in drones, inaccurate RTK orientation results can cause the drone's control system to issue incorrect commands, causing the drone's trajectory to deviate. For another example, in a driving test, inaccurate RTK orientation results can lead to erroneous results in the evaluation of subjects two or three.

[0004] Related technologies offer error detection for RTK positioning through velocity extrapolation. However, if an initial positioning error occurs with this method, subsequent positioning errors will also occur, and the cause of the error is difficult to pinpoint. Related technologies also offer positioning quality assessment methods based on two receivers, directly subtracting the results of the two parallel paths to evaluate positioning instructions. However, it is difficult to eliminate common causes of errors caused by identical parameters in the algorithm. Determining the accuracy of RTK positioning results and improving the reliability of RTK orientation results remains an unresolved issue. Summary of the Invention

[0005] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0006] The embodiments of the present invention provide a method for implementing positioning processing, a computer storage medium, and a terminal, which can improve the probability of detecting RTK positioning errors.

[0007] An embodiment of the present invention provides a method for implementing positioning processing, including:

[0008] Performing a first real-time kinematic differential positioning (RTK) solution based on the first differential correction and a first global navigation satellite system (GNSS) carrier observation value of the first antenna to obtain first positioning information;

[0009] Perform a second RTK solution based on the first differential correction and the second GNSS carrier observation value of the second antenna to obtain second positioning information;

[0010] determining a second differential correction value based on the first GNSS carrier observation value and the obtained first positioning information;

[0011] Perform a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value to obtain third positioning information and the first phase center distance value;

[0012] Determine an RTK positioning result according to the second positioning information, the third positioning information, the first phase center distance value, and the second phase center distance value;

[0013] The first phase center distance value is the phase center distance between the first antenna and the second antenna obtained by the third RTK solution; and the second phase center distance value is the preset phase center distance between the first antenna and the second antenna.

[0014] In an exemplary embodiment, determining the RTK positioning result includes:

[0015] Calculate the absolute value of the difference between the first phase center distance value and the second phase center distance value to obtain a phase center distance difference;

[0016] Calculate the difference between the third positioning information and the second positioning information and take the absolute value to obtain a positioning difference;

[0017] When the obtained phase center distance difference is smaller than a preset center distance threshold, and the obtained positioning difference is smaller than a preset positioning difference threshold, it is determined that the RTK positioning result is credible.

[0018] In an exemplary embodiment, determining the RTK positioning result further includes:

[0019] When the phase center distance difference is greater than or equal to the center distance threshold; and / or the positioning difference is greater than or equal to the positioning difference threshold, it is determined that the RTK positioning result is wrong.

[0020] In an exemplary embodiment, after determining that the RTK positioning result is reliable, the method further includes outputting one or any combination of the following positioning information:

[0021] The first positioning information, the second positioning information and the third positioning information.

[0022] In an exemplary embodiment, the second phase center distance value is within the following range:

[0023] 0.3 meters to 10 meters.

[0024] In an exemplary embodiment, performing a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value includes:

[0025] The second differential correction number and the second GNSS carrier observation value are calculated using a heading algorithm to obtain the third positioning information and the first phase center distance value.

[0026] In an exemplary embodiment, the center distance threshold value ranges from 0.003 meters to 0.005 meters.

[0027] In an exemplary embodiment, the positioning difference threshold value ranges from 0.03 meters to 0.2 meters.

[0028] On the other hand, an embodiment of the present invention further provides a computer storage medium, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the method for realizing the positioning processing is implemented.

[0029] In another aspect, an embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program;

[0030] The processor is configured to execute the computer program in the memory;

[0031] When the computer program is executed by the processor, the method for implementing positioning processing as described above is implemented.

[0032] In another aspect, an embodiment of the present invention further provides an apparatus for implementing positioning processing, including:

[0033] The technical solution of the present application includes: performing a first real-time dynamic differential positioning (RTK) solution based on a first differential correction and a first global navigation satellite system (GNSS) carrier observation value of a first antenna to obtain first positioning information; performing a second RTK solution based on the first differential correction and a second GNSS carrier observation value of a second antenna to obtain second positioning information; determining a second differential correction based on the first GNSS carrier observation value and the obtained first positioning information; performing a third RTK solution based on the determined second differential correction and the second GNSS carrier observation value to obtain third positioning information and a first phase center distance value; determining an RTK positioning result based on the second positioning information, the third positioning information, the first phase center distance value and the second phase center distance value; wherein the first phase center distance value is the phase center distance between the first antenna and the second antenna obtained by the third RTK solution; and the second phase center distance value is a pre-set phase center distance between the first and second antennas. The embodiment of the present invention improves the probability of detecting RTK positioning errors and the reliability of the output positioning information by comparing the first antenna and the second antenna with a pre-set phase center distance, providing technical support for achieving high-reliability safety requirements such as autonomous driving.

[0034] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0036] Figure 1 The present invention is a flowchart of a method for implementing positioning processing according to an embodiment of the present invention. DETAILED DESCRIPTION

[0037] To make the purpose, technical solutions and advantages of the present invention more clearly understood, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other in any manner.

[0038] The steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Also, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be performed in an order different from that shown here.

[0039] Figure 1Flowchart of a method for implementing positioning processing according to an embodiment of the present invention, such as Figure 1 Shown, including:

[0040] Step 101: Perform a first real-time kinematic differential positioning (RTK) solution based on a first differential correction and a first global navigation satellite system (GNSS) carrier observation value of a first antenna to obtain first positioning information;

[0041] In the embodiment of the present invention, the first differential correction number may be real-time data obtained from a satellite positioning system with reference to relevant technologies; the first differential correction number is transmitted through a pre-set communication module.

[0042] Step 102: Perform a second RTK solution based on the first differential correction and the second GNSS carrier observation value of the second antenna to obtain second positioning information;

[0043] In an exemplary embodiment, the first antenna and the second antenna in the embodiment of the present invention are designed as measurement modules with reference to related technologies, and are used to receive GNSS signals and output corresponding first GNSS carrier observation values ​​and second GNSS carrier observation values.

[0044] Step 103: Determine a second differential correction value based on the first GNSS carrier observation value and the obtained first positioning information;

[0045] Step 104: Perform a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value to obtain third positioning information and the first phase center distance value;

[0046] Step 105: Determine an RTK positioning result based on the second positioning information, the third positioning information, the first phase center distance value, and the second phase center distance value;

[0047] The first phase center distance value is the phase center distance between the first antenna and the second antenna obtained by the third RTK solution; the second phase center distance value is the pre-set phase center distance between the first antenna and the second antenna.

[0048] The embodiment of the present invention improves the probability of detecting RTK positioning errors and the reliability of output positioning information by comparing the first antenna and the second antenna with a pre-set phase center distance, providing technical support for achieving high-reliability safety requirements such as autonomous driving.

[0049] In an exemplary embodiment, the above-mentioned positioning processing method of an embodiment of the present invention can be applied to the positioning processing of an autonomous driving vehicle.

[0050] In an exemplary embodiment, the RTK positioning result determined by an embodiment of the present invention includes a determination result of whether the RTK positioning is credible.

[0051] In an exemplary embodiment, an embodiment of the present invention determines an RTK positioning result, including:

[0052] The absolute value of the difference between the first phase center distance value and the second phase center distance value is obtained to obtain the phase center distance difference;

[0053] The third positioning information and the second positioning information are subtracted and the absolute value is taken to obtain a positioning difference;

[0054] When the obtained phase center distance difference is less than a preset center distance threshold, and the obtained positioning difference is less than a preset positioning difference threshold, the RTK positioning result is determined to be credible.

[0055] In the embodiment of the present invention, the second positioning information and the third positioning information of the second antenna realize the judgment of the positioning angle and improve the detection probability of RTK positioning errors; the second differential correction number is recomposed according to the first positioning information and the first GNSS carrier observation value, and the phase center distance of the second antenna relative to the first antenna is recalculated with the second GNSS carrier observation value of the second antenna. Because the baseline distance is relatively close, a positioning and orientation result with a millimeter-level accuracy can be obtained; the first phase center distance value is compared with the second phase center distance value to eliminate the problem of the local antenna carrier observation value, and at the same time, the common cause failure problem in the direct difference judgment of the dual-path parallel results of the RTK algorithm can be eliminated.

[0056] In an exemplary embodiment, determining the RTK positioning result in an embodiment of the present invention further includes:

[0057] When the phase center distance difference is greater than or equal to the center distance threshold; and / or the positioning difference is greater than or equal to the positioning difference threshold, it is determined that the RTK positioning result is wrong.

[0058] In an exemplary embodiment, an embodiment of the present invention determines an RTK positioning result, including:

[0059] The absolute value of the difference between the first phase center distance value and the second phase center distance value is obtained to obtain the phase center distance difference;

[0060] When the obtained phase center distance difference is greater than the pre-set center distance threshold, the RTK positioning result is determined to be wrong;

[0061] When the obtained phase center distance difference is less than or equal to the center distance threshold, the third positioning information and the second positioning information are subtracted and the absolute value is taken to obtain the positioning difference;

[0062] When the obtained positioning difference is greater than the preset positioning difference threshold, the RTK positioning result is determined to be wrong;

[0063] When the obtained positioning difference is less than or equal to the positioning difference threshold, the RTK positioning result is determined to be reliable.

[0064] In an exemplary embodiment, the phase center distance in the embodiment of the present invention can be set according to the resonance between the antennas and the positioning accuracy;

[0065] In an exemplary embodiment, the first antenna and the second antenna in the embodiment of the present invention are connected to the same receiver; in an exemplary embodiment, the first antenna and the second antenna in the embodiment of the present invention are connected to two different receivers;

[0066] In an exemplary embodiment, the second phase center distance value of the embodiment of the present invention is within the following range:

[0067] 0.3 meters to 10 meters.

[0068] In an exemplary embodiment, the second phase center distance value may be set according to the application scenario of positioning. For example, during vehicle positioning, the phase center distance may be set to 1 meter to 2 meters.

[0069] In an exemplary embodiment, the embodiment of the present invention performs a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value, including:

[0070] The second differential correction number and the second GNSS carrier observation value are calculated using a heading algorithm to obtain third positioning information and the first phase center distance value.

[0071] In an exemplary embodiment, the embodiment of the present invention adopts other algorithms to perform RTK solution; when performing the third RTK solution, the azimuth of the second antenna and the distance between the second antenna and the position of the first positioning information can also be obtained.

[0072] In an exemplary embodiment, after determining that the RTK positioning result is reliable, the method of the embodiment of the present invention further includes outputting one or any combination of the following positioning information:

[0073] First positioning information, second positioning information and third positioning information.

[0074] In an exemplary instance, the number of items of positioning information in an embodiment of the present invention can be determined by the user through analysis based on positioning requirements. Only the first positioning information, the second positioning information, or the third positioning information can be output; two of the first positioning information, the second positioning information, and the third positioning information can be output; or the first positioning information, the second positioning information, and the third positioning information can be output.

[0075] In an exemplary embodiment, the center distance threshold value in the embodiment of the present invention ranges from 0.003 meters to 0.005 meters.

[0076] In one exemplary embodiment, the center distance threshold in embodiments of the present invention can be determined based on tooling errors, climate, and the second phase center distance value. In one exemplary embodiment, the second phase center distance between the first antenna and the second antenna is pre-set. Based on the pre-set second phase center distance, the center distance threshold can be adaptively adjusted to improve the accuracy of RTK positioning results and enhance their applicability.

[0077] In an exemplary embodiment, the positioning difference threshold in the embodiment of the present invention has a value range of 0.03 meters to 0.2 meters.

[0078] In an exemplary embodiment, the positioning difference threshold in an embodiment of the present invention can be set by a person skilled in the art according to the defined safety requirements. The higher the safety requirements, the higher the positioning accuracy requirements, and the smaller the corresponding positioning difference threshold; the lower the safety requirements, the lower the positioning accuracy requirements, and the larger the corresponding positioning difference threshold.

[0079] An embodiment of the present invention further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for realizing the positioning processing is implemented.

[0080] An embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein a computer program is stored in the memory;

[0081] The processor is configured to execute the computer program in the memory;

[0082] When the computer program is executed by a processor, the method for implementing positioning processing as described above is implemented.

[0083] The embodiment of the present invention also provides an apparatus for implementing positioning processing, comprising: a first solving unit, a second solving unit, a correction number determination unit, a third solving unit, and a processing unit; wherein,

[0084] The first solution unit is configured to: perform a first real-time kinematic differential positioning (RTK) solution according to the first differential correction number and the first global navigation satellite system (GNSS) carrier observation value of the first antenna to obtain first positioning information;

[0085] The second solution unit is configured to perform a second RTK solution based on the first differential correction and the second GNSS carrier observation value of the second antenna to obtain second positioning information;

[0086] The correction number determining unit is configured to: determine a second differential correction number based on the first GNSS carrier observation value and the obtained first positioning information;

[0087] The third solution unit is configured to: perform a third RTK solution according to the determined second differential correction number and the second GNSS carrier observation value to obtain third positioning information and the first phase center distance value;

[0088] The processing unit is configured to: determine an RTK positioning result according to the second positioning information, the third positioning information, the first phase center distance value and the second phase center distance value;

[0089] The first phase center distance value is the phase center distance between the first antenna and the second antenna obtained by the third RTK solution; the second phase center distance value is the pre-set phase center distance between the first antenna and the second antenna.

[0090] The embodiment of the present invention improves the probability of detecting RTK positioning errors and the reliability of output positioning information by comparing the first antenna and the second antenna with a pre-set phase center distance, providing technical support for achieving high-reliability safety requirements such as autonomous driving.

[0091] In an exemplary embodiment, the processing unit of the embodiment of the present invention is configured as follows:

[0092] The absolute value of the difference between the first phase center distance value and the second phase center distance value is obtained to obtain the phase center distance difference;

[0093] The third positioning information and the second positioning information are subtracted and the absolute value is taken to obtain a positioning difference;

[0094] When the obtained phase center distance difference is less than a preset center distance threshold, and the obtained positioning difference is less than a preset positioning difference threshold, the RTK positioning result is determined to be credible.

[0095] In an exemplary embodiment, the processing unit of the embodiment of the present invention is further configured to:

[0096] When the phase center distance difference is greater than or equal to the center distance threshold; and / or the positioning difference is greater than or equal to the positioning difference threshold, it is determined that the RTK positioning result is wrong.

[0097] In an exemplary embodiment, the processing unit of the embodiment of the present invention is further configured to:

[0098] After confirming that the RTK positioning result is reliable, output one or any combination of the following positioning information:

[0099] First positioning information, second positioning information and third positioning information.

[0100] In an exemplary instance, the number of items of positioning information output by the processing unit of an embodiment of the present invention can be determined by the user through analysis based on positioning requirements. Only the first positioning information, the second positioning information, or the third positioning information can be output; two of the first positioning information, the second positioning information, and the third positioning information can be output; or the first positioning information, the second positioning information, and the third positioning information can be output.

[0101] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or temporary medium). As is well known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable, and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A method for implementing positioning processing, comprising: Performing a first real-time kinematic differential positioning (RTK) solution based on the first differential correction and a first global navigation satellite system (GNSS) carrier observation value of the first antenna to obtain first positioning information; Perform a second RTK solution based on the first differential correction and the second GNSS carrier observation value of the second antenna to obtain second positioning information; determining a second differential correction value based on the first GNSS carrier observation value and the obtained first positioning information; Perform a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value to obtain third positioning information and the first phase center distance value; Determine an RTK positioning result according to the second positioning information, the third positioning information, the first phase center distance value, and the second phase center distance value; Among them, the first phase center distance value is the phase center distance between the first antenna and the second antenna obtained by the third RTK solution; the second phase center distance value is a preset phase center distance for installing the first antenna and the second antenna; determining the RTK positioning result includes: taking the absolute value of the difference between the first phase center distance value and the second phase center distance value to obtain a phase center distance difference; taking the absolute value of the difference between the third positioning information and the second positioning information to obtain a positioning difference; when the obtained phase center distance difference is less than a preset center distance threshold, and the obtained positioning difference is less than a preset positioning difference threshold, determining that the RTK positioning result is credible.

2. The method according to claim 1, characterized in that Determining the RTK positioning result also includes: When the phase center distance difference is greater than or equal to the center distance threshold; and / or the positioning difference is greater than or equal to the positioning difference threshold, it is determined that the RTK positioning result is wrong.

3. The method according to claim 1, characterized in that After determining that the RTK positioning result is credible, the method further includes outputting one or any combination of the following positioning information: The first positioning information, the second positioning information and the third positioning information.

4. The method according to any one of claims 1 to 3, characterized in that The second phase center distance value is within the following range: 0.3m~10m.

5. The method according to any one of claims 1 to 3, characterized in that The performing a third RTK solution based on the determined second differential correction value and the second GNSS carrier observation value includes: The second differential correction number and the second GNSS carrier observation value are calculated using a heading algorithm to obtain the third positioning information and the first phase center distance value.

6. The method according to any one of claims 1 to 3, characterized in that The center distance threshold value range is: 0.003 meters to 0.005 meters.

7. The method according to any one of claims 1 to 3, characterized in that The positioning difference threshold value range is: 0.03 meters to 0.2 meters.

8. A computer storage medium storing a computer program, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the method for realizing positioning processing according to any one of claims 1 to 7 is implemented.

9. A terminal comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for implementing positioning processing according to any one of claims 1 to 7 is implemented.

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