Positioning method, apparatus, device, system, and storage medium

Abstract

The application relates to a positioning method, device, equipment, system and storage medium. The method comprises the following steps: obtaining a to-be-positioned time, wherein the to-be-positioned time is an IMU sampling time of an IMU loaded on a positioning device; obtaining an IMU output value of the IMU at the to-be-positioned time; when a first measurement signal from a 5G base station is received within a first predetermined time interval around the to-be-positioned time, determining positioning information of the positioning device based on the IMU output value and the first measurement signal; and when a second measurement signal from a navigation satellite is received within a second predetermined time interval around the to-be-positioned time, determining the positioning information of the positioning device based on the IMU output value and the second measurement signal.

Description

Technical Field

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

[0002] Positioning technology is widely used in various devices that need to estimate their own position, posture, etc., such as mobile phones, tablets, vehicles, etc.

[0003] Positioning technologies include satellite navigation technology and ultra-wideband (UWB) technology. Satellite navigation technology has high positioning accuracy in open areas such as outdoors. However, it has low positioning accuracy indoors due to insufficient signals. Ultra-wideband technology can achieve high-precision positioning indoors, but its positioning capability is weak outdoors.

[0004] Positioning accuracy can be improved by combining different positioning technologies. For example, ultra-wideband technology is used for positioning indoors, and satellite navigation technology is used for positioning in open areas outdoors. However, both of these technologies are used for positioning in local spaces indoors or outdoors, and the connection between the two is poor between indoors and outdoors. When the device to be positioned moves from indoors to outdoors, or from outdoors to indoors, there will be a large jump in positioning, making it impossible to achieve continuous high-precision positioning in space.

[0005] Therefore, there is still room for improvement in the above positioning technology. Summary of the Invention

[0006] Based on this, it is necessary to provide a positioning method, device, equipment, system and storage medium.

[0007] On the one hand, a positioning method is provided, including: obtaining a time to be positioned; obtaining an inertial measurement unit (IMU) output value of an IMU loaded on a positioning device at the time to be positioned; when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal; when a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the second measurement signal.

[0008] On the other hand, a positioning device is provided, including: a time acquisition module for acquiring the time to be positioned; an IMU value acquisition module for acquiring the IMU output value of the IMU loaded on the positioning device at the time to be positioned; a first positioning module for determining the positioning information of the positioning device based on the IMU output value and the first measurement signal when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned; and a second positioning module for determining the positioning information of the positioning device based on the IMU output value and the second measurement signal when a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned.

[0009] On the other hand, a positioning device is provided, including an IMU module, a 5G module, a satellite positioning module, a memory and a processor, wherein the IMU module, the 5G module, the satellite positioning module and the memory are respectively connected to the processor; the IMU module obtains the IMU output value of the positioning device at the IMU sampling moment and outputs the IMU output value to the processor; the 5G module receives a first measurement signal of an uplink reference signal of the positioning device measured by the 5G base station at the 5G sampling moment from the 5G base station, and outputs the first measurement signal to the processor; the satellite positioning module receives a second measurement signal of the positioning device observed by the navigation satellite at the satellite sampling moment from the navigation satellite, and outputs the second measurement signal to the processor; the memory stores a computer program; and when the processor executes the computer program, the following method is implemented: obtaining the moment to be positioned; obtaining the IMU output value of the IMU loaded on the positioning device at the moment to be positioned; when a first measurement signal is received from the 5G base station within a first predetermined time interval around the moment to be positioned, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal; when a second measurement signal is received from the navigation satellite within a second predetermined time interval around the moment to be positioned, determining the positioning information of the positioning device based on the IMU output value and the second measurement signal.

[0010] On the other hand, a positioning system is provided, including a 5G base station, a navigation satellite and a positioning device, wherein the positioning device is communicatively connected to the navigation satellite and the 5G base station respectively; the 5G base station measures a first measurement signal of an uplink reference signal of the positioning device at a 5G sampling moment, and sends the first measurement signal to the positioning device; the navigation satellite observes a second measurement signal of the positioning device at a satellite sampling moment, and outputs the second measurement signal to the positioning device; the positioning device executes the following method: obtaining a time to be positioned; obtaining an IMU output value of an IMU loaded on the positioning device at the time to be positioned; when a first measurement signal is received from the 5G base station within a first predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal; when a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the second measurement signal.

[0011] On the other hand, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following method is implemented: obtaining the time to be positioned; obtaining the IMU output value of the IMU loaded on the positioning device at the time to be positioned; when a first measurement signal is received from the 5G base station within a first predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal; when a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the second measurement signal.

[0012] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present application will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, without paying any creative work, they can also obtain drawings of other embodiments based on these drawings.

[0014] Figure 1 This is a schematic diagram of the effective spatial coverage of BDS, 5G and UWB positioning technologies in one embodiment of the present application.

[0015] Figure 2 This is a schematic diagram of the effective spatial coverage of the BDS+5G and BDS+UWB combined positioning technologies in one embodiment of the present application.

[0016] Figure 3 This is a schematic diagram of the application environment in one embodiment of the present application.

[0017] Figure 4 This is a flow chart of a positioning method in one embodiment of the present application.

[0018] Figure 5 This is a schematic diagram of the time flow of the positioning method in one embodiment of the present application.

[0019] Figure 6 This is a flow chart of a positioning method in one embodiment of the present application.

[0020] Figure 7 This is a schematic diagram of a positioning method in one embodiment of the present application.

[0021] Figure 8 Schematic diagram of the time flow of the 5G and IMU time alignment method in one embodiment of the present application.

[0022] Figure 9 This is a flowchart of the step of estimating the second 5G output value in one embodiment of the present application.

[0023] Figure 10 This is a flowchart of the steps for training a neural network in one embodiment of the present application.

[0024] Figure 11 This is a flowchart of the steps for determining the location information of a positioning device in one embodiment of the present application.

[0025] Figure 12 This is a schematic block diagram of a positioning device in one embodiment of the present application.

[0026] Figure 13 This is a structural diagram of a positioning device in one embodiment of the present application.

[0027] Figure 14 This is a structural diagram of a positioning system in one embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0029] In order to achieve continuous high-precision positioning in space, the space can be divided according to the characteristics and limitations of the positioning method, that is, from rural to urban, from outdoor to indoor, such as Figure 1As shown, the effective spatial coverage rate refers to the proportion of the spatial area that can be positioned with high precision. Satellite navigation systems, such as the BeiDou Navigation Satellite System (BDS), can only perform high-precision positioning in open outdoor areas, including rural areas and suburbs. Due to the high-rise buildings in cities, on the one hand, they will block satellite signals, and on the other hand, the multipath effect is serious, so its positioning accuracy and effective spatial coverage rate are greatly reduced. In addition, UWB can only perform high-precision positioning indoors. Figure 1 It can be seen that there is no strong complementarity between the positioning spaces of BDS and UWB. Figure 2 As shown in the figure, the combination of BDS and UWB cannot achieve spatial continuity and effectiveness of positioning, that is, it cannot achieve time-space ubiquitous high-precision positioning.

[0030] The fifth generation mobile communication technology (5th-Generation, 5G) positioning is an emerging positioning technology. Under the condition of dense deployment of 5G base stations, it can achieve decimeter-level or even centimeter-level positioning accuracy. Compared with UWB, 5G positioning does not require additional labor and equipment costs. More importantly, its effective spatial coverage is much higher than UWB, forming a strong spatial complementarity with BDS. Figure 1 It can be seen that from rural areas to indoor areas, the effective spatial coverage of BDS gradually decreases, while the effective spatial coverage of 5G gradually increases. The two have a strong complementary relationship in space, so the deep integration of the two can achieve spatial continuity of positioning. Figure 2 As shown, BDS positioning is mainly used in rural to suburban areas and 5G positioning is supplemented, while 5G positioning is mainly used in urban to indoor areas and BDS positioning is supplemented. In addition, due to the obstruction of buildings, vehicles, trees, etc., BDS+5G is difficult to achieve continuous high-precision positioning in time. Therefore, in this application, the inertial measurement unit (IMU) is further combined to achieve continuous high-precision positioning in time, that is, BDS+5G and IMU are complementary in time.

[0031] Therefore, in the positioning methods provided in the following embodiments of this application, the satellite navigation system, 5G and IMU are deeply integrated to form complementary advantages, thereby effectively improving the continuity and effectiveness of positioning in time and space, that is, realizing time-space ubiquitous high-precision positioning.

[0032] The positioning method provided by this application can be applied to Figure 3In the application environment shown in . The application environment includes a positioning device 301, a satellite navigation system 302 and a 5G base station 303. The positioning device 301 is communicatively connected to the satellite navigation system 302 and the 5G base station 303 respectively. The satellite navigation system 302 may include multiple satellites, and the positioning device 301 may be configured with a satellite positioning module, a 5G module and an IMU. The satellite positioning module may include a receiver. The positioning device 301 may receive the second measurement signal of one or more satellites in the satellite navigation system 302 through the receiver. The positioning device 301 may also receive the first measurement signal of the 5G base station 303 through the 5G module. In addition, the positioning device 301 may also read the IMU output values ​​such as the position, speed, and attitude of the positioning device 301 output by the IMU. The positioning device 301 executes the positioning method of any embodiment of the present application, thereby determining the positioning information of the positioning device 301 itself, such as position, speed and attitude, to achieve precise positioning of itself.

[0033] In one embodiment, reference Figure 4 and Figure 5 , provides a positioning method, which is applied to Figure 3 Taking the positioning device 301 as an example, it may include:

[0034] Step S402: Obtain the time to be positioned.

[0035] The pending positioning time refers to the time at which the positioning information of the positioning device corresponding to the time needs to be determined. The pending positioning time can be determined according to the positioning requirements of the positioning device. In this step, the positioning device determines the pending positioning time that currently needs to be positioned.

[0036] Step S404: Obtain the IMU output value of the IMU loaded on the positioning device at the time of pending positioning.

[0037] The positioning device refers to a device that needs to be positioned. The positioning device may be a device that executes the positioning method of the present application, so that the positioning device can determine its own positioning information by executing the positioning method of the present application.

[0038] The positioning device is equipped with an IMU, which can include sensors such as accelerometers and gyroscopes. Figure 5 FIG. 1 is a schematic diagram of a positioning method according to an embodiment of the present application, wherein T I1 、T I2 、T I3 、……、T In Indicates the sampling time of IMU data, and the IMU outputs the data chain based on the above series of sampling times. IMU can output the data at each IMU sampling time T InThe IMU outputs the mechanical arrangement of the output value. The IMU output value can include raw data directly measured by the IMU and / or data calculated based on the raw data, such as the acceleration, position, speed, and attitude (attitude includes heading angle, pitch angle, and roll angle) of the carrier (herein, the positioning device) carrying the IMU, etc. Among them, the position of the IMU output can be calculated according to its initial position (known) / position at the last time, and in combination with the raw data measured at the current time.

[0039] Step S406, when the first measurement signal from the 5G base station is received within the first predetermined time interval around the to-be-positioned time, the positioning information of the positioning device is determined based on the IMU output value and the first measurement signal.

[0040] Among them, the first predetermined time interval around the to-be-positioned time can be determined according to the actual situation, for example, it can be determined according to the number of required first measurement signals. In this step, one or more first measurement signals can be required to be received within the first predetermined time interval. Taking an example of needing to receive three consecutive first measurement signals of three consecutive 5G sampling times within the first predetermined time interval, in this embodiment, the largest possible time interval of the nearest one 5G measurement time after the to-be-positioned time and two 5G measurement times before the 5G measurement time can be taken as the first predetermined time interval, for example, if the IMU sampling interval is 1ms sampling once, the 5G sampling interval is 9ms sampling once, and the to-be-positioned time is 35ms, the first predetermined time interval can be set to (8ms, 44ms).

[0041] The first measurement signal of the 5G base station is a signal used for positioning the positioning device observed by the 5G base station. The 5G base station observes the positioning device within its observation range at a 5G sampling interval to obtain the first measurement signal and sends it to the positioning device.

[0042] The positioning information is information representing the positioning result of the positioning device, which can include the position, speed, and attitude of the positioning device, etc.

[0043] In this step, if the positioning device receives the first measurement signal from the 5G base station within the first predetermined time interval around the to-be-positioned time, it means that the current first measurement signal from the 5G base station is in good condition, and then the first measurement signal can be used in combination with the IMU output value to accurately obtain the positioning information of the to-be-positioned time. Figure 5 As shown in FIG. 6, for example, if the first measurement signal or the estimated value of the 5G base station is delivered to the positioning device at T B , the positioning device is positioned using the first measurement signal and the IMU output value.

[0044] Step S408: When a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal.

[0045] Among them, the setting method of the second predetermined time interval around the time to be positioned in step S408 can be set in the same way as the setting method of the first predetermined time interval around the time to be positioned in step S406. The second predetermined time interval can be the same as or different from the first predetermined time interval. For example, the second predetermined time interval can be determined based on the number of second measurement signals required to be received within the second predetermined time interval. The specific details are not repeated here.

[0046] A navigation satellite refers to one or more navigation satellites in a navigation satellite system. The navigation satellite system may be, for example, a global navigation satellite system (GNSS). For example, the navigation satellite system may include the BeiDou Navigation Satellite System (BDS), the Global Positioning System (GPS), the Galileo Navigation Satellite System (Galileo) and / or the Global Orbiting Navigation Satellite System (GLONASS), etc.

[0047] The second measurement signal of the navigation satellite is a signal obtained by the navigation satellite when observing the positioning device and used for positioning the positioning device. The navigation satellite obtains the second measurement signal by observing the positioning device at the satellite sampling time and sends it to the positioning device.

[0048] In this step, if the positioning device receives the second measurement signal from the navigation satellite in the second predetermined time interval around the time to be positioned, it means that the second measurement signal from the navigation satellite is in good condition. Then, the second measurement signal can be combined with the IMU output value to accurately obtain the positioning information at the time to be positioned. Figure 5 所示,例如若在T G When the second measurement signal of the navigation satellite is sent to the positioning device, the positioning device is positioned using the second measurement signal and the IMU output value.

[0049] The above positioning method combines 5G and IMU tightly coupled positioning and satellite navigation system and IMU tightly coupled positioning. When a first measurement signal is received from a 5G base station in a first predetermined time interval around the time to be positioned, the first measurement signal and the IMU output value are combined to determine the positioning information of the positioning device. At the same time, when a second measurement signal is received from a navigation satellite in a second predetermined time interval around the time to be positioned, the second measurement signal and the IMU output value are combined to determine the positioning information of the positioning device. Since 5G positioning and satellite positioning have good complementarity in indoor and outdoor environments, the positioning method of the present application that deeply integrates the satellite navigation system, 5G and IMU can effectively improve the continuity and effectiveness of positioning in time and space.

[0050] The 5G and IMU tightly coupled positioning method involved in step S406 will be described in detail below.

[0051] Since the sampling times of the 5G base station and the IMU are often different, there is generally a time difference between the 5G sampling time of the first measurement signal obtained in the above step S406 and the IMU sampling time of the IMU output value. Therefore, it is necessary to solve the problem of high-precision time alignment between the two, that is, it is necessary to estimate the output values ​​of the 5G base station and the IMU at the same time for positioning.

[0052] In one embodiment, Figure 6 and Figure 7 As shown, the pending positioning time in step S402 is the IMU sampling time of the IMU loaded on the positioning device, the first measurement signal in step S406 may include the first 5G output value and the base station position of the 5G base station, and when the first measurement signal is received from the 5G base station within a first predetermined time interval around the pending positioning time in step S406, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal may include:

[0053] Step S602: when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, the first measurement signal includes a first 5G output value and a base station position of the 5G base station, estimating a second 5G output value of the 5G base station at the time to be positioned based on the first 5G output value; and

[0054] Step S604: Based on the IMU output value and the base station position, calculate the third 5G output value of the IMU at the time of positioning, and determine the positioning information of the positioning device in combination with the second 5G output value and the third 5G output value.

[0055] In this embodiment, the time to be positioned is set to the IMU sampling time. The IMU sampling time is taken as the basis. The second 5G output value of the 5G base station at the time to be positioned is estimated, and the third 5G output value of the IMU at the time to be positioned is calculated based on the IMU output value and the base station position. In this way, the third 5G output value of the IMU and the second 5G output value of the 5G base station at the same time to be positioned and with the same form can be conveniently and quickly determined, so as to facilitate the subsequent positioning solution by combining the data of the IMU and the 5G base station.

[0056] The first, second, and third 5G output values ​​in steps S602 and S604 above refer to data in the same format as the data output by the 5G base station for positioning. In one embodiment, the first, second, and third 5G output values ​​may each include an angle of arrival (AoA) and a time of arrival (TOA).

[0057] like Figure 8 所示,其中T In It represents the nth IMU sampling moment when the IMU outputs the mechanical arrangement value. The corresponding third 5G output value of the IMU at the time of positioning can be expressed as in They are the radial distance, azimuth and elevation angle values ​​of the positioning device equipped with IMU in the 5G base station’s local earth coordinate system. Bn It represents the 5G sampling time when the 5G base station outputs the measured value or estimated value. The corresponding first 5G output value is expressed as in are the radial distance, azimuth and elevation angle values ​​of the positioning device equipped with the 5G module in the 5G base station's local earth coordinate system, where and 为5G基站获取的AOA信息, is the TOA information obtained by the 5G base station, and c is the speed of light. I19 时刻(即 Figure 3 The third output value B in the first predetermined time interval around the moment in the dotted box I3 下发到定位设备时,需要估计出T I19 The second 5G output value of the 5G base station at time T I19 The third 5G output value of the IMU at the moment and the second 5G output value of the 5G base station are fused and calculated.

[0058] In one embodiment, the above-mentioned first 5G output value may include: M 5G sampling moments of the 5G base station within a first predetermined time interval, and M first 5G output values ​​of the uplink reference signal of the positioning device measured by the 5G base station, where M is a positive integer.

[0059] The value of M can be determined according to actual needs. In the embodiment of the present application, M can be set to be ≥ 2. For example, M can be set to be 3. In other embodiments, M can be set to a larger or smaller value.

[0060] Depending on the value of M, different methods can be used to estimate the second 5G output value of the 5G base station at the time of positioning. For example, when M = 1, that is, there is only one first 5G output value, an extrapolation method can be used to estimate the corresponding second 5G output value. The extrapolation method can be any existing extrapolation estimation method.

[0061] In one embodiment, when M≥2, the time alignment method between 5G and IMU involved in step S602, that is, the step of estimating the second 5G output value of the 5G base station at the time to be positioned based on the first 5G output value, may include: based on M 5G sampling moments, M first 5G output values ​​and the time to be positioned, using interpolation method to estimate the second 5G output value of the 5G base station at the time to be positioned.

[0062] Depending on the value of M, different interpolation methods can be used to estimate the second 5G output value. For example, when M = 2, any existing interpolation method can be used to estimate the corresponding second 5G output value; when M = 3, for example, the Lagrange three-point interpolation method can be used to estimate the corresponding second 5G output value, and so on.

[0063] 以M=3为例,例如,如 Figure 8 中所示,根据在T I19 Three consecutive first 5G output values ​​B sent to the positioning device within the first predetermined time interval around the moment I1 、B I2 、B I3 , the Lagrange three-point interpolation method can be used to estimate the 5G base station at T I19 时刻的第二5G输出值:

[0064]

[0065] In this embodiment, the second 5G output value at the time to be positioned can be estimated based on the first 5G output values ​​of multiple known times around the time to be positioned by interpolation.

[0066] Furthermore, in addition to using the interpolation method to estimate the second 5G output value, the second 5G output value can be further estimated in combination with a neural network.

[0067] 在另一个实施例中,如 Figure 9 As shown, the step of estimating the second 5G output value of the 5G base station at the time to be positioned based on the first 5G output value in step S602 may also include:

[0068] Step S902: At each time to be positioned within the first time period after the positioning device is turned on, based on M 5G sampling times, M first 5G output values ​​and the time to be positioned, an interpolation method is used to estimate the second 5G output value of the 5G base station at the time to be positioned.

[0069] Taking M=3 as an example, the positioning device can be used in the initial stage of executing the positioning method, that is, in the first time period after the positioning device is turned on ( The Lagrange three-point interpolation method is used to estimate the second 5G output value of the 5G base station at the time to be positioned. Figure 3 中为例, 时段内的待定位的T I19 The second 5G output value at time t can also be calculated using formula (1).

[0070] Step S904: Within the first time period, the neural network model is trained based on a training set consisting of N 5G sampling moments within the first time period and N first 5G output values ​​of the N 5G sampling moments, where N≥2; when the training is completed and the trained neural network model is obtained, the second time period is entered.

[0071] While the interpolation method is used to estimate the second 5G output value in step S702, in step S704, within the first time period, i.e. During this period, a high-precision time registration method based on a neural network is also run simultaneously.

[0072] Taking the case where the neural network adopts the Long Short Term Memory Neural Network (LSTMNN) and M=3 as an example, During a time period, two first 5G output values ​​from each of three adjacent 5G sampling moments and the first and last two 5G sampling moments among the three adjacent 5G sampling moments can be obtained in real time as input values ​​for the LSTMNN. The first 5G output value corresponding to the middle 5G sampling moment among the three adjacent 5G sampling moments can be used as the output value of the corresponding LSTMNN. Multiple pairs of such input-output values ​​are obtained to form a training set, and the LSTMNN is trained in real time using this training set. The number of input-output value pairs can be determined based on actual conditions. For example, 50 such input-output value pairs can be obtained, or more or fewer input-output value pairs can be obtained. Accordingly, the value of N can be set based on the number of input-output value pairs. For example, if 50 such input-output value pairs need to be obtained, the corresponding value of N can be 52, i.e., 52 first 5G output values ​​from 52 consecutive 5G sampling moments are obtained, where each of three adjacent 5G sampling moments and the corresponding three first 5G output values ​​constitute an input-output value pair as described above. Accordingly, during the LSTMNN training phase, the input vector at time k is [T Bk-1 ,B Ik-1 ,T Bk+1 ,B Ik+1 ,T Bk ] T ,输出为B Ik .

[0073] LSTMNN adopts online training mode, and the training algorithm adopts the training method based on Unscented Kalman Filter (UKF). At this point, the LSTMNN has converged, and the trained neural network model can be obtained, entering the second time period.

[0074] Step S906: At each time point to be positioned within the second time period, the time point to be positioned is input into the trained neural network model, and the output value of the neural network model is used as the estimated second 5G output value of the 5G base station at the time point to be positioned.

[0075] Taking LSTMNN as an example, in this step, in the second time period, that is, time Afterwards, the positioning device can use the LSTMNN-based high-precision time registration method to perform 5G and IMU time registration.

[0076] When performing high-precision time registration, the input vector [T Bk-1 ,B Ik-1 ,T Bk+1 ,B Ik+1 ,T Iα ] T输入至LSTMNN,即可以得到输出值为B Iα , where T Bk-1 ≤T Iα ≤T Bk+1 ,该输出值B Iα That is the second 5G output value of the 5G base station at the time α to be positioned.

[0077] Neural networks have higher estimation accuracy than interpolation estimation methods, but neural networks require a certain amount of training time. In this embodiment, in the early stages of positioning by the positioning device, the interpolation method is used to estimate the second 5G output value at the time to be positioned. At the same time, the neural network is trained synchronously in the early stages of positioning by the positioning device. After the neural network training is completed, the neural network is used to estimate the second 5G output value at the time to be positioned. This can improve the accuracy of positioning time allocation while taking into account the overall time utilization efficiency.

[0078] In one embodiment, Figure 10 As shown, the training of the neural network based on the training set in step S904 includes:

[0079] Step S1002: Initialize the adjustable parameters of the neural network model. The adjustable parameters include the weights and bias values ​​of the neural network model.

[0080] The neural network model may have a set number of hidden layers and a set number of nodes in each of the input layer, hidden layer, and output layer. When training the neural network model, the adjustable parameters of the neural network, including the bias values ​​and weights of each layer, may be initialized to preliminarily obtain an initialized neural network model.

[0081] Step S1004: establishing a state space model of adjustable parameters of the neural network model.

[0082] Taking LSTMNN as an example, in order to use the UKF algorithm to train LSTMNN, a state space model of the LSTMNN adjustable parameters should be established first. By using this state space model, the UKF algorithm can recursively estimate the adjustable parameters in the LSTMNN. The state space model of the LSTMNN adjustable parameters is:

[0083] θ(k)=θ(k-1)+w(k-1)

[0084] y(k)=h[θ(k),u(k)]+v(k) (2)

[0085] Where θ(k) is the set vector of LSTMNN adjustable parameters at time k, i.e., the weight matrix and bias vector of LSTMNN, u(k)=[T Bk-1 ,B Ik-1 ,T Bk+1,B Ik+1 ,T Bk ] T 和y(k)=B Ik 分别为LSTMNN的输入矢量和输出值, represents the internal dynamics of the LSTMNN, w(k-1) and v(k) are the state and observation noise vectors, respectively. By using the state space model shown in Equation (2), the UKF algorithm can recursively estimate the adjustable parameters in the LSTMNN.

[0086] Step S1006, recursively estimating the adjustable parameters using the UKF algorithm based on the state space model and the training set until the output error of the neural network model reaches a predetermined error range, thereby determining the trained adjustable parameters; and

[0087] In this step, the state space model shown in formula (2) can be used to substitute each pair of input and output values ​​in the training set into the LSTMNN for recursive estimation until the output error of the LSTMNN reaches the predetermined error range, that is, the LSTMNN converges. The adjustable parameters at this time are the adjusted parameters after training.

[0088] Step S1008: Generate a trained neural network model based on the trained adjustable parameters.

[0089] In this step, the trained neural network model is determined accordingly using the trained adjustable parameters.

[0090] In this embodiment, the UKF method is used to train the neural network, which can utilize the second-order derivative information, converge quickly, and is not prone to falling into local minima. Therefore, the time alignment accuracy of the neural network model finally trained, that is, the accuracy of estimating the second 5G output value, is high.

[0091] The neural network of the present application is described above using LSTMNN as an example. LSTMNN, as a recursive neural network, can effectively improve the accuracy of time registration when applied to the time registration method provided in the present application. However, the neural network of the present application is not limited thereto. For example, the neural network of the present application can also use a multi-layer perceptron (MLP), and the UKF algorithm can also be used to train the MLP. For another example, the neural network of the present application can also use a radial basis function (RBF) neural network, etc.

[0092] In one embodiment, Figure 11As shown, in step S604, based on the IMU output value and the base station position, calculating the third 5G output value of the IMU at the time to be positioned, and determining the positioning information of the positioning device in combination with the second 5G output value and the third 5G output value includes:

[0093] Step S1102: Calculate the third 5G output value of the IMU at the time of positioning based on the IMU output value and the base station position.

[0094] In the aforementioned step S404, the IMU output values ​​obtained may include the acceleration, position, velocity, and attitude of the positioning device. Specifically, the position may include the latitude, longitude, and altitude of the positioning device in the Earth-fixed coordinate system, the velocity may include the easting velocity, northing velocity, and celestial velocity of the positioning device in the navigation coordinate system, and the attitude may include the heading angle, pitch angle, and roll angle of the positioning device in the carrier coordinate system relative to the navigation coordinate system.

[0095] In this step, the positioning device can calculate the third 5G output value of the IMU at the time of positioning based on the above IMU output value and the base station position. The third 5G output value can be expressed as

[0096] Step S1104: Based on the positioning information of the positioning device solved at the previous positioning moment and the IMU output value at the previous positioning moment, the error state equation of the 5G and IMU at the time to be positioned is constructed.

[0097] For example, the positioning device can construct the 5G and IMU error state equations at the current positioning moment as shown in the following equations (3)-(5), where the IMU uses a three-axis accelerometer and a three-axis gyroscope.

[0098]

[0099]

[0100]

[0101] Where φ is the misalignment angle of the calculated navigation coordinate system relative to the ideal navigation coordinate system, 为失准角的一阶微分,δv n 为导航坐标系下的速度误差矢量, is the first-order differential of the velocity error vector, δp=[δLδλ δh] T is the position error vector in the earth-fixed coordinate system, which are the latitude error, longitude error and altitude error in the earth-fixed coordinate system respectively, 为位置误差矢量的一阶微分,ε b 为陀螺仪零漂误差矢量, The navigation coordinate system is defined as the "East-North-Up" geographic coordinate system for the accelerometer zero drift error vector, The coordinate transformation matrix from the body coordinate system to the navigation coordinate system

[0102] In the above equations (3)-(5),

[0103]

[0104]

[0105]

[0106]

[0107]

[0108] M ap = M1+ M2 (11)

[0109]

[0110]

[0111] M vp = (v n x) (2M1+ M2) + M3 (14)

[0112]

[0113]

[0114]

[0115]

[0116]

[0117]

[0118]

[0119]

[0120]

[0121] where v n = [v E v N v U ] Tω are the eastward velocity, northward velocity and celestial velocity in the navigation coordinate system calculated by the positioning device at the previous positioning moment, and p = [L λ h] are the latitude, longitude and altitude in the earth-fixed coordinate system calculated by the positioning device at the previous positioning moment. ie is the Earth's rotation angular rate, R M is the principal radius of curvature of the meridian, R N is the principal curvature radius of the y-axis circle, g e is the equatorial gravity, g p is the extreme gravity, R e is the equatorial radius, f is usually taken as 1 / 298.257223563, and β2 is usually taken as 3.08×10 -6 s -2 ,β3 is usually taken as 8.08×10 -9 s -2 , is the measurement value of the accelerometer in the IMU at the previous positioning moment.

[0122] The 5G and IMU error state equations are used to model the evolution of the error between the mechanically programmed value and the true value of the IMU. The input value is the estimated value of the error state Kalman filter (ESKF) output at the previous moment, namely the state error estimate, and the output value is the predicted value of the state error at the next moment. The output value acts on [δL δλ δh] in the error observation equation. The 5G and IMU error state equations are used to predict the state error at the next moment.

[0123] Step S1106: Based on the second 5G output value and the third 5G output value at the time to be positioned, construct the error observation equation of 5G and IMU at the time to be positioned.

[0124] In this step, the positioning device can construct the 5G and IMU error observation equations at the current positioning moment as shown in the following equation (24).

[0125]

[0126] In the above formula (24):

[0127]

[0128]

[0129]

[0130]

[0131]

[0132] wherein is the coordinate value of the positioning device loaded with the IMU in the local Cartesian coordinate system of the 5G base station, w B is the observation noise vector of the 5G base station, is the coordinate transformation matrix from the terrestrial coordinate system to the local coordinate system of the 5G base station,

[0133] Step S1108, the error state equation of the 5G and the IMU and the error observation equation of the 5G and the IMU are solved together, and the positioning information of the positioning device is iteratively estimated using the ESKF method to determine the positioning information of the positioning device.

[0134] In this step, the positioning device corrects the state error prediction value output by the error state equation by using the error observation equation and the ESKF to obtain the final state error estimation value by solving equations (3)-(5) and equation (24), the input value is the 5G observation value and the IMU mechanical arrangement value, the output value is the state error estimation value, and the IMU mechanical arrangement value minus the state error estimation value is the final state estimation value of the positioning device (i.e. position, velocity and attitude), so that the state error can be recursively estimated by using the error state equation in equations (3)-(5) and the error observation equation in equation (24) and the ESKF, and the position, velocity and attitude of the positioning device at the current positioning time are iteratively estimated to determine the positioning information of the positioning device at the current positioning time. The positioning information can include the position, velocity and attitude of the positioning device.

[0135] The above describes in detail the 5G and IMU tightly coupled positioning method involved in step S406, and in the following, the satellite navigation system and IMU tightly coupled positioning method involved in step S408 will be described in detail. Many details described in the following satellite navigation system and IMU tightly coupled positioning method are similar to the above 5G and IMU tightly coupled positioning method, for example, the above time alignment method of the 5G and the IMU can be used in the time alignment method of the satellite navigation system and the IMU, and these similar execution details and beneficial effects can be referred to the above description of the 5G and IMU tightly coupled positioning method.

[0136] In one embodiment, as Figure 6 shown in the above step S402, the positioning time to be positioned is the IMU sampling time of the IMU loaded on the positioning device, and the second measurement signal in the above step S408 can include the first satellite output value and the satellite position of the navigation satellite. When the second measurement signal from the navigation satellite is received within the second predetermined time interval around the positioning time to be positioned in step S408, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal, which can include:

[0137] Step S606: when a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, the second measurement signal includes the first satellite output value and the satellite position of the navigation satellite, estimating a second satellite output value of the navigation satellite at the time to be positioned based on the first satellite output value; and

[0138] Step S608: Calculate the third satellite output value of the IMU at the time of positioning based on the IMU output value and the satellite position, and determine the positioning information of the positioning device in combination with the second satellite output value and the third satellite output value.

[0139] In this embodiment, the time to be positioned is set to the IMU sampling time. The IMU sampling time is used as the basis. The second satellite output value of the navigation satellite at the time to be positioned is estimated, and the third satellite output value of the IMU at the time to be positioned is calculated based on the IMU output value and the satellite position. In this way, the third satellite output value of the IMU and the second satellite output value of the navigation satellite at the same time to be positioned and with the same form can be conveniently and quickly determined, so as to facilitate the subsequent combination of the IMU and navigation satellite data for positioning solution.

[0140] The first satellite output value, the second satellite output value, and the third satellite output value in steps S606 and S608 above refer to data in the same format as data output by navigation satellites for positioning. In one embodiment, the first satellite output value, the second satellite output value, and the third satellite output value each include a pseudorange and a pseudorange rate.

[0141] In one embodiment, the first satellite output value includes: X satellite sampling moments of the navigation satellite within the second predetermined time interval, and X first satellite output values ​​of the positioning device observed by the navigation satellite, where X is a positive integer.

[0142] The value of X can be determined according to actual needs. In the embodiment of the present application, X ≥ 2. For example, X can be 3. In other embodiments, X can be greater or lesser values.

[0143] Depending on the value of X, different methods can be used to estimate the second satellite output value of the navigation satellite at the time of pending positioning. Specific examples of different estimation methods used when X takes different values ​​can be found in the specific example of estimating the second 5G output value of the 5G base station at the time of pending positioning when M takes different values, and will not be repeated here.

[0144] In one embodiment, the time alignment method between the satellite and the IMU involved in step S606, that is, the step of estimating the second satellite output value of the navigation satellite at the time to be positioned based on the first satellite output value, may include: estimating the second satellite output value of the navigation satellite at the time to be positioned based on X satellite sampling times, X first satellite output values ​​and the time to be positioned using an interpolation method.

[0145] For the specific examples and beneficial effects of using the interpolation method to estimate the second satellite output value of the navigation satellite at the time to be positioned in this embodiment, please refer to the above-mentioned specific examples and beneficial effects of using the interpolation method to estimate the second 5G output value of the 5G base station at the time to be positioned, which will not be repeated here.

[0146] In another embodiment, estimating the second satellite output value of the navigation satellite at the time to be positioned based on the first satellite output value in step S606 includes:

[0147] At each pending positioning moment within a first time period after the positioning device is turned on, based on the X satellite sampling moments, the X first satellite output values, and the pending positioning moment, an interpolation method is used to estimate the second satellite output value of the navigation satellite at the pending positioning moment;

[0148] In the first time period, the neural network model is trained based on a training set consisting of Y satellite sampling moments and Y first satellite output values ​​at the Y satellite sampling moments in the first time period, where Y ≥ 2; when the training is completed and the trained neural network model is obtained, the second time period is entered;

[0149] At each time point to be positioned within the second time period, the time point to be positioned is input into the trained neural network model, and the output value of the neural network model is used as the estimated second satellite output value of the navigation satellite at the time point to be positioned.

[0150] For the specific examples and beneficial effects of using the interpolation method combined with the neural network model to estimate the second satellite output value of the navigation satellite at the time to be positioned in this embodiment, please refer to the specific examples and beneficial effects of using the interpolation method combined with the neural network model to estimate the second 5G output value of the 5G base station at the time to be positioned in the above steps S902-S906, which will not be repeated here.

[0151] In one embodiment, the training of the neural network based on the training set includes:

[0152] Initialize the adjustable parameters of the neural network model, including the weights and bias values ​​of the neural network model;

[0153] Build a state-space model of the adjustable parameters of the neural network model;

[0154] Based on the state space model and the training set, recursively estimate the adjustable parameters using the UKF algorithm until the output error of the neural network model reaches a predetermined error range, so as to determine the adjusted parameters after training; and

[0155] Generate a trained neural network model based on the trained adjustable parameters.

[0156] For specific examples and beneficial effects of training the neural network model in this embodiment, please refer to the specific examples and beneficial effects of training the neural network model in steps S1002-S1008 of the above-mentioned 5G and IMU tightly coupled positioning method, which will not be repeated here.

[0157] In the above-mentioned satellite navigation system and IMU tightly coupled positioning method of the present application, the specific implementation details such as the calculation formula in step S608 can be implemented by using any existing satellite navigation system and IMU combined positioning method. For example, the satellite navigation system and IMU combined positioning method disclosed in reference [1] Titterton DH, Weston J L. Strapdown inertial navigation technology [M]. 2004. and reference [2] Noureldin A, Karamat TB, Georgy J. Fundamentals of Inertial Navigation, Satellite-based Positioning and their Integration [M]. 2013. can be used for implementation, and the disclosures of these references are incorporated herein by reference.

[0158] In the positioning method of the present application, when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the positioning device can select one of step S406 and step S408 to execute, thereby using one of the 5G and IMU tightly coupled positioning method and the satellite navigation system and IMU tightly coupled positioning method to locate the positioning device, or the positioning device can also combine the 5G and IMU tightly coupled positioning method and the satellite navigation system and IMU tightly coupled positioning method to locate the positioning device.

[0159] In one embodiment, the positioning method of the present application may further include:

[0160] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the first measurement signal; and the final positioning information of the positioning device is determined based on the positioning information and the second measurement signal.

[0161] Furthermore, in one embodiment, the first measurement signal includes a first 5G output value and a base station position of a 5G base station, and the second measurement signal includes a first satellite output value and a satellite position of a navigation satellite. The positioning method may include:

[0162] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the second 5G output value of the 5G base station at the time to be positioned is estimated based on the first 5G output value; based on the IMU output value and the base station position, the third 5G output value of the IMU at the time to be positioned is calculated, and the positioning information of the positioning device is determined in combination with the second 5G output value and the third 5G output value; based on the first satellite output value, the second satellite output value of the navigation satellite at the time to be positioned is estimated; based on the determined positioning information and satellite position, the fourth satellite output value of the 5G and IMU tightly coupled subsystem at the time to be positioned is calculated; and the final positioning information of the positioning device is determined in combination with the second satellite output value and the fourth satellite output value.

[0163] Alternatively, in another embodiment, the positioning method of the present application may further include:

[0164] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal; and the final positioning information of the positioning device is determined based on the positioning information and the first measurement signal.

[0165] Furthermore, in one embodiment, the first measurement signal includes a first 5G output value and a base station position of a 5G base station, and the second measurement signal includes a first satellite output value and a satellite position of a navigation satellite. The positioning method may include:

[0166] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the second satellite output value of the navigation satellite at the time to be positioned is estimated based on the first satellite output value; based on the IMU output value and the satellite position, the third satellite output value of the IMU at the time to be positioned is calculated, and the positioning information of the positioning device is determined in combination with the second satellite output value and the third satellite output value; based on the first 5G output value, the second 5G output value of the 5G base station at the time to be positioned is estimated; based on the determined positioning information and the base station position, the fourth 5G output value of the satellite navigation system and the IMU tightly coupled subsystem at the time to be positioned is calculated, and the positioning information of the positioning device is determined in combination with the second 5G output value and the fourth 5G output value.

[0167] The technical solutions of the above two embodiments combine the 5G and IMU tightly coupled positioning method and the satellite navigation system and IMU tightly coupled positioning method to position the positioning device. The corresponding calculation formulas and other details and beneficial effects can be referred to the above description of the 5G and IMU tightly coupled positioning method and the satellite navigation system and IMU tightly coupled positioning method, which will not be repeated here.

[0168] In the above two embodiments, when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is also received from a navigation satellite within a second predetermined time interval around the time to be positioned, the positioning device combines the 5G and IMU tightly coupled positioning method and the satellite navigation system and IMU tightly coupled positioning method to position the positioning device, thereby further improving the positioning accuracy.

[0169] It should be understood that although Figure 4 、 Figure 6 and Figure 9-11 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 4 、 Figure 6 and Figure 9-11 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0170] In one embodiment, reference Figure 12The positioning apparatus 1200 comprises: a time obtaining module 1201, an IMU value obtaining module 1202, a first positioning module 1203, and a second positioning module 1204.

[0171] The time obtaining module 1201 is configured to obtain a to-be-positioned time.

[0172] The IMU value obtaining module 1202 is configured to obtain an IMU output value of the IMU at the to-be-positioned time.

[0173] The first positioning module 1203 is configured to, when a first measurement signal from a 5G base station is received within a first predetermined time interval around the to-be-positioned time, determine positioning information of the positioning device based on the IMU output value and the first measurement signal.

[0174] The second positioning module 1204 is configured to, when a second measurement signal from a navigation satellite is received within a second predetermined time interval around the to-be-positioned time, determine positioning information of the positioning device based on the IMU output value and the second measurement signal.

[0175] The positioning apparatus of the embodiment combines 5G and IMU tight coupling positioning and satellite navigation system and IMU tight coupling positioning, and when a first measurement signal from a 5G base station is received within a first predetermined time interval around the to-be-positioned time, the first measurement signal and the IMU output value are combined to determine the positioning information of the positioning device, and when a second measurement signal from a navigation satellite is received within a second predetermined time interval around the to-be-positioned time, the second measurement signal and the IMU output value are combined to determine the positioning information of the positioning device. Since 5G positioning and satellite positioning have good complementarity in indoor and outdoor environments, the positioning method of the application which deeply integrates satellite navigation system, 5G and IMU can effectively improve the continuity and effectiveness of positioning in time and space.

[0176] In one embodiment, the reference Figure 13 The positioning device 1300 comprises an IMU module 1301, a 5G module 1302, a satellite positioning module 1303, a memory 1304 and a processor 1305, the IMU module 1301, the 5G module 1302, the satellite positioning module 1303 and the memory 1304 are respectively connected with the processor 1305.

[0177] The IMU module 1301 obtains an IMU output value of the positioning device at an IMU sampling time, and outputs the IMU output value to the processor 1305.

[0178] The 5G module 1302 receives, from a 5G base station, a first measurement signal of an uplink reference signal of the positioning device measured by the 5G base station at a 5G sampling time, and outputs the first measurement signal to the processor 1305.

[0179] The satellite positioning module 1303 receives a second measurement signal of the positioning device observed by the navigation satellite at the satellite sampling time from the navigation satellite, and outputs the second measurement signal to the processor 1305;

[0180] The memory 1304 stores a computer program; and

[0181] When the processor 1305 executes the computer program, the following method is implemented:

[0182] Get the pending positioning time, which is the IMU sampling time of the IMU loaded on the positioning device;

[0183] Get the IMU output value of the IMU at the time to be positioned;

[0184] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, determining positioning information of the positioning device based on the IMU output value and the first measurement signal;

[0185] When a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal.

[0186] In other embodiments, the processor 1305 in the positioning device 1300 further implements the positioning method of any of the above embodiments when executing the computer program.

[0187] In one embodiment, the positioning device 1300 can be any one of a mobile phone, a tablet computer, a portable wearable device, a vehicle, and a ship. In other embodiments, the positioning device 1300 can also be a component mounted on a mobile phone, a tablet computer, a portable wearable device, a vehicle, or a ship.

[0188] In one embodiment, reference Figure 14 , also provides a positioning system 1400, including a 5G base station 1401, a navigation satellite 1402 and a positioning device 1300, the positioning device 1300 being communicatively connected to the 5G base station 1401 and the navigation satellite 1402 respectively;

[0189] The 5G base station 1401 measures a first measurement signal of an uplink reference signal of the positioning device at the 5G sampling time, and sends the first measurement signal to the positioning device;

[0190] The navigation satellite 1402 observes the second measurement signal of the positioning device at the satellite sampling time and outputs the second measurement signal to the positioning device;

[0191] The positioning device 1300 performs the following method:

[0192] Get the time to be positioned;

[0193] Get the IMU output value of the IMU at the time to be positioned;

[0194] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, determining positioning information of the positioning device based on the IMU output value and the first measurement signal;

[0195] When a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal.

[0196] In other embodiments, the positioning device 1300 further implements the positioning method of any of the above embodiments.

[0197] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following method is implemented:

[0198] Get the time to be positioned;

[0199] Get the IMU output value of the IMU at the time to be positioned;

[0200] When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, determining positioning information of the positioning device based on the IMU output value and the first measurement signal;

[0201] When a second measurement signal is received from the navigation satellite within a second predetermined time interval around the time to be positioned, the positioning information of the positioning device is determined based on the IMU output value and the second measurement signal.

[0202] In other embodiments, when the above computer program is executed by a processor, it also implements the positioning method of any of the above embodiments.

[0203] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0204] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A positioning method, comprising: Get the time to be positioned; Obtaining an IMU output value of an IMU at the time of pending positioning, wherein the IMU is mounted on a positioning device, and the IMU output value includes acceleration, position, velocity, and attitude of the positioning device; When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, determining the positioning information of the positioning device based on the IMU output value and the first measurement signal, wherein the first measurement signal is a signal obtained by the 5G base station through observation of the positioning device and used for positioning the positioning device; When a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned, determining positioning information of the positioning device based on the IMU output value and the second measurement signal, wherein the second measurement signal is a signal obtained by the navigation satellite observing the positioning device and used for positioning the positioning device; When a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned, determining positioning information of the positioning device based on the IMU output value and the second measurement signal; and determining final positioning information of the positioning device based on the positioning information and the first measurement signal; Among them, the satellite navigation system, the 5G base station and the IMU are integrated, and the second measurement signal of the satellite navigation system, the first measurement signal of the 5G base station, and the IMU output value of the IMU are complementary in time.

2. The positioning method according to claim 1, wherein: The time to be positioned is an IMU sampling time of an IMU loaded on a positioning device, the first measurement signal includes a first 5G output value and a base station position of the 5G base station, and determining the positioning information of the positioning device based on the IMU output value and the first measurement signal includes: Based on the first 5G output value, estimate the second 5G output value of the 5G base station at the time to be positioned, and based on the IMU output value and the base station position, calculate the third 5G output value of the IMU at the time to be positioned, and determine the positioning information of the positioning device in combination with the second 5G output value and the third 5G output value; The first 5G output value, the second 5G output value, and the third 5G output value all include an arrival angle and an arrival time.

3. The positioning method according to claim 2, wherein: The first 5G output value includes: M first 5G output values ​​of the uplink reference signal of the positioning device measured by the 5G base station at M 5G sampling moments of the 5G base station within the first predetermined time interval, where M≥2.

4. The positioning method according to claim 3, wherein: The estimating, based on the first 5G output value, a second 5G output value of the 5G base station at the time to be positioned includes: Based on the M 5G sampling moments, the M first 5G output values ​​and the time to be positioned, an interpolation method is used to estimate the second 5G output value of the 5G base station at the time to be positioned.

5. The positioning method according to claim 3, wherein: The estimating, based on the first 5G output value, a second 5G output value of the 5G base station at the time to be positioned includes: At each of the to-be-positioned moments within a first time period after the positioning device is turned on, based on the M 5G sampling moments, the M first 5G output values, and the to-be-positioned moment, an interpolation method is used to estimate a second 5G output value of the 5G base station at the to-be-positioned moment; In the first time period, training the neural network model based on a training set consisting of N 5G sampling moments and N first 5G output values ​​at the N 5G sampling moments in the first time period, where N is greater than or equal to 2; when the training is completed and the trained neural network model is obtained, entering the second time period; At each of the to-be-located moments within the second time period, inputting the input vector at the to-be-located moment into the trained neural network model, and using the output value of the neural network model as the estimated second 5G output value of the 5G base station at the to-be-located moment; The input of the trained neural network model further includes: the first input vector at the time to be positioned ,in, is the time to be positioned, , for The corresponding second 5G output value, for The corresponding second 5G output value. The positioning method according to claim 5 , wherein: The training of the neural network based on the training set includes: Initializing adjustable parameters of the neural network model, wherein the adjustable parameters include weights and bias values ​​of the neural network model; Establishing a state-space model of adjustable parameters of the neural network model; Based on the state-space model and the training set, recursively estimating the adjustable parameter using a UKF algorithm until an output error of the neural network model reaches a predetermined error range, so as to determine the trained adjustable parameter; and Based on the trained adjustable parameters, the trained neural network model is generated.

7. The positioning method according to claim 2, wherein: The calculating, based on the IMU output value and the base station position, a third 5G output value of the IMU at the time to be positioned, and determining the positioning information of the positioning device in combination with the second 5G output value and the third 5G output value includes: Calculate a third 5G output value of the IMU at the time to be positioned based on the IMU output value and the base station position; Based on the positioning information of the positioning device solved at the previous positioning moment and the IMU output value at the previous positioning moment, construct the error state equation of the 5G and IMU at the time to be positioned; Constructing an error observation equation of 5G and IMU at the time to be positioned based on the second 5G output value and the third 5G output value at the time to be positioned; The error state equations of the 5G and IMU and the error observation equations of the 5G and IMU are combined, and the ESKF method is used to iteratively estimate the positioning information of the positioning device to determine the positioning information of the positioning device.

8. The positioning method according to claim 1, wherein: The time to be positioned is an IMU sampling time of an IMU mounted on a positioning device, the second measurement signal includes a first satellite output value and a satellite position of the navigation satellite, and determining the positioning information of the positioning device based on the IMU output value and the second measurement signal includes: estimating a second satellite output value of the navigation satellite at the time to be positioned based on the first satellite output value, calculating a third satellite output value of the IMU at the time to be positioned based on the IMU output value and the satellite position, and determining positioning information of the positioning device in combination with the second satellite output value and the third satellite output value; The first satellite output value, the second satellite output value, and the third satellite output value all include pseudoranges and pseudorange rates.

9. The positioning method according to claim 8, wherein: The first satellite output value includes: X first satellite output values ​​of the positioning device observed by the navigation satellite at X satellite sampling moments of the navigation satellite within the second predetermined time interval, where X≥2.

10. The positioning method according to claim 9, wherein: The estimating, based on the first satellite output value, the second satellite output value of the navigation satellite at the time to be positioned comprises: Based on the X satellite sampling moments, the X first satellite output values ​​and the time to be positioned, an interpolation method is used to estimate a second satellite output value of the navigation satellite at the time to be positioned.

11. The positioning method according to claim 9, wherein: The estimating, based on the first satellite output value, the second satellite output value of the navigation satellite at the time to be positioned comprises: At each of the pending positioning moments within a first time period after the positioning device is turned on, estimating the second satellite output value of the navigation satellite at the pending positioning moment by using an interpolation method based on the X satellite sampling moments, the X first satellite output values, and the pending positioning moment; During the first time period, the neural network model is trained based on a training set consisting of Y satellite sampling moments and Y first satellite output values ​​at the Y satellite sampling moments within the first time period, where Y ≥ 2; when the training is completed and the trained neural network model is obtained, the second time period is entered; At each of the to-be-positioned moments within the second time period, inputting the input vector at the to-be-positioned moment into the trained neural network model, and using the output value of the neural network model as the estimated second satellite output value of the navigation satellite at the to-be-positioned moment; The input of the trained neural network model further includes: the second input vector at the time to be positioned ,in, The time to be positioned, , for The corresponding second satellite output value, for The corresponding second satellite output value.

12. The positioning method according to claim 11, wherein: The training of the neural network based on the training set includes: Initializing adjustable parameters of the neural network model, wherein the adjustable parameters include weights and bias values ​​of the neural network model; Establishing a state-space model of adjustable parameters of the neural network model; Based on the state-space model and the training set, recursively estimating the adjustable parameter using a UKF algorithm until an output error of the neural network model reaches a predetermined error range, so as to determine the trained adjustable parameter; and Based on the trained adjustable parameters, the trained neural network model is generated.

13. The positioning method according to claim 1, wherein: The IMU output values ​​include: the position, speed and attitude of the positioning device.

14. A positioning device comprising: A time acquisition module is used to obtain the time to be positioned; An IMU value acquisition module is used to obtain an IMU output value of the IMU at the time of positioning, wherein the IMU is loaded on the positioning device, and the IMU output value includes the acceleration, position, velocity and attitude of the positioning device; a first positioning module, configured to determine the positioning information of the positioning device based on the IMU output value and the first measurement signal when receiving a first measurement signal from the 5G base station within a first predetermined time interval around the time to be positioned, wherein the first measurement signal is a signal for positioning the positioning device obtained by the 5G base station through observation of the positioning device; and a second positioning module, configured to determine positioning information of the positioning device based on the IMU output value and the second measurement signal when receiving a second measurement signal from a navigation satellite within a second predetermined time interval around the time to be positioned, wherein the second measurement signal is a signal obtained by the navigation satellite through observation of the positioning device and used for positioning the positioning device; The apparatus is further configured to, when a first measurement signal is received from a 5G base station within a first predetermined time interval around the time to be positioned, and a second measurement signal is received from a navigation satellite within a second predetermined time interval around the time to be positioned, determine positioning information of the positioning device based on the IMU output value and the second measurement signal; and determine final positioning information of the positioning device based on the positioning information and the first measurement signal; Among them, the satellite navigation system, the 5G base station and the IMU are integrated, and the second measurement signal of the satellite navigation system, the first measurement signal of the 5G base station, and the IMU output value of the IMU are complementary in time.

15. A positioning device comprising an IMU module, a 5G module, a satellite positioning module, a memory, and a processor, wherein the IMU module, the 5G module, the satellite positioning module, and the memory are respectively connected to the processor; The IMU module obtains the IMU output value of the positioning device at the IMU sampling time, and outputs the IMU output value to the processor; The 5G module receives a first measurement signal of the uplink reference signal of the positioning device measured by the 5G base station at a 5G sampling moment from the 5G base station, and outputs the first measurement signal to the processor; The satellite positioning module receives a second measurement signal of the positioning device observed by the navigation satellite at a satellite sampling time from a navigation satellite, and outputs the second measurement signal to the processor; The memory stores a computer program; and When the processor executes the computer program, the positioning method according to any one of claims 1 to 13 is implemented.

16. The positioning device according to claim 15, wherein The positioning device is any one of a mobile phone, a tablet computer, a portable wearable device, a vehicle, and a ship.

17. A positioning system comprising a 5G base station, a navigation satellite and a positioning device, wherein the positioning device is communicatively connected to the navigation satellite and the 5G base station respectively; The 5G base station measures a first measurement signal of the uplink reference signal of the positioning device at a 5G sampling time, and sends the first measurement signal to the positioning device; The navigation satellite observes the second measurement signal of the positioning device at a satellite sampling moment and outputs the second measurement signal to the positioning device; The positioning device executes the positioning method according to any one of claims 1 to 13.

18. A computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the positioning method according to any one of claims 1 to 13 is implemented.

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