Positioning and orientation integrated method and apparatus, terminal device, and storage medium

Abstract

Embodiments of the present application are applicable to the technical field of satellites, and provide a positioning and orientation integrated method and device, a terminal device and a storage medium. The method comprises: obtaining first satellite observation data, second satellite observation data and third satellite observation data obtained by a main antenna and slave antennas of a base station and a terminal device when observing multiple satellites at the same time; determining a target position of the terminal device according to the first satellite observation data and the second satellite observation data, and simultaneously orienting the terminal device according to the second satellite observation data and the third satellite observation data. The above method can ensure the accuracy of positioning and orientation, and reduce the hardware cost required by the terminal device.

Description

Technical Field

[0001] This application belongs to the field of satellite technology, and in particular relates to an integrated positioning and orientation method, device, terminal equipment and storage medium. Background Technology

[0002] Real-Time Kinematic (RTK) carrier phase differential technology can achieve centimeter-level high-precision positioning. Typically, the terminal device receives phase and pseudorange observations collected by the base station while observing satellites, and performs differential calculations with its own phase and pseudorange observations collected while observing satellites to determine the terminal device's position. Then, the terminal device is oriented based on its position and the base station's position.

[0003] Currently, in the process of positioning and orientation of terminal devices, it is necessary to use an RTK positioning module for positioning, and then orient the terminal device based on the determined location. Alternatively, the terminal device can use an RTK positioning module to implement the positioning function and an orientation module to implement the orientation function.

[0004] However, in environments with obstructed obstacles or poor signal strength, the accuracy and reliability of the position determined by the RTK positioning module are easily reduced, resulting in poor positioning and orientation accuracy. If separate RTK positioning and orientation modules are used to implement positioning and orientation functions, the required hardware costs are high. Summary of the Invention

[0005] This application provides an integrated positioning and orientation method, apparatus, terminal device, and storage medium, which can solve the problem in the prior art that it is impossible to reduce the hardware cost of the terminal device while ensuring the accuracy of positioning and orientation.

[0006] In a first aspect, embodiments of this application provide a positioning and orientation integrated method applied to a processor within a terminal device, the method comprising:

[0007] The system acquires first satellite observation data obtained from the base station observing multiple satellites at the same time, second satellite observation data obtained from the main antenna of the terminal device observing multiple satellites, and third satellite observation data obtained from the secondary antenna of the terminal device observing multiple satellites. Each first satellite observation data includes a first pseudorange observation value and a first phase observation value. Each second satellite observation data includes a second pseudorange observation value, a second phase observation value, and a primary ephemeris observation value. Each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value, and a secondary ephemeris observation value.

[0008] The first coordinates of the terminal device are determined based on all primary ephemeris observations and the second pseudorange observations. The first satellite observation data and the second satellite observation data obtained when the base station and the terminal device are synchronously observing any satellite are used to establish the first target double-difference observation equation. The target coordinates of the terminal device are obtained by solving the first target double-difference observation equation and the first coordinates. The first target double-difference observation equation is divided into the first pseudorange double-difference observation equation and the first phase double-difference observation equation.

[0009] The second coordinates of the terminal device are determined based on all ephemeris observations and the third pseudorange observation. For the second and third satellite observation data obtained when any synchronous observation satellite is used in the terminal device, a second target double-difference observation equation is established based on the second and third satellite observation data. The second target double-difference observation equation and the first coordinate are used to solve the equation to obtain the slave antenna coordinates of the slave antenna relative to the main antenna in the terminal device. The terminal device is then oriented based on the first coordinate and the slave antenna coordinates. The second target double-difference observation equation is divided into a second pseudorange double-difference observation equation and a second phase double-difference observation equation.

[0010] Secondly, embodiments of this application provide an integrated positioning and orientation device, applied to a processor within a terminal device, the device comprising:

[0011] The acquisition module is used to acquire first satellite observation data obtained by the base station when observing multiple satellites at the same time, second satellite observation data obtained by the main antenna of the terminal device when observing multiple satellites, and third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites. Each first satellite observation data includes a first pseudorange observation value and a first phase observation value. Each second satellite observation data includes a second pseudorange observation value, a second phase observation value, and a primary ephemeris observation value. Each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value, and a secondary ephemeris observation value.

[0012] The positioning module is used to determine the first coordinates of the terminal device based on all primary ephemeris observations and second pseudorange observations. It also establishes a first target double-difference observation equation based on the first and second satellite observation data obtained from either the base station or the terminal device during synchronous observation of a satellite. The module solves this equation using the first target double-difference observation equation and the first coordinates to obtain the target coordinates of the terminal device. The first target double-difference observation equation is divided into a first pseudorange double-difference observation equation and a first phase double-difference observation equation.

[0013] The orientation module is used to determine the second coordinates of the terminal device based on all ephemeris observations and the third pseudorange observations. For the second and third satellite observation data obtained when any synchronous observation satellite is used in the terminal device, a second target double-difference observation equation is established based on the second and third satellite observation data. The second target double-difference observation equation is solved based on the second target double-difference observation equation and the first coordinates to obtain the slave antenna coordinates of the slave antenna in the terminal device relative to the main antenna. The terminal device is then oriented based on the first coordinates and the slave antenna coordinates. The second target double-difference observation equation is divided into a second pseudorange double-difference observation equation and a second phase double-difference observation equation.

[0014] Thirdly, embodiments of this application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0015] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect above.

[0016] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the method described in the first aspect.

[0017] The beneficial effects of this application embodiment compared with the prior art are as follows: By integrating positioning and orientation functions into the processor of the terminal device, it is unnecessary to set up separate RTK positioning and orientation modules to achieve positioning and orientation functions, thus reducing the required hardware costs. Furthermore, to improve the accuracy of positioning and orientation, the processor can first acquire first satellite observation data obtained by the base station when observing multiple satellites at the same time, second satellite observation data obtained by the main antenna of the terminal device when observing multiple satellites, and third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites. Then, during the positioning process, the first and second satellite observation data obtained by the main antennas of the base station and the terminal device when observing multiple identical satellites at the same time can be acquired. Afterwards, the position of the terminal device can be coarsely located based on the primary ephemeris observation values ​​in the multiple second satellite observation data to obtain the first coordinates. Subsequently, during the RTK positioning calculation, not only are the first pseudorange double-difference observation equation and the first phase double-difference observation equation established based on the first and second satellite observation data, but the first coordinates of the terminal device are also considered simultaneously. The calculation is then performed based on the first target double-difference observation equation and the first coordinates to obtain the high-precision target coordinates of the terminal device. Therefore, in environments with obstructions or poor signal strength, the impact of the coarse first coordinates on the terminal device's positioning is considered during RTK positioning calculations. This ensures both positioning accuracy and improved reliability of the final target coordinates. Furthermore, during orientation, the main antenna can be used as the base station, and the secondary antenna as the terminal device requiring precise positioning. The second and third satellite observation data are processed using the same method as for calculating the target coordinates to obtain the precise secondary antenna coordinates relative to the main antenna, enabling accurate orientation of the terminal device. Based on this, even in environments with obstructions or poor signal strength, compared to the less accurate positioning and orientation obtained using the RTK positioning module, the processor can accurately obtain the relatively precise secondary antenna coordinates based on the second and third satellite observation data, and accurately orient the terminal device based on the first coordinates and the secondary antenna coordinates. Moreover, even in environments without obstructions or poor signal strength, the processor can simultaneously perform positioning and orientation functions to obtain both accurate target coordinates and orientation results. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the implementation of an integrated positioning and orientation method according to an embodiment of this application.

[0020] Figure 2 This is a schematic diagram illustrating an implementation method for establishing a double-difference observation equation for a first target in an integrated positioning and orientation method provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the circuit structure of a terminal device provided in one embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the structure of an integrated positioning and orientation device provided in one embodiment of this application;

[0023] Figure 5 This is a schematic diagram of the structure of a terminal device provided in another embodiment of this application. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0025] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0026] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Real-Time Kinematic (RTK) carrier phase differential technology can achieve centimeter-level high-precision positioning. Typically, the terminal device receives phase and pseudorange observations collected by the base station while observing satellites, and performs differential calculations with its own phase and pseudorange observations collected while observing satellites to determine the terminal device's position. Then, the terminal device is oriented based on its position and the base station's position.

[0028] Currently, in the process of positioning and orientation of terminal devices, RTK positioning modules are used for positioning, and then the terminal device is oriented based on the determined location. Alternatively, the terminal device may use an RTK positioning module to implement the positioning function and an orientation module to implement the orientation function.

[0029] However, in environments with obstructed obstacles or poor signal strength, the accuracy and reliability of the position determined by the RTK positioning module are easily reduced, resulting in poor positioning and orientation accuracy. If separate RTK positioning and orientation modules are used to implement positioning and orientation functions, the required hardware costs are high.

[0030] Therefore, in order to reduce the hardware cost of terminal devices while ensuring the accuracy of positioning and orientation, embodiments of this application provide an integrated positioning and orientation method, which can be applied to the processor in a terminal device. For example, the terminal device can be a mobile phone, tablet computer, vehicle terminal, etc., and embodiments of this application do not impose any restrictions on the specific type of terminal device.

[0031] Please see Figure 1 , Figure 1 The following is a flowchart illustrating the implementation of an integrated positioning and orientation method provided in an embodiment of this application. The method includes the following steps:

[0032] S101. Acquire the first satellite observation data obtained by the base station when observing multiple satellites at the same time, the second satellite observation data obtained by the main antenna of the terminal device when observing multiple satellites, and the third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites; each first satellite observation data includes a first pseudorange observation value and a first phase observation value, each second satellite observation data includes a second pseudorange observation value, a second phase observation value and a primary ephemeris observation value; each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value and a secondary ephemeris observation value.

[0033] In one embodiment, the aforementioned base station is a receiver with pre-determined base station coordinates, capable of observing satellites to receive first satellite observation data transmitted by the satellites. During RTK positioning, the first satellite observation data includes at least a first pseudorange observation value and a first phase observation value.

[0034] However, in order to minimize the impact of errors caused by the external environment, the first satellite observation data may also include data such as satellite ephemeris errors and clock errors, ionospheric refraction errors during signal propagation, and flow refraction errors, without limitation.

[0035] Similarly, for a main antenna that needs to be positioned with a satellite, its second satellite observation data must include not only pseudorange observations and second phase observations, but also main ephemeris observations that can be used for coarse positioning.

[0036] In this embodiment, the main antenna and the slave antenna can be preset, wherein the main antenna is used for positioning with the satellite and the slave antenna is used for orientation with the main antenna.

[0037] In this embodiment, since the slave antenna needs to be oriented relative to the main antenna, the information it acquires must include the third pseudorange observation, the third phase observation, and the slave ephemeris observation.

[0038] S102. Determine the first coordinates of the terminal device based on all primary ephemeris observations and second pseudorange observations. For the first satellite observation data and second satellite observation data obtained when the base station and the terminal device are synchronously observing any satellite, establish the first target double-difference observation equation based on the first satellite observation data and the second satellite observation data. Solve the equation based on the first target double-difference observation equation and the first coordinates to obtain the target coordinates of the terminal device. The first target double-difference observation equation is divided into the first pseudorange double-difference observation equation and the first phase double-difference observation equation.

[0039] In one embodiment, when the satellite transmits a satellite signal to the processor, the signal carries the transmission time and ephemeris data. Upon receiving the satellite signal, the processor can determine the transmission time based on the reception and transmission times, and then determine the distance between the satellite and the terminal device (i.e., the aforementioned second pseudorange observation) based on the transmission time. Subsequently, an equation is established based on the satellite's position and the distance to calculate the first coordinates.

[0040] In one embodiment, the ephemeris observations typically include 17 parameters: one reference time, one ephemeris age, six Keplerian orbital elements corresponding to the reference time, and nine perturbation parameters. Without considering perturbation, the processor can first calculate the Keplerian orbital elements and then correct them based on the perturbation parameters. Then, based on the corrected Keplerian orbital elements, the instantaneous coordinates of the satellite in the orbital plane coordinate system are calculated—that is, the satellite position described above.

[0041] In establishing the above equations, the processor establishes at least one equation with each of the three satellites, and then solves the above multiple equations to obtain the first coordinates.

[0042] The first pseudorange observation value in the first satellite observation data corresponding to the base station can also be determined based on the transmission time when the satellite transmits the signal to the base station and the ephemeris data, which will not be explained in detail here.

[0043] In one embodiment, since both the first satellite observation data and the second satellite observation data include pseudorange observations and phase observations, a first pseudorange double-difference observation equation can be established based on the first pseudorange observations in the first satellite data and the second pseudorange observations in the second satellite data, respectively. Similarly, a first phase double-difference observation equation can be established based on the first phase observations in the first satellite data and the second phase observations in the second satellite data.

[0044] As an example, the processor can be based on, for example Figure 2 The S201-S204 diagram shows the establishment of the first target's double-difference observation equation. Details are as follows:

[0045] S201. Difference the first target observation value and the second target observation value to obtain the target difference observation value; the target is divided into pseudorange and phase.

[0046] In one embodiment, as described above, the target is divided into pseudorange and phase. Therefore, when the target is pseudorange, the first target observation value is the first pseudorange observation value, the second target observation value is the second pseudorange observation value, and the target differential observation value is the pseudorange differential observation value.

[0047] Correspondingly, when the target is phase, the first target observation value is the first phase observation value, the second target observation value is the second phase observation value, and the target difference observation value is the phase difference observation value.

[0048] The method of performing the difference is an existing method and will not be described in detail.

[0049] It is understandable that when there are N satellites, there will also be N phase difference observations and N pseudorange difference observations.

[0050] S202, Identify reference satellites and non-reference satellites from multiple satellites.

[0051] In one embodiment, the reference satellite can be any one of multiple satellites. It should be noted that satellites are susceptible to interference from the ionosphere, interference patterns, and multipath effects during signal transmission. Furthermore, satellites with higher elevation angles experience less interference.

[0052] Based on this, for any given satellite, the processor can determine the elevation angle between the line connecting the satellite and the terminal device and a preset horizontal line, using the satellite's instantaneous position and a first coordinate. Then, it determines reference and non-reference satellites based on the elevation angle. For example, the satellite with the maximum elevation angle is designated as the reference satellite, and the remaining satellites are designated as non-reference satellites.

[0053] The instantaneous position of the satellite can be found in the explanation of S102 above, and will not be explained further.

[0054] The aforementioned preset horizontal line can be the horizon, that is, the angle between the line connecting the satellite and the terminal device and the horizon. In this case, the angle is the aforementioned elevation angle.

[0055] It should be added that, in order to shield against the effects of obstructions and multipath effects, a preset angle range can be set to minimize obstruction and interference from multipath effects. In other words, when the elevation angle is within the preset range, the interference experienced by the satellite signal transmission can be considered minimal.

[0056] Therefore, to improve the accuracy of the determined target coordinates, after obtaining the elevation angle corresponding to each satellite, multiple standard elevation angles within a preset angle range can be determined from the multiple elevation angles. Then, the satellite corresponding to the maximum value among the multiple standard elevation angles is determined as the reference satellite, and the satellites corresponding to the other standard elevation angles are determined as non-reference satellites.

[0057] The aforementioned preset angle range can be greater than 15°.

[0058] In another embodiment, since the number of satellites required to calculate the target coordinates is usually greater than 3, if the number of standard elevation angles is less than the preset number, the processor and the base station can re-execute the above steps S101-S102 until a number of standard elevation angles greater than the preset number is obtained.

[0059] S203. For any non-reference satellite, the target difference observation value corresponding to the reference satellite is differentially analyzed with the target difference observation value corresponding to the non-reference satellite to obtain the target double difference observation value.

[0060] In one embodiment, the target differential observation value corresponding to the reference satellite is differentially analyzed with the target differential observation value corresponding to the non-reference satellite. This is equivalent to differentiating the pseudorange differential observation value corresponding to the reference satellite with the pseudorange differential observation value corresponding to the non-reference satellite to obtain pseudorange double-difference observation values. Additionally, the phase differential observation value corresponding to the reference satellite is differentially analyzed with the phase differential observation value corresponding to the non-reference satellite to obtain phase double-difference observation values.

[0061] S204. Establish the first target double-difference observation equation corresponding to each target double-difference observation value.

[0062] Based on the above explanation, for each non-reference satellite, a pseudorange double-difference observation and a phase double-difference observation will ultimately be obtained. Therefore, for each non-reference satellite, a system of equations can be established that includes the first pseudorange double-difference observation equation and the first phase double-difference observation equation.

[0063] For example, the above-mentioned double-difference observation equation for the first objective can be as follows:

[0064]

[0065] in, Let represent the double-difference operator, 'a' represent the main antenna in the terminal device, 'b' represent the base station, 'c' represent the reference satellite, and 'd' represent the non-reference satellite. This represents the pseudorange double-difference observation values ​​calculated by the main antenna a and base station b from non-reference satellite d and reference satellite c; This indicates the double difference in distances between the main antenna a and the base station b observed from the non-reference satellite d and the reference satellite c; R represents the pseudorange. This represents the pseudorange double-difference noise generated by the main antenna a and base station b when observing non-reference satellite d and reference satellite c; This indicates the environmental double-difference noise (e.g., ionospheric double-difference noise, current-spheric double-difference noise, and multipath interference) generated by the observation of non-reference satellite d and reference satellite c by the main antenna a and base station b. This represents the phase double-difference observations calculated from non-reference satellite d and reference satellite c by the main antenna a and base station b; N represents the integer ambiguity, and λ represents the wavelength of the satellite signal. This represents the integer double-difference ambiguity to be solved; This represents the phase double difference noise generated by the observations of non-reference satellite d and reference satellite c by the main antenna a and base station b.

[0066] As an example, after obtaining the double-difference observation equation for the first target, the processor can obtain the target coordinates based on the following method, detailed below:

[0067] The processor can solve the first target double-difference observation equation and the first coordinates to obtain the double-difference ambiguity floating-point solution and the third coordinates. Then, based on the double-difference ambiguity floating-point solution and the third coordinates, it obtains the fixed solution of the double-difference ambiguity, and performs double-difference fixed solution calculation on the fixed solution to obtain the target coordinates of the terminal device.

[0068] In one embodiment, after obtaining the above-mentioned first target double-difference observation equation, since the double-difference observation equation is not a linear equation, in order to facilitate calculation, each first target double-difference observation equation can be linearized first to obtain a linear double-difference observation equation.

[0069] For example, the above linear processing can be achieved by successively subtracting the two first target double-difference observation equations to obtain a single target residual observation equation. For instance, when the target is a pseudorange, the pseudorange residual observation equation can be as follows:

[0070]

[0071] in, This represents the pseudorange residual between the pseudorange double-difference observations calculated by the main antenna a and base station b from non-reference satellite d and reference satellite c, and the pseudorange double-difference observations calculated by the main antenna a and base station b from non-reference satellite e and reference satellite c.

[0072] In one embodiment, since the location of the base station and the instantaneous coordinates of the satellite are known quantities, and the first coordinates for coarse positioning of the main antenna are predetermined, the third coordinate of the terminal device can be set as L(X, Y, Z), and a preset error equation can be used to solve for the third coordinate of the terminal device. The error equation can be as follows:

[0073] A T B = CD - A T E;

[0074] Where A is an n-dimensional matrix with a matrix value of 1, n is the number of non-reference satellites, T is a preset transpose matrix, B is a matrix composed of the various residuals calculated above (including pseudorange residuals and phase residuals), C is a matrix composed of the cosine vector of the distance between the first coordinate and the corresponding non-reference satellite in the radial direction, and the corresponding ambiguity parameters, D is a matrix composed of the third coordinate and the integer double-difference ambiguity to be solved, and E is a matrix composed of the target double-difference observation value and the corresponding target observation noise.

[0075] It should be noted that, after solving the above equations, the third coordinate in matrix D and the floating-point solution of the integer double-difference ambiguity will be obtained.

[0076] After obtaining the third coordinate and the double-difference ambiguity floating-point solution, the Kalman filter algorithm or the least squares decorrelation algorithm can be used to solve the third coordinate and the double-difference ambiguity floating-point solution to obtain a fixed solution.

[0077] It should be added that after obtaining the fixed solution, a double-difference fixed solution can be performed to obtain the target coordinates of the terminal device. In this case, the accuracy of the target coordinates is usually much greater than that of the third and first coordinates mentioned above. The double-difference fixed solution method is an existing method and will not be described in detail here.

[0078] S103. Determine the second coordinates of the terminal equipment based on all ephemeris observations and the third pseudorange observations. For the second and third satellite observation data obtained when observing any synchronous satellite in the terminal equipment, establish the second target double-difference observation equation based on the second and third satellite observation data. Solve the equation based on the second target double-difference observation equation and the first coordinates to obtain the slave antenna coordinates of the slave antenna relative to the main antenna in the terminal equipment. Orient the terminal equipment based on the first coordinates and the slave antenna coordinates. The second target double-difference observation equation is divided into the second pseudorange double-difference observation equation and the second phase double-difference observation equation.

[0079] In one embodiment, when determining the coordinates of the slave antenna, the main antenna can be used as the base station, and the calculation method in S102 can be used to determine the coordinates of the slave antenna. That is, the main antenna is used as the base station, the slave antenna is used as the main antenna, and a calculation method similar to that in S102 is performed.

[0080] Since both the main antenna and the slave antenna are antennas on the terminal device, the coordinate systems corresponding to the slave antenna coordinates and the first coordinate can be considered to be the same. Based on this, the processor can determine the relative direction of the slave antenna with respect to the main antenna according to the slave antenna coordinates and the first coordinate, and determine the relative direction as the direction of the terminal device.

[0081] It is understandable that the relative orientation will change when the orientation of the terminal device changes. Therefore, the orientation of the terminal device can be characterized by the relative orientation determined from the antenna coordinates and the first coordinate.

[0082] It should be noted that since both the first and second coordinates are coarse-range coordinates and there is no relative relationship between them, the orientation obtained based on these two coarse-range coordinates can be considered to have low accuracy. However, although the positioning accuracy of the first coordinate of the main antenna is low, after processing using the method described in S103, the obtained antenna coordinates are very accurate relative to the first coordinate of the main antenna. Therefore, the orientation determined based on these two very accurate relative coordinates (the antenna coordinates and the first coordinate) has higher accuracy than the coarse-range orientation accuracy described above.

[0083] It should be noted that, in another embodiment, the processor can determine more precise target coordinates based on the main antenna and the base station. Therefore, during orientation, the processor can also perform orientation based on the target coordinates and the base station coordinates. Based on this, during orientation, the processor can choose whether to use the first coordinate and the antenna coordinates for orientation, and whether to use the base station coordinates and the target coordinates, depending on the actual scenario. This improves the orientation capabilities of the terminal device in scenarios where it cannot establish a connection with the base station.

[0084] In this embodiment, by integrating positioning and orientation functions into the processor of the terminal device, the need for separate RTK positioning and orientation modules is eliminated, significantly reducing the required hardware costs. Furthermore, to improve positioning and orientation accuracy, the processor can first acquire first satellite observation data obtained from the base station observing multiple satellites simultaneously, second satellite observation data obtained from the terminal device's main antenna observing multiple satellites simultaneously, and third satellite observation data obtained from the terminal device's secondary antenna observing multiple satellites simultaneously. Then, during the positioning process, the first and second satellite observation data obtained from the base station and the terminal device's main antenna observing multiple identical satellites simultaneously can be acquired. Next, the terminal device's position can be coarsely located based on the primary ephemeris observations from the multiple second satellite observation data, yielding the first coordinates. Subsequently, during the RTK positioning calculation, not only are first pseudorange double-difference observation equations and first phase double-difference observation equations established based on the first and second satellite observation data, but the terminal device's first coordinates are also considered simultaneously. The calculation is then performed based on the first target double-difference observation equations and the first coordinates to obtain the terminal device's high-precision target coordinates. Therefore, in environments with obstructions or poor signal strength, the impact of the coarse first coordinates on the terminal device's positioning is considered during RTK positioning calculations. This ensures both positioning accuracy and improved reliability of the final target coordinates. Furthermore, during orientation, the main antenna can be used as the base station, and the secondary antenna as the terminal device requiring precise positioning. The second and third satellite observation data are processed using the same method as for calculating the target coordinates to obtain the precise secondary antenna coordinates relative to the main antenna, enabling accurate orientation of the terminal device. Based on this, even in environments with obstructions or poor signal strength, compared to the less accurate positioning and orientation obtained using the RTK positioning module, the processor can accurately obtain the relatively precise secondary antenna coordinates based on the second and third satellite observation data, and accurately orient the terminal device based on the first coordinates and the secondary antenna coordinates. Moreover, even in environments without obstructions or poor signal strength, the processor can simultaneously perform positioning and orientation functions to obtain both accurate target coordinates and orientation results.

[0085] In another embodiment, reference is made to Figure 3 , Figure 3 This is a schematic diagram of the circuit structure of a terminal device according to an embodiment of this application. The terminal device includes an MCU (processor), a main antenna, and a slave antenna, used to observe satellites and obtain observation data from a second satellite and a third satellite, respectively.

[0086] The above Figure 3The multi-frequency RTK receiver module is used to receive second satellite observation data from the main antenna and first satellite observation data from the base station, and transmits it to the MCU for RTK positioning processing via serial port. The RTK receiver module can be a multi-frequency, multi-system integrated satellite navigation chip, supporting satellite signal frequencies including but not limited to: BDS: B1I, B2I, B3I, B1C, B2a, B2b; GPS: L1, L2, L5; GLONASS: L1, L2; Galileo: E1, E5a, E5b, E6, E5AltBoc; QZSS: L1, L2, L5, etc. This is not limited to any particular frequency. In other words, the RTK receiver module is not limited by frequency points; it can use a combination of multiple frequencies to receive satellite signals, improving signal reception.

[0087] In another embodiment, the RTK receiver module can also be a multi-frequency RTK system module supporting multiple frequencies and multiple systems, composed of separate independent RF baseband chips, or a module composed of multiple single-frequency multi-system satellite navigation chips. Furthermore, the multiple single-frequency multi-system satellite navigation chips can also be composed of independent, separate RF baseband chips.

[0088] Similarly, Figure 3 The single-frequency receiver module can be an integrated satellite navigation chip supporting multiple systems on a single frequency, or it can be a single-frequency positioning system module composed of separate chips for the radio frequency baseband, also supporting multiple systems on a single frequency. The satellite signal frequencies supported by the single-frequency receiver module include, but are not limited to: BDS: B1I, B2I, B3I, B1C, B2a, B2b; GPS: L1, L2, L5; GLONASS: L1, L2; Galileo: E1, E5a, E5b, E6, E5AltBoc; QZSS: L1, L2, L5, etc. That is, the single-frequency receiver module can also be unrestricted by frequency points, using a combination of multiple frequencies to receive satellite signals, thus improving signal reception.

[0089] in, Figure 3 The MCU in the code is used to receive the raw second and third satellite observation data from the multi-frequency RTK receiver module and the single-frequency receiver module, and then perform high-precision algorithm processing and positioning algorithm processing. In other words, the MCU can be considered to execute the aforementioned integrated positioning and orientation method. The MCU can be a standalone MCU packaged chip. That is, combined with... Figure 3 and Figure 1It is known that the multi-frequency RTK receiving module and the single-frequency receiving module are only used to receive the observation data of the second and third satellites, and do not perform positioning and orientation processing. Instead, the MCU performs high-precision positioning based on the observation data of the first and second satellites, and performs orientation based on the observation data of the second and third satellites.

[0090] in, Figure 3 The MEMS (Micro-Electro-Mechanical System) mentioned is an optional device used to support inertial navigation functions. Based on this, the aforementioned MCU can be considered a processor capable of simultaneously performing integrated navigation algorithm processing that combines satellite navigation and inertial navigation.

[0091] In one embodiment, the circuit structure of the terminal device includes, but is not limited to, various external interfaces such as serial port, Universal Asynchronous Receiver Transmitter (UART), Controller Area Network (CAN), Serial Peripheral Interface (SPI), General Purpose Input Output (GPIO), Ethernet port (Eth), and Universal Serial Bus (USB), etc., without limitation.

[0092] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an integrated positioning and orientation device provided in an embodiment of this application. The modules included in this embodiment of the integrated positioning and orientation device are used to perform... Figure 1 and Figure 2 The steps in the corresponding embodiments. Please refer to the details. Figure 1 and Figure 2 as well as Figure 1 and Figure 2 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. See also... Figure 4 The integrated positioning and orientation device 400 may include: an acquisition module 410, a positioning module 420, and an orientation module 430, wherein:

[0093] The acquisition module 410 is used to acquire first satellite observation data obtained by the base station when observing multiple satellites at the same time, second satellite observation data obtained by the main antenna of the terminal device when observing multiple satellites, and third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites. Each first satellite observation data includes a first pseudorange observation value and a first phase observation value. Each second satellite observation data includes a second pseudorange observation value, a second phase observation value, and a primary ephemeris observation value. Each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value, and a secondary ephemeris observation value.

[0094] The positioning module 420 is used to determine the first coordinates of the terminal device based on all primary ephemeris observations and the second pseudorange observations, and to establish a first target double-difference observation equation based on the first satellite observation data and the second satellite observation data obtained when the base station and the terminal device are synchronously observing any satellite. The first target double-difference observation equation is solved based on the first target double-difference observation equation and the first coordinates to obtain the target coordinates of the terminal device. The first target double-difference observation equation is divided into a first pseudorange double-difference observation equation and a first phase double-difference observation equation.

[0095] The orientation module 430 is used to determine the second coordinates of the terminal device based on all ephemeris observations and the third pseudorange observations. For the second and third satellite observation data obtained when any synchronous observation satellite is observed in the terminal device, a second target double-difference observation equation is established based on the second and third satellite observation data. The second target double-difference observation equation is solved based on the first coordinates to obtain the slave antenna coordinates of the slave antenna relative to the main antenna in the terminal device. The terminal device is then oriented based on the first coordinates and the slave antenna coordinates. The second target double-difference observation equation is divided into a second pseudorange double-difference observation equation and a second phase double-difference observation equation.

[0096] In one embodiment, the positioning module 420 is further configured to:

[0097] The first target observation value and the second target observation value are differentiated to obtain the target difference observation value; the target is divided into pseudorange and phase; a reference satellite is determined from multiple satellites; for any non-reference satellite, the target difference observation value corresponding to the reference satellite is differentiated with the target difference observation value corresponding to the non-reference satellite to obtain the target double difference observation value; the first target double difference observation equation corresponding to each target double difference observation value is established respectively.

[0098] In one embodiment, the positioning module 420 is further configured to:

[0099] For any given satellite, the elevation angle between the line connecting the satellite and the terminal device and a preset horizontal line is determined based on the satellite's instantaneous position and the first coordinate; a reference satellite is then determined based on the elevation angle.

[0100] In one embodiment, the positioning module 420 is further configured to:

[0101] From multiple elevation angles, determine multiple standard elevation angles that fall within a preset angle range; determine the satellite corresponding to the maximum value among the multiple standard elevation angles as the reference satellite, and determine the satellites corresponding to the other standard elevation angles as non-reference satellites.

[0102] In one embodiment, the positioning module 420 is further configured to:

[0103] The first target double-difference observation equation and the first coordinate are used to solve the problem, and the floating-point solution of the double-difference ambiguity and the third coordinate are obtained. The fixed solution of the double-difference ambiguity is obtained based on the floating-point solution of the double-difference ambiguity and the third coordinate. The target coordinates of the terminal device are determined based on the fixed solution.

[0104] In one embodiment, the positioning module 420 is further configured to:

[0105] The least squares downcorrelation adjustment algorithm is used to solve the floating-point solution of the double-difference ambiguity and the third coordinate to obtain the fixed solution.

[0106] In one embodiment, the orientation module 430 is further configured to:

[0107] Determine the relative direction of the coordinates with respect to the first coordinate; define the relative direction as the orientation of the terminal device.

[0108] When it is understood that, Figure 4 In the schematic diagram of the integrated positioning and orientation device shown, each module is used to perform... Figure 1 and Figure 2 The steps in the corresponding embodiments, and for Figure 1 and Figure 2 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figure 1 and Figure 2 as well as Figure 1 and Figure 2 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0109] Figure 5 This is a schematic diagram of the structure of a terminal device provided in another embodiment of this application. For example... Figure 5 As shown, the terminal device 500 of this embodiment includes: a processor 510, a memory 520, and a computer program 530 stored in the memory 520 and executable on the processor 510, such as a program for a positioning and orientation integration method. When the processor 510 executes the computer program 530, it implements the steps in the various embodiments of the above-described positioning and orientation integration methods, for example... Figure 1S101 to S104 are shown. Alternatively, the processor 510 may implement the above when executing the computer program 530. Figure 4 For details on the functions of each module in the corresponding embodiments, please refer to [link / reference]. Figure 4 The relevant descriptions in the corresponding embodiments.

[0110] For example, the computer program 530 can be divided into one or more modules, one or more of which are stored in the memory 520 and executed by the processor 510 to implement the integrated positioning and orientation method provided in this application embodiment. One or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 530 in the terminal device 500. For example, the computer program 530 can implement the integrated positioning and orientation method provided in this application embodiment.

[0111] Terminal device 500 may include, but is not limited to, processor 510 and memory 520. Those skilled in the art will understand that... Figure 5 This is merely an example of terminal device 500 and does not constitute a limitation on terminal device 500. It may include more or fewer components than shown, or combine certain components, or different components. For example, terminal device may also include input / output devices, network access devices, buses, etc.

[0112] The processor 510 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0113] The memory 520 can be an internal storage unit of the terminal device 500, such as a hard disk or RAM of the terminal device 500. The memory 520 can also be an external storage device of the terminal device 500, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the terminal device 500. Furthermore, the memory 520 can include both internal storage units and external storage devices of the terminal device 500.

[0114] This application provides a computer-readable storage medium storing a computer program, which is executed by a processor using the integrated positioning and orientation method described in the above embodiments.

[0115] This application provides a computer program product that, when run on a terminal device, causes the terminal device to execute the integrated positioning and orientation method described in the above embodiments.

[0116] The above 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, and should all be included within the protection scope of this application.

Claims

1. A method for integrated positioning and orientation, characterized in that, The method, applied to a processor within a terminal device, includes: The system acquires first satellite observation data obtained by a base station when observing multiple satellites at the same time, second satellite observation data obtained by the main antenna of a terminal device when observing multiple satellites, and third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites. Each first satellite observation data includes a first pseudorange observation value and a first phase observation value. Each second satellite observation data includes a second pseudorange observation value, a second phase observation value, and a primary ephemeris observation value. Each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value, and a secondary ephemeris observation value. The first coordinates of the terminal device are determined based on all the primary ephemeris observations and the second pseudorange observations. Then, for the first satellite observation data and the second satellite observation data obtained when either the base station or the terminal device simultaneously observes the satellite, a first target double-difference observation equation is established based on the first satellite observation data and the second satellite observation data. The target coordinates of the terminal device are obtained by solving the first target double-difference observation equation and the first coordinates. The first target double-difference observation equation is divided into a first pseudorange double-difference observation equation and a first phase double-difference observation equation. The second coordinates of the terminal device are determined based on all the ephemeris observations and the third pseudorange observations. For the second satellite observation data and the third satellite observation data obtained when the terminal device synchronously observes the satellite, a second target double-difference observation equation is established based on the second satellite observation data and the third satellite observation data. The equation is then solved based on the second target double-difference observation equation and the first coordinates to obtain the slave antenna coordinates of the slave antenna relative to the main antenna in the terminal device. The terminal device is then oriented based on the first coordinates and the slave antenna coordinates. The second target double-difference observation equation is divided into a second pseudorange double-difference observation equation and a second phase double-difference observation equation.

2. The method according to claim 1, characterized in that, The step of establishing a first target double-difference observation equation based on the first satellite observation data and the second satellite observation data includes: The first target observation value and the second target observation value are differentiated to obtain the target difference observation value; the target is divided into pseudorange and phase. From the plurality of said satellites, determine the reference satellite and the non-reference satellite; For any of the non-reference satellites, the target difference observations corresponding to the reference satellites are differiated from the target difference observations corresponding to the non-reference satellites to obtain double-difference target observations; Establish the first target double-difference observation equation corresponding to each of the target double-difference observation values.

3. The method according to claim 2, characterized in that, The step of determining the reference satellite and non-reference satellites from the plurality of said satellites includes: For any of the satellites, the elevation angle between the line connecting the satellite and the terminal device and a preset horizontal line is determined based on the satellite's instantaneous position and the first coordinates. The reference satellite and the non-reference satellite are determined based on the elevation angle.

4. The method according to claim 3, characterized in that, The determination of the reference satellite and the non-reference satellite based on the elevation angle includes: From the multiple elevation angles, determine multiple standard elevation angles that fall within a preset angle range; The satellite corresponding to the maximum value among the multiple standard elevation angles is determined as the reference satellite, and the satellites corresponding to the other standard elevation angles are determined as non-reference satellites.

5. The method according to any one of claims 1-4, characterized in that, The step of solving the target coordinates of the terminal device based on the first target double-difference observation equation and the first coordinates includes: Based on the first target double-difference observation equation and the first coordinate, the double-difference ambiguity floating-point solution and the third coordinate are obtained; The fixed solution of the double-difference ambiguity is obtained based on the floating-point solution of the double-difference ambiguity and the third coordinate; The target coordinates of the terminal device are determined based on the fixed solution.

6. The method according to claim 5, characterized in that, The process of obtaining a fixed solution for the double-difference ambiguity based on the floating-point solution of the double-difference ambiguity and the third coordinate includes: The least squares reduction correlation adjustment algorithm is used to solve the double-difference fuzzy floating-point solution and the third coordinate to obtain the fixed solution.

7. The method according to any one of claims 1-4 or 6, characterized in that, Orienting the terminal device based on the first coordinates and the antenna coordinates includes: Determine the relative direction of the antenna coordinates with respect to the first coordinates; The relative direction is determined as the direction of the terminal device.

8. A positioning and orientation integrated device, characterized in that, The device, which is used as a processor within a terminal device, includes: The acquisition module is used to acquire first satellite observation data obtained by the base station when observing multiple satellites at the same time, second satellite observation data obtained by the main antenna of the terminal device when observing multiple satellites, and third satellite observation data obtained by the secondary antenna of the terminal device when observing multiple satellites. Each first satellite observation data includes a first pseudorange observation value and a first phase observation value. Each second satellite observation data includes a second pseudorange observation value, a second phase observation value, and a primary ephemeris observation value. Each third satellite observation data includes at least a third pseudorange observation value, a third phase observation value, and a secondary ephemeris observation value. The positioning module is used to determine the first coordinates of the terminal device based on all the primary ephemeris observations and the second pseudorange observations, and to establish a first target double-difference observation equation based on the first satellite observation data and the second satellite observation data obtained by the base station and the terminal device simultaneously observing the satellite, and to solve the target coordinates of the terminal device based on the first target double-difference observation equation and the first coordinates; the first target double-difference observation equation is divided into a first pseudorange double-difference observation equation and a first phase double-difference observation equation; The orientation module is used to determine the second coordinates of the terminal device based on all the ephemeris observations and the third pseudorange observations, and to establish a second target double-difference observation equation based on the second satellite observation data and the third satellite observation data obtained when the terminal device synchronously observes the satellite, and to solve the equation based on the second target double-difference observation equation and the first coordinates to obtain the slave antenna coordinates of the slave antenna relative to the main antenna in the terminal device, and to orient the terminal device based on the first coordinates and the slave antenna coordinates; the second target double-difference observation equation is divided into a second pseudorange double-difference observation equation and a second phase double-difference observation equation.

9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1 to 7.

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