Data processing method and device, equipment and storage medium

Abstract

Embodiments of the present application disclose a data processing method and device, equipment and a storage medium, mainly applied to the field of electronic map, wherein the method comprises: obtaining first actual observation data, second actual observation data, the actual position of a target reference station and the actual position of N satellites; determining the initial estimated position of a terminal according to the first actual observation data and the actual position of the N satellites; determining the first system positioning error at the initial estimated position of the terminal according to the second actual observation data, the actual position of the target reference station and the actual position of the N satellites; and adjusting the initial estimated position of the terminal according to the first system positioning error and the first actual observation data to obtain the target position of the terminal. The position positioning accuracy of the terminal can be improved by the present application.

Description

Technical Field

[0001] This application relates to the field of electronic map technology, and in particular to a data processing method, apparatus, device and storage medium. Background Technology

[0002] The Global Navigation Satellite System (GNSS) has enabled powerful applications of global spatial positioning. GNSS can be used to locate a device, and based on this location information, corresponding services can be provided to users (e.g., route planning, ride-hailing, recommendations of nearby restaurants and hotels, etc.).

[0003] However, the comprehensive application of satellite navigation and positioning is hindered by the system positioning errors corresponding to the terminal (such as ionospheric error and tropospheric error). In the process of using the global satellite navigation system to position the terminal, the positioning position of the terminal deviates from the actual position of the terminal, resulting in relatively low positioning accuracy of the terminal. Summary of the Invention

[0004] This application provides a data processing method, apparatus, device, and storage medium that can improve the location accuracy of a terminal.

[0005] One embodiment of this application provides a data processing method, including:

[0006] The system acquires first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites. The first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites. The terminal is associated with the target reference station.

[0007] Based on the first actual observation data and the actual positions of the N satellites, the initial estimated position of the terminal is determined;

[0008] Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, determine the first system positioning error at the initial estimated position of the terminal;

[0009] Based on the positioning error of the first system and the first actual observation data, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0010] One embodiment of this application provides a data processing apparatus, including:

[0011] The acquisition module is used to acquire first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; the first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites; the terminal is associated with the target reference station.

[0012] The determination module is used to determine the initial estimated position of the terminal based on the first actual observation data; and to determine the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites.

[0013] The adjustment module is used to adjust the initial estimated position of the terminal based on the positioning error of the first system and the first actual observation data to obtain the target position of the terminal.

[0014] One embodiment of this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions, which, when executed by a processor, perform the aforementioned method.

[0015] One embodiment of this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the above-described method.

[0016] In this application, by acquiring first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, the initial estimated position of the terminal is determined based on the first actual observation data and the actual positions of the N satellites. This initial estimated position does not consider system positioning errors, meaning its accuracy is relatively low. Therefore, the computer equipment can determine a first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual positions of the N satellites, and the actual position of the target reference station. This first system positioning error reflects the accuracy of the initial estimated position of the terminal. Furthermore, the initial estimated position of the terminal can be adjusted based on the first system positioning error and the first actual observation data to obtain the target position of the terminal. This improves the accuracy of the terminal's positioning and enables high-precision positioning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the architecture of a data processing system provided in this application;

[0019] Figure 2 This is a schematic diagram of the interaction scenario between various devices in a data processing system provided in this application;

[0020] Figure 3 This is a flowchart illustrating a data processing method provided in this application;

[0021] Figure 4 This is a schematic diagram of a scenario for obtaining the initial estimated position of a terminal, as provided in this application.

[0022] Figure 5 This is a schematic diagram of a scenario for obtaining the initial estimated position of a terminal, as provided in this application.

[0023] Figure 6 This is a flowchart illustrating a data processing method provided in this application;

[0024] Figure 7 This is a schematic diagram of a scenario where virtual observation data and first actual observation data are differentially processed, as provided in this application.

[0025] Figure 8 This is a schematic diagram of a scenario provided by this application, in which the identifier of the vehicle corresponding to the terminal and the identifier of the vehicle corresponding to the adjacent terminal are added to the electronic map.

[0026] Figure 9 This is a schematic diagram of the structure of a data processing device provided in an embodiment of this application;

[0027] Figure 10 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0029] Before providing a further detailed description of the embodiments of this application, the nouns and terms used in the embodiments of this application are explained, and the nouns and terms used in the embodiments of this application shall be interpreted as follows:

[0030] Location-Based Services (LBS): LBS services are location-related services provided by wireless operators to users. LBS services utilize various positioning technologies to determine the current location of a device and provide information resources and basic services to that device via the mobile internet. LBS services integrate multiple information technologies such as mobile communication, the internet, spatial positioning, location information, and big data. They leverage mobile internet service platforms for data updates and interaction, enabling users to access relevant services through spatial positioning.

[0031] Global Navigation Satellite System (GNSS): Also known as a Global Navigation Satellite System, a GNSS is a space-based radio navigation and positioning system that provides users with all-weather, three-dimensional coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space. Common GNSS systems include the US Global Positioning System (GPS), the Chinese BeiDou Navigation Satellite System (BDS), the GLONASS system, and the European Union's Galileo system. The earliest system was the US GPS, and it remains the most technologically advanced. With the recent full-scale launch of BDS and GLONASS services in the Asia-Pacific region, especially the rapid development of BDS in the civilian sector, GNSS systems are now widely used in communications, consumer entertainment, surveying, timing, vehicle management, and automotive navigation and information services. The overall development trend is towards providing high-precision services for real-time applications.

[0032] Reference Station: The accuracy of satellite positioning is mainly constrained by various positioning-related errors. These errors primarily include atmospheric delay errors such as ionospheric and tropospheric delays, satellite orbital errors and clock biases, multipath effects, relativistic effects, various hardware delays, and observation noise. To eliminate or mitigate these errors that limit terminal positioning accuracy, the most reliable and effective method is to establish a GNSS reference station (or base station) near the terminal. This station is typically equipped with a GPS receiver, data transmission equipment, and meteorological facilities. Because the reference station is stationary and operates continuously for extended periods, its coordinates can be precisely determined. The positioning error at the reference station can then be obtained by processing its observation data.

[0033] Electronic maps can refer to high-precision maps serving autonomous driving systems. Also known as autonomous driving maps or high-resolution maps, these represent a new map data paradigm for autonomous vehicles. High-precision maps boast absolute positional accuracy approaching 1 meter and relative positional accuracy at the centimeter level, reaching 10-20 cm. Accurate and comprehensive representation of road features (such as lane markings) and the requirement for higher real-time performance are the most significant characteristics of high-precision maps. Furthermore, high-precision maps record specific details of driving behavior, including typical driving actions, optimal acceleration and braking points, road condition complexity, and annotations of signal reception conditions for different road segments.

[0034] To facilitate a clearer understanding of this application, the data processing system that implements the data processing method of this application is first introduced, such as... Figure 1 As shown, the data processing system includes a satellite constellation 10, a target reference station 11, a positioning server 12, and a terminal cluster 13. The satellite constellation 10 may include one or more satellites; the number of satellites is not limited here. Figure 1 As shown, the satellite constellation may specifically include satellite 1, satellite 2, satellite 3, ...; it can be understood that all satellites in satellite constellation 10 can establish a network connection with base station 11, so that each satellite can exchange data with base station 11 via the network connection. Similarly, as... Figure 1 As shown, terminal cluster 13 may include one or more terminals, specifically terminal 1, terminal 2, terminal 3, ...; it can be understood that all terminals in terminal cluster 13 can establish network connections with the satellites in satellite cluster 10, so that each terminal can interact with each satellite through the network connection. Positioning server 12 establishes network connections with target base station 11 and the terminals in terminal cluster 13, so that positioning server 12 can interact with target base station 11 and each terminal through the network connection.

[0035] Taking terminal 1 as an example, terminal 1 can be called a mobile terminal, that is, a computer device that can be used while on the move. Terminal 1 can be understood as a comprehensive information processing platform with a wide range of communication methods. For example, it can communicate through wireless networks such as Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Enhanced Data Rate for GSM Evolution (EDGE), 4G (fourth-generation communication technology), and 5G (fifth-generation communication technology), as well as through wireless Fidelity (WiFi), Bluetooth, and infrared. In addition, terminal 1 integrates a global satellite navigation system positioning chip, which (such as a high-precision GNSS receiver) can be used to communicate with satellites in satellite constellation 10 to obtain first actual observation data and send the first actual observation data to the positioning server. The first actual observation data includes any one or both of the actual pseudorange observation value and the actual carrier phase observation value between terminal 1 and the satellites in the satellite cluster. The actual pseudorange observation value is used to reflect the geometric distance observation value between terminal 1 and the satellites in the satellite cluster. The actual carrier phase observation value is used to reflect the phase difference between the carrier signal or subcarrier signal transmitted by the satellites in the satellite cluster and the local oscillator signal of terminal 1. The local oscillator signal of terminal 1 refers to the carrier signal generated by terminal 1.

[0036] The target reference station 11 integrates a global navigation satellite system (GNSS) positioning chip. This chip (such as a high-precision GNSS receiver) can communicate with satellites in the satellite constellation 10 to obtain second actual observation data and send it to the positioning server. The second actual observation data includes any one or both of pseudorange observations and carrier phase observations between the target reference station 11 and the satellites in the satellite constellation. The actual pseudorange observations reflect the geometric distance between the target reference station 11 and the satellites in the satellite constellation, while the actual carrier phase observations reflect the phase difference between the carrier signal or subcarrier signal transmitted by the satellites in the satellite constellation and the local oscillator signal of the target reference station 11. The local oscillator signal of the target reference station 11 refers to the carrier signal generated by the target reference station 11. The target reference station 11 here is associated with the terminals in the terminal cluster 13. Taking terminal 1 as an example, that is, the target reference station 11 refers to the reference station whose distance from terminal 1 is less than the distance threshold, or the target reference station refers to the reference station that can communicate with the satellites in the satellite cluster 10, that is, the satellite cluster used to communicate with the terminal, which is the same as the satellite cluster used to communicate with the target reference station.

[0037] The positioning server 12 can be used to perform high-precision positioning of the terminal 1 based on the first actual observation data, the second actual observation data, the actual positions of the satellites in the satellite cluster 10, and the actual position of the target reference station, so as to obtain the target position of the terminal 1.

[0038] The positioning server can be a single physical server, a server cluster or distributed system consisting of at least two physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms. The terminal can specifically refer to in-vehicle terminals, smartphones, tablets, laptops, desktop computers, smart speakers, speakers with screens, smartwatches, etc., but is not limited to these. The terminals and servers can be directly or indirectly connected via wired or wireless communication. The number of terminals and servers can be one or at least two; this application does not impose any restrictions.

[0039] Please see also Figure 2 , Figure 2 This is a schematic diagram of a data processing scenario provided in an embodiment of this application. Taking an electronic map application scenario as an example, the data processing process is described. Figure 2 As shown, satellite constellation 20 can refer to the aforementioned Figure 1Satellite cluster 10 and terminal 21 in the text can refer to the aforementioned Figure 1 Any terminal in the terminal cluster, the target base station 23 can refer to the aforementioned Figure 1 The target base station 11 and positioning server 25 in the text can refer to the above-mentioned Figure 1 Location server 12 in the middle.

[0040] The terminal 21 is equipped with an electronic map application. When a user of the terminal 21 wants to search for a location, they can launch the electronic map application. The terminal 21 can respond to the launch operation of the electronic map application and display the homepage of the electronic map application on the terminal screen. The homepage of the electronic map application can display a permission prompt interface, which is used to inform the user that the location of the terminal 21 is currently being obtained. After the user confirms the permission prompt interface, the terminal 21 can obtain the first actual observation data obtained through satellite communication with the satellites in the satellite constellation 20 and send the first actual observation data to the positioning server 25.

[0041] The first actual observation data includes any one or both of actual pseudorange observations and actual carrier phase observations. Assuming the satellite constellation 20 includes N satellites, namely satellite 1, satellite 2, satellite 3, ..., satellite N, then the first actual observation data obtained by terminal 21 through satellite communication with satellite 1 can be called observation data 1, the first actual observation data obtained by terminal 21 through satellite communication with satellite 2 can be called observation data 2, the first actual observation data obtained by terminal 21 through satellite communication with satellite 3 can be called observation data 3, ..., the first actual observation data obtained by terminal 21 through satellite communication with satellite N can be called observation data N. Therefore, the first actual observation data obtained by terminal 21 through satellite communication with N satellites is as follows: Figure 2 Shown in sequence 22.

[0042] Similarly, the target reference station 23 can acquire the second actual observation data obtained through satellite communication between the target reference station 23 and the satellites in the satellite constellation 20, and send this second actual observation data and the actual position of the target reference station 23 to the positioning server 25. Here, the second actual observation data includes any one or both of the actual pseudorange observation value and the actual carrier phase observation value. Assuming that the satellite constellation 20 includes N satellites, namely satellite 1, satellite 2, satellite 3, ..., satellite N, then the second actual observation data obtained through satellite communication between the target reference station 23 and satellite 1 can be called observation data a, the second actual observation data obtained through satellite communication between the target reference station 23 and satellite 2 can be called observation data b, the second actual observation data obtained through satellite communication between the target reference station 23 and satellite 3 can be called observation data c, ..., the second actual observation data obtained through satellite communication between the target reference station 23 and satellite N can be called observation data x. Therefore, the second actual observation data obtained through satellite communication between the target reference station 23 and the N satellites is as follows: Figure 2 shown in sequence 24.

[0043] After the positioning server 25 acquires the first actual observation data, the second actual observation data, and the actual position of the target reference station, it can determine the initial estimated position 26 of the terminal 21 based on the first actual observation data and the actual positions of N satellites. This initial estimated position 26 may refer to a position obtained without considering system positioning errors, meaning there is a significant error between the initial estimated position 26 and the actual position of the terminal 21. Therefore, the positioning server can acquire the actual positions of each satellite in the satellite cluster and determine the first system positioning error 27 at the initial estimated position 26 of the terminal based on the actual positions of each satellite, the actual position of the target reference station, and the second actual observation data. This first system positioning error 27 reflects the accuracy of the terminal's initial estimated position 26; that is, the larger the first system positioning error 27, the higher the accuracy of the terminal's initial estimated position 26; conversely, the smaller the first system positioning error 27, the lower the accuracy of the terminal's initial estimated position 26.

[0044] Furthermore, the positioning server 25 can adjust the initial estimated position 26 of the terminal based on the first system positioning error 27 and the first actual observation data to obtain the target position 28 of the terminal, and send the target position 28 of the terminal to the terminal 21. The terminal 21 can use the target position of the terminal 21 as the actual position of the terminal 21, and mark the target position of the terminal 21 in the electronic map 29 of the electronic map application, such as... Figure 2The target location of terminal 21 is marked as location S1. Terminal 21 can perform operations such as path planning based on location S1. By adjusting the initial estimated location of the terminal based on the positioning error of the first system and the first actual observation data, the positioning accuracy of the terminal can be improved, and high-precision positioning can be achieved.

[0045] Further, please see Figure 3 This is a flowchart illustrating a data processing method provided in an embodiment of this application. Figure 3 As shown, this method can be derived from... Figure 1 It can be executed by the terminal in the middle, or by Figure 1 The location server in the middle can be used to perform this, or it can be performed by... Figure 1 The terminal and positioning server work together to execute this method. The device used to execute this method in this application can be collectively referred to as a computer device. The data processing method may include the following steps S101 to S104:

[0046] S101. Acquire first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; the first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites; the terminal is associated with the target reference station.

[0047] In this application, the computer equipment can acquire first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites. The actual position of the target reference station refers to its precise position, which is determined after the target reference station is established. This actual position can be obtained through manual input and multiple approvals. The actual position of the satellites can refer to their real-time positions, determined based on the satellite navigation ephemeris transmitted by the satellites. The satellite navigation ephemeris is an expression describing the position and velocity of the satellites; that is, the satellite navigation ephemeris can refer to the precise position or trajectory table of the satellites as their operation changes over time, and can be understood as a function of time.

[0048] It should be noted that satellite communication between the terminal and the satellite can be unidirectional. The terminal can receive the first satellite navigation ephemeris sent by the satellite and determine the first actual observation data between the terminal and N satellites based on the first satellite navigation ephemeris. Alternatively, the terminal can receive the first actual observation data sent by the satellite. Similarly, satellite communication between the target reference station and the satellite can be unidirectional. The target reference station can receive the second satellite navigation ephemeris sent by the satellite and determine the second actual observation data between the target reference station and N satellites based on the second satellite navigation ephemeris. Alternatively, the target reference station can receive the second actual observation data sent by the satellite. S102. Based on the first actual observation data and the actual positions of the N satellites, determine the initial estimated position of the terminal.

[0049] In this application, the computer device can determine the initial estimated position of the terminal based on the first actual observation data. The initial estimated position of the terminal can refer to the position obtained after taking into account the system positioning error. Specifically, the computer device can determine the initial estimated position of the terminal through any one or more combinations of the following three methods:

[0050] Method 1: For example Figure 4 As shown, satellite constellation 30 can refer to the aforementioned Figure 1 Satellite cluster 10 and terminal 31 in the text can refer to the aforementioned Figure 1 Any terminal in the terminal cluster. Terminal 31 can acquire the first actual observation data obtained through satellite communication between terminal 31 and satellites in satellite cluster 30. The first actual observation data includes actual pseudorange observation values. Assume that there are N satellites in satellite cluster 30, namely satellite 1, satellite 2, satellite 3, ..., satellite N, as follows... Figure 4 In the above, the actual pseudorange observation value between terminal 31 and satellite 1 is: pseudorange observation value 1; the actual pseudorange observation value between terminal 31 and satellite 2 is: pseudorange observation value 2; the actual pseudorange observation value between terminal 31 and satellite 3 is: pseudorange observation value 3; ..., the actual pseudorange observation value between terminal 31 and satellite N is: pseudorange observation value N. Therefore, the actual pseudorange observation values ​​between terminal 31 and N satellites are as follows: Figure 4 Sequence 32 is shown in the diagram. Furthermore, the computer device can acquire the satellite navigation ephemeris transmitted by the N satellites, and determine the actual position of each satellite based on the satellite navigation ephemeris. The actual positions of the N satellites are shown in the diagram. Figure 4Sequence 33 in the sequence. That is, the actual position of satellite 1 is: actual position 1, the actual position of satellite 2 is: actual position 2, the actual position of satellite 3 is: actual position 3, ..., the actual position of satellite N is: actual position N. Then, the computer equipment can determine the initial estimated position of the terminal based on the pseudorange observation value and the actual position of the satellite. Specifically, the estimated position 1 of the terminal is determined based on pseudorange observation value 1 and actual position 1, the estimated position 2 of the terminal is determined based on pseudorange observation value 2 and actual position 2, the estimated position 3 of the terminal is determined based on pseudorange observation value 3 and actual position 3, ..., the estimated position N of the terminal is determined based on pseudorange observation value N and actual position N, that is, the estimated position of the terminal is as follows. Figure 4 The sequence 34 in the diagram allows for the determination of the terminal's initial estimated position 35 based on the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N. By determining the terminal's initial estimated position based on the actual pseudorange observations between the terminal and N satellites, the efficiency of obtaining the terminal's initial estimated position can be improved, as can the real-time performance of acquiring the terminal's initial estimated position.

[0051] It should be noted that determining the estimated position i of the terminal based on the pseudorange observation i and the actual position i can mean: determining the estimated position i of the terminal as the difference between the pseudorange observation i and the actual position i, where i is a positive integer less than or equal to N. Determining the initial estimated position of the terminal based on the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N can mean: randomly selecting one estimated position from the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N as the initial estimated position of the terminal; or, using the average position of the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N as the initial estimated position of the terminal; or, the computer device can obtain the first difference between the first target estimated position and the first remaining estimated position, accumulate the first difference to obtain the sum of the first differences, and determine the estimated position corresponding to the smallest sum of the first differences as the initial estimated position of the terminal. The first target estimated position is any estimated position among estimated position 1, estimated position 2, estimated position 3, ..., estimated position N, and the first remaining estimated position is any estimated position among estimated position 1, estimated position 2, estimated position 3, ..., estimated position N other than the first target estimated position.

[0052] Method 2: For example Figure 5 As shown, satellite constellation 40 can refer to the aforementioned Figure 1 Satellite cluster 10 and terminal 41 in the text can refer to the aforementioned Figure 1Any terminal in the terminal cluster. Terminal 41 can acquire the first actual observation data obtained through satellite communication between terminal 41 and the satellites in the satellite cluster 40. The first actual observation data includes the actual carrier phase observation value. Assume that there are N satellites in the satellite cluster 40, namely satellite 1, satellite 2, satellite 3, ..., satellite N, as follows... Figure 5 In the diagram, the actual carrier phase observation value between terminal 41 and satellite 1 is: carrier phase observation value 1; the actual carrier phase observation value between terminal 41 and satellite 2 is: carrier phase observation value 2; the actual carrier phase observation value between terminal 41 and satellite 3 is: carrier phase observation value 3; ..., the actual carrier phase observation value between terminal 41 and satellite N is: carrier phase observation value N. Therefore, the actual carrier phase observation values ​​between terminal 41 and N satellites are as follows: Figure 5 Sequence 42 is shown in the diagram. Furthermore, the computer device can acquire the satellite navigation ephemeris transmitted by the N satellites, and determine the actual position of each satellite based on the satellite navigation ephemeris. The actual positions of the N satellites are shown in the diagram. Figure 5 Sequence 43 in the sequence. That is, the actual position of satellite 1 is: actual position 1, the actual position of satellite 2 is: actual position 2, the actual position of satellite 3 is: actual position 3, ..., the actual position of satellite N is: actual position N. Then, the computer equipment can determine the initial estimated position of the terminal based on the carrier phase observation value and the actual position of the satellite. Specifically, the estimated position a of the terminal is determined based on the carrier phase observation value 1 and the actual position 1, the estimated position b of the terminal is determined based on the carrier phase observation value 2 and the actual position 2, the estimated position c of the terminal is determined based on the carrier phase observation value 3 and the actual position 3, ..., the estimated position x of the terminal is determined based on the carrier phase observation value N and the actual position N, that is, the estimated position of the terminal is as follows. Figure 5 The sequence 44 in the diagram allows us to determine the initial estimated position 45 of the terminal based on the estimated positions a, b, c, ..., x. By determining the initial estimated position of the terminal based on the actual carrier phase observations between the terminal and N satellites, we can improve the efficiency and real-time performance of obtaining the initial estimated position of the terminal.

[0053] It should be noted that determining the estimated position i of the terminal based on the carrier phase observation value i and the actual position i can mean: determining the estimated position i of the terminal as the difference between the carrier phase observation value i and the actual position i, where i is a positive integer less than or equal to N. Determining the initial estimated position of the terminal based on the estimated positions a, b, c, ..., x can mean: randomly selecting one estimated position from the estimated positions a, b, c, ..., x as the initial estimated position of the terminal; or, using the average position of the estimated positions a, b, c, ..., x as the initial estimated position of the terminal; or, the computer device can obtain the second difference between the second target estimated position and the second remaining estimated position, accumulate the second differences to obtain the sum of the second differences, and determine the estimated position corresponding to the smallest sum of the second differences as the initial estimated position of the terminal. The second target estimated position is any estimated position among estimated position a, estimated position b, estimated position c, ..., estimated position x, and the second remaining estimated position is any estimated position among estimated position a, estimated position b, estimated position c, ..., estimated position x other than the second target estimated position.

[0054] Method 3: The first set of actual observation data includes the actual carrier phase observations and actual pseudorange observations mentioned above. (Assuming...) Figure 4 Terminal 31 and Figure 5If all terminals 41 belong to the same terminal, the computer equipment obtains the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N of the terminal based on the actual pseudorange observation value and the actual position of the satellite. It can also obtain the estimated position a, estimated position b, estimated position c, ..., estimated position x of the terminal based on the actual carrier phase observation value and the actual position of the satellite. The computer equipment can determine the initial estimated position of the terminal based on the estimated position 1, estimated position 2, estimated position 3, ..., estimated position N, estimated position a, estimated position b, estimated position c, ..., estimated position x of the terminal. For example, a predicted position can be randomly selected from predicted position 1, predicted position 2, predicted position 3, ..., predicted position N, predicted position a, predicted position b, predicted position c, ..., predicted position x as the initial predicted position of the terminal. Alternatively, the average position of predicted position 1, predicted position 2, predicted position 3, ..., predicted position N, predicted position a, predicted position b, predicted position c, ..., predicted position x can be used as the initial predicted position of the terminal. Or, the computer device can obtain the third difference between the third target predicted position and the third remaining predicted position, accumulate the third difference to obtain the sum of the third differences, and determine the predicted position corresponding to the smallest sum of the third differences as the initial predicted position of the terminal. The estimated position of the third target is any one of the estimated positions 1, 2, 3, ..., N, a, b, c, ..., x. The estimated position of the third remaining target is any one of the estimated positions 1, 2, 3, ..., N, a, b, c, ..., x, excluding the estimated position of the third target. By determining the initial estimated position of the terminal based on the actual pseudorange and carrier phase observations between the terminal and N satellites, the accuracy of the initial estimated position of the terminal can be improved.

[0055] S103. Based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, determine the first system positioning error at the initial estimated position of the terminal.

[0056] In this application, the computer device can determine the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites. Since the second system positioning error and the first system positioning error at the initial estimated position of the terminal have temporal and spatial correlation, the first system positioning error at the initial estimated position of the terminal can be determined based on the second system positioning error.

[0057] Optionally, determining the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites includes: determining the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; and interpolating the second system positioning error based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of N satellites to obtain the first system positioning error at the initial estimated position of the terminal.

[0058] The computer equipment can determine the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites. This second system positioning error reflects the system positioning error at the actual position of the target reference station when the terminal's position is determined using actual observation data. Since the target reference station is associated with the terminal, there is a temporal and spatial correlation between the second system positioning error at the target reference station and the system positioning error at the terminal's initial estimated position. Therefore, the computer equipment can interpolate the second system positioning error based on the terminal's initial estimated position, the actual position of the target reference station, and the actual positions of N satellites to obtain the first system positioning error at the terminal's initial estimated position. This interpolation can be nearest neighbor interpolation, quadratic interpolation, cubic interpolation, etc. By obtaining the first system positioning error at the terminal's initial estimated position, it is beneficial to adjust the terminal's initial estimated position based on the first system positioning error to obtain a high-precision target position and improve the accuracy of the terminal's positioning.

[0059] Optionally, the second actual observation data includes the second actual observation data Qi between the target reference station and satellite Pi, where satellite Pi belongs to N satellites, and i is a positive integer less than or equal to N; the computer equipment can obtain the second system positioning error corresponding to the target reference station through any one or a combination of the following three methods:

[0060] Method 1: The second actual observation data Qi between the target reference station and satellite Pi includes the actual pseudorange observation value Qi. The computer equipment can determine the actual distance between the target reference station and satellite Pi based on their actual positions. The first difference between the actual pseudorange observation value Qi and the actual distance value is determined as the first candidate system positioning error between the target reference station and satellite Pi. The first candidate system positioning errors corresponding to the target reference station and N satellites are determined as the second system positioning error at the actual position of the target reference station. By determining the second system positioning error corresponding to the target reference station based on the actual pseudorange observation value in the second actual observation data, the efficiency of obtaining the second system positioning error can be improved.

[0061] For example, when the second actual observation data includes actual pseudorange observations, the computer equipment can calculate the first candidate system positioning error between the target reference station and the satellite Pi according to the following observation equation (1).

[0062] ρ=R+C·(dT r -dT s )+d trop +d ion +d orb +m1+ε1 (1)

[0063] Where ρ is the pseudorange observation value; R is the actual geometric distance (i.e., actual distance) from the observation station to the satellite; dT r dT s These represent the clock difference at the observation station and the satellite clock difference, respectively; d trop d ion d orb ε1 and ε2 represent tropospheric error, ionospheric refraction error, and GNSS satellite orbit error, respectively; m1 and ε1 represent Doppler error and observation noise, respectively. When it is necessary to calculate the first candidate system positioning error between the target reference station and the satellite Pi, the target reference station can be used as the observation station. The actual distance between the target reference station and the satellite and the actual pseudorange observation value in the second actual observation data are substituted into formula (1) to obtain the first difference between the actual pseudorange observation value Qi and the actual distance value, i.e., ρ-R. This first difference is determined as the first candidate system positioning error between the target reference station and the satellite Pi.

[0064] Method 2: The second actual observation data Qi between the target reference station and satellite Pi includes the actual carrier phase observation value Qi. The computer equipment can determine the actual distance between the target reference station and satellite Pi based on their actual positions. The second difference between the actual carrier phase observation value Qi and the actual distance value is determined as the first candidate system positioning error between the target reference station and satellite Pi. The first candidate system positioning errors corresponding to the target reference station and N satellites are determined as the second system positioning error at the actual position of the target reference station. By determining the second system positioning error corresponding to the target reference station based on the actual carrier phase observation value in the second actual observation data, the efficiency of obtaining the second system positioning error can be improved.

[0065] For example, when the second actual observation data includes actual carrier phase observations, the computer equipment can calculate the first candidate system positioning error between the target reference station and the satellite Pi according to the following observation equation (2).

[0066]

[0067] in, Carrier phase observation; dT represents the carrier phase ambiguity; C is the speed of light; dT r and dT s These represent the clock difference at the observation station and the satellite clock difference, respectively; d trop d ion d orb ε1 and ε2 represent tropospheric error, ionospheric refraction error, and GNSS satellite orbit error, respectively; m2 and ε2 represent Doppler error and observation noise, respectively. When it is necessary to calculate the first candidate system positioning error between the target reference station and the satellite Pi, the target reference station can be used as the observation station. The actual distance between the target base station and the satellite and the actual carrier phase observation value in the second actual observation data are substituted into formula (2) to obtain the second difference between the actual carrier phase observation value Qi and the actual distance value, i.e. The second difference is determined as the first candidate system positioning error between the target reference station and the satellite Pi.

[0068] Method 3: The second actual observation data Qi between the target reference station and satellite Pi includes the actual pseudorange observation value Qi and the actual carrier phase observation value Qi. The computer equipment can determine the actual distance between the target reference station and satellite Pi based on their actual positions. It then obtains the first difference between the actual pseudorange observation value Qi and the actual distance value, and the second difference between the actual carrier phase observation value Qi and the actual distance value. These first and second differences are defined as the first candidate system positioning error between the target reference station and satellite Pi. The first candidate system positioning errors corresponding to the target reference station and N satellites are defined as the second system positioning error at the actual position of the target reference station. By determining the second system positioning error corresponding to the target reference station based on the actual pseudorange observation value and the actual carrier phase observation value in the second actual observation data, the accuracy of obtaining the second system positioning error can be improved.

[0069] For example, when the second actual observation data includes actual pseudorange observations and actual carrier phase observations, the computer equipment can convert the above ρ-R and This represents the positioning error of the first candidate system between the target reference station and the satellite Pi.

[0070] Optionally, the second system positioning error is interpolated based on the initial estimated position of the terminal, the actual position of the target base station, and the actual positions of the N satellites to obtain the first system positioning error at the initial estimated position of the terminal. This includes: obtaining the correlation function between the actual position of the target base station, the actual positions of the N satellites, and the second system positioning error; determining the second candidate system positioning error between the terminal and the satellite Pi based on the correlation function, the initial estimated position of the terminal, and the actual position of the satellite Pi; and determining the second candidate system positioning errors corresponding to the terminal and the N satellites as the first system positioning error at the initial estimated position of the terminal.

[0071] The computer equipment can fit the actual position of the target base station, the actual positions of N satellites, and the second system positioning error to obtain a correlation function between these factors. This correlation function reflects the relationship between the actual position of the target base station, the actual positions of the N satellites, and the second system positioning error. Since the second system positioning error corresponding to the target base station has both temporal and spatial correlation with the system positioning error at the terminal's initial estimated position, the correlation between the terminal's initial estimated position, the actual positions of the N satellites, and the system positioning error at the terminal's initial estimated position is the same as or similar to the correlation between the actual position of the target base station, the actual positions of the N satellites, and the second system positioning error. Therefore, based on the correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, the second candidate system positioning error between the terminal and satellite Pi can be determined. That is, the actual position of satellite Pi and the initial estimated position of the terminal are substituted into the correlation function to solve for the second candidate system positioning error between the terminal and satellite Pi. The second candidate system positioning errors corresponding to the terminal and N satellites are then determined as the first system positioning error at the initial estimated position of the terminal.

[0072] For example, when the second system positioning error includes the first difference between the actual pseudorange observation value Qi and the actual distance value, the computer equipment can fit the actual position of the target base station, the actual positions of N satellites, and the first difference corresponding to each satellite to obtain a first correlation function between the actual position of the target base station, the actual positions of N satellites, and the first difference. This first correlation function reflects the correlation between the actual position of the target base station, the actual positions of N satellites, and the first difference. Based on this first correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, the first initial system positioning error between the terminal and satellite Pi can be determined. This first initial system positioning error is then used as the second candidate system positioning error. That is, the actual position of satellite Pi and the initial estimated position of the terminal are substituted into the first correlation function to solve for the second candidate system positioning error between the terminal and satellite Pi. The second candidate system positioning errors corresponding to the terminal and each of the N satellites are then determined as the first system positioning error at the initial estimated position of the terminal. In other words, the first system positioning error here includes the first initial system positioning error between the terminal and each satellite.

[0073] For example, when the second system positioning error includes the second difference between the actual carrier phase observation value Qi and the actual distance value, the computer equipment can fit the actual position of the target base station, the actual positions of N satellites, and the second difference corresponding to each satellite to obtain a second correlation function between the actual position of the target base station, the actual positions of N satellites, and the second difference. This second correlation function reflects the correlation between the actual position of the target base station, the actual positions of N satellites, and the second difference. Based on this second correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, the second initial system positioning error between the terminal and satellite Pi can be determined. This second initial system positioning error is then identified as the second candidate system positioning error. That is, the actual position of satellite Pi and the initial estimated position of the terminal are substituted into the second correlation function to solve for the second candidate system positioning error between the terminal and satellite Pi. The second candidate system positioning errors corresponding to the terminal and each of the N satellites are then identified as the first system positioning error at the initial estimated position of the terminal. This first system positioning error includes the second initial system positioning error between the terminal and each satellite.

[0074] For example, when the second system positioning error includes a first difference between the actual pseudorange observation value Qi and the actual distance value, and a second difference between the actual carrier phase observation value Qi and the actual distance value, the computer device can determine the aforementioned first initial system positioning error and second initial system positioning error as the second candidate system positioning error between the terminal and the satellite Pi, and determine the second candidate system positioning errors corresponding to the terminal and N satellites respectively as the first system positioning error at the initial estimated position of the terminal. That is, the first system positioning error here includes the first initial system positioning error and the second initial system positioning error between the terminal and each satellite.

[0075] S104. Based on the positioning error of the first system and the first actual observation data, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0076] In this application, since the accuracy of the initial estimated position of the terminal is relatively low, the computer device can adjust the initial estimated position of the terminal based on the positioning error of the first system and the first actual observation data to obtain the target position of the terminal, thereby improving the positioning accuracy of the terminal and achieving high-precision positioning.

[0077] In this application, by acquiring first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, the initial estimated position of the terminal is determined based on the first actual observation data and the actual positions of the N satellites. This initial estimated position does not consider system positioning errors, meaning its accuracy is relatively low. Therefore, the computer equipment can determine a first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual positions of the N satellites, and the actual position of the target reference station. This first system positioning error reflects the accuracy of the initial estimated position of the terminal. Furthermore, the initial estimated position of the terminal can be adjusted based on the first system positioning error and the first actual observation data to obtain the target position of the terminal. This improves the accuracy of the terminal's positioning and enables high-precision positioning.

[0078] Further, please see Figure 6 This is a flowchart illustrating a data processing method provided in an embodiment of this application. Figure 6 As shown, this method can be derived from... Figure 1 It can be executed by the terminal in the middle, or by Figure 1 The server in the middle can be used to execute it, or it can be executed by... Figure 1 The terminal and server in this application work together to execute the method. The device used to execute this method can be collectively referred to as a computer device. The data processing method may include the following steps S201 to S207:

[0079] S201. Acquire first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; the first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites; the terminal is associated with the target reference station.

[0080] S202. Based on the first actual observation data and the actual positions of N satellites, determine the initial estimated position of the terminal.

[0081] S203. Based on the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, determine the first system positioning error at the initial estimated position of the terminal.

[0082] S204. Based on the positioning error of the first system and the initial estimated position of the terminal, determine the virtual observation data between the terminal and each of the satellites.

[0083] In this application, the computer device can determine the virtual observation data between the terminal and each satellite based on the positioning error of the first system and the initial estimated position of the terminal. Here, the virtual observation data is not obtained by satellite communication between the terminal and the satellite, but is calculated based on the positioning error of the first system and the initial estimated position of the terminal.

[0084] For example, when the first system positioning error includes the first initial system positioning error between the terminal and the satellite Pi, the computer equipment can use the terminal as an observation station and take the distance between the initial estimated position of the terminal and the actual position of the satellite Pi as the actual distance between the terminal and the satellite Pi. Further, by substituting the actual distance between the terminal and the satellite Pi and the first system positioning error into the above formula (1), a virtual pseudorange observation value is obtained. That is, the sum of the actual distance between the terminal and the satellite Pi and the first initial system positioning error is determined as the virtual pseudorange observation value, and this virtual pseudorange observation value is determined as the virtual observation data between the terminal and the satellite Pi.

[0085] For example, when the first system positioning error includes the second initial system positioning error between the terminal and the satellite Pi, the computer equipment can use the terminal as an observation station and take the distance between the initial estimated position of the terminal and the actual position of the satellite Pi as the actual distance between the terminal and the satellite Pi. Furthermore, by substituting the actual distance between the terminal and the satellite Pi and the second system positioning error into the above formula (2), a virtual carrier phase observation value is obtained. That is, the sum of the actual distance between the terminal and the satellite Pi and the second initial system positioning error is determined as the virtual carrier phase observation value, and this virtual carrier phase observation value is determined as the virtual observation data between the terminal and the satellite Pi.

[0086] For example, when the first system positioning error includes the first initial system positioning error and the second initial system positioning error between the terminal and the satellite Pi, the virtual pseudorange observation value between the terminal and the satellite Pi is determined based on the first initial system positioning error, and the virtual carrier phase observation value between the terminal and the satellite Pi is determined based on the second initial system positioning error. The virtual pseudorange observation value and the virtual carrier phase observation value are then determined as the virtual observation data between the terminal and the satellite Pi.

[0087] S205. Perform differential processing on the virtual observation data corresponding to each pair of satellites to obtain the first satellite differential information between each pair of virtual observation data corresponding to the satellite.

[0088] Optionally, the virtual observation data between the terminal and satellite Pi includes a first virtual pseudorange observation value, and the virtual observation data between the terminal and satellite Pj includes a second virtual pseudorange observation value; both satellite Pi and satellite Pj belong to N satellites, and i and j are positive integers less than or equal to N; j is different from i. The computer device can use the terminal as an observation station, substitute the first virtual pseudorange observation value into the above formula (1) to obtain the first virtual pseudorange observation equation corresponding to the first virtual pseudorange observation value, and substitute the second virtual pseudorange observation value into the above formula (1) to obtain the second virtual pseudorange observation equation corresponding to the second virtual pseudorange observation value. Further, based on the first virtual pseudorange observation equation and the second virtual pseudorange observation equation, the first satellite difference information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined, that is, the first satellite difference information here includes the virtual single-difference pseudorange observation equation. By performing differential processing on the virtual pseudorange observation value, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and to improve the position positioning accuracy of the terminal.

[0089] For example, by subtracting the first virtual pseudorange observation equation and the second virtual pseudorange observation equation, a virtual single-difference pseudorange observation equation is obtained. This virtual single-difference pseudorange observation equation is then determined as the first satellite difference information between the virtual observation data corresponding to satellite Pi and satellite Pj, respectively. For example, the virtual single-difference pseudorange observation equation can be expressed by the following formula (3):

[0090] Δρ=ΔR+C·ΔdT s +Δd trop +Δd ion +Δd orb +Δm1+Δε1 (3)

[0091] Where, Δ(*)=(*) i -(*) j This indicates a single-difference operation. For example, Δρ is the difference between the virtual pseudorange observation value corresponding to satellite Pi and the virtual pseudorange observation value corresponding to satellite Pj, and ΔR is the difference between the actual distance between the actual position of the terminal and the position of satellite Pi, and the actual distance between the actual position of the terminal and the position of satellite Pj. Comparing formula (3) with formula (1), it can be seen that the term including the clock difference of the terminal is eliminated, and other related errors are also weakened, such as ionospheric error and tropospheric refraction error.

[0092] Optionally, the virtual observation data between the terminal and satellite Pi includes a first virtual carrier phase observation value, and the virtual observation data between the terminal and satellite Pj includes a second virtual carrier phase observation value; both satellite Pi and satellite Pj belong to N satellites, and i and j are positive integers less than or equal to N; j is different from i. The computer device can use the terminal as an observation station, substitute the first virtual carrier phase observation value into the above formula (2) to obtain the first virtual carrier phase observation equation corresponding to the first virtual carrier phase observation value, and substitute the second virtual carrier phase observation value into the above formula (2) to obtain the second virtual carrier phase observation equation corresponding to the second virtual carrier phase observation value. Further, based on the first virtual carrier phase observation equation and the second virtual carrier phase observation equation, the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined. By performing differential processing on the virtual carrier phase observation value, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and to improve the position positioning accuracy of the terminal.

[0093] For example, by subtracting the first virtual carrier phase observation equation and the second virtual carrier phase observation equation, a virtual single-difference carrier phase observation equation is obtained. This virtual single-difference carrier phase equation is determined as the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj, respectively. That is, the first satellite differential information here includes the virtual single-difference carrier phase observation equation. For example, the virtual single-difference carrier phase observation equation can be expressed by the following formula (4):

[0094]

[0095] Where, Δ(*)=(*) i -(*) j This represents simple difference operations, such as, The difference between the virtual carrier phase observation value corresponding to satellite Pi and the virtual carrier phase observation value corresponding to satellite Pj is given by formula (4). By comparing formula (2), it can be seen that the term including the clock difference of the terminal is eliminated, and other related errors are also weakened, such as ionospheric error and tropospheric refraction error.

[0096] Optionally, the virtual observation data between the terminal and satellite Pi includes a first virtual pseudorange observation value and a first virtual carrier phase observation value, and the virtual observation data between the terminal and satellite Pj includes a second virtual pseudorange observation value and a second virtual carrier phase observation value; both satellite Pi and satellite Pj belong to N of the satellites, and i and j are positive integers less than or equal to N; j is different from i. The computer equipment can use the terminal as an observation station, substitute the first virtual pseudorange observation value into the above formula (1) to obtain the first virtual pseudorange observation equation corresponding to the first virtual pseudorange observation value, substitute the second virtual pseudorange observation value into the above formula (1) to obtain the second virtual pseudorange observation equation corresponding to the second virtual pseudorange observation value. Substitute the first virtual carrier phase observation value into the above formula (2) to obtain the first virtual carrier phase observation equation corresponding to the first virtual carrier phase observation value, and substitute the second virtual carrier phase observation value into the above formula (2) to obtain the second virtual carrier phase observation equation corresponding to the second virtual carrier phase observation value. Furthermore, based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined.

[0097] For example, the computer equipment can perform difference processing on the first virtual pseudorange observation equation and the second virtual pseudorange observation equation to obtain the virtual single-difference pseudorange observation equation; perform difference processing on the first virtual carrier phase observation equation and the second virtual carrier phase observation equation to obtain the virtual single-difference carrier phase observation equation; and determine the virtual single-difference pseudorange observation equation and the virtual single-difference carrier phase observation equation as the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj respectively, that is, the above formulas (3) and (4) are used as the first satellite differential information, that is, the first satellite differential information here includes the virtual single-difference pseudorange observation equation and the virtual single-difference carrier phase observation equation. By performing differential processing on the virtual pseudorange observation value and the virtual carrier phase observation value, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and to improve the position positioning accuracy of the terminal.

[0098] S206. Perform differential processing on the first actual observation data corresponding to each two satellites to obtain the second satellite differential information between the first actual observation data corresponding to each two satellites.

[0099] In this application, the computer device performs differential processing on the first actual observation data corresponding to each two satellites to obtain the second satellite differential information between the first actual observation data corresponding to each two satellites. This helps to reduce the system positioning error at the initial estimated position of the terminal, thereby improving the positioning accuracy of the terminal.

[0100] Optionally, the computer device can obtain the second satellite differential information between every two first actual observation data corresponding to the satellite through any one or more of the following three methods:

[0101] Method 1: When the first actual observation data between the terminal and satellite Pi includes a first actual pseudorange observation value, and the first actual observation data between the terminal and satellite Pj includes a second actual pseudorange observation value, the computer device can use the terminal as an observation station, substitute the first actual pseudorange observation value into the above formula (1) to obtain the first actual pseudorange observation equation corresponding to the first actual pseudorange observation value, and substitute the second actual pseudorange observation value into the above formula (1) to obtain the second actual pseudorange observation equation corresponding to the second actual pseudorange observation value. Further, based on the first actual pseudorange observation equation and the second actual pseudorange observation equation, the second satellite differential information between the actual observation data corresponding to satellite Pi and satellite Pj is determined. By performing differential processing on the actual pseudorange observation values, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and to improve the positioning accuracy of the terminal.

[0102] For example, by subtracting the first actual pseudorange observation equation and the second actual pseudorange observation equation, the actual single-difference pseudorange observation equation is obtained. This actual single-difference pseudorange observation equation is determined as the second satellite difference information between the actual observation data corresponding to satellite Pi and satellite Pj, respectively. That is, the second satellite difference information here includes the actual single-difference pseudorange observation equation.

[0103] Method 2: When the first actual observation data between the terminal and satellite Pi includes a first actual carrier phase observation value, and the first actual observation data between the terminal and satellite Pj includes a second actual carrier phase observation value, the computer equipment can use the terminal as an observation station. Substituting the first actual carrier phase observation value into the above formula (2) yields the first actual carrier phase observation equation corresponding to that first actual carrier phase observation value. Substituting the second actual carrier phase observation value into the above formula (2) yields the second actual carrier phase observation equation corresponding to that second actual carrier phase observation value. Further, based on the first actual carrier phase observation equation and the second actual carrier phase observation equation, the second satellite differential information between the actual observation data corresponding to satellite Pi and satellite Pj is determined. By differentially processing the actual carrier phase observation values, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and to improve the terminal's position positioning accuracy.

[0104] For example, by performing a difference operation on the first actual carrier phase observation equation and the second actual carrier phase observation equation, an actual single-difference carrier phase observation equation is obtained. This actual single-difference carrier phase equation is determined as the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively. That is, the second satellite differential information here includes the actual single-difference carrier phase observation equation.

[0105] Method 3: The first actual observation data between the terminal and satellite Pi includes a first actual pseudorange observation value and a first actual carrier phase observation value. The first actual observation data between the terminal and satellite Pj includes a second actual pseudorange observation value and a second actual carrier phase observation value. The computer equipment can use the terminal as an observation station. Substituting the first actual pseudorange observation value into the above formula (1), we obtain the first actual pseudorange observation equation corresponding to the first actual pseudorange observation value. Substituting the second actual pseudorange observation value into the above formula (1), we obtain the second actual pseudorange observation equation corresponding to the second actual pseudorange observation value. Substituting the first actual carrier phase observation value into the above formula (2), we obtain the first actual carrier phase observation equation corresponding to the first actual carrier phase observation value. Substituting the second actual carrier phase observation value into the above formula (2), we obtain the second actual carrier phase observation equation corresponding to the second actual carrier phase observation value. Furthermore, based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, the second satellite differential information between the actual observation data corresponding to satellite Pi and satellite Pj is determined.

[0106] For example, the computer equipment can perform difference processing on the first actual pseudorange observation equation and the second actual pseudorange observation equation to obtain the actual single-difference pseudorange observation equation; perform difference processing on the first actual carrier phase observation equation and the second actual carrier phase observation equation to obtain the actual single-difference carrier phase observation equation; and determine the actual single-difference pseudorange observation equation and the actual single-difference carrier phase observation equation as the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively. That is, the second satellite differential information here includes the actual single-difference pseudorange observation equation and the actual single-difference carrier phase observation equation. By performing differential processing on the actual pseudorange observation value and the actual carrier phase observation value, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal and improve the positioning accuracy of the terminal.

[0107] S207. Based on the differential information of the first satellite and the differential information of the second satellite, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0108] In this application, the computer device can adjust the initial estimated position of the terminal based on the differential information of the first satellite and the differential information of the second satellite to obtain the target position of the terminal. The target position can refer to the high-precision position of the terminal, such as the target position being accurate to the centimeter or decimeter level. In other words, the target position can be used as the actual position of the terminal, thereby improving the accuracy of the terminal's positioning and achieving high-precision positioning.

[0109] Optionally, the above-mentioned adjustment of the initial estimated position of the terminal based on the first satellite differential information and the second satellite differential information to obtain the target position of the terminal includes: performing differential processing on the first satellite differential information and the second satellite differential information to obtain third satellite differential information; determining the position offset based on the third satellite differential information; and adjusting the initial estimated position of the terminal using the position offset to obtain the target position of the terminal.

[0110] Specifically, the computer equipment can perform differential processing on the first satellite differential information and the second satellite differential information to obtain the third satellite differential information. This third satellite differential information is a double-difference observation equation. Solving this double-difference observation equation yields the position offset corresponding to the terminal. This position offset is then used to adjust the terminal's initial estimated position to obtain the terminal's target position. Performing multiple differential processing on the first actual observation data and virtual observation data helps reduce system positioning errors at the terminal's initial estimated position, improving the terminal's positioning accuracy and achieving high-precision positioning.

[0111] For example, such as Figure 7 As shown, terminal 71 can be the above Figure 1 In the terminal cluster, any terminal, satellite Pi and satellite Pj can refer to the above-mentioned Figure 1 In a satellite constellation, satellites Pi and Pj are not identical. The computer equipment can perform differential processing between the virtual observation data between satellite Pi and terminal 71 and the virtual observation data between satellite Pj and terminal 71 to obtain first satellite differential information 72. The computer equipment can also perform differential processing between the first actual observation data between satellite Pi and terminal 71 and the first actual observation data between satellite Pj and terminal 71 to obtain second satellite differential information 73. Furthermore, differential processing is performed on the first satellite differential information 72 and the second satellite differential information 73 to obtain third satellite differential information 74. By performing multiple differential processing on the virtual observation data and the first actual observation data, the system positioning error at the initial estimated position of the terminal can be reduced, improving the terminal's positioning accuracy and achieving high-precision positioning.

[0112] Optionally, the computer device may acquire the differential information of the third satellite through any one or more combinations of the following three methods:

[0113] Method 1: When the first satellite differential information includes a virtual single-difference pseudorange observation equation, and the second satellite differential information includes an actual single-difference pseudorange observation equation, the difference between the virtual and actual single-difference pseudorange observation equations is calculated to obtain a double-difference pseudorange observation equation. This double-difference pseudorange observation equation is then used as the third satellite differential information. At this point, the computer equipment can construct a double-difference observation equation system from the double-difference pseudorange observation equations corresponding to N satellites, solve the double-difference observation equation system, and obtain the position offset corresponding to the terminal.

[0114] For example, the double-difference pseudorange observation equations corresponding to satellites Pi and Pj can be expressed by the following formula (5):

[0115]

[0116] In formula (5), This represents double difference operations, for example, Let Δρ1 and Δρ2 represent the difference between the virtual pseudorange observations corresponding to satellite Pi and satellite Pj, respectively. Δρ1 represents the difference between the virtual pseudorange observations corresponding to satellite Pi and satellite Pj, respectively. Comparing formula (5) with formula (3), it can be seen that the term including satellite clock error is eliminated, and other related errors are further weakened, such as ionospheric error and tropospheric refraction error.

[0117] Method 2: When the first satellite differential information includes a virtual single-difference carrier phase observation equation, and the second satellite differential information includes an actual single-difference carrier phase observation equation, the difference between the virtual and actual single-difference carrier phase observation equations is calculated to obtain a double-difference carrier phase observation equation. This double-difference carrier phase observation equation is then used as the third satellite differential information. In this case, the computer equipment can construct a double-difference observation equation set from the double-difference carrier phase observation equations corresponding to N satellites, solve the double-difference observation equation set, and obtain the position offset corresponding to the terminal.

[0118] For example, the double-difference carrier phase observation equations corresponding to satellites Pi and Pj can be expressed by the following formula (6):

[0119]

[0120] In formula (6), This represents double difference operations, for example, express and The difference between them This represents the difference between the virtual carrier phase observation value corresponding to satellite Pi and the virtual carrier phase observation value corresponding to satellite Pj. This represents the difference between the actual carrier phase observation value corresponding to satellite Pi and the actual carrier phase observation value corresponding to satellite Pj. Comparing formula (6) with formula (4), it can be seen that the term including the satellite clock error is eliminated, and other related errors are further weakened, such as ionospheric error and tropospheric refraction error.

[0121] Method 3: When the first satellite differential information includes virtual single-difference pseudorange observation equations and virtual single-difference carrier phase observation equations, and the second satellite differential information includes actual single-difference pseudorange observation equations and actual single-difference carrier phase observation equations, the computer equipment can perform subtraction on the virtual single-difference pseudorange observation equations and the actual single-difference pseudorange observation equations to obtain double-difference pseudorange observation equations; perform subtraction on the virtual single-difference carrier phase observation equations and the actual single-difference carrier phase observation equations to obtain double-difference carrier phase observation equations; and determine the double-difference pseudorange observation equations and the double-difference carrier phase observation equations as the third satellite differential information. At this point, the computer equipment can construct a double-difference observation equation set from the double-difference carrier phase observation equations and double-difference pseudorange observation equations corresponding to N satellites, solve the double-difference observation equation set, and obtain the position offset corresponding to the terminal.

[0122] In this application, by acquiring first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, the initial estimated position of the terminal is determined based on the first actual observation data and the actual positions of the N satellites. This initial estimated position does not consider system positioning errors, meaning its accuracy is relatively low. Therefore, the computer equipment can determine the virtual observation data between the terminal and each satellite based on the first system positioning error and the terminal's initial estimated position. Differential processing is then performed between the virtual observation data corresponding to each pair of satellites to obtain first satellite differential information between them. Further, differential processing is performed between the first actual observation data corresponding to each pair of satellites to obtain second satellite differential information. Based on this first and second satellite differential information, the initial estimated position of the terminal is adjusted to obtain the terminal's target position. In other words, by performing differential processing on the virtual observation data and the first actual observation data, it is beneficial to reduce the system positioning error at the initial estimated position of the terminal, thereby improving the accuracy of the terminal's position positioning and achieving high-precision positioning.

[0123] Once the computer device obtains the target location of the terminal, the target location of the terminal can be used in scenarios such as determining road conditions, route planning, road design, traffic light settings, hazard warnings, accident judgment, vehicle detection, and location services.

[0124] For example, the target location of the terminal is its three-dimensional coordinates in the world coordinate system. The computer device can perform coordinate transformation on the three-dimensional coordinates of the terminal in the world coordinate system according to the mapping relationship between the world coordinate system and the map coordinate system to obtain the two-dimensional coordinates of the terminal in the map coordinate system. The two-dimensional coordinates of the terminal in the map coordinate system are then sent to the terminal, which marks the two-dimensional coordinates on the electronic map, which is beneficial for users to view the real-time high-precision location of the terminal.

[0125] For example, computer equipment can determine the traffic conditions of the target road based on the terminal's target location. This traffic information includes whether the traffic is flowing smoothly or congested. Furthermore, based on this traffic information, the system can determine the signal light change times for that road and adjust the signal lights accordingly to alleviate congestion. For instance, if the computer detects severe congestion in the east-west direction while north-south traffic is lighter, and further analysis suggests congestion at the western intersection, the following measures can be taken: first, increase the green light time for east-west traffic; second, adjust the traffic lights from the eastern intersection to the western intersection to green until the congestion disappears or traffic is balanced in all directions.

[0126] For example, a computer device can determine adjacent terminals based on the target location of the terminal; obtain first vehicle attribute information of the vehicle corresponding to the terminal, and second vehicle attribute information of the vehicles corresponding to the adjacent terminals; the vehicle attribute information here includes vehicle type, vehicle size, etc., and vehicle types include ambulances, police cars, buses, etc. Further, a first identifier for the vehicle corresponding to the terminal is determined based on the first vehicle attribute information, and a second identifier for the vehicle corresponding to the adjacent terminal is determined based on the second vehicle attribute information. The identifiers are used to mark different vehicles, and the color or shape of the identifiers corresponding to different vehicle types is different. For example, blue identifiers are used to represent ordinary vehicles, and red identifiers are used to represent special vehicles such as ambulances and police cars; or, circular identifiers are used to represent small cars, and rectangular identifiers are used to represent large vehicles. Then, the first identifier can be added to the electronic map based on the target location of the terminal, and the second identifier can be added to the electronic map including the first identifier based on the location of the adjacent terminals, resulting in an updated electronic map. This facilitates timely yielding of emergency vehicles to special vehicles, improving the flexibility and convenience of traffic flow.

[0127] For example, such as Figure 8 As shown, assuming the vehicle corresponding to the terminal is a small vehicle, adjacent terminals can refer to terminals whose distance to the terminal is less than a distance threshold, such as 10m, 20m, etc. The vehicles corresponding to adjacent terminals include both small and large vehicles. Assuming the electronic map of the area where the terminal is located is as follows... Figure 7 The electronic map 80 includes two intersection-type roads. The computer device can use vehicle identifier 82 (i.e., the first identifier) ​​to represent the vehicle corresponding to the terminal, use rectangular identifier 84 to represent large vehicles of adjacent terminal pairs, and use circular identifier 83 to represent small vehicles corresponding to adjacent terminals.

[0128] Optionally, when the user corresponding to the terminal performs zoom processing on the updated electronic map, the computer device can respond to the zoom processing request for the updated electronic map, obtain the zoomed updated electronic map, and perform zoom processing on the first identifier and the second identifier respectively according to the zoomed updated electronic map. For example, after performing zoom processing on the updated electronic map, the zoomed updated electronic map can be obtained, and the first identifier and the second identifier can be zoomed out according to the size of the zoomed updated electronic map.

[0129] Furthermore, because computer equipment can obtain high-precision locations of the terminal and adjacent terminals, it can provide alerts and warnings about potential hazards to vehicles corresponding to those terminals. For example, if a traffic accident occurs in the inner lane traveling east to west, the computer equipment can issue an advance warning to other east-to-west vehicles passing through that area. It can also alert and penalize vehicles illegally occupying bus lanes and emergency lanes. In the event of a traffic accident, it can also track the driving trajectories of the vehicles involved in advance for accident determination and insurance claims. Alternatively, the computer equipment can assist in locating stolen or lost vehicles, contributing to ensuring vehicle safety.

[0130] Optionally, to enhance the confidentiality of the target location corresponding to the terminal, the computer device can encrypt the target location and the corresponding user information of the terminal. This encrypted data can then be stored in a blockchain. The encrypted data can only be retrieved from the blockchain under special circumstances, such as in the event of a traffic accident, where traffic management departments can access the trajectory of the vehicles involved to determine liability and process claims. Ordinary users' terminals only display their own real-time location on the electronic map, along with the locations and speeds of other users in their vicinity, but do not reveal the specific personal information of individual users. On a high-precision map, a point represents a user's vehicle, and the speed of the point's movement represents the vehicle's speed. This facilitates understanding of current traffic conditions while preventing the leakage of personal privacy. With the user's permission, a driving trajectory query and download service limited to the user can also be provided.

[0131] Please see Figure 9 This is a schematic diagram of the structure of a data processing apparatus provided in an embodiment of this application. The aforementioned data processing apparatus can be a computer program (including program code) running on a computer device; for example, the data processing apparatus is application software. This apparatus can be used to execute corresponding steps in the methods provided in the embodiments of this application. Figure 9 As shown, the data processing device may include: an acquisition module 901, a determination module 902, an adjustment module 903, a transformation module 904, a change module 905, and an addition module 906.

[0132] The acquisition module is used to acquire first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; the first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites; the terminal is associated with the target reference station.

[0133] The determination module is used to determine the initial estimated position of the terminal based on the first actual observation data; and to determine the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites.

[0134] The adjustment module is used to adjust the initial estimated position of the terminal based on the positioning error of the first system and the first actual observation data to obtain the target position of the terminal.

[0135] Optionally, the determining module determines the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, including:

[0136] Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error corresponding to the target reference station is determined;

[0137] Based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error is interpolated to obtain the first system positioning error at the initial estimated position of the terminal.

[0138] Optionally, the second actual observation data includes the second actual observation data Qi between the target reference station and satellite Pi, wherein satellite Pi belongs to N satellites, and i is a positive integer less than or equal to N;

[0139] The determining module determines the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, including:

[0140] Based on the actual position of the target reference station and the actual position of the satellite Pi, determine the actual distance between the target reference station and the satellite Pi;

[0141] The difference between the second actual observation data Qi and the actual distance value is determined as the first candidate system positioning error between the target reference station and the satellite Pi;

[0142] The first candidate system positioning errors corresponding to the target reference station and the N satellites are determined as the second system positioning errors corresponding to the target reference station.

[0143] Optionally, the determining module interpolates the second system positioning error based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites to obtain the first system positioning error at the initial estimated position of the terminal, including:

[0144] Obtain the correlation function between the actual location of the target base station, the actual locations of the N satellites, and the positioning error of the second system;

[0145] Based on the correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, a second candidate system positioning error between the terminal and satellite Pi is determined.

[0146] The second candidate system positioning errors corresponding to the terminal and each of the N satellites are determined as the first system positioning error at the initial estimated position of the terminal.

[0147] Optionally, the adjustment module adjusts the initial estimated position of the terminal based on the positioning error of the first system and the first actual observation data to obtain the target position of the terminal, including:

[0148] Based on the positioning error of the first system and the initial estimated position of the terminal, the virtual observation data between the terminal and each of the satellites is determined.

[0149] Differential processing is performed on the virtual observation data corresponding to each pair of satellites to obtain the first satellite differential information between the virtual observation data corresponding to each pair of satellites;

[0150] Differential processing is performed between the first actual observation data corresponding to each pair of satellites to obtain the second satellite differential information between the first actual observation data corresponding to each pair of satellites;

[0151] Based on the differential information from the first and second satellites, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0152] Optionally, the virtual observation data between the terminal and satellite Pi includes a first virtual pseudorange observation value and a first virtual carrier phase observation value, and the virtual observation data between the terminal and satellite Pj includes a second virtual pseudorange observation value and a second virtual carrier phase observation value; both satellite Pi and satellite Pj belong to N satellites, and i and j are both positive integers less than or equal to N; j is different from i.

[0153] The adjustment module performs differential processing on the virtual observation data corresponding to every two satellites to obtain the first satellite differential information between the virtual observation data corresponding to every two satellites, including:

[0154] Determine the first virtual pseudorange observation value to correspond to the first virtual pseudorange observation equation, and determine the second virtual pseudorange observation value to correspond to the second virtual pseudorange observation equation;

[0155] Determine the first virtual carrier phase observation value to correspond to the first virtual carrier phase observation equation, and determine the second virtual carrier phase observation value to correspond to the second virtual carrier phase observation equation;

[0156] Based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined.

[0157] Optionally, the adjustment module determines the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj respectively, based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, including:

[0158] The difference between the first virtual pseudorange observation equation and the second virtual pseudorange observation equation is calculated to obtain the virtual single-difference pseudorange observation equation.

[0159] The difference between the first virtual carrier phase observation equation and the second virtual carrier phase observation equation is calculated to obtain the virtual single-difference carrier phase observation equation.

[0160] The virtual single-difference pseudorange observation equation and the virtual single-difference carrier phase observation equation are determined as the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj, respectively.

[0161] Optionally, the first actual observation data between the terminal and the satellite Pi includes a first actual pseudorange observation value and a first actual carrier phase observation value, and the first actual observation data between the terminal and the satellite Pj includes a second actual pseudorange observation value and a second actual carrier phase observation value; the adjustment module performs differential processing on the first actual observation data corresponding to every two satellites to obtain second satellite differential information between the first actual observation data corresponding to every two satellites, including:

[0162] Determine the first actual pseudorange observation value to correspond to the first actual pseudorange observation equation, and determine the second actual pseudorange observation value to correspond to the second actual pseudorange observation equation;

[0163] The first actual carrier phase observation value corresponds to the first actual carrier phase observation equation, and the second actual carrier phase observation value corresponds to the second actual carrier phase observation equation.

[0164] Based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj is determined.

[0165] Optionally, the adjustment module determines the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively, based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, including:

[0166] The difference between the first actual pseudorange observation equation and the second actual pseudorange observation equation is calculated to obtain the actual single-difference pseudorange observation equation.

[0167] The difference between the first actual carrier phase observation equation and the second actual carrier phase observation equation is calculated to obtain the actual single-difference carrier phase observation equation.

[0168] The actual single-difference pseudorange observation equation and the actual single-difference carrier phase observation equation are determined as the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively.

[0169] Optionally, the adjustment module adjusts the initial estimated position of the terminal based on the first satellite differential information and the second satellite differential information to obtain the target position of the terminal, including:

[0170] Differential processing is performed on the differential information of the first satellite and the differential information of the second satellite to obtain the differential information of the third satellite;

[0171] The position offset is determined based on the differential information from the third satellite;

[0172] The initial estimated position of the terminal is adjusted using the position offset to obtain the target position of the terminal.

[0173] Optionally, the adjustment module performs differential processing on the first satellite differential information and the second satellite differential information to obtain the third satellite differential information, including:

[0174] The virtual single-difference pseudorange observation equation contained in the first satellite differential information and the actual single-difference pseudorange observation equation contained in the second satellite differential information are subtracted to obtain the double-difference pseudorange observation equation.

[0175] The virtual single-difference carrier phase observation equation contained in the first satellite differential information and the actual single-difference carrier phase observation equation contained in the second satellite differential information are subtracted to obtain the double-difference carrier phase observation equation.

[0176] The double-difference pseudorange observation equation and the double-difference carrier phase observation equation are determined as the third satellite differential information.

[0177] Optionally, the target location of the terminal is the three-dimensional coordinates of the terminal in the world coordinate system; the transformation module is used to perform coordinate transformation on the three-dimensional coordinates of the terminal in the world coordinate system to obtain the two-dimensional coordinates of the terminal in the map coordinate system; the two-dimensional coordinates of the terminal in the map coordinate system are sent to the terminal, and the terminal marks the two-dimensional coordinates on the electronic map.

[0178] Optionally, the modification module is used to determine the traffic condition information of the target road where the terminal is located based on the target location of the terminal; determine the state change time of the traffic lights on the target road based on the traffic condition information of the target road; and change the state of the traffic lights on the target road based on the state change time.

[0179] Optionally, an adding module is configured to: determine adjacent terminals that are adjacent to the terminal based on the target location of the terminal; obtain first vehicle attribute information of the vehicle corresponding to the terminal and second vehicle attribute information of the vehicles corresponding to the adjacent terminals; determine a first identifier of the vehicle corresponding to the terminal based on the first vehicle attribute information and a second identifier of the vehicle corresponding to the adjacent terminals based on the second vehicle attribute information; add the first identifier to the electronic map based on the target location of the terminal and add the second identifier to the electronic map including the first identifier based on the location of the adjacent terminals, thereby obtaining an updated electronic map.

[0180] Optionally, a module is added to respond to a zoom processing request for the updated electronic map, obtain the zoomed updated electronic map, and perform zoom processing on the first identifier and the second identifier respectively based on the zoomed updated electronic map.

[0181] According to one embodiment of this application, Figure 3 The steps involved in the data processing method shown can be derived from... Figure 9 The data processing device shown is executed by various modules. For example, Figure 3 Step S101 shown can be performed by Figure 9 The acquisition module 901 in the middle is used to execute, Figure 3 Steps S102 and S103 shown can be derived from... Figure 9 The determination module 902 in the middle is used for execution; Figure 3 Step S104 shown can be performed by Figure 9 The adjustment module 903 in the middle is used to execute it.

[0182] According to one embodiment of this application, Figure 9The modules in the data processing apparatus shown can be individually or entirely combined into one or more units, or some of these units can be further divided into at least two functionally smaller sub-units to achieve the same operation without affecting the technical effects of the embodiments of this application. The above modules are based on logical functional division. In practical applications, the function of one module can be implemented by at least two units, or the function of at least two modules can be implemented by one unit. In other embodiments of this application, the data processing apparatus may also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented collaboratively by at least two units.

[0183] According to one embodiment of this application, a general-purpose computer device, such as a computer, which includes processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM), can perform operations such as... Figure 3 and Figure 6 The computer program (including program code) for each step involved in the corresponding method shown, to construct such... Figure 9 The data processing apparatus shown herein, and the data processing method for implementing the embodiments of this application, are described. The computer program described above may be recorded on, for example, a computer-readable recording medium, loaded onto the aforementioned computing device via the computer-readable recording medium, and run therein.

[0184] In this application, by acquiring first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, the initial estimated position of the terminal is determined based on the first actual observation data and the actual positions of the N satellites. This initial estimated position does not consider system positioning errors, meaning its accuracy is relatively low. Therefore, the computer equipment can determine a first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual positions of the N satellites, and the actual position of the target reference station. This first system positioning error reflects the accuracy of the initial estimated position of the terminal. Furthermore, the initial estimated position of the terminal can be adjusted based on the first system positioning error and the first actual observation data to obtain the target position of the terminal. This improves the accuracy of the terminal's positioning and enables high-precision positioning.

[0185] Please see Figure 10 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Figure 10As shown, the computer device 1000 may include a processor 1001, a network interface 1004, and a memory 1005. Furthermore, the computer device 1000 may also include a user interface 1003 and at least one communication bus 1002. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as at least one disk storage device. Optionally, the memory 1005 may also be at least one storage device located remotely from the processor 1001. Figure 10 As shown, the memory 1005, which is a computer-readable storage medium, may include an operating system, a network communication module, a user interface module, and a device control application.

[0186] exist Figure 10 In the computer device 1000 shown, the network interface 1004 provides network communication functionality; the user interface 1003 is mainly used to provide an input interface; and the processor 1001 can be used to call the device control application stored in the memory 1005 to achieve:

[0187] The system acquires first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites. The first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites. The terminal is associated with the target reference station.

[0188] Based on the first actual observation data and the actual positions of the N satellites, the initial estimated position of the terminal is determined;

[0189] Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, determine the first system positioning error at the initial estimated position of the terminal;

[0190] Based on the positioning error of the first system and the first actual observation data, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0191] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to determine the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, including:

[0192] Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error corresponding to the target reference station is determined;

[0193] Based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error is interpolated to obtain the first system positioning error at the initial estimated position of the terminal.

[0194] Optionally, the second actual observation data includes second actual observation data Qi between the target reference station and satellite Pi, where satellite Pi belongs to N satellites, and i is a positive integer less than or equal to N; the processor 1001 can be used to call the device control application stored in the memory 1005 to determine the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, including:

[0195] Based on the actual position of the target reference station and the actual position of the satellite Pi, determine the actual distance between the target reference station and the satellite Pi;

[0196] The difference between the second actual observation data Qi and the actual distance value is determined as the first candidate system positioning error between the target reference station and the satellite Pi;

[0197] The first candidate system positioning errors corresponding to the target reference station and the N satellites are determined as the second system positioning errors corresponding to the target reference station.

[0198] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to perform interpolation processing on the second system positioning error based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites, to obtain the first system positioning error at the initial estimated position of the terminal, including:

[0199] Obtain the correlation function between the actual location of the target base station, the actual locations of the N satellites, and the positioning error of the second system;

[0200] Based on the correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, a second candidate system positioning error between the terminal and satellite Pi is determined.

[0201] The second candidate system positioning errors corresponding to the terminal and each of the N satellites are determined as the first system positioning error at the initial estimated position of the terminal.

[0202] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to adjust the initial estimated position of the terminal based on the first system positioning error and the first actual observation data, thereby obtaining the target position of the terminal, including:

[0203] Based on the positioning error of the first system and the initial estimated position of the terminal, the virtual observation data between the terminal and each of the satellites is determined.

[0204] Differential processing is performed on the virtual observation data corresponding to each pair of satellites to obtain the first satellite differential information between the virtual observation data corresponding to each pair of satellites;

[0205] Differential processing is performed between the first actual observation data corresponding to each pair of satellites to obtain the second satellite differential information between the first actual observation data corresponding to each pair of satellites;

[0206] Based on the differential information from the first and second satellites, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

[0207] Optionally, the virtual observation data between the terminal and satellite Pi includes a first virtual pseudorange observation value and a first virtual carrier phase observation value; the virtual observation data between the terminal and satellite Pj includes a second virtual pseudorange observation value and a second virtual carrier phase observation value; both satellite Pi and satellite Pj belong to N satellites, where i and j are positive integers less than or equal to N; j is different from i; the processor 1001 can be used to call the device control application stored in the memory 1005 to perform differential processing on the virtual observation data corresponding to each pair of satellites, obtaining the first satellite differential information between the virtual observation data corresponding to each pair of satellites, including:

[0208] Determine the first virtual pseudorange observation value to correspond to the first virtual pseudorange observation equation, and determine the second virtual pseudorange observation value to correspond to the second virtual pseudorange observation equation;

[0209] Determine the first virtual carrier phase observation value to correspond to the first virtual carrier phase observation equation, and determine the second virtual carrier phase observation value to correspond to the second virtual carrier phase observation equation;

[0210] Based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined.

[0211] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to determine the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj respectively, based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, including:

[0212] The difference between the first virtual pseudorange observation equation and the second virtual pseudorange observation equation is calculated to obtain the virtual single-difference pseudorange observation equation.

[0213] The difference between the first virtual carrier phase observation equation and the second virtual carrier phase observation equation is calculated to obtain the virtual single-difference carrier phase observation equation.

[0214] The virtual single-difference pseudorange observation equation and the virtual single-difference carrier phase observation equation are determined as the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj, respectively.

[0215] Optionally, the first actual observation data between the terminal and the satellite Pi includes a first actual pseudorange observation value and a first actual carrier phase observation value, and the first actual observation data between the terminal and the satellite Pj includes a second actual pseudorange observation value and a second actual carrier phase observation value; the processor 1001 can be used to call the device control application stored in the memory 1005 to perform differential processing on the first actual observation data corresponding to each pair of satellites, to obtain the second satellite differential information between the first actual observation data corresponding to each pair of satellites, including:

[0216] Determine the first actual pseudorange observation value to correspond to the first actual pseudorange observation equation, and determine the second actual pseudorange observation value to correspond to the second actual pseudorange observation equation;

[0217] The first actual carrier phase observation value corresponds to the first actual carrier phase observation equation, and the second actual carrier phase observation value corresponds to the second actual carrier phase observation equation.

[0218] Based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj is determined.

[0219] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to determine the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively, based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, including:

[0220] The difference between the first actual pseudorange observation equation and the second actual pseudorange observation equation is calculated to obtain the actual single-difference pseudorange observation equation.

[0221] The difference between the first actual carrier phase observation equation and the second actual carrier phase observation equation is calculated to obtain the actual single-difference carrier phase observation equation.

[0222] The actual single-difference pseudorange observation equation and the actual single-difference carrier phase observation equation are determined as the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively.

[0223] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to adjust the initial estimated position of the terminal based on the first satellite differential information and the second satellite differential information, thereby obtaining the target position of the terminal, including:

[0224] Differential processing is performed on the differential information of the first satellite and the differential information of the second satellite to obtain the differential information of the third satellite;

[0225] The position offset is determined based on the differential information from the third satellite;

[0226] The initial estimated position of the terminal is adjusted using the position offset to obtain the target position of the terminal.

[0227] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to perform differential processing on the first satellite differential information and the second satellite differential information to obtain third satellite differential information, including:

[0228] The virtual single-difference pseudorange observation equation contained in the first satellite differential information and the actual single-difference pseudorange observation equation contained in the second satellite differential information are subtracted to obtain the double-difference pseudorange observation equation.

[0229] The virtual single-difference carrier phase observation equation contained in the first satellite differential information and the actual single-difference carrier phase observation equation contained in the second satellite differential information are subtracted to obtain the double-difference carrier phase observation equation.

[0230] The double-difference pseudorange observation equation and the double-difference carrier phase observation equation are determined as the third satellite differential information.

[0231] Optionally, the target position of the terminal is the three-dimensional coordinates of the terminal in the world coordinate system; the processor 1001 can be used to call the device control application stored in the memory 1005 to realize: performing coordinate transformation on the three-dimensional coordinates of the terminal in the world coordinate system to obtain the two-dimensional coordinates of the terminal in the map coordinate system;

[0232] The two-dimensional coordinates of the terminal in the map coordinate system are sent to the terminal, and the terminal marks the two-dimensional coordinates on the electronic map.

[0233] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to: determine the road condition information of the target road where the terminal is located based on the target location of the terminal;

[0234] The change time of the traffic lights on the target road side is determined based on the road condition information of the target road.

[0235] The state of the traffic lights on the target road side is changed based on the state change time.

[0236] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to: determine the adjacent terminals that are adjacent to the terminal according to the target location of the terminal;

[0237] Obtain the first vehicle attribute information of the vehicle corresponding to the terminal, and the second vehicle attribute information of the vehicle corresponding to the adjacent terminal;

[0238] Based on the first vehicle attribute information, a first identifier of the vehicle corresponding to the terminal is determined, and based on the second vehicle attribute information, a second identifier of the vehicle corresponding to the adjacent terminal is determined.

[0239] The first identifier is added to the electronic map according to the target location of the terminal, and the second identifier is added to the electronic map including the first identifier according to the location of the adjacent terminal, so as to obtain an updated electronic map.

[0240] Optionally, the processor 1001 can be used to call the device control application stored in the memory 1005 to: in response to a zoom processing request for the updated electronic map, obtain the zoomed updated electronic map;

[0241] The first identifier and the second identifier are scaled according to the updated electronic map after the scaling process.

[0242] In this application, by acquiring first actual observation data, second actual observation data, the actual position of the target reference station, and the actual positions of N satellites, the initial estimated position of the terminal is determined based on the first actual observation data and the actual positions of the N satellites. This initial estimated position does not consider system positioning errors, meaning its accuracy is relatively low. Therefore, the computer equipment can determine a first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual positions of the N satellites, and the actual position of the target reference station. This first system positioning error reflects the accuracy of the initial estimated position of the terminal. Furthermore, the initial estimated position of the terminal can be adjusted based on the first system positioning error and the first actual observation data to obtain the target position of the terminal. This improves the accuracy of the terminal's positioning and enables high-precision positioning.

[0243] It should be understood that the computer device 1000 described in the embodiments of this application can execute the foregoing text. Figure 3 and the preceding text Figure 6 The description of the data processing method in the corresponding embodiments can also be performed as described above. Figure 9 The description of the data processing apparatus in the corresponding embodiments will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated.

[0244] Furthermore, it should be noted that this application embodiment also provides a computer-readable storage medium, which stores a computer program executed by the aforementioned data processing device. The computer program includes program instructions, and when the processor executes the program instructions, it can execute the aforementioned... Figure 3 and Figure 6The data processing method described in the corresponding embodiments will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the computer-readable storage medium embodiments related to this application, please refer to the description of the method embodiments of this application.

[0245] As an example, the above program instructions can be deployed and executed on a computer device, or deployed and executed on at least two computer devices in one location, or executed on at least two computer devices distributed in at least two locations and interconnected by a communication network. At least two computer devices distributed in at least two locations and interconnected by a communication network can form a blockchain network.

[0246] The aforementioned computer-readable storage medium can be a data processing apparatus provided in any of the foregoing embodiments or a central storage unit of the aforementioned computer device, such as a hard disk or central storage of the computer device. The computer-readable storage medium can also be an external storage device of the computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the computer device. Furthermore, the computer-readable storage medium may include both the central storage unit and external storage devices of the computer device. The computer-readable storage medium is used to store the computer program and other programs and data required by the computer device. The computer-readable storage medium can also be used to temporarily store data that has been output or will be output.

[0247] The terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish content in different media, rather than to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or device that includes a series of steps or units is not limited to the listed steps or modules, but may optionally include steps or modules not listed, or may optionally include other step units inherent to these processes, methods, apparatuses, products, or devices.

[0248] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the foregoing description. Figure 3 and Figure 4 The data processing method described in the corresponding embodiments will not be repeated here. Furthermore, the beneficial effects of using the same method will also not be repeated. For technical details not disclosed in the embodiments of the computer program product involved in this application, please refer to the description of the method embodiments of this application.

[0249] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0250] The methods and related apparatuses provided in this application are described with reference to the method flowcharts and / or structural diagrams provided in this application. Specifically, each block of the method flowchart and / or structural diagram, as well as combinations of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to create a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate instructions for implementing the process. Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 A schematic diagram of one or more processes and / or structures. Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 A process or multiple processes and / or structures illustrate the steps of the functions specified in one or more boxes.

[0251] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A data processing method, characterized in that, include: Acquire the first actual observation data, the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; The first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites. The terminal is associated with the target base station; Based on the first actual observation data and the actual positions of the N satellites, the initial estimated position of the terminal is determined; Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, determine the first system positioning error at the initial estimated position of the terminal; Based on the positioning error of the first system and the initial estimated position of the terminal, the virtual observation data between the terminal and each of the satellites is determined. Differential processing is performed on the virtual observation data corresponding to each pair of satellites to obtain the first satellite differential information between the virtual observation data corresponding to each pair of satellites; Differential processing is performed between the first actual observation data corresponding to each pair of satellites to obtain the second satellite differential information between the first actual observation data corresponding to each pair of satellites; Based on the differential information from the first and second satellites, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

2. The method as described in claim 1, characterized in that, The step of determining the first system positioning error at the initial estimated position of the terminal based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites includes: Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error corresponding to the target reference station is determined; Based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites, the second system positioning error is interpolated to obtain the first system positioning error at the initial estimated position of the terminal.

3. The method as described in claim 2, characterized in that, The second actual observation data includes the second actual observation data Qi between the target reference station and satellite Pi, wherein satellite Pi belongs to N satellites, and i is a positive integer less than or equal to N; The step of determining the second system positioning error corresponding to the target reference station based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites includes: Based on the actual position of the target reference station and the actual position of the satellite Pi, determine the actual distance between the target reference station and the satellite Pi; The difference between the second actual observation data Qi and the actual distance value is determined as the first candidate system positioning error between the target reference station and the satellite Pi; The first candidate system positioning errors corresponding to the target reference station and the N satellites are determined as the second system positioning errors corresponding to the target reference station.

4. The method as described in claim 3, characterized in that, The step of interpolating the second system positioning error based on the initial estimated position of the terminal, the actual position of the target reference station, and the actual positions of the N satellites to obtain the first system positioning error at the initial estimated position of the terminal includes: Obtain the correlation function between the actual location of the target base station, the actual locations of the N satellites, and the positioning error of the second system; Based on the correlation function, the initial estimated position of the terminal, and the actual position of satellite Pi, a second candidate system positioning error between the terminal and satellite Pi is determined. The second candidate system positioning errors corresponding to the terminal and each of the N satellites are determined as the first system positioning error at the initial estimated position of the terminal.

5. The method as described in claim 1, characterized in that, The virtual observation data between the terminal and satellite Pi includes a first virtual pseudorange observation value and a first virtual carrier phase observation value; the virtual observation data between the terminal and satellite Pj includes a second virtual pseudorange observation value and a second virtual carrier phase observation value; both satellite Pi and satellite Pj belong to N satellites, where i and j are positive integers less than or equal to N; j is different from i. The step of performing differential processing on the virtual observation data corresponding to every two satellites to obtain the first satellite differential information between the virtual observation data corresponding to every two satellites includes: Determine the first virtual pseudorange observation value to correspond to the first virtual pseudorange observation equation, and determine the second virtual pseudorange observation value to correspond to the second virtual pseudorange observation equation; Determine the first virtual carrier phase observation value to correspond to the first virtual carrier phase observation equation, and determine the second virtual carrier phase observation value to correspond to the second virtual carrier phase observation equation; Based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation, the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj is determined.

6. The method as described in claim 5, characterized in that, The step of determining the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj based on the first virtual pseudorange observation equation, the second virtual pseudorange observation equation, the first virtual carrier phase observation equation, and the second virtual carrier phase observation equation includes: The difference between the first virtual pseudorange observation equation and the second virtual pseudorange observation equation is calculated to obtain the virtual single-difference pseudorange observation equation. The difference between the first virtual carrier phase observation equation and the second virtual carrier phase observation equation is calculated to obtain the virtual single-difference carrier phase observation equation. The virtual single-difference pseudorange observation equation and the virtual single-difference carrier phase observation equation are determined as the first satellite differential information between the virtual observation data corresponding to satellite Pi and satellite Pj, respectively.

7. The method as described in claim 6, characterized in that, The first actual observation data between the terminal and the satellite Pi includes a first actual pseudorange observation value and a first actual carrier phase observation value; the first actual observation data between the terminal and the satellite Pj includes a second actual pseudorange observation value and a second actual carrier phase observation value. The step of performing differential processing on the first actual observation data corresponding to every two satellites to obtain the second satellite differential information between the first actual observation data corresponding to every two satellites includes: Determine the first actual pseudorange observation value to correspond to the first actual pseudorange observation equation, and determine the second actual pseudorange observation value to correspond to the second actual pseudorange observation equation; The first actual carrier phase observation value corresponds to the first actual carrier phase observation equation, and the second actual carrier phase observation value corresponds to the second actual carrier phase observation equation. Based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation, the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj is determined.

8. The method as described in claim 7, characterized in that, The step of determining the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj based on the first actual pseudorange observation equation, the second actual pseudorange observation equation, the first actual carrier phase observation equation, and the second actual carrier phase observation equation includes: The difference between the first actual pseudorange observation equation and the second actual pseudorange observation equation is calculated to obtain the actual single-difference pseudorange observation equation. The difference between the first actual carrier phase observation equation and the second actual carrier phase observation equation is calculated to obtain the actual single-difference carrier phase observation equation. The actual single-difference pseudorange observation equation and the actual single-difference carrier phase observation equation are determined as the second satellite differential information between the first actual observation data corresponding to satellite Pi and satellite Pj, respectively.

9. The method as described in claim 8, characterized in that, The step of adjusting the initial estimated position of the terminal based on the first satellite differential information and the second satellite differential information to obtain the target position of the terminal includes: Differential processing is performed on the differential information of the first satellite and the differential information of the second satellite to obtain the differential information of the third satellite; The position offset is determined based on the differential information from the third satellite; The initial estimated position of the terminal is adjusted using the position offset to obtain the target position of the terminal.

10. The method as described in claim 9, characterized in that, The step of performing differential processing on the first satellite differential information and the second satellite differential information to obtain the third satellite differential information includes: The virtual single-difference pseudorange observation equation contained in the first satellite differential information and the actual single-difference pseudorange observation equation contained in the second satellite differential information are subtracted to obtain the double-difference pseudorange observation equation. The virtual single-difference carrier phase observation equation contained in the first satellite differential information and the actual single-difference carrier phase observation equation contained in the second satellite differential information are subtracted to obtain the double-difference carrier phase observation equation. The double-difference pseudorange observation equation and the double-difference carrier phase observation equation are determined as the third satellite differential information.

11. A data processing apparatus, characterized in that, include: The acquisition module is used to acquire the first actual observation data, the second actual observation data, the actual position of the target reference station, and the actual positions of N satellites; The first actual observation data is obtained by the terminal communicating with each of the N satellites, and the second actual observation data is obtained by the target reference station communicating with each of the N satellites. The terminal is associated with the target base station; The determination module is used to determine the initial estimated position of the terminal based on the first actual observation data; Based on the second actual observation data, the actual position of the target reference station, and the actual positions of the N satellites, determine the first system positioning error at the initial estimated position of the terminal; The adjustment module is used to determine the virtual observation data between the terminal and each of the satellites based on the positioning error of the first system and the initial estimated position of the terminal. Differential processing is performed between the virtual observation data corresponding to each pair of satellites to obtain first satellite differential information between the virtual observation data corresponding to each pair of satellites; differential processing is performed between the first actual observation data corresponding to each pair of satellites to obtain second satellite differential information between the first actual observation data corresponding to each pair of satellites; based on the first satellite differential information and the second satellite differential information, the initial estimated position of the terminal is adjusted to obtain the target position of the terminal.

12. A computer device, characterized in that, include: Processor and memory; The processor is connected to a memory; the memory is used to store program code, and the processor is used to occupy the program code to execute the method as described in any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method as described in any one of claims 1-10.

14. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-10.

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