A positioning method and related apparatus

Abstract

The embodiment of the application provides a positioning method and a related device, which can be applied to fields including but not limited to map, navigation, Internet of Vehicles, vehicle-road cooperation and instant messaging, and is used for improving positioning accuracy in a scene where satellite signals are seriously blocked and a multi-path effect is obvious. The method comprises the following steps: obtaining a rough position of a terminal to be positioned; obtaining a satellite signal carrier-to-noise ratio; sending the rough position to a city three-dimensional model server; receiving building three-dimensional information calculated by the city three-dimensional model server according to the rough position; calculating a satellite visibility probability of a target satellite according to the rough position, the building three-dimensional information and the satellite signal carrier-to-noise ratio, the target satellite being a corresponding satellite receiving a satellite signal by the terminal to be positioned, the satellite visibility probability being used for indicating a probability value of the target satellite being in a visible state relative to the terminal to be positioned; and calculating positioning information of the terminal to be positioned by using the satellite visibility probability and real-time dynamic RTK differential positioning.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a positioning method and related apparatus. Background Technology

[0002] A Global Navigation Satellite System (GNSS), also known as a global navigation satellite system, 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 systems include the US Global Positioning System (GPS), China's BeiDou Navigation Satellite System (BDS), GLONASS (an abbreviation of the Russian word for Global Navigation Satellite System), and Galileo. GPS, developed by the US, was the earliest and remains the most technologically advanced positioning system. With the recent widespread availability of BDS and GLONASS services in the Asia-Pacific region, and especially the rapid development of BDS in the civilian sector, satellite navigation systems are now widely used in communications, personnel tracking, consumer entertainment, surveying and mapping, time synchronization, vehicle monitoring and management, and automotive navigation and information services.

[0003] Although the positioning accuracy of GNSS has improved significantly, the real-time positioning accuracy for civilian users is generally only around 10 meters when using GNSS satellite signals alone, which cannot meet users' needs for higher precision positioning. Furthermore, the presence of tall buildings in cities leads to severe satellite signal blockage and significant multipath effects, further limiting users' positioning accuracy. Therefore, there is an urgent need for a positioning method that improves positioning accuracy. Summary of the Invention

[0004] This application provides a positioning method and related apparatus to improve positioning accuracy in scenarios with severe satellite signal obstruction and significant multipath effects.

[0005] In view of this, this application provides a positioning method, comprising: obtaining a general location of a terminal to be positioned; obtaining the satellite signal carrier-to-noise ratio of the satellite signal received by the terminal to be positioned; sending the general location to a city 3D model server; receiving 3D building information sent by the city 3D model server, the 3D building information being calculated by the city 3D model server based on the general location; calculating the satellite visibility probability of a target satellite based on the general location, the 3D building information, and the satellite signal carrier-to-noise ratio, the target satellite being the satellite corresponding to the satellite signal received by the terminal to be positioned, the satellite visibility probability being used to indicate the probability value that the target satellite is visible relative to the terminal to be positioned; and calculating the positioning information of the terminal to be positioned using the satellite visibility probability and real-time dynamic RTK differential positioning, the positioning information including the longitude, latitude, and altitude of the location of the terminal to be positioned.

[0006] Another aspect of this application provides a positioning device, comprising: an acquisition module for acquiring the approximate location of a terminal to be positioned; acquiring the satellite signal carrier-to-noise ratio (SNR) of satellite signals received by the terminal to be positioned; a transmission module for transmitting the approximate location to a city 3D model server; a receiving module for receiving 3D building information transmitted by the city 3D model server, the 3D building information being calculated by the city 3D model server based on the approximate location; a processing module for calculating the satellite visibility probability of a target satellite based on the approximate location, the 3D building information, and the satellite signal carrier-to-noise ratio, the target satellite being the satellite corresponding to the satellite signals received by the terminal to be positioned, the satellite visibility probability being used to indicate the probability value that the target satellite is visible relative to the terminal to be positioned; and calculating the positioning information of the terminal to be positioned using the satellite visibility probability and real-time dynamic RTK differential positioning, the positioning information including the longitude, latitude, and altitude of the location of the terminal to be positioned.

[0007] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to calculate satellite visualization distribution information based on the three-dimensional information of the building and the approximate location. The satellite visualization distribution information is used to indicate the visualization status of the corresponding satellites from which the terminal to be located can receive satellite signals.

[0008] The satellite's visibility probability is calculated based on its signal carrier-to-noise ratio and its visual distribution information.

[0009] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to determine the elevation angle and azimuth angle of the target satellite relative to the terminal to be located based on the approximate location and the position of the target satellite;

[0010] When it is determined from the three-dimensional information of the building that there are no buildings obstructing the view at that azimuth angle, the target satellite is determined to be in a visible state relative to the terminal to be located;

[0011] When it is determined from the three-dimensional information of the building that there is a building blocking the view at that azimuth angle, the intersection point K between the building and the location of the terminal to be located, as well as the coordinate information of the intersection point K, are calculated based on the three-dimensional information of the building and the azimuth angle.

[0012] Based on the coordinate information of the intersection point K, the elevation angle and azimuth angle of the target satellite relative to the intersection point K are calculated;

[0013] When the elevation angle of the target satellite relative to the terminal to be located is less than or equal to the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be out of sight relative to the terminal to be located.

[0014] When the elevation angle of the target satellite relative to the terminal to be positioned is greater than the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be in a visible state relative to the terminal to be positioned.

[0015] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to obtain the visual status values ​​of N satellites based on the satellite visualization distribution information, where N is the number of satellites connected to the terminal to be located.

[0016] Calculate the carrier-to-noise ratio status values ​​of the N satellites based on the carrier-to-noise ratio of the satellite signal;

[0017] The satellite visibility probability of the N satellites is calculated based on the visibility information of the N satellites and the carrier-to-noise ratio status value of the N satellites.

[0018] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to calculate the satellite observation weight matrix based on the satellite visibility probability and the satellite signal-to-noise ratio, and to construct RTK difference equations based on the satellite observation data;

[0019] The positioning information of the terminal to be positioned is obtained by calculating the satellite observation weight matrix and the RTK difference equation using the Gauss-Newton iterative method.

[0020] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to construct a terminal pseudorange observation weight matrix and a terminal carrier phase observation weight matrix based on the satellite visibility probability and the satellite signal-to-noise ratio, and the terminal pseudorange observation weight matrix and the terminal carrier phase observation weight matrix serve as the satellite observation weight matrix.

[0021] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to construct the RTK differential positioning constraint equation based on the pseudorange between the terminal to be positioned and the satellite and the carrier phase observation values ​​between the terminal to be positioned and the satellite.

[0022] Based on the RTK differential positioning constraint equation, an RTK differential constraint correction equation is constructed, wherein the RTK differential constraint correction equation and the RTK differential positioning constraint equation are used as the RTK differential equation.

[0023] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to determine the estimation parameter correction equation based on the satellite observation weight matrix and the RTK difference equation;

[0024] Obtain the initial estimated parameter x0;

[0025] The estimated parameter correction Δx is obtained by iterative calculation using the Gauss-Newton iterative method and the equation for the correction of the estimated parameter. k And adjust the amount Δx according to the estimated parameter. k Iteratively update the initial estimated parameter x0 to obtain the estimated parameter x. k , where k is used to indicate the number of iterations;

[0026] In the estimated parameter x k When the preset conditions are met, output the estimated parameter x. k The estimated parameter x k This serves as the location information for the terminal to be located.

[0027] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to determine the estimation parameter correction equation based on the terminal pseudorange observation weight matrix, the terminal carrier phase observation weight matrix, the RTK differential positioning constraint equation, and the RTK differential constraint correction equation.

[0028] In one possible design, in another implementation of another aspect of the embodiments of this application, the processing module is specifically used to add the initial estimated parameter x0 to the estimated parameter correction amount Δx1 to obtain the estimated parameter x1 after the first iteration update;

[0029] Add the estimated parameter x1 to the estimated parameter correction amount Δx2 to obtain the estimated parameter x2 after the second iteration update;

[0030] And so on, the estimated parameter x is obtained. k .

[0031] In one possible design, in another implementation of another aspect of the embodiments of this application, the acquisition module is specifically used to acquire ephemeris and satellite observation data sent by the Continuously Operating Reference Station System (CORS), wherein the satellite observation data is satellite observation data relative to the terminal to be located.

[0032] The approximate location was obtained based on the ephemeris and satellite observation data.

[0033] In one possible design, in another implementation of another aspect of the embodiments of this application, the acquisition module is specifically used to acquire the ephemeris and satellite observation data sent by the terminal to be located, wherein the satellite observation data is satellite observation data relative to the terminal to be located.

[0034] The approximate location was obtained based on the ephemeris and satellite observation data.

[0035] This application also provides a computer device, including: a memory, a processor, and a bus system;

[0036] The memory is used to store programs;

[0037] The processor is used to execute programs in memory, and the processor is used to execute the methods mentioned above according to the instructions in the program code;

[0038] Bus systems are used to connect memory and processor to enable communication between them.

[0039] Another aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the methods described above.

[0040] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the above aspects.

[0041] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: After obtaining the approximate location of the terminal to be located, the positioning device obtains the three-dimensional information of the buildings in the environment where the terminal to be located is located, and determines the satellite visibility probability based on the three-dimensional information of the buildings and the carrier-to-noise ratio of the satellite signal received by the terminal to be located, that is, determines whether there is any obstruction between the terminal to be located and the satellite, thereby determining the accuracy of the satellite signal. Finally, the final positioning information of the terminal to be located is calculated based on the accuracy of the satellite signal and RTK differential positioning. In this way, the accuracy of the satellite signal received by the terminal to be located is fused with the RTK differential positioning calculation, which improves the terminal's planar positioning accuracy. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the CORS system architecture;

[0043] Figure 2 A schematic diagram of a system architecture for RTK differential localization;

[0044] Figure 3 This is a schematic diagram of the architecture of a communication system in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of the architecture of a communication system in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of one embodiment of the positioning method in this application;

[0047] Figure 6 This is a scene diagram illustrating the three-dimensional information of a building in an embodiment of this application;

[0048] Figure 7 This is a scene diagram illustrating the three-dimensional information of a building and the location of a terminal device in an embodiment of this application;

[0049] Figure 8 This is a schematic diagram of one embodiment of satellite visualization distribution information in this application.

[0050] Figure 9 This is a schematic diagram of another embodiment of satellite visualization distribution information in this application.

[0051] Figure 10 This is a schematic diagram of one embodiment of the positioning device in this application;

[0052] Figure 11 This is a schematic diagram of another embodiment of the positioning device in this application;

[0053] Figure 12 This is a schematic diagram of another embodiment of the positioning device in this application. Detailed Implementation

[0054] This application provides a positioning method and related apparatus to improve positioning accuracy in scenarios with severe satellite signal obstruction and significant multipath effects.

[0055] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “corresponding to,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0056] For ease of understanding, the following is a description of some of the terms used in this application:

[0057] Location-based services (LBS) are location-related services provided by wireless operators to users. LBS utilizes various positioning technologies to determine the current location of a device and provides 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. It leverages mobile internet service platforms for data updates and interaction, enabling users to access relevant services through spatial positioning.

[0058] Global Navigation Satellite System (GNSS): A GNSS system 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 systems include the US Global Positioning System (GPS), China's BeiDou Navigation Satellite System (BDS), GLONASS (an abbreviation of the Russian word "Global Navigation Satellite System"), and Galileo. GPS was the earliest and remains the most technologically advanced positioning system. With the recent widespread availability of BDS and GLONASS services in the Asia-Pacific region, especially the rapid development of BDS in the civilian sector, satellite navigation systems are now widely used in communications, personnel tracking, consumer entertainment, surveying and mapping, time synchronization, vehicle monitoring and management, and automotive navigation and information services.

[0059] Satellite positioning equipment: Electronic devices used to track and process satellite signals, and to measure the geometric distance between the device and the satellite (pseudorange observations) and the Doppler effect of the satellite signal (Doppler observations). Satellite positioning equipment typically includes modules such as antennas, satellite signal following loops, and baseband signal processing. Mobile terminals integrating satellite positioning equipment calculate the current coordinates of the mobile terminal based on pseudorange and Doppler observations. Satellite positioning equipment is widely used in fields such as map navigation, surveying, location services, and deep space exploration, such as smartphone map navigation, high-precision geodesy, and civil aviation. The observations output by satellite positioning equipment include pseudorange, pseudorange rate, and accumulated delta range (ADR). Pseudorange measures the geometric distance from the satellite to the positioning device; pseudorange rate measures the Doppler effect caused by the relative motion between the positioning device and the satellite; and ADR measures the change in the geometric distance between the satellite and the positioning device.

[0060] Continuously Operating Reference Stations (CORS) system: This is a network-based reference station that transmits and receives differential data, such as GPS differential data and GNSS differential data, over a network. After accessing CORS, users can achieve differential positioning of GPS rover stations without setting up a separate GPS reference station. Accessing the CORS system requires a network communication protocol; the Networked Transport of RTCM via Internet Protocol (Ntrip) is one of the communication protocols of the CORS system. The CORS system is a product of the comprehensive and in-depth integration of advanced technologies such as satellite positioning, computer network technology, and digital communication technology. The CORS system consists of five parts: a reference station network, a data processing center, a data transmission system, a positioning and navigation data broadcasting system, and a user application system. Each reference station and the monitoring and analysis center are connected through the data transmission system to form a dedicated network. An exemplary architecture can be shown as follows... Figure 1 As shown, the CORS system includes a ground reference station system, GNSS navigation satellites, a positioning service platform, and user terminals. The user terminals can include vehicle-mounted terminals, smartphones, aircraft, etc. After acquiring raw satellite observation data from the GNSS navigation satellites, the ground reference station system transmits this raw satellite observation data to the positioning service platform; simultaneously, the positioning service platform can also acquire data transmitted by the user terminals or transmit data to the user terminals. Optionally, the positioning service platform and the user terminals can also perform location reporting services.

[0061] RTK differential positioning technology is a real-time dynamic positioning technology based on carrier phase observations. Its basic principle is as follows: a GPS receiver is placed on a base station for observation. Based on the known precise coordinates of the base station, the distance correction value from the base station to the satellite is calculated, and the base station transmits the correction data in real time. The user receiver, while performing GPS observations, also receives the correction value transmitted by the base station and corrects its positioning results, thereby improving positioning accuracy. Therefore, differential positioning technology can provide real-time three-dimensional positioning results of the measurement station in a specified coordinate system with centimeter-level accuracy. Compared to traditional single-point positioning, RTK differential positioning can eliminate the effects of atmospheric delay errors, satellite clock errors, and terminal receiver clock errors. In an exemplary scheme, the difference between this RTK differential positioning and single-point positioning can be as follows: Figure 2As shown, in single-point positioning, the vehicle-mounted terminal receives satellite observation data transmitted by the GNSS navigation satellite and then uses this data to determine its location. If the vehicle-mounted terminal is still moving during the positioning process, the location information obtained from the received observation data may have an error of 5-20 meters compared to the actual location information of the vehicle-mounted terminal. However, when using RTK differential positioning, the vehicle-mounted terminal performs error elimination between the received satellite observation data and the satellite observation data received by the ground reference station. In this case, the location information obtained by the vehicle-mounted terminal may have an error of only 3-5 centimeters compared to the actual location information of the vehicle-mounted terminal. This error can include space system errors, propagation errors, and environmental errors.

[0062] The method provided in this application is applicable to, for example, Figure 3 The communication system shown, Figure 3This is a schematic diagram of the communication system architecture in an embodiment of this application. As shown in the figure, the communication system includes a city 3D model server, a CORS system, terminal devices, and satellites. The positioning client is deployed on the terminal device. The positioning client can run on the terminal device via a browser or as a standalone application (APP). The specific form of the positioning client is not limited here. The server involved in this application can be an independent physical server, a server cluster composed of multiple physical servers, or a distributed system. It can also be 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 networks (CDNs), and big data and artificial intelligence platforms. The terminal device can be a smartphone, tablet, laptop, PDA, personal computer, smart TV, smartwatch, in-vehicle device, wearable device, or vehicle terminal, but is not limited to these. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, which is not limited here. The number of servers and terminal devices is also not limited. The solution provided in this application can be implemented independently by the terminal device, independently by the server, or jointly by the terminal device and the server; this application does not impose any specific limitations on this. In this application, the terminal device integrates a Global Navigation Satellite System (GNSS) positioning chip for processing satellite signals and performing precise user positioning, and is currently widely used in location services. Typically, the terminal device includes satellite positioning equipment and can acquire satellite observation values. The satellite observation values ​​output by the terminal device include pseudorange, pseudorange rate, and accumulated delta range (ADR). Pseudorange measures the geometric distance from the satellite to the positioning device; the pseudorange rate measures the Doppler effect caused by the relative motion between the positioning device and the satellite; and ADR measures the change in the geometric distance between the satellite and the positioning device.

[0063] based on Figure 3The specific process of the positioning method of this application for the communication system shown can be as follows: The satellite or the CORS system sends satellite observation data to the terminal device, wherein the satellite observation data includes base station observation information, pseudorange observation information, carrier phase observation information, carrier-to-noise ratio observation information, and Doppler observation information; the terminal device determines its approximate location based on the satellite observation data; then the terminal device can send its approximate location to the city 3D model server according to the NTRIP protocol, and obtain the 3D building information based on the approximate location of the terminal device from the city 3D model server; the terminal device calculates the satellite visibility probability based on the 3D building information and the satellite signal carrier-to-noise ratio; finally, the terminal device fuses the satellite visibility probability and RTK differential positioning technology to determine the positioning information of the terminal device.

[0064] It is understood that, in this application, the positioning method can also be applied to, for example... Figure 4 The communication system shown, Figure 4This is a schematic diagram of the communication system architecture in an embodiment of this application. As shown in the figure, the communication system includes a city 3D model server, a CORS system, a terminal to be located, satellites, and a positioning device. The positioning client is deployed on the positioning device. The positioning client can run on the positioning device via a browser or as a standalone application (APP). The specific form of the positioning client is not limited here. The server involved in this application can be an independent physical server, a server cluster composed of multiple physical servers, or a distributed system. It can also be 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 networks (CDN), and big data and artificial intelligence platforms. The terminal to be located can be a smartphone, tablet, laptop, PDA, personal computer, smart TV, smartwatch, in-vehicle device, wearable device, or vehicle terminal, but is not limited to these. The terminal to be located and the server can be directly or indirectly connected via wired or wireless communication, which is not limited here. The number of servers and terminals to be located is also not limited. The positioning device can be a separate terminal device independent of the terminal to be positioned, or it can be a separate positioning server independent of the terminal to be positioned. The positioning device and the terminal to be positioned can be directly or indirectly connected via wired or wireless communication. The solution provided in this application can be completed by the terminal to be positioned and the positioning device working together; this application does not specifically limit this. In this application, the positioning device and the terminal to be positioned integrate a Global Navigation Satellite System (GNSS) positioning chip for processing satellite signals and performing precise user positioning, which is currently widely used in location services. Typically, the terminal device includes a satellite positioning device and can acquire satellite observation values. The satellite observation values ​​output by the terminal device include pseudorange, pseudorange rate, and ADR; pseudorange measures the geometric distance from the satellite to the positioning device; the pseudorange rate measures the Doppler effect caused by the relative motion between the positioning device and the satellite; and ADR measures the change in the geometric distance between the satellite and the positioning device.

[0065] based on Figure 4The specific process of the positioning method of this application for the communication system shown can be as follows: The satellite or the CORS system sends satellite observation data to the terminal to be positioned, wherein the satellite observation data includes base station observation information, pseudorange observation information, carrier phase observation information, carrier-to-noise ratio observation information, and Doppler observation information; the terminal to be positioned determines its approximate location based on the satellite observation data; then the terminal to be positioned sends the approximate location to the positioning device; then the positioning device sends the approximate location of the terminal to the city 3D model server according to the NTRIP protocol, and obtains the 3D building information based on the approximate location of the terminal to be positioned from the city 3D model server; the positioning device calculates the satellite visibility probability based on the 3D building information and the satellite signal carrier-to-noise ratio; finally, the positioning device fuses the satellite visibility probability and RTK differential positioning technology to determine the positioning information of the terminal to be positioned; the positioning device sends the positioning information of the terminal to be positioned to the terminal to be positioned.

[0066] It is understandable that when this positioning method is applied to a positioning device independent of the terminal to be positioned, the positioning device can also directly receive the approximate location, three-dimensional building information, ephemeris data, and satellite observation data sent by the terminal device. That is, as long as the positioning of the terminal to be positioned can be achieved, the specific implementation method is not limited here.

[0067] Based on the above description, the positioning method in this application is described below. Please refer to [link / reference needed] for details. Figure 5 As shown, in this embodiment, the terminal to be located is used as the subject of the location execution. The term "terminal device" will be used to refer to the terminal to be located in the following description. One embodiment of the location method in this application includes:

[0068] 501. The terminal device sends a request message to the CORS system, which requests the CORS system to broadcast ephemeris and satellite observation data.

[0069] When the terminal device is performing positioning, it sends a request message to the CORS system. At this time, the request message is used to request the ephemeris of the current positioning satellite and satellite observation data from the CORS system.

[0070] In this embodiment, the ephemeris refers to the precise position or trajectory table of celestial bodies that changes over time in GPS measurements; it is a function of time. In specific applications, there is a distinction between "broadcast ephemeris" and post-processed "precise ephemeris".

[0071] The satellite observation data can include base station observation information, pseudorange observation information, carrier phase observation information, carrier-to-noise ratio observation information, and Doppler observation information.

[0072] 502. The terminal device receives ephemeris and satellite observation data sent by the CORS system.

[0073] After receiving the request message from the terminal device, the CORS system sends the current ephemeris and satellite observation data to the terminal device.

[0074] 503. The terminal device determines its approximate location based on the ephemeris and satellite observation data.

[0075] After acquiring the ephemeris and satellite observation data, the terminal device uses the pseudorange observation value from the satellite observation data and the approximate position calculated by least squares from the ephemeris.

[0076] It is understandable that this approximate location can also be interpreted as an initial positioning information determined by the terminal device based on the ephemeris and satellite observation data. For example, the actual current location of the terminal device may be A, while the approximate location may be B, where the distance between location B and location A differs by M meters.

[0077] 504. The terminal device obtains the satellite signal carrier-to-noise ratio of the satellite signals it receives.

[0078] In this embodiment, carrier-to-noise ratio (SNR) is a standard measurement used to indicate the relationship between the carrier and carrier noise, usually denoted as CNR or C / N (dB). A high carrier-to-noise ratio can provide better network reception, better network communication quality, and better network reliability. In carrier-to-noise ratio, the carrier power is represented by Pc, and the noise power is represented by Pn. Therefore, the formula for the decibel unit of carrier-to-noise ratio is: C / N = 10lg(Pc / Pn). Carrier-to-noise ratio, similar to signal-to-noise ratio, is a measure of network channel quality. However, signal-to-noise ratio is typically used in practical applications, while carrier-to-noise ratio is used in satellite communication systems. Optimal antenna arrangement yields the optimal carrier-to-noise ratio value.

[0079] As described above, after receiving the satellite signal sent by the navigation satellite, the terminal device can obtain the satellite signal carrier-to-noise ratio of the satellite signal through the carrier power and the noise-to-interval power of the satellite signal.

[0080] 505. The terminal device sends the approximate location to the city's 3D model server.

[0081] The terminal device sends the approximate location to the city's 3D model server via the NTRIP protocol or other possible communication protocols.

[0082] It is understandable that the city's 3D model is a three-dimensional model created based on two-dimensional geographic information. Through program development, it has evolved into a 3D geographic information system. This system can be used to analyze the city's natural and architectural elements, and users can obtain a realistic and intuitive virtual urban environment experience through interactive operations. The city's 3D model server in this embodiment can also be understood as a city's 3D model database.

[0083] 506. The city's 3D model server determines the 3D information of buildings based on the approximate location.

[0084] After obtaining the approximate location of the terminal device, the city's 3D model server searches the database for the area where that approximate location is situated, and then retrieves the 3D information of various buildings near that location. This building 3D information includes the coordinates, length, width, height, area, volume, azimuth, slope, turning radius, and other information for each building. Figure 6 As shown, the approximate location of the terminal device is B. The city 3D model server obtains the surrounding buildings C, D, and E based on location B. Therefore, the 3D information of these buildings will include the 3D information of buildings C, D, and E.

[0085] 507. The terminal device receives the 3D building information sent by the city's 3D model server.

[0086] After obtaining the 3D information of buildings based on the approximate location of the terminal device, the city's 3D model server feeds the 3D information of the buildings back to the terminal device.

[0087] 508. The terminal device calculates the satellite visibility probability of the target satellite based on the approximate location, the three-dimensional information of the building and the satellite signal carrier-to-noise ratio, wherein the target satellite is the satellite corresponding to the satellite signal received by the terminal device, and the satellite visibility probability is used to indicate the probability value that the target satellite is visible to the terminal device.

[0088] The terminal device can receive satellite signals from multiple navigation satellites. Therefore, in this embodiment, the terminal device can calculate the satellite visibility probability of each satellite based on its approximate location, three-dimensional information of the building, and the satellite signal carrier-to-noise ratio of multiple satellites.

[0089] In one possible implementation, the terminal device calculates the apparent satellite probability of the target satellite based on the approximate location, the three-dimensional information of the building, and the satellite signal-to-noise ratio. This can be achieved using the following technical solution:

[0090] The terminal device calculates satellite visualization distribution information based on the three-dimensional information of the building and the approximate location. This satellite visualization distribution information is used to indicate the visualization status of the corresponding satellites that the terminal device can receive satellite signals from. Then, the terminal device calculates the visibility probability of the satellite based on the satellite signal carrier-to-noise ratio and the satellite visualization distribution information.

[0091] Optionally, when the terminal device calculates the satellite visualization distribution information based on the three-dimensional information of the building and the approximate location, the following exemplary scheme can be adopted:

[0092] When it is determined that there are no buildings obstructing the azimuth angle based on the building's 3D information, the target satellite is considered visible to the terminal to be positioned. When it is determined that there are buildings obstructing the azimuth angle based on the building's 3D information and the azimuth angle, the intersection point K of the building and the terminal to be positioned, as well as the coordinates of the intersection point K, are calculated. Based on the coordinates of the intersection point K, the elevation angle and azimuth angle of the target satellite relative to the intersection point K are calculated. When the elevation angle of the target satellite relative to the terminal to be positioned is less than or equal to the elevation angle of the target satellite relative to the intersection point K, the target satellite is considered invisible to the terminal to be positioned. When the elevation angle of the target satellite relative to the terminal to be positioned is greater than the elevation angle of the target satellite relative to the intersection point K, the target satellite is considered visible to the terminal to be positioned.

[0093] Optionally, when calculating the satellite visibility probability based on the satellite's visualized distribution information and the satellite's signal-to-noise ratio, the terminal device can employ the following technical solutions:

[0094] The terminal device obtains the visibility status values ​​of N satellites based on the satellite visualization distribution information, where N is the number of satellites connected to the terminal to be located; calculates the carrier-to-noise ratio status values ​​of the N satellites based on the satellite signal carrier-to-noise ratio; and calculates the satellite visibility probability of the N satellites based on the visibility information of the N satellites and the carrier-to-noise ratio status values ​​of the N satellites.

[0095] In one exemplary scenario, the terminal device can calculate the satellite's visible distribution information as follows:

[0096] Assume the coordinates of terminal device i in the Earth-Centered, Earth-Fixed (ECEF) coordinate system are r. i The ECEF coordinates of the satellite j corresponding to the satellite signal received by terminal device i are r. j At this point, the elevation angle and azimuth angle of satellite j relative to terminal device i can be calculated using the following formulas (1), (2), and (3), i.e.

[0097]

[0098]

[0099]

[0100] in, Let $j$ be the elevation angle of satellite $j$ relative to terminal device $i$. Let be the azimuth angle of satellite j relative to terminal device i; after solving for the elevation angle and azimuth angle of the terminal device relative to the satellite, based on the approximate location of the terminal device and the three-dimensional information of buildings based on the approximate location of the terminal device, if the terminal device is at the azimuth angle... If there are no buildings obstructing the view, then satellite j is visible to the terminal device; if the terminal device is in the azimuth angle... If there is a building obstructing the view, a 3D model of the building is determined based on the building's 3D information, and the azimuth angle between the highest edge of the building and the terminal equipment is calculated based on the 3D model of the building. The intersection point K of the rays, such as Figure 7 As shown. Assume the coordinates of the intersection point K are r. k The elevation angle and azimuth angle of satellite j relative to the intersection point K are calculated according to the following formulas (4), (5) and (6), i.e.

[0101]

[0102]

[0103]

[0104] In the formula, Let J be the altitude angle of satellite j relative to the intersection point K. Let be the azimuth angle of satellite j relative to the intersection point K, and like Figure 7 As shown, point K is the azimuth angle between the highest edge of the building and the terminal equipment. At the intersection of the rays, i and j represent the terminal equipment and the satellite, 2 and 3 represent the visible area, and 1 and 4 represent the invisible area;

[0105] when At that time, satellite j is visible to terminal device i;

[0106] when At that time, satellite j is invisible to terminal device i;

[0107] By performing the above processing on all satellites whose satellite signals are received by the terminal device, preliminary satellite visualization distribution information can be obtained; the above steps can yield satellite visualization distribution information centered on the terminal device, such as... Figure 8 and Figure 9 As shown. When the satellite is located Figure 8 The white area in the right-hand image is visible when the satellite is located... Figure 8 In the right-hand image, the shaded area is invisible, and the black line represents the boundary of the satellite's visible area. Figure 9 Medium light gray (e.g.) Figure 9 Satellites numbered 14, 88, 31, 10, and 93 on the right are visible satellites; dark gray satellites (e.g.,...) Figure 9 Satellites numbered 12, 15, 25, and 95 on the right are invisible satellites.

[0108] Assuming the terminal device receives satellite signals from N satellites, the visible information of N satellites can be calculated using the steps described above. in,

[0109] Meanwhile, assuming the carrier-to-noise ratio of the signals from N satellites is The satellite visibility probability can then be calculated based on the visibility information Ω of N satellites and the carrier-to-noise ratio Φ.

[0110]

[0111] in,

[0112]

[0113] Among them, the to This information is used to indicate the visibility of N target satellites. It takes a value of 1 when the target is visible and a value of 0 when it is not. to The satellite signal carrier-to-noise ratio (CNR) used to indicate N target satellites, where a0, a1, a2, c, d, and s are... min and the s max The given constant value is denoted as .

[0114] It is understood that in this embodiment, there is no time limitation on the acquisition of the building's three-dimensional information and the satellite signal carrier-to-noise ratio (CNR). That is, the action of acquiring the building's three-dimensional information can be performed simultaneously with the action of measuring the satellite signal CNR; alternatively, the action of acquiring the building's three-dimensional information can be performed first, followed by the action of measuring the satellite signal CNR; or the action of measuring the satellite signal CNR can be performed first, followed by the action of acquiring the building's three-dimensional information. As long as the terminal device can acquire the building's three-dimensional information and the satellite signal CNR, the specific circumstances are not limited here.

[0115] 509. The terminal device determines its positioning information based on the satellite visibility probability and the RTK differential positioning technology. The positioning information includes the longitude, latitude, and altitude of the terminal device's location.

[0116] In this embodiment, after the terminal device obtains the satellite visibility probability, it fuses the satellite visibility probability and RTK differential positioning technology to determine the positioning information of the terminal device. The positioning information includes the longitude, latitude and altitude of the terminal device's location.

[0117] In one exemplary scheme, the specific process by which the terminal device determines its positioning information by fusing the satellite visibility probability and the RTK differential positioning technology can be as follows:

[0118] The terminal device calculates the satellite observation weight matrix based on the satellite's visibility probability and the satellite's signal-to-noise ratio, and constructs an RTK difference equation based on the satellite observation data. Then, the terminal device uses the Gauss-Newton iterative method to calculate the satellite observation matrix and the RTK difference equation to obtain the terminal device's positioning information.

[0119] It is understandable that an exemplary scheme for the terminal device to calculate the satellite observation weight matrix based on the satellite's visibility probability and the satellite's signal-to-noise ratio can be as follows:

[0120] The terminal device constructs a pseudorange observation weight matrix and a carrier phase observation weight matrix based on the satellite's visibility probability and signal-to-noise ratio. These pseudorange and carrier phase observation weight matrices serve as the satellite's observation weight matrix. Specifically, the pseudorange observation weight matrix is ​​as follows:

[0121]

[0122] The terminal carrier phase observation weight matrix is:

[0123]

[0124] Among them, the Used to indicate the pseudorange observation weight matrix of the terminal, Used to indicate the carrier phase observation weight matrix of the terminal, to The satellite signal carrier-to-noise ratio used to indicate N target satellites. and the The probability of satellite visibility is indicated by N, which is a positive integer and indicates the number of satellites from which the terminal to be located can receive satellite signals.

[0125] It is understandable that the terminal device can also construct the base station pseudorange observation weight matrix and the base station carrier phase observation weight matrix, in a manner similar to the above scheme, which will not be elaborated here.

[0126] It is understandable that the specific process by which the terminal device constructs the RTK differential equation based on the satellite observation data can be as follows: The terminal device constructs the RTK differential positioning constraint equation based on the pseudorange between the terminal device and the satellite and the carrier phase observation values ​​between the terminal device and the satellite; then, it constructs the RTK differential constraint correction equation based on the RTK differential positioning constraint equation, wherein the RTK differential positioning constraint equation and the RTK differential constraint correction equation serve as the RTK differential equation.

[0127] The constraint equation for the RTK differential positioning is as follows:

[0128]

[0129]

[0130] in, This represents the geometric distance between the terminal device and satellite j. And so on; For double-difference ionospheric delay, This is a double-difference tropospheric delay; Satellite 1 is the reference satellite. The constant is λ, where λ is the wavelength of the satellite signal transmitted by the satellite. Used to indicate the pseudorange between the terminal device and the satellite, This indicates the predicted carrier phase between the terminal device and the satellite;

[0131] The RTK difference constraint correction equation is as follows:

[0132]

[0133] Among them, the H i δx is the Jacobian matrix, and δx is the correction matrix;

[0134] and

[0135] Should Let λ be the unit observation vector from the terminal device to the satellite, λ be the wavelength of the satellite signal transmitted by the satellite, and δr be the... This is used to indicate the correction amount and is a constant.

[0136] In this scheme, when the terminal device uses the Gauss-Newton iterative method to calculate the satellite observation weight matrix and the RTK difference equation to obtain the positioning information, the specific process can be as follows:

[0137] The terminal device determines the estimation parameter correction equation based on the satellite observation weight matrix and the RTK difference equation, and obtains the initial estimation parameters; then it uses the Gauss-Newton iteration method and the estimation parameter correction equation to iteratively calculate the estimation parameter correction; when the estimation parameter correction meets the preset conditions, the terminal device updates the initial estimation parameters based on the estimation parameter correction to obtain the target estimation parameters, and outputs the target estimation parameters, which serve as the positioning information of the terminal device.

[0138] The equation for the correction of the estimated parameter is as follows:

[0139]

[0140] The Δx k The H is used to indicate the amount of correction to the estimated parameters. ik The T is used to indicate the Jacobian matrix, and the T is used to indicate the rank of the Jacobian matrix. Used to indicate the pseudorange observation weight matrix of the terminal, Used to indicate the terminal carrier phase observation weight matrix, Used to indicate the RTK difference constraint correction equation, the z ρi and the Used to indicate the RTK differential positioning constraint equation.

[0141] In this embodiment, the process of updating the initial estimated parameter based on the estimated parameter correction amount can be achieved by adding the estimated parameter correction amount to the previous estimated parameter to obtain the next estimated parameter. Specifically, the method can be as follows: x k+1 =x k +Δx k ;

[0142] Wherein, the Δx k The x is used to indicate the amount of correction to the estimated parameters obtained in the Kth iteration. k The x is used to indicate the estimated parameters after the Kth update. k+1 Used to indicate the estimated parameters obtained in the (K+1)th update.

[0143] The preset conditions that this estimated parameter needs to meet can be as follows: ||Δx ρ,k ||<10 -4 That is, the difference between the estimated parameter obtained in the ρth iteration and the estimated parameter obtained in the Kth iteration must be less than 10. -4 This can also be understood as the correction amount of the estimated parameters obtained from the update iterations needing to be less than 10. -4 When the time limit is reached, output the estimated parameters obtained in the next iteration. For example, if the correction amount of the estimated parameters obtained in the nth update is less than 10... -4 Then output the estimated parameters obtained from the (n+1)th update.

[0144] It is understood that, in this embodiment, after the terminal device determines that it has obtained the location information, it can also send the location information to the CORS system and the city 3D model server, so that the CORS system and the city 3D model server can update the location information of the terminal device, thereby optimizing the location information.

[0145] The positioning device in this application is described in detail below. Please refer to [link / reference]. Figure 10 , Figure 10 This is a schematic diagram of one embodiment of the positioning device in this application. The positioning device 20 includes:

[0146] The acquisition module 201 is used to acquire the approximate location of the terminal to be located; and to acquire the satellite signal carrier-to-noise ratio of the satellite signal received by the terminal to be located.

[0147] Sending module 202 is used to send the approximate location to the city 3D model server;

[0148] The receiving module 203 is used to receive the three-dimensional building information sent by the city's three-dimensional model server. The three-dimensional building information is calculated by the city's three-dimensional model server based on the approximate location.

[0149] The processing module 204 calculates the satellite visibility probability of the target satellite based on the approximate location, the three-dimensional information of the building, and the satellite signal carrier-to-noise ratio. The target satellite is the satellite corresponding to the satellite signal received by the terminal to be located. The satellite visibility probability is used to indicate the probability value that the target satellite is visible to the terminal to be located. The processing module 204 calculates the positioning information of the terminal to be located using the satellite visibility probability and real-time dynamic RTK differential positioning. The positioning information includes the longitude, latitude, and altitude of the location of the terminal to be located.

[0150] In this embodiment, a positioning device is provided. Using this device, after obtaining the approximate location of the terminal to be positioned, three-dimensional information of buildings in the environment where the terminal is located is acquired. Based on this building information and the carrier-to-noise ratio of the satellite signal received by the terminal, the satellite visibility probability is determined, i.e., whether there is obstruction between the terminal and the satellite, thereby determining the accuracy of the satellite signal. Finally, the final positioning information of the terminal is calculated based on the accuracy of the satellite signal and RTK differential positioning. This fusion of the accuracy of the satellite signal received by the terminal and the RTK differential positioning calculation improves the terminal's planar positioning accuracy.

[0151] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0152] The processing module 204 is specifically used to calculate satellite visualization distribution information based on the three-dimensional information of the building and the approximate location. The satellite visualization distribution information is used to indicate the visualization status of the corresponding satellites that the terminal to be located can receive satellite signals from. The satellite visibility probability is calculated based on the satellite signal carrier-to-noise ratio and the satellite visualization distribution information.

[0153] In this embodiment of the application, a positioning device is provided. Using this device, visual distribution information is calculated based on the three-dimensional information of buildings. Then, the satellite visibility probability is calculated based on the visual distribution information and the satellite signal carrier-to-noise ratio. This increases the accuracy of the satellite visibility probability calculation, thereby improving the reliability of data processing.

[0154] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application, the processing module 204 is specifically used to determine the elevation angle and azimuth angle of the target satellite relative to the terminal to be positioned based on the approximate location and the position of the target satellite;

[0155] When it is determined from the three-dimensional information of the building that there are no buildings obstructing the view at that azimuth angle, the target satellite is determined to be in a visible state relative to the terminal to be located;

[0156] When it is determined from the three-dimensional information of the building that there is a building blocking the view at that azimuth angle, the intersection point K between the building and the location of the terminal to be located, as well as the coordinate information of the intersection point K, are calculated based on the three-dimensional information of the building and the azimuth angle.

[0157] Based on the coordinate information of the intersection point K, the elevation angle and azimuth angle of the target satellite relative to the intersection point K are calculated;

[0158] When the elevation angle of the target satellite relative to the terminal to be located is less than or equal to the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be out of sight relative to the terminal to be located.

[0159] When the elevation angle of the target satellite relative to the terminal to be positioned is greater than the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be in a visible state relative to the terminal to be positioned.

[0160] In this application embodiment, a positioning device is provided. Using this device, the visibility status of satellites connected to the terminal to be positioned can be determined based on the probabilistic location of the terminal, thereby classifying the accuracy of the satellite signals and improving the positioning accuracy of the terminal to be positioned.

[0161] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0162] The processing module 204 is specifically used to obtain the visual status values ​​of N satellites based on the satellite visualization distribution information, where N is the number of satellites connected to the terminal to be located.

[0163] Calculate the carrier-to-noise ratio status values ​​of the N satellites based on the carrier-to-noise ratio of the satellite signal;

[0164] The satellite visibility probability of the N satellites is calculated based on the visibility information of the N satellites and the carrier-to-noise ratio status value of the N satellites.

[0165] In this application embodiment, a positioning device is provided. Using this device adds a calculation process from satellite visual distribution information to satellite visibility probability, thereby increasing the feasibility of the entire solution.

[0166] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0167] The processing module 204 is specifically used to calculate the satellite observation weight matrix based on the satellite visibility probability and the satellite signal-to-noise ratio, and to construct the RTK difference equation based on the satellite observation data;

[0168] The positioning information of the terminal to be positioned is obtained by calculating the satellite observation weight matrix and the RTK difference equation using the Gauss-Newton iterative method.

[0169] In this embodiment of the application, a positioning device is provided. Using this device, a satellite observation weight matrix and an RTK difference equation are constructed, and the Gauss-Newton iterative method is used to calculate the satellite observation weight matrix and the RTK difference equation, thereby improving the accuracy and reliability of the positioning information of the terminal to be positioned.

[0170] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application, the processing module 204 is specifically used to construct a terminal pseudorange observation weight matrix and a terminal carrier phase observation weight matrix according to the satellite visibility probability and the satellite signal carrier-to-noise ratio, and the terminal pseudorange observation weight matrix and the terminal carrier phase observation weight matrix serve as the satellite observation weight matrix.

[0171] This application provides a positioning device. Using this device, a specific implementation of the satellite observation weight matrix is ​​provided, thereby improving the feasibility and operability of the solution.

[0172] Optionally, in the above Figure 10Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application, the processing module 204 is specifically used to construct RTK differential positioning constraint equations based on the pseudorange between the terminal to be positioned and the satellite and the carrier phase observation values ​​between the terminal to be positioned and the satellite.

[0173] Based on the RTK differential positioning constraint equation, an RTK differential constraint correction equation is constructed, wherein the RTK differential constraint correction equation and the RTK differential positioning constraint equation are used as the RTK differential equation.

[0174] This application provides a positioning device. Using this device, a specific implementation of the RTK differential method is provided, thereby improving the feasibility and operability of the solution.

[0175] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application, the processing module 204 is specifically used to determine the estimation parameter correction equation according to the satellite observation weight matrix and the RTK difference equation;

[0176] Obtain the initial estimated parameter x0;

[0177] The estimated parameter correction Δx is obtained by iterative calculation using the Gauss-Newton iterative method and the equation for the correction of the estimated parameter. k And adjust the amount Δx according to the estimated parameter. k Iteratively update the initial estimated parameter x0 to obtain the estimated parameter x. k , where k is used to indicate the number of iterations;

[0178] In the estimated parameter x k When the preset conditions are met, output the estimated parameter x. k The estimated parameter x k This serves as the location information for the terminal to be located.

[0179] In this embodiment, a positioning device is provided. Furthermore, by employing the aforementioned device, an update iterative process for the Gauss-Newton iterative method is provided, thereby improving the feasibility and operability of the solution.

[0180] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0181] The processing module 204 is specifically used to determine the estimation parameter correction equation based on the terminal pseudorange observation weight matrix, the terminal carrier phase observation weight matrix, the RTK differential positioning constraint equation, and the RTK differential constraint correction equation.

[0182] In this embodiment, a positioning device is provided. Using this device, a specific method for constructing the equation for the correction of the estimated parameters is provided, thereby ensuring the feasibility of the solution.

[0183] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0184] This processing module is specifically used to add the initial estimated parameter x0 to the estimated parameter correction amount Δx1 to obtain the estimated parameter x1 after the first iteration update; add the estimated parameter x1 to the estimated parameter correction amount Δx2 to obtain the estimated parameter x2 after the second iteration update; and so on, to obtain the estimated parameter x after the kth iteration update. k .

[0185] In this application embodiment, a positioning device is provided. Using the above-described device, a specific implementation method for iteratively updating the estimated parameters is provided, thereby improving the feasibility and operability of the solution.

[0186] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0187] The acquisition module 201 is specifically used to acquire ephemeris and satellite observation data sent by the Continuously Operating Reference Station System (CORS), wherein the satellite observation data is relative to the terminal to be positioned.

[0188] The approximate location was obtained based on the ephemeris and satellite observation data.

[0189] In this embodiment of the application, a positioning device is provided. Using this device, the approximate location of the terminal to be located can be obtained more directly, improving the convenience of positioning.

[0190] Optionally, in the above Figure 10 Based on the corresponding embodiments, in another embodiment of the positioning device 20 provided in this application,

[0191] The acquisition module 201 is specifically used to acquire the ephemeris and satellite observation data sent by the terminal to be located, wherein the satellite observation data is satellite observation data relative to the terminal to be located;

[0192] The approximate location was obtained based on the ephemeris and satellite observation data.

[0193] In this application embodiment, a positioning device is provided. By using the above-described device, the positioning process can be implemented using another positioning device, thereby avoiding the hardware limitations imposed on terminal device positioning and improving the positioning calculation speed.

[0194] The positioning device provided in this application can be used on a server; please refer to [link / reference]. Figure 11 , Figure 11 This is a schematic diagram of a server structure provided in an embodiment of this application. The server 300 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 322 (e.g., one or more processors) and memory 332, and one or more storage media 330 (e.g., one or more mass storage devices) for storing application programs 342 or data 344. The memory 332 and storage media 330 can be temporary or persistent storage. The program stored in the storage media 330 may include one or more modules (not shown in the diagram), each module may include a series of instruction operations on the server. Furthermore, the CPU 322 may be configured to communicate with the storage media 330 and execute the series of instruction operations stored in the storage media 330 on the server 300.

[0195] Server 300 may also include one or more power supplies 326, one or more wired or wireless network interfaces 350, one or more input / output interfaces 358, and / or one or more operating systems 341, such as Windows Server. TM Mac OS X TM Unix TM Linux TM FreeBSD TM etc.

[0196] The steps performed by the terminal device in the above embodiments can also be applied to devices based on this... Figure 11 The server structure shown.

[0197] The positioning device provided in this application can be used in terminal devices. Please refer to [link / reference]. Figure 12 For ease of explanation, only the parts relevant to the embodiments of this application are shown. For specific technical details not disclosed, please refer to the method section of the embodiments of this application. In the embodiments of this application, a smartphone is used as an example for illustration:

[0198] Figure 12 This is a block diagram illustrating a portion of the structure of a smartphone related to the terminal device provided in the embodiments of this application. (Reference) Figure 12The smartphone includes components such as a radio frequency (RF) circuit 410, a memory 420, an input unit 430, a display unit 440, a sensor 450, an audio circuit 460, a wireless fidelity (WiFi) module 470, a processor 480, and a power supply 490. Those skilled in the art will understand that... Figure 12 The smartphone structure shown does not constitute a limitation on smartphones and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0199] The following is combined Figure 12 A detailed introduction to the various components of a smartphone:

[0200] RF circuit 410 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and processes it with processor 480; additionally, it transmits uplink data to the base station. Typically, RF circuit 410 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier (LNA), and a duplexer. Furthermore, RF circuit 410 can also communicate wirelessly with networks and other devices. The aforementioned wireless communication can use any communication standard or protocol, including but not limited to Global System for Mobile Communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), email, and Short Message Service (SMS).

[0201] The memory 420 can be used to store software programs and modules. The processor 480 executes various functions and data processing of the smartphone by running the software programs and modules stored in the memory 420. The memory 420 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the smartphone (such as audio data, phonebook, etc.). In addition, the memory 420 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0202] The input unit 430 can be used to receive input numerical or character information, and to generate key signal inputs related to user settings and function control of the smartphone. Specifically, the input unit 430 may include a touch panel 431 and other input devices 432. The touch panel 431, also known as a touch screen, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel 431), and drive the corresponding connected devices according to a pre-set program. Optionally, the touch panel 431 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 480, and can also receive and execute commands sent by the processor 480. In addition, the touch panel 431 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch panel 431, the input unit 430 may also include other input devices 432. Specifically, other input devices 432 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0203] Display unit 440 can be used to display information input by the user or information provided to the user, as well as various menus of the smartphone. Display unit 440 may include display panel 441, optionally configured as a liquid crystal display (LCD), organic light-emitting diode (OLED), or similar form. Further, touch panel 431 may cover display panel 441. When touch panel 431 detects a touch operation on or near it, it transmits the information to processor 480 to determine the type of touch event. Subsequently, processor 480 provides corresponding visual output on display panel 441 based on the type of touch event. Although in Figure 12 In this embodiment, the touch panel 431 and the display panel 441 are two separate components to realize the input and output functions of the smartphone. However, in some embodiments, the touch panel 431 and the display panel 441 can be integrated to realize the input and output functions of the smartphone.

[0204] The smartphone may also include at least one sensor 450, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor can adjust the brightness of the display panel 441 according to the ambient light level, and the proximity sensor can turn off the display panel 441 and / or the backlight when the smartphone is moved to the ear. As a type of motion sensor, an accelerometer sensor can detect the magnitude of acceleration in various directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that recognize the smartphone's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition-related functions (such as pedometer, tapping), etc. Other sensors that may be configured in the smartphone, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0205] Audio circuit 460, speaker 461, and microphone 462 provide an audio interface between the user and the smartphone. Audio circuit 460 converts received audio data into electrical signals and transmits them to speaker 461, where speaker 461 converts them into sound signals for output. On the other hand, microphone 462 converts collected sound signals into electrical signals, which are received by audio circuit 460, converted into audio data, and then processed by processor 480 before being transmitted via RF circuit 410 to, for example, another smartphone, or the audio data can be output to memory 420 for further processing.

[0206] WiFi is a short-range wireless transmission technology. Smartphones, through their WiFi modules (470), can help users send and receive emails, browse web pages, and access streaming media, providing wireless broadband internet access. Although Figure 12 WiFi module 470 is shown, but it is understood that it is not an essential component of a smartphone and can be omitted as needed without changing the nature of the invention.

[0207] The processor 480 is the control center of the smartphone, connecting various parts of the smartphone through various interfaces and lines. It performs various functions and processes data by running or executing software programs and / or modules stored in the memory 420, and by calling data stored in the memory 420, thereby providing overall monitoring of the smartphone. Optionally, the processor 480 may include one or more processing units; optionally, the processor 480 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may also not be integrated into the processor 480.

[0208] The smartphone also includes a power supply 490 (such as a battery) that supplies power to various components. Optionally, the power supply can be logically connected to the processor 480 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system.

[0209] Although not shown, smartphones may also include a camera, Bluetooth module, etc., which will not be described in detail here.

[0210] The steps performed by the terminal device in the above embodiments can be based on this Figure 12 The terminal device structure is shown.

[0211] This application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0212] This application also provides a computer program product including a program, which, when run on a computer, causes the computer to perform the methods described in the foregoing embodiments.

[0213] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0214] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0215] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0216] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0217] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0218] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A positioning method, characterized in that, include: Obtain the approximate location of the terminal to be located; Obtain the satellite signal carrier-to-noise ratio of the satellite signal received by the terminal to be located; Send the approximate location to the city's 3D model server; Receive building 3D information sent by the city 3D model server, wherein the building 3D information is calculated by the city 3D model server based on the approximate location; Satellite visualization distribution information is calculated based on the three-dimensional information of the building and the approximate location. The satellite visualization distribution information is used to indicate the visualization status of the corresponding satellites from which the terminal to be located can receive satellite signals. The satellite visibility probability of the target satellite is calculated based on the satellite signal carrier-to-noise ratio and the satellite visualization distribution information. The target satellite is the satellite corresponding to the satellite signal received by the terminal to be located. The satellite visibility probability is used to indicate the probability value that the target satellite is in a visible state relative to the terminal to be located. The satellite observation weight matrix is ​​calculated based on the satellite visibility probability and the satellite signal-to-noise ratio, and an RTK difference equation is constructed based on the satellite observation data. The positioning information of the terminal to be positioned is obtained by calculating the satellite observation weight matrix and the RTK difference equation using the Gauss-Newton iterative method. The positioning information includes the longitude, latitude and altitude of the location of the terminal to be positioned.

2. The positioning method according to claim 1, characterized in that, The satellite visualization distribution information calculated based on the three-dimensional information of the building and its approximate location includes: The elevation angle and azimuth angle of the target satellite relative to the terminal to be located are determined based on the approximate location and the position of the target satellite. When it is determined, based on the three-dimensional information of the building, that there are no buildings obstructing the view at the azimuth angle, the target satellite is determined to be in a visible state relative to the terminal to be located; When it is determined from the three-dimensional information of the building that there is a building blocking the azimuth angle, the intersection point K of the building and the location of the terminal to be located, as well as the coordinate information of the intersection point K, are calculated from the three-dimensional information of the building and the azimuth angle. The elevation angle and azimuth angle of the target satellite relative to the intersection point K are calculated based on the coordinate information of the intersection point K. When the elevation angle of the target satellite relative to the terminal to be located is less than or equal to the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be out of sight relative to the terminal to be located. When the elevation angle of the target satellite relative to the terminal to be positioned is greater than the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be in a visible state relative to the terminal to be positioned.

3. The positioning method according to claim 1 or 2, characterized in that, The calculation of the satellite visibility probability based on the satellite signal carrier-to-noise ratio and the satellite visualization distribution information includes: Based on the satellite visualization distribution information, obtain the visual status values ​​of N satellites, where N is the number of satellites connected to the terminal to be located; Calculate the carrier-to-noise ratio status values ​​of the N satellites based on the satellite signal carrier-to-noise ratio; The satellite visibility probability of the N satellites is calculated based on the visibility information of the N satellites and the carrier-to-noise ratio status value of the N satellites.

4. The positioning method according to claim 1, characterized in that, The calculation of the satellite observation weight matrix based on the satellite visibility probability and the satellite signal-to-noise ratio includes: Based on the satellite visibility probability and the satellite signal-to-noise ratio, a terminal pseudorange observation weight matrix and a terminal carrier phase observation weight matrix are constructed, and the terminal pseudorange observation weight matrix and the terminal carrier phase observation weight matrix are used as the satellite observation weight matrix.

5. The positioning method according to claim 1 or 4, characterized in that, The construction of the RTK difference equation based on the satellite observation data includes: The RTK differential positioning constraint equation is constructed based on the pseudorange between the terminal to be positioned and the satellite and the carrier phase observation values ​​between the terminal to be positioned and the satellite. An RTK differential constraint correction equation is constructed based on the RTK differential positioning constraint equation, wherein the RTK differential constraint correction equation and the RTK differential positioning constraint equation are used as the RTK differential equation.

6. The positioning method according to claim 1, characterized in that, The method of using the Gauss-Newton iterative method to calculate the satellite observation weight matrix and the RTK difference equation to obtain the positioning information of the terminal to be positioned includes: The equation for the correction of the estimated parameters is determined based on the satellite observation weight matrix and the RTK difference equation. Obtain initial estimated parameters ; The estimated parameter correction amount is obtained by iterative calculation using the Gauss-Newton iterative method and the equation for the estimated parameter correction amount. And adjust the amount according to the estimated parameters. Iteratively update the initial estimated parameters Obtain the estimated parameters , wherein Used to indicate the number of iterations; In the estimated parameters When the preset conditions are met, the estimated parameters are output. The estimated parameters This serves as the location information for the terminal to be located.

7. The positioning method according to claim 6, characterized in that, The process of determining the estimation parameter correction equation based on the satellite observation weight matrix and the RTK difference equation includes: The estimation parameter correction equation is determined based on the terminal pseudorange observation weight matrix, the terminal carrier phase observation weight matrix, the RTK differential positioning constraint equation, and the RTK differential constraint correction equation.

8. The positioning method according to claim 6, characterized in that, The correction amount based on the estimated parameters Iteratively update the initial estimated parameters Obtain the estimated parameters include: The initial estimated parameters With the estimated parameter correction amount The summation yields the estimated parameters after the first iteration update. ; The estimated parameters With the estimated parameter correction amount The summation yields the estimated parameters after the second iteration update. ; And so on, the estimated parameters are obtained. .

9. The positioning method according to claim 1, characterized in that, The process of obtaining the approximate location of the terminal to be located includes: Acquire ephemeris and satellite observation data sent by the Continuously Operating Reference Station System (CORS), wherein the satellite observation data is relative to the terminal to be located; The approximate location is obtained based on the ephemeris and the satellite observation data.

10. The positioning method according to claim 1, characterized in that, The process of obtaining the approximate location of the terminal to be located includes: Acquire the ephemeris and satellite observation data sent by the terminal to be located, wherein the satellite observation data is satellite observation data relative to the terminal to be located; The approximate location is obtained based on the ephemeris and the satellite observation data.

11. A positioning device, characterized in that, include: The acquisition module is used to obtain the approximate location of the terminal to be located; Obtain the satellite signal carrier-to-noise ratio of the satellite signal received by the terminal to be located; The sending module is used to send the approximate location to the city 3D model server; The receiving module is used to receive the three-dimensional building information sent by the city 3D model server, wherein the three-dimensional building information is calculated by the city 3D model server based on the approximate location; The processing module calculates the satellite visibility probability of the target satellite based on the approximate location, the three-dimensional information of the building, and the satellite signal carrier-to-noise ratio. The target satellite is the satellite corresponding to the satellite signal received by the terminal to be located. The satellite visibility probability is used to indicate the probability value that the target satellite is in a visible state relative to the terminal to be located. The positioning information of the terminal to be positioned is obtained by using the satellite visibility probability and real-time dynamic RTK differential positioning. The positioning information includes the longitude, latitude and altitude of the location of the terminal to be positioned. The processing module is further configured to calculate satellite visualization distribution information based on the three-dimensional information of the building and the approximate location, wherein the satellite visualization distribution information is used to indicate the visualization status of the corresponding satellites from which the terminal to be located can receive satellite signals; and to calculate the satellite visibility probability based on the satellite signal carrier-to-noise ratio and the satellite visualization distribution information. The processing module is also used to calculate the satellite observation weight matrix based on the satellite visibility probability and the satellite signal-to-noise ratio, and to construct RTK difference equations based on the satellite observation data; The positioning information of the terminal to be positioned is obtained by calculating the satellite observation weight matrix and the RTK difference equation using the Gauss-Newton iterative method.

12. The apparatus according to claim 11, characterized in that, The processing module is specifically used to determine the elevation angle and azimuth angle of the target satellite relative to the terminal to be positioned based on the approximate location and the position of the target satellite. When it is determined, based on the three-dimensional information of the building, that there are no buildings obstructing the view at the azimuth angle, the target satellite is determined to be in a visible state relative to the terminal to be located; When it is determined from the three-dimensional information of the building that there is a building blocking the azimuth angle, the intersection point K of the building and the location of the terminal to be located, as well as the coordinate information of the intersection point K, are calculated from the three-dimensional information of the building and the azimuth angle. The elevation angle and azimuth angle of the target satellite relative to the intersection point K are calculated based on the coordinate information of the intersection point K. When the elevation angle of the target satellite relative to the terminal to be located is less than or equal to the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be out of sight relative to the terminal to be located. When the elevation angle of the target satellite relative to the terminal to be positioned is greater than the elevation angle of the target satellite relative to the intersection point K, the target satellite is determined to be in a visible state relative to the terminal to be positioned.

13. The apparatus according to claim 11 or 12, characterized in that, The processing module is specifically used to obtain the visual status values ​​of N satellites based on the satellite visualization distribution information, where N is the number of satellites connected to the terminal to be located. Calculate the carrier-to-noise ratio status values ​​of the N satellites based on the satellite signal carrier-to-noise ratio; The satellite visibility probability of the N satellites is calculated based on the visibility information of the N satellites and the carrier-to-noise ratio status value of the N satellites.

14. A computer device, characterized in that, include: Memory, processor, and bus system; The memory is used to store programs; The processor is configured to execute a program in the memory, and the processor is configured to execute the method of any one of claims 1 to 10 according to instructions in the program code; The bus system is used to connect the memory and the processor to enable communication between the memory and the processor.

15. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method as claimed in any one of claims 1 to 10.

16. A computer program product, characterized in that, The computer program product includes instructions that, when executed on a computer device, cause the computer device to perform the method as described in any one of claims 1 to 10.

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