A satellite-ground cooperative positioning method and system and a storage medium

Abstract

The application discloses a kind of star-ground cooperative positioning method, system and storage medium, the method includes: by the initial position coordinate of target vehicle and continuously obtaining the real-time dynamic information of the target vehicle by preset global navigation satellite system;According to the real-time dynamic information, the motion trajectory of the target vehicle is deduced by preset navigation deduction algorithm, and then the estimated position coordinate of the target vehicle current is obtained;The position information of adjacent vehicle in the preset range of the target vehicle is obtained, and the initial position coordinate and the estimated position coordinate are corrected according to the position information of adjacent vehicle, to obtain corrected initial position coordinate and corrected estimated position coordinate;According to the corrected estimated position coordinate, the corrected initial position coordinate is modified in real time, and the real-time coordinate of the target vehicle current is obtained, to improve the efficiency and accuracy of vehicle positioning.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning technology, and in particular to a satellite-ground cooperative positioning method, system, and storage medium. Background Technology

[0002] Automobiles are one of the main means of transportation in daily life. With the rapid development of intelligent vehicles and communication technologies, technologies such as autonomous driving and assisted driving are becoming increasingly mature. Navigation and positioning, as key technologies for autonomous driving and assisted driving, are the foundation for realizing autonomous driving and assisted driving.

[0003] In existing technologies, the Global Navigation Satellite System (GNSS) is the most commonly used outdoor positioning and navigation technology. However, using satellite systems alone to locate vehicles cannot meet the requirements of autonomous driving and assisted driving in terms of accuracy and efficiency, and cannot guarantee the reliability of autonomous driving. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention discloses a satellite-ground cooperative positioning method, system, and storage medium to improve the efficiency and accuracy of vehicle positioning.

[0005] To achieve the above objectives, in a first aspect, the present invention discloses a satellite-ground cooperative positioning method, comprising:

[0006] The initial position coordinates of the target vehicle are obtained through a preset global navigation satellite system, and the real-time dynamic information of the target vehicle is continuously acquired.

[0007] Based on the real-time dynamic information, the trajectory of the target vehicle is deduced through a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle;

[0008] Obtain the position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates;

[0009] The initial position coordinates of the correction are modified in real time based on the estimated position coordinates of the correction to obtain the current real-time coordinates of the target vehicle.

[0010] This invention discloses a satellite-ground cooperative positioning method. First, it acquires the initial position coordinates and real-time dynamic information of the target vehicle stored in the preset positioning system. Based on the initial position coordinates and the real-time dynamic information, it infers the estimated position coordinates of the target vehicle. After obtaining the inferred coordinates of the target vehicle from the positioning system, it uses the position information of adjacent vehicles within a preset range to correct the initial and estimated position coordinates of the target vehicle. The estimated position is further verified using the position information of vehicles surrounding the target vehicle. This achieves satellite-ground cooperation and improves positioning accuracy by using information from the vehicle's surroundings for further positioning correction. Finally, the initial position coordinates are further corrected based on the corrected estimated position coordinates, further improving the positioning accuracy from the source.

[0011] As a preferred example, obtaining the location information of adjacent vehicles within a preset range of the target vehicle includes:

[0012] Based on the radar module pre-installed on the target vehicle, the area around the target vehicle is scanned within a preset range to determine the adjacent vehicles within the preset range of the target vehicle.

[0013] The radar module acquires the position information of the adjacent vehicles and the target vehicle; the position information includes the vehicle position coordinates of the adjacent vehicles, the relative distance and relative angle between the target vehicle and the adjacent vehicles.

[0014] This invention uses a radar module pre-installed on the target vehicle to scan the area around the target vehicle, obtaining the vehicle coordinates, distances, and angles of adjacent vehicles within a preset range. This allows the location information of the adjacent vehicles to be used as auxiliary positioning data for the target vehicle, thereby achieving satellite-ground coordination and improving the accuracy of vehicle positioning.

[0015] As a preferred example, the step of correcting the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates includes:

[0016] Within the first period corresponding to the initial position coordinates, multiple first relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles;

[0017] The corrected initial position coordinates are obtained by correcting the initial position coordinates based on the plurality of first relative position coordinates;

[0018] The first period is divided into several second periods, and in each second period, multiple second relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles.

[0019] The corrected estimated position coordinates are obtained by correcting the estimated position coordinates based on the plurality of second relative position coordinates.

[0020] In the first cycle (large cycle), the present invention corrects the initial position coordinates of the target vehicle by using the relative positional relationship between the target vehicle and adjacent vehicles within a preset range. Then, in the second cycle (small cycle), the estimated position coordinates of the target vehicle are corrected according to the relative positional relationship between the target vehicle and other vehicles within a preset range. By combining the first cycle and the second cycle, the initial position coordinates and estimated position coordinates of the target vehicle can be corrected separately, thereby obtaining the accurate real-time coordinates of the target vehicle and improving the accuracy of vehicle positioning.

[0021] As a preferred example, the step of correcting the initial position coordinates based on a plurality of first relative position coordinates to obtain corrected initial position coordinates includes...

[0022] The average coordinate value of the plurality of first relative position coordinates and the initial position coordinates is calculated, and the average coordinate value is used as the correction initial position coordinate.

[0023] This invention utilizes the position information of adjacent vehicles and the target vehicle within a period to perform auxiliary correction on the initial positioning coordinates of the target vehicle, thereby improving the positioning accuracy of the target vehicle by combining it with ground vehicle information.

[0024] As a preferred example, the step of correcting the estimated position coordinates based on the plurality of second relative position coordinates to obtain the corrected estimated position coordinates includes:

[0025] Determine whether the plurality of second relative position coordinates are within a preset range of the estimated position coordinates;

[0026] If the plurality of second relative position coordinates are within a preset range of the estimated position coordinates, then the estimated position coordinates are the corrected estimated position coordinates;

[0027] If the plurality of second relative position coordinates are not within the preset range of the estimated position coordinates, then the average coordinate value of the plurality of second relative position coordinates is calculated, and the average coordinate value is used as the corrected estimated position coordinates;

[0028] The average coordinate value is expressed as:

[0029]

[0030]

[0031]

[0032] in, The average coordinate value, The x-axis represents the average. Let i represent the average ordinate, i = 1, 2, ..., n, where n is the total number of relative position coordinates.

[0033] This invention divides the first period corresponding to the initial position coordinates into several smaller periods, obtains the relative position coordinates of adjacent vehicles within the smaller periods, and corrects the estimated position coordinates of the vehicles based on the changes in the relative position coordinates. When the relative position coordinates remain within a preset range, it indicates that the positioning has not changed, and therefore the estimated position coordinates do not need to be changed. When the relative position coordinates are not within the preset range, it indicates that there is a delay or inaccuracy in satellite positioning, and in this case, the position information of adjacent vehicles can be used to modify the positioning, thereby improving the accuracy and efficiency of positioning.

[0034] As a preferred example, the step of modifying the initial position coordinates in real time based on the estimated position coordinates to obtain the current real-time coordinates of the target vehicle includes:

[0035] The real-time speed of the target vehicle is obtained based on the real-time dynamic information, and the corresponding ratio parameter is obtained by calculating the ratio between the real-time speed and the preset speed.

[0036] Based on the proportional parameter, the estimated correction position coordinates, and the initial correction position coordinates, the corrected coordinates are calculated as follows:

[0037] P=(1-α)P0'+P C ,

[0038] Where P represents the correction coordinate, α is the scaling parameter, P0' is the initial position coordinate of the correction, and P C To correct the estimated position coordinates;

[0039] The corrected coordinates are used as the real-time coordinates of the target vehicle to update the initial position coordinates.

[0040] This invention utilizes the real-time dynamic information of the vehicle to obtain a ratio parameter between the actual driving process of the vehicle and a preset idea, so as to correct the coordinates estimated by the inference algorithm in the positioning system according to the ratio parameter. Using the corrected, more accurate coordinates as real-time coordinates can improve the accuracy of vehicle positioning.

[0041] Secondly, the present invention discloses a satellite-ground cooperative positioning system, the system comprising an information acquisition module, a trajectory extrapolation module, a position correction module and a real-time positioning module;

[0042] The information acquisition module is used to acquire the initial position coordinates of the target vehicle and continuously acquire the real-time dynamic information of the target vehicle through a preset global navigation satellite system.

[0043] The trajectory extrapolation module is used to extrapolate the trajectory of the target vehicle based on the real-time dynamic information and a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle.

[0044] The position correction module is used to obtain the position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates.

[0045] The real-time positioning module is used to modify the initial position coordinates of the correction in real time based on the estimated position coordinates of the correction, so as to obtain the current real-time coordinates of the target vehicle.

[0046] This invention discloses a satellite-ground cooperative positioning system. First, it acquires the initial position coordinates and real-time dynamic information of the target vehicle stored in the preset positioning system. Based on the initial position coordinates and the real-time dynamic information, it infers the estimated position coordinates of the target vehicle. After obtaining the inferred coordinates of the target vehicle from the positioning system, it uses the position information of adjacent vehicles within a preset range to correct the initial and estimated position coordinates of the target vehicle. The estimated position is further verified using the position information of vehicles surrounding the target vehicle. This achieves satellite-ground integration and improves positioning accuracy by using information from the vehicle's surroundings for further positioning correction. The initial position coordinates are further corrected based on the corrected estimated position coordinates, further improving positioning accuracy from the source.

[0047] As a preferred example, the position correction module includes an adjacent vehicle positioning unit and a position information acquisition unit;

[0048] The adjacent vehicle positioning unit is used to scan the area around the target vehicle within a preset range according to the radar module preset on the target vehicle, and determine the adjacent vehicles within the preset range of the target vehicle.

[0049] The location information acquisition unit is used to acquire the location information of the adjacent vehicle and the target vehicle through the radar module; the location information includes the vehicle position coordinates of the adjacent vehicle, the relative distance and relative angle between the target vehicle and the adjacent vehicle.

[0050] This invention uses a radar module pre-installed on the target vehicle to scan the area around the target vehicle, obtaining the vehicle coordinates, distances, and angles of adjacent vehicles within a preset range. This allows the location information of the adjacent vehicles to be used as auxiliary positioning data for the target vehicle, thereby achieving satellite-ground coordination and improving the accuracy of vehicle positioning.

[0051] Thirdly, the present invention discloses an electronic device, which includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory is used to store computer programs; and the processor is used to execute the programs stored in the memory to implement the satellite-ground cooperative positioning method as described in the first aspect.

[0052] Fourthly, the present invention discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a satellite-ground cooperative positioning method as described in the first aspect. Attached Figure Description

[0053] Figure 1 : A schematic flowchart of a satellite-ground cooperative positioning method provided in an embodiment of the present invention;

[0054] Figure 2 : A schematic diagram of the structure of a satellite-ground cooperative positioning system provided in an embodiment of the present invention;

[0055] Figure 3 : A schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0056] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0057] Example

[0058] This invention discloses a satellite-ground cooperative positioning method. For the specific implementation process of the positioning method, please refer to... Figure 1The process mainly includes steps 101 to 104, which mainly include:

[0059] Step 101: Obtain the initial position coordinates of the target vehicle and continuously acquire the real-time dynamic information of the target vehicle through a preset global navigation satellite system.

[0060] In this embodiment, the step specifically involves: obtaining the initial position coordinates of the target vehicle through a preset global navigation satellite system. The global navigation satellite system can be connected to a GNSS positioning module preset inside the vehicle, thereby obtaining the vehicle's positioning information through information interaction between the module and the system, and simultaneously obtaining real-time dynamic information of the vehicle during its driving process. Furthermore, in this embodiment, the dynamic information includes the target vehicle's linear velocity v and angular velocity ω.

[0061] Step 102: Based on the real-time dynamic information, the trajectory of the target vehicle is deduced using a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle.

[0062] In this embodiment, the step includes: continuously acquiring real-time dynamic information of the target vehicle based on the global positioning navigation system, and using a preset dead reckoning algorithm and real-time dynamic information to deduce the trajectory of the target vehicle and obtain the estimated current position coordinates of the target vehicle.

[0063] Step 103: Obtain the position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates.

[0064] In this embodiment, the step mainly includes: scanning the area around the target vehicle within a preset range according to the radar module preset on the target vehicle to determine the adjacent vehicles within the preset range of the target vehicle; obtaining the position information of the adjacent vehicles and the target vehicle through the radar module; the position information includes the vehicle position coordinates of the adjacent vehicles, the relative distance and relative angle between the target vehicle and the adjacent vehicles.

[0065] Furthermore, when performing long-term position estimation using real-time dynamic information, the position estimation may become inaccurate due to accumulated errors. The target vehicle can correct the accumulated error of the estimated position coordinates based on the position information of other vehicles to ensure the accuracy of the estimated position coordinates. Specifically, the correction process includes: after acquiring the position information of the adjacent vehicles, within a first period corresponding to the initial position coordinates, calculating multiple first relative position coordinates of the target vehicle based on the position information of the adjacent vehicles; correcting the initial position coordinates based on the multiple first relative position coordinates to obtain corrected initial position coordinates; dividing the first period into several second periods, calculating multiple second relative position coordinates of the target vehicle within each second period based on the position information of the adjacent vehicles; and correcting the estimated position coordinates based on the multiple second relative position coordinates to obtain corrected estimated position coordinates.

[0066] Furthermore, in the vehicle positioning implementation method, the positioning cycle via satellite is longer than that via dead reckoning algorithm. Therefore, the initial position coordinates can be corrected multiple times using dead reckoning algorithm. Specifically, this involves: calculating the average coordinate value of the plurality of first relative position coordinates and the initial position coordinates, and using the average coordinate value as the corrected initial position coordinates; determining whether the plurality of second relative position coordinates are within a preset range of the estimated position coordinates; if the plurality of second relative position coordinates are within the preset range of the estimated position coordinates, then the estimated position coordinates are the corrected estimated position coordinates; if the plurality of second relative position coordinates are not within the preset range of the estimated position coordinates, then calculating the average coordinate value of the plurality of second relative position coordinates, and using the average coordinate value as the corrected estimated position coordinates.

[0067] The average coordinate value is expressed as:

[0068]

[0069]

[0070]

[0071] in, The average coordinate value, The x-axis represents the average. Let i represent the average ordinate, i = 1, 2, ..., n, where n is the total number of relative position coordinates.

[0072] Step 104: Modify the initial position coordinates of the correction in real time according to the estimated position coordinates of the correction, and obtain the current real-time coordinates of the target vehicle.

[0073] In this embodiment, the step mainly includes: obtaining the real-time speed of the target vehicle based on the real-time dynamic information, and obtaining a corresponding proportional parameter by calculating the ratio between the real-time speed and a preset speed; calculating and obtaining the correction coordinates based on the proportional parameter, the estimated correction position coordinates, and the initial correction position coordinates; the correction coordinates are calculated as follows:

[0074] P=(1-α)P0'+P C ,

[0075] Where P represents the correction coordinate, α is the scaling parameter, P0' is the initial position coordinate of the correction, and P C To correct the estimated position coordinates, the corrected coordinates are used as the real-time coordinates of the target vehicle to update the initial position coordinates.

[0076] Furthermore, the value of α is a positive number not greater than 1. When the ratio of the real-time speed to the preset speed is less than 1, α is equal to that ratio. When the ratio of the real-time speed to the preset speed is not less than 1, α is equal to 1.

[0077] On the other hand, based on the same inventive concept, embodiments of the present invention provide a satellite-ground cooperative positioning system, the specific structural composition of which can be found in [reference needed]. Figure 2 It mainly includes an information acquisition module 201, a trajectory deduction module 202, a position correction module 203, and a real-time positioning module 204.

[0078] The information acquisition module 201 is used to acquire the initial position coordinates of the target vehicle and continuously acquire the real-time dynamic information of the target vehicle through a preset global navigation satellite system.

[0079] The trajectory extrapolation module 202 is used to extrapolate the trajectory of the target vehicle based on the real-time dynamic information and through a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle.

[0080] The position correction module 203 is used to obtain the position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates according to the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates.

[0081] The real-time positioning module 204 is used to modify the initial position coordinates of the correction in real time according to the estimated position coordinates of the correction, so as to obtain the current real-time coordinates of the target vehicle.

[0082] Furthermore, based on the satellite-ground cooperative positioning system provided by the embodiments of the present invention, the system may include multiple vehicles, and preferably, the position correction module 203 further includes an adjacent vehicle positioning unit and a position information acquisition unit;

[0083] The adjacent vehicle positioning unit is used to scan the area around the target vehicle within a preset range according to the radar module preset on the target vehicle, and determine the adjacent vehicles within the preset range of the target vehicle.

[0084] The location information acquisition unit is used to acquire the location information of the adjacent vehicle and the target vehicle through the radar module; the location information includes the vehicle position coordinates of the adjacent vehicle, the relative distance and relative angle between the target vehicle and the adjacent vehicle.

[0085] In addition to the methods and systems provided above, embodiments of the present invention also provide a computer-readable storage medium and an electronic device, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements a satellite-ground cooperative positioning method provided in the embodiments of the present invention.

[0086] The electronic device, such as Figure 3 As shown, the system includes a processor 301, a communication interface 302, a memory 303, and a communication bus 304. The processor 301, communication interface 302, and memory 303 communicate with each other via the communication bus 304. The memory 303 stores computer programs. When the processor 301 executes the program stored in the memory 303, it performs the following steps:

[0087] The initial position coordinates of the target vehicle are obtained through a preset global navigation satellite system, and the real-time dynamic information of the target vehicle is continuously acquired.

[0088] Based on the real-time dynamic information, the trajectory of the target vehicle is deduced through a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle;

[0089] Obtain the position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain the corrected initial position coordinates and the corrected estimated position coordinates;

[0090] The initial position coordinates of the correction are modified in real time based on the estimated position coordinates of the correction to obtain the current real-time coordinates of the target vehicle.

[0091] This invention provides a satellite-ground cooperative positioning method, system, and storage medium applied to a target vehicle. The method includes: acquiring the initial position coordinates of the target vehicle, which are determined by a global navigation satellite system; acquiring the position information of other vehicles within a preset range of the target vehicle; the position information includes the position coordinates of other vehicles and the distance and angle between the target vehicle and other vehicles; correcting the initial position coordinates based on the position information of other vehicles to obtain the real-time coordinates of the target vehicle; and correcting the initial position coordinates of the target vehicle obtained by GNSS through the position information of other vehicles in the vehicle network, thereby realizing satellite-ground vehicle cooperative positioning, improving the positioning accuracy and efficiency of the entire positioning method, and meeting the needs of autonomous driving and assisted driving.

[0092] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0093] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0094] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0095] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0096] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the satellite-ground cooperative positioning methods described above.

[0097] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0098] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0099] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the descriptions of systems, electronic devices, and storage media are relatively simple because they are fundamentally similar to the method embodiments; relevant parts can be referred to the descriptions of the method embodiments.

[0100] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A satellite-ground cooperative positioning method, characterized in that, include: The initial position coordinates of the target vehicle are obtained through a preset global navigation satellite system, and the real-time dynamic information of the target vehicle is continuously acquired. Based on the real-time dynamic information, the trajectory of the target vehicle is deduced through a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle; The method involves acquiring the position information of adjacent vehicles within a preset range of the target vehicle, correcting the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles, and obtaining corrected initial position coordinates and corrected estimated position coordinates. Specifically, within a first period corresponding to the acquisition of the initial position coordinates, multiple first relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles; the initial position coordinates are corrected based on the multiple first relative position coordinates to obtain corrected initial position coordinates; the first period is divided into several second periods, and within each second period, multiple second relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles; the estimated position coordinates are corrected based on the multiple second relative position coordinates to obtain corrected estimated position coordinates. The initial position coordinates are modified in real time based on the estimated correction position coordinates to obtain the current real-time coordinates of the target vehicle; wherein, the real-time speed of the target vehicle is obtained based on the real-time dynamic information, and a corresponding proportional parameter is obtained by calculating the ratio between the real-time speed and a preset speed; the corrected coordinates are calculated based on the proportional parameter, the estimated correction position coordinates, and the initial correction position coordinates; and the initial position coordinates are updated as the real-time coordinates of the target vehicle.

2. The satellite-ground cooperative positioning method as described in claim 1, characterized in that, The step of obtaining the location information of adjacent vehicles within a preset range of the target vehicle includes: Based on the radar module pre-installed on the target vehicle, the area around the target vehicle is scanned within a preset range to determine the adjacent vehicles within the preset range of the target vehicle. The radar module acquires the position information of the adjacent vehicles and the target vehicle; the position information includes the vehicle position coordinates of the adjacent vehicles, the relative distance and relative angle between the target vehicle and the adjacent vehicles.

3. The satellite-ground cooperative positioning method as described in claim 1, characterized in that, The step of correcting the initial position coordinates based on multiple first relative position coordinates to obtain corrected initial position coordinates includes... The average coordinate value of the plurality of first relative position coordinates and the initial position coordinates is calculated, and the average coordinate value is used as the correction initial position coordinate.

4. The satellite-ground cooperative positioning method as described in claim 1, characterized in that, The step of correcting the estimated position coordinates based on the plurality of second relative position coordinates to obtain the corrected estimated position coordinates includes: Determine whether the plurality of second relative position coordinates are within a preset range of the estimated position coordinates; If the plurality of second relative position coordinates are within a preset range of the estimated position coordinates, then the estimated position coordinates are the corrected estimated position coordinates; If the plurality of second relative position coordinates are not within the preset range of the estimated position coordinates, then the average coordinate value of the plurality of second relative position coordinates is calculated, and the average coordinate value is used as the corrected estimated position coordinates; The average coordinate value is expressed as: in, The average coordinate value, The x-axis represents the average. This represents the average ordinate, where i = 1, 2, ..., n, and n is the total number of relative position coordinates.

5. The satellite-ground cooperative positioning method as described in claim 1, characterized in that, The step of modifying the initial position coordinates in real time based on the estimated position coordinates to obtain the current real-time coordinates of the target vehicle includes: The corrected coordinates were calculated as follows: P = (1-α)P0'+ P C , Where P represents the correction coordinate, α is the scaling parameter, P0' is the initial position coordinate of the correction, and P C To correct the estimated position coordinates.

6. A satellite-ground cooperative positioning system, characterized in that, The system includes an information acquisition module, a trajectory extrapolation module, a position correction module, and a real-time positioning module; The information acquisition module is used to acquire the initial position coordinates of the target vehicle and continuously acquire the real-time dynamic information of the target vehicle through a preset global navigation satellite system. The trajectory extrapolation module is used to extrapolate the trajectory of the target vehicle based on the real-time dynamic information and through a preset dead reckoning algorithm, thereby obtaining the estimated current position coordinates of the target vehicle. The position correction module is used to acquire position information of adjacent vehicles within a preset range of the target vehicle, and correct the initial position coordinates and the estimated position coordinates based on the position information of the adjacent vehicles to obtain corrected initial position coordinates and corrected estimated position coordinates. Specifically, within a first period corresponding to acquiring the initial position coordinates, multiple first relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles; the initial position coordinates are corrected based on the multiple first relative position coordinates to obtain corrected initial position coordinates; the first period is divided into several second periods, and within each second period, multiple second relative position coordinates of the target vehicle are calculated based on the position information of the adjacent vehicles; the estimated position coordinates are corrected based on the multiple second relative position coordinates to obtain corrected estimated position coordinates. The real-time positioning module is used to modify the initial position coordinates in real time based on the estimated position coordinates to obtain the current real-time coordinates of the target vehicle; wherein, the real-time speed of the target vehicle is obtained based on the real-time dynamic information, and a corresponding ratio parameter is obtained by calculating the ratio between the real-time speed and a preset speed; the corrected coordinates are calculated based on the ratio parameter, the estimated position coordinates, and the initial position coordinates; and the corrected coordinates are used as the real-time coordinates of the target vehicle to update the initial position coordinates.

7. A satellite-ground cooperative positioning system as described in claim 6, characterized in that, The position correction module includes an adjacent vehicle positioning unit and a position information acquisition unit; The adjacent vehicle positioning unit is used to scan the area around the target vehicle within a preset range according to the radar module preset on the target vehicle, and determine the adjacent vehicles within the preset range of the target vehicle. The location information acquisition unit is used to acquire the location information of the adjacent vehicle and the target vehicle through the radar module; the location information includes the vehicle position coordinates of the adjacent vehicle, the relative distance and relative angle between the target vehicle and the adjacent vehicle.

8. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor, when executing a program stored in memory, implements the satellite-ground cooperative positioning method according to any one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements a satellite-ground cooperative positioning method according to any one of claims 1-5.

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