Positioning method, apparatus, computer readable medium, and electronic device

Abstract

Embodiments of the present application provide a positioning method, device, computer readable medium and electronic device. The method comprises: generating a first positioning result of a target by a first positioning manner, and generating a second positioning result of the target by a second positioning manner, wherein the accuracy of the first positioning manner is higher than the accuracy of the second positioning manner, the robustness of the first positioning manner is lower than the robustness of the second positioning manner, and the robustness is used to measure the stability of positioning; determining a difference between the first positioning result and the second positioning result; if the difference is above a predetermined difference threshold, determining that the first positioning result is unavailable, and determining a final positioning result of the target according to the second positioning result. The scheme of the present application can significantly reduce the possibility of a large positioning error, thereby improving the stability of the overall positioning. The embodiments of the present application can be applied to the field of transportation.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, and more specifically, to a positioning method, apparatus, computer-readable medium, and electronic device. Background Technology

[0002] With the development of satellite positioning technology, new technologies, represented by carrier phase differential technology, have been widely used due to their high precision.

[0003] While many of the new technologies currently in widespread use have achieved high accuracy, they still suffer from poor stability. This can lead to significant positioning errors in some situations, which can negatively impact the user experience. Summary of the Invention

[0004] The embodiments of this application provide a positioning method, apparatus, computer-readable medium, and electronic device, which can at least to some extent reduce the possibility of large positioning errors and improve the overall positioning stability.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part by practice of this application.

[0006] According to one aspect of the embodiments of this application, a positioning method is provided, the method comprising: generating a first positioning result for a target through a first positioning method, and generating a second positioning result for the target through a second positioning method, wherein the accuracy of the first positioning method is higher than that of the second positioning method, and the robustness of the first positioning method is lower than that of the second positioning method, the robustness being used to measure the stability of positioning; determining a difference between the first positioning result and the second positioning result; if the difference is above a predetermined difference threshold, determining that the first positioning result is unusable, and determining a final positioning result for the target based on the second positioning result.

[0007] According to one aspect of the embodiments of this application, a positioning device is provided, the device comprising: a positioning result generation unit, configured to generate a first positioning result for a target using a first positioning method, and to generate a second positioning result for the target using a second positioning method, wherein the accuracy of the first positioning method is higher than the accuracy of the second positioning method, and the robustness of the first positioning method is lower than the robustness of the second positioning method, the robustness being used to measure the stability of positioning; a difference determination unit, configured to determine the difference between the first positioning result and the second positioning result; and a positioning result determination unit, configured to determine that the first positioning result is unusable if the difference is above a predetermined difference threshold, and to determine a final positioning result for the target based on the second positioning result.

[0008] In some embodiments of this application, based on the foregoing scheme, the first positioning method is satellite-based carrier phase differential positioning, the target is a mobile station, and the positioning result generation unit is configured to: acquire phase observation values ​​and pseudorange observation values ​​of a reference station and a mobile station; construct a carrier phase double-difference observation equation based on the phase observation values ​​of the reference station and the mobile station, and construct a pseudorange double-difference observation equation based on the pseudorange observation values ​​of the reference station and the mobile station; construct a matrix-form observation equation based on the carrier phase double-difference observation equation and the pseudorange double-difference observation equation, and construct a first Kalman filter equation based on the matrix-form observation equation, so as to determine the first positioning result of the mobile station based on the first Kalman filter equation.

[0009] In some embodiments of this application, based on the foregoing scheme, the positioning result generation unit is configured to: construct a carrier phase single-difference observation equation for each satellite based on the phase observation values ​​of the reference station for each satellite and the phase observation values ​​of the rover station for the corresponding satellite, wherein each satellite includes a reference satellite and a non-reference satellite; for each non-reference satellite, determine a carrier phase double-difference observation equation corresponding to the non-reference satellite based on the carrier phase single-difference observation equation of the non-reference satellite and the carrier phase single-difference observation equation of the reference satellite, so as to obtain the carrier phase double-difference observation equation corresponding to each non-reference satellite.

[0010] In some embodiments of this application, based on the foregoing scheme, the second positioning method is satellite-based pseudorange differential positioning, and the positioning result generation unit is configured to: determine the second positioning result for the mobile station according to the pseudorange double-difference observation equation.

[0011] In some embodiments of this application, based on the foregoing scheme, the positioning result generation unit is configured to: convert the pseudorange double-difference observation equation into matrix form; construct a second Kalman filter equation based on the matrix form of the pseudorange double-difference observation equation; and determine a second positioning result for the mobile station based on the second Kalman filter equation.

[0012] In some embodiments of this application, based on the aforementioned scheme, the first positioning result is the first positioning result for each epoch, the second positioning result is the second positioning result for each epoch, and the difference determination unit is configured to: determine the difference between the first positioning result and the second positioning result corresponding to the same epoch.

[0013] In some embodiments of this application, based on the foregoing scheme, the second positioning method is standard single-point positioning based on satellite, and the positioning result generation unit is configured to: acquire multiple pseudorange observations of the mobile station; and determine a second positioning result for the mobile station based on the multiple pseudorange observations.

[0014] In some embodiments of this application, based on the foregoing scheme, the first positioning method is to use a first sensor for positioning, and the second positioning method is to use a second sensor different from the first sensor for positioning.

[0015] In some embodiments of this application, based on the foregoing scheme, the positioning result determination unit is configured to: determine the final positioning result of the target based on the second positioning result and pre-configured map base map data.

[0016] According to one aspect of the embodiments of this application, a computer-readable medium is provided having a computer program stored thereon, which, when executed by a processor, implements the positioning method as described in the above embodiments.

[0017] According to one aspect of the embodiments of this application, an electronic device is provided, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the positioning method as described in the above embodiments.

[0018] According to one aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, a processor of a computer device reading the computer instructions from the computer-readable storage medium, and the processor executing the computer instructions to cause the computer device to perform the positioning method as described in the above embodiments.

[0019] In some embodiments of this application, the technical solutions involve first generating a first positioning result and a second positioning result for the target using a first positioning method and a second positioning method, respectively. Then, the difference between the first and second positioning results is determined. Finally, if the difference is above a predetermined threshold, the first positioning result is discarded, and the final positioning result for the target is determined solely based on the second positioning result. Although the accuracy of the first positioning method is higher than that of the second positioning method, its robustness is lower. Therefore, the solution in this application utilizes the higher robustness of the second positioning method to verify the first positioning result generated by the first positioning method. When the two positioning results differ significantly, only the positioning result generated by the more robust positioning method is accepted. This allows for the elimination of erroneous first positioning results, significantly reducing the possibility of large positioning errors and improving the overall stability of the positioning.

[0020] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0022] Figure 1 A schematic diagram of an exemplary system architecture that can implement the technical solutions of the embodiments of this application is shown;

[0023] Figure 2 A flowchart of a positioning method according to an embodiment of this application is shown;

[0024] Figure 3 A flowchart illustrating the generation of a first positioning result of a target using a first positioning method according to an embodiment of this application is shown;

[0025] Figure 4 A schematic diagram of a dual-difference positioning model according to an embodiment of this application is shown;

[0026] Figure 5 An embodiment according to this application is shown. Figure 3 A flowchart detailing step 320 in the embodiment;

[0027] Figure 6 A flowchart illustrating the generation of a second positioning result of a target using a second positioning method according to an embodiment of this application is shown;

[0028] Figure 7 An embodiment according to this application is shown. Figure 6 A flowchart detailing step 630 in the embodiment;

[0029] Figure 8 An embodiment according to this application is shown. Figure 2 A flowchart detailing step 210 in the embodiment;

[0030] Figure 9 A schematic diagram of the overall process of a solution according to an embodiment of this application is shown;

[0031] Figure 10 A block diagram of a positioning device according to an embodiment of this application is shown;

[0032] Figure 11 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown. Detailed Implementation

[0033] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0034] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0035] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0036] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0037] With the development of mobile internet and smart cars, positioning technology has been used more and more widely.

[0038] The relevant technical approach is to evaluate the data quality by considering factors such as the relationship between the double-difference residuals of pseudorange and phase observations, elevation angle, and signal-to-noise ratio, thereby eliminating the corresponding pseudorange and phase observations. Then, the phase and pseudorange observations are weighted separately, and the corresponding positioning results are calculated.

[0039] However, the relevant techniques compare the positioning consistency between double-difference pseudorange observations and double-difference phase observations. Since the weight of pseudorange and phase is generally 1:100, the weight of pseudorange is low in actual RTK (Real-time kinematic) positioning, and the robustness advantage of pseudorange itself cannot be used to correct the overall result.

[0040] To address this, this application first provides a positioning method. The positioning method provided by the embodiments of this application can overcome the above-mentioned defects. Based on RTK positioning, pseudorange differential positioning can be used to calculate a result with slightly lower accuracy but less prone to significant deviations. The positioning results of RTK positioning and pseudorange differential positioning are compared. If the difference between the two is large, the RTK result is discarded, and positioning is finally performed only based on the positioning result of pseudorange differential positioning. Thus, the robustness advantage of pseudorange itself can be used to correct the entire positioning result.

[0041] Figure 1 A schematic diagram of an exemplary system architecture that can implement the technical solutions of the embodiments of this application is shown.

[0042] like Figure 1 As shown, the system architecture 100 includes a vehicle 110, a transmitting radio 130, a base station 120 connected to the transmitting radio 130, and multiple satellites, specifically including a first satellite 140, a second satellite 150, a third satellite 160, and a fourth satellite 170. A positioning module is deployed on the vehicle 110, which can communicate with the transmitting radio 130. The vehicle 110 is the execution entity in this embodiment. When the positioning method provided in this embodiment is applied... Figure 1 In the system architecture shown, one process can be as follows: On one hand, the positioning module of vehicle 110 and the base station 120 synchronously observe multiple satellites at multiple epochs. The base station 120 transmits the carrier phase observation value observed each time to vehicle 110 via radio station 130, thereby calculating the difference between the carrier phase observation value observed by vehicle 110 through its positioning module at the corresponding epoch and the difference. Then, the first positioning result of vehicle 110 is obtained by solving the carrier phase observation equation obtained from the difference. On the other hand, the base station 120 and the positioning module of vehicle 110 synchronously observe all satellites, obtaining the pseudorange observation value corresponding to each satellite. Then, the base station 120 transmits the carrier phase observation value observed by vehicle 110 at each epoch and the difference between the carrier phase observation value observed by vehicle 110 and the carrier phase observation value obtained by vehicle 110 through its positioning module at the corresponding epoch. The reference station 120 calculates the true distance from each satellite to the base station at each moment based on its known coordinates and the coordinates of each satellite. It then compares this distance with the measured pseudorange observation value to obtain the pseudorange correction. Finally, the base station 120 transmits the pseudorange correction value to the vehicle 110 via the transmitter 130. The vehicle 110 corrects the pseudorange observation value observed by its positioning module based on the pseudorange correction value to obtain the second positioning result. Next, the vehicle 110 determines the difference between the first and second positioning results. If the difference is above a predetermined difference threshold, the first positioning result is discarded and deemed unusable. The vehicle then determines its final positioning result based on the second positioning result.

[0043] In one embodiment of this application, the vehicle 110 performs navigation or assisted driving based on the final positioning result.

[0044] In one embodiment of this application, the vehicle 110 calculates a first positioning result and a second positioning result in each of the multiple epochs, and determines the final positioning result corresponding to each epoch based on the first positioning result or the second positioning result.

[0045] In one embodiment of this application, the base station 120 is a virtual base station.

[0046] In one embodiment of this application, the vehicle 110 sends the determined final location result to a server in the cloud to record the driving trajectory of the vehicle 110 in the cloud.

[0047] It should be understood that Figure 1 The number of vehicles, base stations, satellites, and transmitting radios shown is merely illustrative. Depending on the implementation requirements, any number of vehicles, base stations, satellites, and transmitting radios can be used. For example, more satellites can be provided, and multiple base stations and transmitting radios can be set up.

[0048] It should be noted that, Figure 1 The example shown is only one embodiment of this application, although in Figure 1 In this embodiment, a car is used for positioning, but in other embodiments of this application, other types of terminal devices such as smartphones, tablets, portable wearable devices, and laptops can also be positioned, as well as other types of vehicles such as ships, airplanes, tractors, bicycles, and motorcycles; although in Figure 1 In this embodiment, the first positioning result and the second positioning result are determined using the positioning method described above. However, in other embodiments of this application, the first positioning result and the second positioning result can also be determined based on other positioning methods. For example, the second positioning result can be determined using standard point positioning technology. Although in Figure 1 In the embodiments, both the first and second positioning results are determined based on satellite positioning technology. However, in other embodiments of this application, they can also be determined based on other known or unknown technologies, such as point cloud positioning. This application does not limit these aspects in any way, and the scope of protection of this application should not be restricted as a result.

[0049] Furthermore, it is easy to understand that the positioning method provided in the embodiments of this application is generally executed by an in-vehicle terminal, and correspondingly, the positioning method is generally set in the in-vehicle terminal. However, in other embodiments of this application, various types of user terminals may also have similar functions to user terminals, thereby executing the positioning scheme provided in the embodiments of this application.

[0050] As mentioned above, the solutions in the embodiments of this application can be implemented through the interaction between the terminal and the server. The server can be an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms. The terminal can be a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smartwatch, vehicle terminal, etc., but is not limited to these. The terminal and the server can be directly or indirectly connected through wired or wireless communication, which is not limited herein.

[0051] The embodiments of this application can be applied to the field of autonomous driving or in-vehicle scenarios, and can be specifically applied to intelligent vehicle-road cooperative systems.

[0052] Intelligent Vehicle Infrastructure Cooperative Systems (IVICS) are a development direction of Intelligent Transportation Systems (ITS). IVICS utilizes advanced wireless communication and next-generation Internet technologies to implement comprehensive, real-time dynamic information exchange between vehicles and infrastructure. Based on the collection and fusion of dynamic traffic information across all times and spaces, it conducts active vehicle safety control and cooperative road management, fully realizing effective collaboration between people, vehicles, and roads. This ensures traffic safety, improves traffic efficiency, and ultimately forms a safe, efficient, and environmentally friendly road traffic system.

[0053] The implementation details of the technical solutions in the embodiments of this application are described in detail below:

[0054] Figure 2 A flowchart of a positioning method according to an embodiment of this application is shown. This positioning method can be executed by various computing and processing devices, such as user terminals or cloud servers. User terminals include, but are not limited to, mobile phones, computers, smart voice interaction devices, smart home appliances, vehicle terminals, aircraft, and portable wearable devices. Embodiments of this application can be applied to various scenarios, including but not limited to cloud technology, artificial intelligence, smart transportation, and assisted driving. Please refer to... Figure 2 As shown, the positioning method includes at least the following steps:

[0055] In step 210, a first positioning result for the target is generated using a first positioning method, and a second positioning result for the target is generated using a second positioning method. The accuracy of the first positioning method is higher than that of the second positioning method, and the robustness of the first positioning method is lower than that of the second positioning method. Robustness is used to measure the stability of the positioning.

[0056] The first positioning method and the second positioning method can be any two different positioning methods that satisfy the above conditions. Both positioning methods can use satellite positioning, or at least one of the two positioning methods can use a positioning method other than satellite positioning.

[0057] The target can be any terminal device or apparatus capable of being equipped with a positioning module. For example, the target can be a portable wearable device such as a smartwatch, a common user terminal such as a smartphone, tablet, or smart home appliance, or a means of transportation such as a vehicle, ship, or airplane.

[0058] For example, the first positioning method could be RTK (Real-time kinematic) carrier phase differential technology, and the second positioning method could be pseudorange differential technology. If the accuracy of the first positioning method is at the centimeter level, and the accuracy of the second positioning method is at the decimeter level, then the accuracy of the first positioning method is higher than that of the second positioning method. The robustness of a positioning method can be determined by the variance of the positioning results. The higher the robustness of the positioning method, the more stable its positioning results, and the lower the probability of large deviations in its positioning results.

[0059] The robustness and accuracy of the two positioning methods can be calculated through the following process: For a base station at a known location, perform multiple positioning operations using both methods to obtain multiple positioning results generated by each method; for each positioning method, calculate the variance based on the multiple positioning results generated by that method and use this variance as the robustness of that positioning method; for each positioning method, determine the average value of the differences between each positioning result generated by that method and the known location of the base station, and use this average value as the accuracy of that positioning method.

[0060] Specifically, if P A1 P A2 P A3 …P AN To obtain N positioning results from N positioning attempts using positioning method A at a known location, we can calculate the variance of these N positioning results as the robustness of positioning method A. Then, the accuracy of positioning method A can be calculated using the following formula:

[0061]

[0062] Among them, ACC A For the accuracy of positioning method A, P Ai P represents the location result of the i-th positioning operation performed on a base station at a known location using positioning method A, where P is the known location of the base station and N is the total number of positioning operations performed on the base station at the known location using positioning method A.

[0063] In other embodiments of this application, multiple base stations at known locations may first be located using two different positioning methods. Then, the positioning results obtained by each base station using the two positioning methods are statistically analyzed, and the robustness and accuracy of the two positioning methods are determined based on the statistical results.

[0064] Of course, other positioning methods can be used for the first and second positioning methods.

[0065] In one embodiment of this application, the first positioning method is to use a first sensor for positioning, and the second positioning method is to use a second sensor different from the first sensor for positioning.

[0066] Both the first sensor and the second sensor can be positioned based on satellites, but at least one of the first sensor and the second sensor can be positioned using other methods, such as positioning based on a communication base station.

[0067] Therefore, the first sensor and the second sensor can be sensors designed based on various principles that can achieve positioning, as long as the first sensor has higher accuracy than the second sensor, but the robustness of the first sensor is lower than that of the second sensor.

[0068] In one embodiment of this application, the first positioning method is satellite-based carrier phase differential positioning, and the target is a mobile station.

[0069] Carrier phase differential positioning, also known as RTK positioning, involves a mobile station that can be any device equipped with a GPS receiver, such as a car or a smartphone.

[0070] Figure 3 A flowchart illustrating the generation of a first positioning result of a target using a first positioning method according to an embodiment of this application is shown. Please refer to... Figure 3 As shown, when the first positioning method is satellite-based carrier phase differential positioning, generating the first positioning result for the target using the first positioning method may specifically include the following steps:

[0071] In step 310, the phase observations and pseudorange observations of the base station and the rover station are obtained.

[0072] The base station here can be a regular base station or a virtual reference station (VRS). Virtual reference station technology, also known as virtual reference station technology, is a network real-time kinematic (RTK) technology. It establishes multiple base stations forming a mesh coverage within a certain area, and sets up a virtual base station near the rover. The virtual observation value of the virtual base station is calculated based on the actual observation values ​​of the surrounding base stations, thereby achieving high-precision positioning of the rover.

[0073] The base station and rover station are equipped with receivers that can receive observations from satellite systems such as GPS (Global Positioning System), BDS (BeiDou Navigation Satellite System), GLONASS (GLOBAL NAVIGATION SATELLITE SYSTEM), and Galileo (Galileo satellite navigation system). In this embodiment, only GPS, BDS, and Galileo systems can be used because these three systems are all code division multiple access systems, which can distinguish satellites by code type. Therefore, when performing double-difference calculations, it is not necessary to consider the corresponding inter-frequency offsets. Overall, the algorithm is simple to implement and has high robustness.

[0074] Figure 4 A schematic diagram of a dual-difference positioning model according to an embodiment of this application is shown. Please refer to... Figure 4 As shown, receiver b represents the base station, receiver r represents the rover station, and satellite j and satellite k represent the satellites that the base station and the rover station are synchronously observing, so that the base station and the rover station can obtain the corresponding observation values.

[0075] In step 320, a carrier phase double-difference observation equation is constructed based on the phase observation values ​​of the base station and the rover station, and a pseudorange double-difference observation equation is constructed based on the pseudorange observation values ​​of the base station and the rover station.

[0076] Figure 5 An embodiment according to this application is shown. Figure 3 A flowchart detailing step 320 in the embodiment is provided. Please refer to [link / reference]. Figure 5 As shown, constructing the carrier phase double-difference observation equation based on the phase observations of the base station and the rover station can specifically include the following steps:

[0077] In step 321, a carrier phase single-difference observation equation for each satellite is constructed based on the phase observation values ​​of the reference station for each satellite and the phase observation values ​​of the rover station for the corresponding satellite. Each satellite includes a reference satellite and a non-reference satellite.

[0078] Specifically, each satellite may include one reference satellite and multiple non-reference satellites. Please see below. Figure 4 As shown, satellite k can be used as the reference satellite, and satellite j as a non-reference satellite. Although Figure 4 In this embodiment, only one non-reference satellite is shown, but it is easy to understand and more non-reference satellites can be set.

[0079] The original carrier phase observation equation is:

[0080]

[0081] The original pseudorange observation equation is:

[0082]

[0083] Where r, s, and i represent the station, satellite, and frequency number, respectively; dt represents the geometric distance between the stars, in meters; c represents the speed of light, in m / s; r dt represents the clock bias of receiver r. s The clock bias representing satellite s; λ i The wavelength representing the carrier phase, measured in meters; This represents the initial phase at the receiver's r-end, in cycles; δ r,i This represents the phase hardware delay at the receiver's r-end, measured in cycles. This indicates the initial phase at the s-end of the satellite, in cycles. This indicates the phase hardware delay at the satellite's S-terminal, measured in cycles. Let r be the integer ambiguity when receiver r observes satellite s; and d represents the ionospheric delay and tropospheric delay when receiver r observes satellite s, respectively, in meters; r,i and These represent the hardware delay at the receiver's r-end and the hardware delay at the satellite's s-end, respectively, in meters. and These represent the multipath, noise, and other errors corresponding to the phase observations and pseudorange observations, respectively, in meters; This represents the carrier phase observation value obtained by receiver r from observing satellite s. This represents the pseudorange observation value obtained by receiver r from observing satellite s.

[0084] So, if Figure 4 As shown, assuming that at the same moment, both the rover r and the base station b simultaneously observe satellite k, the carrier phase observation values ​​for the rover r and the base station b can be obtained from the original carrier phase observation equation described above:

[0085]

[0086]

[0087] in, For the carrier phase observation value of mobile station r, Let be the carrier phase observation value of reference station b. The meanings of the other symbols in the above two equations correspond to the meanings of the symbols in the original carrier phase observation equation mentioned above, and will not be repeated here.

[0088] Similarly, the pseudorange observations of the rover r and the base station b can be obtained.

[0089] Taking the difference between the two equations above yields the carrier phase observation equation for the inter-station single difference for satellite k:

[0090]

[0091] in, for and difference, for and The difference, dt br For dt r With dt b difference, for and The difference, δ br,i For δ r,j With δ b,j difference, for and difference, for and difference, for and difference, for and difference.

[0092] Similarly, the inter-station single-difference observation equation for pseudorange can be obtained as follows:

[0093]

[0094] The observation equations based on inter-station single-difference can show that common errors at the satellite end can be eliminated through inter-station single-difference. If the distance between the rover and the base station is short, the corresponding ionospheric and tropospheric errors will also be greatly reduced.

[0095] In step 322, for each non-reference satellite, the carrier phase double-difference observation equation corresponding to the non-reference satellite is determined based on the carrier phase single-difference observation equation of the non-reference satellite and the carrier phase single-difference observation equation of the reference satellite, so as to obtain the carrier phase double-difference observation equation corresponding to each non-reference satellite.

[0096] Since satellite k is the reference satellite, the corresponding inter-station single-difference carrier phase observation equation has been obtained.

[0097] like Figure 4 As shown, assuming that at the same time, both the rover r and the base station b simultaneously observe satellite j, then the inter-station single-difference carrier phase observation equation for satellite j can be obtained as follows:

[0098]

[0099] The meanings of the symbols in this equation correspond to the meanings of the symbols in the aforementioned equation for the carrier phase observation of inter-station single difference for satellite k, and will not be repeated here.

[0100] Then, the difference between the inter-station single-difference carrier phase observation equations for satellite j and satellite k can be obtained to obtain the corresponding double-difference carrier phase observation equations as follows:

[0101]

[0102] in, for and difference, for and difference, for and difference, for and difference, for and difference, for and difference.

[0103] Similarly, the corresponding pseudorange double-difference observation equation can be obtained as follows:

[0104]

[0105] Under short baseline conditions, due to spatial correlation, the double-difference tropospheric residual and double-difference ionospheric residual can be neglected. Furthermore, since the coordinates of the reference station are known, the above carrier phase double-difference observation equation and pseudorange double-difference observation equation can be simplified to the following form:

[0106]

[0107]

[0108] in, The values ​​are known because the positions of the satellite and the reference station are known. Although the broadcast ephemeris contains orbital errors, these errors can be considered very small and negligible after inter-station single-difference analysis.

[0109] Please continue reading Figure 3 In step 330, a matrix-form observation equation is constructed based on the carrier phase double-difference observation equation and the pseudorange double-difference observation equation, and a first Kalman filter equation is constructed based on the matrix-form observation equation, so as to determine the first positioning result of the mobile station based on the first Kalman filter equation.

[0110] Specifically, in the equation obtained by the above abbreviation... Expanding the formula at the approximate user location (x0 y0 z0) yields the corresponding first-order Taylor expansion, from which the relationship between the Jacobian matrix and the estimated parameters can be derived.

[0111]

[0112] Where n is the number of non-reference satellites, for The first-order partial derivative at x0, and similarly, the meanings of other symbols can be determined, and will not be elaborated here.

[0113] The corresponding parameters to be estimated are as follows:

[0114]

[0115]

[0116] in, This is the initial value of the inter-station single-difference satellite-to-ground distance corresponding to the non-reference satellite n at the user's approximate location (x0 y0 z0).

[0117] Therefore, the above double-difference observation equation can be expressed in matrix form as follows:

[0118] y = JX + ε, where ε is the corresponding noise.

[0119] The corresponding Kalman filter equation is constructed based on the observation equation in matrix form.

[0120] The Kalman filter algorithm generally consists of two main modules: time update and measurement update. The formula is as follows:

[0121]

[0122]

[0123] Wherein, formula (1) is the equation for one-step prediction, which is used for time updates; formula (2) is the observation equation at time k, which is used for measurement updates; φ k,k-1 Let k be the state transition matrix from time k-1 to time k. This represents the state predicted in one step at epoch k. G represents the measured and updated state of epoch k-1. k Let w be the system noise driving matrix at time k. k Let H be the system noise at time k. k The design matrix for the observation equation, Let e ​​be the state parameter at time k. k For observation error, z k This corresponds to the y mentioned above.

[0124] Therefore, the approximate location of the user (x0 y0 z0) mentioned above can be obtained through time updates.

[0125] The complete formulas for Kalman filtering from time k-1 to time k can be summarized as follows:

[0126]

[0127]

[0128]

[0129]

[0130] P k (+)=(IK k H k )P k (-)

[0131] Among them, P k (-) is the variance-covariance matrix of the one-step prediction at epoch k, Q k For the system noise array, K k Let R be the gain matrix. k P is the noise matrix of the observations. k(+) represents the variance-covariance matrix corresponding to the state parameters after measurement update at epoch k, P k-1 (+) represents the variance-covariance matrix corresponding to the state parameters after measurement update in epoch k-1. Let I be the measured and updated state of epoch k, and let I be the identity matrix. The meanings of other symbols have been indicated in the aforementioned formulas and will not be elaborated here.

[0132] By iteratively solving the Kalman filter formula, the position of the target at each epoch can be obtained, for example, the position solution output per second can be obtained.

[0133] In one embodiment of this application, the second positioning method employs RTD (Real Time Differential) technology. RTD technology is satellite-based pseudorange differential positioning.

[0134] Figure 6 A flowchart illustrating the generation of a second positioning result for a target using a second positioning method according to an embodiment of this application is shown. Figure 6 As shown, generating a second location result for a target using the second location method may specifically include the following steps:

[0135] In step 610, pseudorange observations of each satellite are obtained from the rover station and the base station.

[0136] In step 620, pseudorange double-difference observation equations are constructed based on the pseudorange observations of each satellite from the rover station and the base station.

[0137] As mentioned earlier, the rover and base station can synchronously observe the satellite to obtain corresponding pseudorange observation values, and then construct pseudorange double-difference observation equations based on these pseudorange observation values. The specific details of constructing the pseudorange double-difference observation equations have been indicated in the above embodiments and will not be repeated here.

[0138] In step 630, the second positioning result for the rover station is determined according to the pseudorange double-difference observation equation.

[0139] The second location result can be obtained directly using the least squares method, or it can be obtained through other methods.

[0140] Figure 7 An embodiment according to this application is shown. Figure 6 A flowchart detailing step 630 in the embodiment. (See attached flowchart.) Figure 7 As shown, step 630 may specifically include the following steps:

[0141] In step 631, the pseudorange double-difference observation equation is converted into matrix form.

[0142] Removing the phase from the matrix constructed using the RTK positioning method above yields the following matrix:

[0143]

[0144] X = [dx dy dz]

[0145]

[0146] Similarly, the corresponding pseudorange double-difference observation equation can be expressed in the following matrix form:

[0147] y = JX + ε, where ε is the corresponding noise.

[0148] In step 632, a second Kalman filter equation is constructed based on the pseudorange double-difference observation equation in matrix form, and the second positioning result for the rover station is determined based on the second Kalman filter equation.

[0149] The corresponding Kalman filter equation can also be constructed based on the pseudorange double-difference observation equation in matrix form. The position of the target in each epoch can be obtained by iteratively solving the Kalman filter equation, for example, the position solution output per second can be obtained.

[0150] Other types of secondary positioning methods can also be used for positioning, such as standard single-point positioning based on satellites.

[0151] Figure 8 An embodiment according to this application is shown. Figure 2 A flowchart detailing step 210 in the embodiment. (See attached flowchart.) Figure 8 As shown, generating a second positioning result for the target using the second positioning method may further include the following steps:

[0152] In step 211, multiple pseudorange observations of the rover station are acquired.

[0153] The mobile station can simultaneously observe multiple satellites to obtain pseudorange or coordinate observations corresponding to each satellite.

[0154] In step 212, a second positioning result for the rover station is determined based on multiple pseudorange observations.

[0155] In this embodiment of the application, the second positioning method adopts SPP (Standard Point positioning) technology. Although its accuracy is lower than that of RTK technology, it also has high robustness.

[0156] The second positioning result can be obtained from the pseudorange observations using the distance intersection method.

[0157] Please continue reading Figure 2 In step 220, the difference between the first positioning result and the second positioning result is determined.

[0158] In one embodiment of this application, the first positioning result is the first positioning result for each epoch, and the second positioning result is the second positioning result for each epoch. Determining the difference between the first positioning result and the second positioning result includes: determining the difference between the first positioning result and the second positioning result corresponding to the same epoch.

[0159] As mentioned earlier, the position of the target at each epoch can be obtained by iteratively solving the Kalman filter equation in both positioning methods. In order to accurately verify the position, it is necessary to compare the differences between the two positioning results at the same epoch.

[0160] In step 230, if the difference is above a predetermined difference threshold, the first positioning result is determined to be unusable, and the final positioning result of the target is determined based on the second positioning result.

[0161] After obtaining the final positioning result, the vehicle can be navigated based on it. The second positioning result can be used directly as the final positioning result for the target, or it can be further calculated based on the second positioning result combined with other data.

[0162] The difference can be compared with a predetermined difference threshold using the following formula:

[0163] ||P RTK -P DGNSS ‖>threshold

[0164] Specifically, if the first positioning result P RTK Second localization result P DGNSS If the absolute value of the difference between the two values ​​is greater than the predetermined difference threshold, then only the second positioning result P is considered. DGNSS Determine the final location result of the target.

[0165] It is understandable that DGNSS (Differential Global Navigation Satellite Systems) here refers to RTD technology.

[0166] When using both RTK and RTD positioning methods, the predetermined difference threshold can be set to 10-20m to avoid large deviations. Of course, when using other positioning methods, the predetermined difference threshold can also be set to other values.

[0167] In one embodiment of this application, the positioning method further includes: generating a third positioning result for the target using a third positioning method, and determining the difference between the first positioning result and the third positioning result, wherein the accuracy of the first positioning method is higher than that of the third positioning method, and the robustness of the first positioning method is lower than that of the third positioning method; if the difference is above a predetermined difference threshold, the first positioning result is determined to be unusable, and a final positioning result for the target is determined based on a second positioning result, including: if the difference between the first positioning result and the second positioning result and the difference between the first positioning result and the third positioning result are both above a predetermined difference threshold, the first positioning result is determined to be unusable, and a final positioning result for the target is determined based on at least one of the second positioning result and the third positioning result.

[0168] In this embodiment of the application, based on the first positioning result and the second positioning result determined by the two positioning methods respectively, a third positioning result is further generated by the third positioning method, and the difference between the first positioning result and the third positioning result is determined. Only when both differences are above a predetermined difference threshold is the first positioning result determined to be unusable, which further improves the robustness of positioning.

[0169] In one embodiment of this application, determining the final positioning result of the target based on the second positioning result includes: determining the final positioning result of the target based on the second positioning result and pre-configured map base map data.

[0170] When map base map data is available, combining it with the map base map data can yield more accurate positioning results. The method of combining the second positioning result and the map base map data can be set according to the actual situation.

[0171] In one embodiment of this application, if the difference is above a predetermined difference threshold, the first positioning result is determined to be unusable, and the final positioning result of the target is determined based on the second positioning result, including: if the difference is above a predetermined difference threshold and the first positioning result deviates from the road, the first positioning result is determined to be unusable, and the final positioning result of the target is determined based on the second positioning result.

[0172] In a road scenario, vehicles are constantly traveling on the road, and therefore, if the first positioning result is not located on the road, the first positioning result must be incorrect. In this embodiment, the first positioning result is determined to be unusable only if the difference is above a predetermined difference threshold and the first positioning result deviates from the road, further improving the robustness of the positioning.

[0173] In one embodiment of this application, the positioning method further includes: if the difference does not reach a predetermined difference threshold, determining that the first positioning result is usable, and using the first positioning result as the final positioning result.

[0174] If the difference reaches the predetermined difference threshold, it means that the first positioning result is correct. At this point, by using the first positioning result as the final positioning result, the accuracy of the positioning can be guaranteed.

[0175] Figure 9 A schematic diagram of the overall process of a solution according to an embodiment of this application is shown.

[0176] like Figure 9 As shown, firstly, VRS observations, terminal phase and pseudorange observations, and terminal pseudorange observations are obtained respectively. Then, RTK positioning results are obtained based on VRS observations and terminal phase and pseudorange observations, and DGNSS positioning results or SPP positioning results are obtained based on VRS observations and terminal pseudorange observations. Here, DGNSS positioning results mainly refer to RTD positioning results. Finally, the RTK positioning results are verified using the RTD results or SPP results, thereby improving the usability of the positioning results.

[0177] In summary, the positioning method provided in this application uses DGNSS (mainly referring to RTD technology) to verify and detect the RTK positioning results, thereby eliminating RTK positioning results with calculation errors. This scheme is a supplement to the high weight of phase observation values, which reduces the impact of pseudorange. It can make good use of pseudorange and effectively improve the robustness of the overall positioning performance. This scheme can eliminate gross RTK results even without a base map.

[0178] The following describes an embodiment of the apparatus described in this application, which can be used to execute the positioning method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the positioning method described in the above embodiments of this application.

[0179] Figure 10 A block diagram of a positioning device according to an embodiment of this application is shown.

[0180] Reference Figure 10As shown, a positioning device 1000 according to an embodiment of this application includes: a positioning result generation unit 1010, a difference determination unit 1020, and a positioning result determination unit 1030. The positioning result generation unit 1010 is used to generate a first positioning result for a target using a first positioning method, and to generate a second positioning result for the target using a second positioning method, wherein the accuracy of the first positioning method is higher than that of the second positioning method, and the robustness of the first positioning method is lower than that of the second positioning method, the robustness being used to measure the stability of the positioning; the difference determination unit 1020 is used to determine the difference between the first positioning result and the second positioning result; the positioning result determination unit 1030 is used to determine that the first positioning result is unusable if the difference is above a predetermined difference threshold, and to determine a final positioning result for the target based on the second positioning result.

[0181] In some embodiments of this application, based on the aforementioned scheme, the first positioning method is satellite-based carrier phase differential positioning, the target is a mobile station, and the positioning result generation unit 1010 is configured to: acquire phase observation values ​​and pseudorange observation values ​​of the reference station and the mobile station; construct a carrier phase double-difference observation equation based on the phase observation values ​​of the reference station and the mobile station, and construct a pseudorange double-difference observation equation based on the pseudorange observation values ​​of the reference station and the mobile station; construct a matrix-form observation equation based on the carrier phase double-difference observation equation and the pseudorange double-difference observation equation, and construct a first Kalman filter equation based on the matrix-form observation equation, so as to determine the first positioning result of the mobile station based on the first Kalman filter equation.

[0182] In some embodiments of this application, based on the aforementioned scheme, the positioning result generation unit 1010 is configured to: construct a carrier phase single-difference observation equation for each satellite based on the phase observation values ​​of the reference station for each satellite and the phase observation values ​​of the rover station for the corresponding satellite, wherein each satellite includes a reference satellite and a non-reference satellite; for each non-reference satellite, determine a carrier phase double-difference observation equation corresponding to the non-reference satellite based on the carrier phase single-difference observation equation of the non-reference satellite and the carrier phase single-difference observation equation of the reference satellite, so as to obtain the carrier phase double-difference observation equation corresponding to each non-reference satellite.

[0183] In some embodiments of this application, based on the aforementioned scheme, the second positioning method is satellite-based pseudorange differential positioning, and the positioning result generation unit 1010 is configured to: determine the second positioning result for the mobile station according to the pseudorange double-difference observation equation.

[0184] In some embodiments of this application, based on the foregoing scheme, the positioning result generation unit 1010 is configured to: convert the pseudorange double-difference observation equation into matrix form; construct a second Kalman filter equation based on the pseudorange double-difference observation equation in matrix form; and determine a second positioning result for the mobile station based on the second Kalman filter equation.

[0185] In some embodiments of this application, based on the aforementioned scheme, the first positioning result is the first positioning result of each epoch, the second positioning result is the second positioning result of each epoch, and the difference determination unit 1020 is configured to: determine the difference between the first positioning result and the second positioning result corresponding to the same epoch.

[0186] In some embodiments of this application, based on the aforementioned scheme, the second positioning method is standard single-point positioning based on satellite, and the positioning result generation unit 1010 is configured to: acquire multiple pseudorange observations of the mobile station; and determine the second positioning result of the mobile station based on the multiple pseudorange observations.

[0187] In some embodiments of this application, based on the foregoing scheme, the first positioning method is to use a first sensor for positioning, and the second positioning method is to use a second sensor different from the first sensor for positioning.

[0188] In some embodiments of this application, based on the foregoing scheme, the positioning result determination unit 1030 is configured to: determine the final positioning result of the target based on the second positioning result and the pre-configured map base map data.

[0189] Figure 11 A schematic diagram of the structure of a computer system suitable for implementing the electronic device of the present application is shown.

[0190] It should be noted that, Figure 11 The computer system 1100 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0191] like Figure 11As shown, the computer system 1100 includes a Central Processing Unit (CPU) 1101, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 1102 or programs loaded from storage portion 1108 into Random Access Memory (RAM) 1103, such as performing the methods described in the above embodiments. Various programs and data required for system operation are also stored in RAM 1103. The CPU 1101, ROM 1102, and RAM 1103 are interconnected via bus 1104. An Input / Output (I / O) interface 1105 is also connected to bus 1104.

[0192] The following components are connected to I / O interface 1105: an input section 1106 including a keyboard, mouse, etc.; an output section 1107 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to I / O interface 1105 as needed. Removable media 1111, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1110 as needed so that computer programs read from them can be installed into storage section 1108 as needed.

[0193] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1109, and / or installed from removable medium 1111. When the computer program is executed by central processing unit (CPU) 1101, it performs various functions defined in the system of this application.

[0194] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0195] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0196] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0197] In one aspect, this application also provides a computer-readable medium, which may be included in the electronic device described in the above embodiments; or it may exist independently and not assembled into the electronic device. The computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the methods described in the above embodiments.

[0198] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0199] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the method according to the embodiments of this application.

[0200] It is understood that in the specific implementation of this application, data related to positioning is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0201] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0202] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A positioning method, characterized in that, The method includes: A first positioning result for the target is generated using a first positioning method, and a second positioning result for the target is generated using a second positioning method. The accuracy of the first positioning method is higher than that of the second positioning method, but the robustness of the first positioning method is lower than that of the second positioning method. Robustness is used to measure the stability of the positioning. The first positioning method is satellite-based carrier phase differential positioning; the second positioning method is satellite-based pseudorange differential positioning or satellite-based standard point positioning. The first positioning result is a first positioning result for each epoch, and the second positioning result is a second positioning result for each epoch. Determine the difference between the first positioning result and the second positioning result corresponding to the same epoch; If the difference is above a predetermined difference threshold, the first positioning result is determined to be unusable, and the final positioning result of the target is determined based on the second positioning result. If the difference does not reach the predetermined difference threshold, the first positioning result is determined to be usable, and the first positioning result is used as the final positioning result for the target.

2. The positioning method according to claim 1, characterized in that, The target is a mobile station, and the generation of the first positioning result for the target through the first positioning method includes: Acquire phase and pseudorange observations from the base station and the rover station; Carrier phase double-difference observation equations are constructed based on the phase observation values ​​of the reference station and the mobile station, and pseudorange double-difference observation equations are constructed based on the pseudorange observation values ​​of the reference station and the mobile station. Based on the carrier phase double-difference observation equation and the pseudorange double-difference observation equation, a matrix-form observation equation is constructed, and a first Kalman filter equation is constructed based on the matrix-form observation equation, so as to determine the first positioning result of the mobile station according to the first Kalman filter equation.

3. The positioning method according to claim 2, characterized in that, The step of constructing the carrier phase double-difference observation equation based on the phase observations of the base station and the rover station includes: Based on the phase observations of each satellite by the reference station and the phase observations of the corresponding satellite by the rover station, a carrier phase single-difference observation equation is constructed for each satellite, wherein each satellite includes a reference satellite and a non-reference satellite; For each non-reference satellite, a carrier phase double-difference observation equation corresponding to the non-reference satellite is determined based on the carrier phase single-difference observation equation of the non-reference satellite and the carrier phase single-difference observation equation of the reference satellite, so as to obtain the carrier phase double-difference observation equation corresponding to each non-reference satellite.

4. The positioning method according to claim 2, characterized in that, The second positioning method is satellite-based pseudorange differential positioning. Generating a second positioning result for the target using the second positioning method includes: The second positioning result for the rover station is determined based on the pseudorange double-difference observation equation.

5. The positioning method according to claim 4, characterized in that, The step of determining the second positioning result for the rover station based on the pseudorange double-difference observation equation includes: The pseudorange double-difference observation equation is converted into matrix form; A second Kalman filter equation is constructed based on the pseudorange double-difference observation equation in matrix form, and a second positioning result for the mobile station is determined based on the second Kalman filter equation.

6. The positioning method according to claim 2, characterized in that, The second positioning method is a standard single-point positioning based on satellites. Generating a second positioning result for the target using the second positioning method includes: Acquire multiple pseudorange observations from the rover station; A second positioning result for the rover station is determined based on the multiple pseudorange observations.

7. The positioning method according to claim 1, characterized in that, The first positioning method uses a first sensor for positioning, and the second positioning method uses a second sensor that is different from the first sensor for positioning.

8. The positioning method according to any one of claims 1-7, characterized in that, Determining the final location result of the target based on the second location result includes: The final positioning result of the target is determined based on the second positioning result and the pre-configured map base map data.

9. A positioning device, characterized in that, The device includes: A positioning result generation unit is used to generate a first positioning result for a target using a first positioning method and a second positioning result for the target using a second positioning method. The first positioning method has higher accuracy than the second positioning method, but lower robustness than the second positioning method. Robustness is used to measure the stability of the positioning. The first positioning method is satellite-based carrier phase differential positioning; the second positioning method is satellite-based pseudorange differential positioning or satellite-based standard point positioning. The first positioning result is a first positioning result for each epoch, and the second positioning result is a second positioning result for each epoch. The difference determination unit is used to determine the difference between the first positioning result and the second positioning result corresponding to the same epoch. The positioning result determination unit is used to determine that the first positioning result is unusable if the difference is above a predetermined difference threshold, and to determine the final positioning result of the target based on the second positioning result. The device is further configured to: if the difference does not reach the predetermined difference threshold, determine that the first positioning result is usable, and use the first positioning result as the final positioning result for the target.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the positioning method as described in any one of claims 1 to 8.

11. An electronic device, characterized in that, include: One or more processors; A storage device for storing one or more programs, which, when executed by one or more processors, cause the one or more processors to implement the positioning method as described in any one of claims 1 to 8.

12. A computer program product, characterized in that, The computer program product includes computer instructions stored in a computer-readable storage medium, a processor of a computer device reading the computer instructions from the computer-readable storage medium, and the processor executing the computer instructions to cause the computer device to perform the positioning method as described in any one of claims 1 to 8.

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