RTK positioning method, device, equipment and storage medium for intelligent mobile terminal

Abstract

The present application discloses an RTK positioning method, device, equipment and storage medium for an intelligent mobile terminal, and relates to the field of RTK positioning technology. The method includes: after an external RTK module receives a modulated signal transmitted by a satellite, obtaining the pseudorange and carrier phase between the terminal to be positioned and the satellite; based on the pseudorange of the terminal to be positioned, determining the target pseudorange differential equation after eliminating the observation error; based on the carrier phase of the terminal to be positioned, determining the target phase differential equation after eliminating the observation error; based on the target pseudorange differential equation and the target phase differential equation, solving the coordinate difference between the reference terminal and the terminal to be positioned; based on the coordinate difference and the coordinates of the reference terminal, obtaining the coordinates of the terminal to be positioned. In the above manner, the RTK receiver is attached to the intelligent mobile terminal as an external module, so that the intelligent mobile terminal can adopt a high-precision RTK positioning method to improve the positioning accuracy.

Description

Technical Field

[0001] The present application relates to the field of RTK positioning technology, and in particular to an RTK positioning method, device, equipment and storage medium for an intelligent mobile terminal. Background Art

[0002] The positioning functions of existing smart mobile devices are generally still based on ordinary GPS, such as GPS, BDS, GLONASS, GALILEO, etc., which are mainly used for navigation of these devices during movement. The accuracy error is usually more than 10 meters, or even tens of meters, which is not enough to meet the needs of application scenarios in special industries such as surveying and mapping.

[0003] In traditional RTK (Real-time kinematic) positioning tests, RTK receivers are used to receive satellite signals and calculate position coordinates, and mobile terminal devices are used to receive RTK signals, display real-time position information, and process and use these position information. Usually, RTK receivers and mobile terminal devices are connected via wired or wireless Bluetooth, or via WIFI. However, there are problems with data communication adaptation and ease of use between RTK receivers and mobile terminal devices. If RTK receivers and mobile terminal devices are connected by wire, the transmission stability is relatively better, but it is inconvenient for outdoor mobile use. If WIFI or Bluetooth is used to connect the RTK receiver and mobile terminal device, it is relatively convenient to move, but there is instability in data connection, which is easily affected by other factors. In addition, the RTK receiver and mobile terminal are set separately, which has the problem of portability, especially when the working environment is in the wild, it is difficult to have an advantage.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present application is to provide an RTK positioning method, device, equipment and storage medium for an intelligent mobile terminal, aiming to solve the technical problem of low positioning accuracy of intelligent mobile devices in the prior art.

[0006] To achieve the above object, the present application provides an RTK positioning method for an intelligent mobile terminal, the method comprising:

[0007] After the external RTK module receives the modulated signal transmitted by the satellite, the pseudorange and carrier phase between the terminal to be positioned and the satellite are obtained;

[0008] Based on the pseudorange of the terminal to be positioned, determining a target pseudorange differential equation after eliminating observation errors, wherein the observation errors at least include a receiving clock error, a satellite clock error, an ionosphere error, and a troposphere error;

[0009] Based on the carrier phase of the terminal to be located, determining a target phase differential equation after eliminating the observation error;

[0010] Based on the target pseudorange differential equation and the target phase differential equation, solving the coordinate difference between the reference terminal and the terminal to be located;

[0011] Based on the coordinate difference and the coordinates of the reference terminal, the coordinates of the terminal to be located are obtained.

[0012] In one embodiment, the step of determining a target pseudorange differential equation after eliminating observation errors based on the pseudorange of the terminal to be located comprises:

[0013] Acquire a first corresponding relationship among the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal;

[0014] Determine, according to the first corresponding relationship, pseudorange observation equations corresponding to at least two terminals to be located;

[0015] Performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0016] The target pseudorange differential equation is determined according to the pseudorange of the terminal to be located and the second corresponding relationship.

[0017] In one embodiment, the step of determining the pseudorange observation equations corresponding to at least two terminals to be located according to the first corresponding relationship includes:

[0018] Determine, according to the first corresponding relationship, a first pseudorange observation equation of the first terminal to be positioned for the first satellite;

[0019] Determine, according to the first corresponding relationship, a second pseudorange observation equation of the second terminal to be positioned for the first satellite;

[0020] Determine, according to the first corresponding relationship, a third pseudorange observation equation of the first terminal to be positioned for the second satellite;

[0021] A fourth pseudorange observation equation of the second terminal to be positioned for the second satellite is determined according to the first corresponding relationship.

[0022] In one embodiment, the step of performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal includes:

[0023] Performing difference processing on the first pseudorange observation equation and the second pseudorange observation equation to eliminate the satellite clock error, and weaken the ionosphere error and the troposphere error, to obtain a first pseudorange difference equation;

[0024] Performing a difference processing on the third pseudorange observation equation and the fourth pseudorange observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second pseudorange difference equation;

[0025] The first pseudorange differential equation and the second pseudorange differential equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error, so as to obtain the second corresponding relationship.

[0026] In one embodiment, the step of determining the target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be located includes:

[0027] Acquire a third corresponding relationship among the carrier phase, ambiguity, observation error, satellite coordinates, coordinates of the terminal to be positioned, and coordinates of the reference terminal;

[0028] Determine, according to the third corresponding relationship, carrier phase observation equations corresponding to at least two terminals to be located;

[0029] Performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0030] Resolving the ambiguity corresponding to the carrier phase of the terminal to be located;

[0031] The target phase difference equation is determined according to the carrier phase of the terminal to be located, the ambiguity and the fourth corresponding relationship.

[0032] In one embodiment, the step of determining, according to the third corresponding relationship, carrier phase observation equations corresponding to at least two terminals to be located includes:

[0033] Determine, according to the third corresponding relationship, a first carrier phase observation equation of the first terminal to be positioned for the first satellite;

[0034] Determine, according to the third corresponding relationship, a second carrier phase observation equation of the second terminal to be positioned for the first satellite;

[0035] Determine, according to the third corresponding relationship, a third carrier phase observation equation of the first terminal to be positioned for the second satellite;

[0036] According to the third corresponding relationship, a fourth carrier phase observation equation of the second terminal to be positioned for the second satellite is determined.

[0037] In one embodiment, the step of performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal includes:

[0038] Performing difference processing on the first carrier phase observation equation and the second carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a first phase difference equation;

[0039] Performing difference processing on the third carrier phase observation equation and the fourth carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second phase difference equation;

[0040] The first phase difference equation and the second phase difference equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error to obtain the fourth corresponding relationship.

[0041] In addition, to achieve the above purpose, the present application also proposes an RTK positioning device for an intelligent mobile terminal, the RTK positioning device for the intelligent mobile terminal comprising:

[0042] An acquisition module, used to acquire the pseudorange and carrier phase between the terminal to be positioned and the satellite after the external RTK module receives the modulated signal transmitted by the satellite;

[0043] A differential module is used to determine a target pseudorange differential equation after eliminating observation errors based on the pseudorange of the terminal to be positioned, wherein the observation errors at least include a receiving clock error, a satellite clock error, an ionosphere error, and a troposphere error;

[0044] The differential module is further used to determine a target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be located;

[0045] A positioning module, configured to solve a coordinate difference between a reference terminal and the terminal to be positioned based on the target pseudorange differential equation and the target phase differential equation;

[0046] The positioning module is further used to obtain the coordinates of the terminal to be positioned based on the coordinate difference and the coordinates of the reference terminal.

[0047] In addition, to achieve the above-mentioned purpose, the present application also proposes an RTK positioning device for an intelligent mobile terminal, wherein the RTK positioning device for the intelligent mobile terminal comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the RTK positioning method for the intelligent mobile terminal as described above.

[0048] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the RTK positioning method of the intelligent mobile terminal as described above are implemented.

[0049] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the RTK positioning method for the intelligent mobile terminal as described above.

[0050] The present application provides an RTK positioning method for an intelligent mobile terminal, wherein the intelligent mobile terminal comprises a reference terminal and a terminal to be positioned, wherein the terminal to be positioned is connected to an external RTK module via a serial port, and after the external RTK module receives a modulated signal transmitted by a satellite, a pseudorange and a carrier phase between the terminal to be positioned and the satellite are obtained; based on the pseudorange of the terminal to be positioned, a target pseudorange differential equation after eliminating an observation error is determined, wherein the observation error at least comprises a receiving clock error influence error, a satellite clock error influence error, an ionosphere influence error, and a troposphere influence error; based on the carrier phase of the terminal to be positioned, a target phase differential equation after eliminating the observation error is determined; based on the target pseudorange differential equation and the target phase differential equation, a coordinate difference between the reference terminal and the terminal to be positioned is solved; based on the coordinate difference and the coordinates of the reference terminal, the coordinates of the terminal to be positioned are obtained. This application attaches an RTK receiver as an external module to a smart mobile terminal, so that the smart mobile terminal can adopt a high-precision RTK positioning method, improve the positioning accuracy, and improve the portability of the entire positioning equipment. At the same time, a stable and reliable serial port data transmission method is used to realize data transmission between the RTK receiver and the smart mobile terminal, thereby improving the stability of communication. It is better suitable for different fields such as land surveying and mapping, construction engineering, agricultural precision operations, vehicle navigation, marine surveying and mapping, drone navigation, urban planning, mineral exploration, etc., solves the technical problem of low positioning accuracy of smart mobile devices, and improves positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0053] Figure 1 This is a flow chart of the first embodiment of the RTK positioning method for the smart mobile terminal of the present application;

[0054] Figure 2 A schematic diagram of the overall architecture of the RTK positioning method for an intelligent mobile terminal provided in Embodiment 1 of the present application;

[0055] Figure 3 This is a schematic diagram of the module structure of the RTK positioning device of the smart mobile terminal according to an embodiment of the present application;

[0056] Figure 4This is a schematic diagram of the device structure of the hardware operating environment involved in the RTK positioning method of the intelligent mobile terminal in the embodiment of the present application.

[0057] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0058] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0059] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0060] The main solution of the embodiment of the present application is: the intelligent mobile terminal includes a reference terminal and a terminal to be positioned, the terminal to be positioned is connected to an external RTK module through a serial port, and after the external RTK module receives the modulated signal transmitted by the satellite, the pseudorange and carrier phase between the terminal to be positioned and the satellite are obtained; based on the pseudorange of the terminal to be positioned, the target pseudorange differential equation after eliminating the observation error is determined, and the observation error at least includes the error of receiving clock difference, the error of satellite clock difference, the error of ionosphere effect and the error of troposphere effect; based on the carrier phase of the terminal to be positioned, the target phase differential equation after eliminating the observation error is determined; based on the target pseudorange differential equation and the target phase differential equation, the coordinate difference between the reference terminal and the terminal to be positioned is solved; based on the coordinate difference and the coordinates of the reference terminal, the coordinates of the terminal to be positioned are obtained.

[0061] The present application provides a solution, which attaches an RTK receiver as an external module to an intelligent mobile terminal, so that the intelligent mobile terminal can adopt a high-precision RTK positioning method, improve the positioning accuracy, and improve the portability of the entire positioning equipment. At the same time, a stable and reliable serial port data transmission method is used to realize data transmission between the RTK receiver and the intelligent mobile terminal, thereby improving the stability of communication. It is better suitable for different fields such as land surveying and mapping, construction engineering, agricultural precision operations, vehicle navigation, marine surveying and mapping, drone navigation, urban planning, mineral exploration, etc., solves the technical problem of low positioning accuracy of intelligent mobile devices, and improves positioning accuracy.

[0062] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device that can realize the above functions, an RTK positioning device of an intelligent mobile terminal, etc., and this embodiment does not specifically limit this. The following takes the RTK positioning device of an intelligent mobile terminal as an example to illustrate this embodiment and the following embodiments.

[0063] The present application embodiment provides an RTK positioning method for an intelligent mobile terminal, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the RTK positioning method for a smart mobile terminal of the present application.

[0064] In this embodiment, the RTK positioning method of the intelligent mobile terminal includes steps S10 to S40:

[0065] Step S10, after the external RTK module receives the modulated signal transmitted by the satellite, obtaining the pseudorange and carrier phase between the terminal to be positioned and the satellite;

[0066] It should be noted that the intelligent mobile terminal in this embodiment includes a reference terminal and a terminal to be located. The reference terminal refers to an intelligent mobile terminal used for reference, i.e., a reference station, whose specific location coordinates are known. The terminal to be located refers to an intelligent mobile terminal that needs to be located, i.e., a mobile station. Figure 2 As shown, the terminal to be positioned is connected to the external RTK module via a serial port. Each terminal to be positioned has an external RTK module, that is, an RTK receiver attached to the external module. The reference terminal can also be configured in the same way, which is not specifically limited in this embodiment.

[0067] In addition, it should be noted that the external RTK module can use the Quectel LC29H series, for example: LC29HCA, the system of the smart mobile terminal can use T760 Android11, and the terminal to be positioned and the external RTK module are both provided with a URAT serial port interface. The URAT serial port interface of the terminal to be positioned is connected to the URAT serial port interface of the corresponding external RTK module, so that the terminal to be positioned and the corresponding external RTK module can communicate through the serial port. When debugging the serial port, the baud rate is usually set in the range of 9600 to 3000000bps. This embodiment is set to 115200bps, which can be flexibly adjusted according to actual conditions.

[0068] It is understandable that the modulated signal is transmitted by the GNSS satellite. After the external RTK module receives the signal, it can analyze the signal propagation time and multiply it by the speed of light to get the propagation distance. This distance is affected by various interference factors in the propagation process and is not accurate. Therefore, it is considered to be the pseudo-range between the terminal to be positioned and the satellite. The carrier phase usually needs to introduce an unknown initial integer (i.e., ambiguity).

[0069] Step S20, determining a target pseudorange differential equation after eliminating observation errors based on the pseudorange of the terminal to be located;

[0070] It should be noted that the observation error refers to the error caused by various interference factors during the propagation of the signal transmitted by the satellite, including at least the receiving clock error, the satellite clock error, the ionosphere error and the troposphere error. The receiving clock error is the error caused by the clock error of the external RTK module, the satellite clock error is the error caused by the satellite clock error, the ionosphere error is the error caused by the ionosphere, and the troposphere error is the error caused by the troposphere.

[0071] In a feasible implementation, step S20 may include steps S201 to S204:

[0072] Step S201, obtaining a first correspondence between a pseudorange, an observation error, a satellite coordinate, a coordinate of a terminal to be positioned, and a coordinate of a reference terminal;

[0073] It should be noted that the initial pseudorange observation equation is as follows:

[0074]

[0075] In the formula, represents pseudorange, ρ i Indicates the spatial geometric distance from the satellite to the external RTK module, that is, the actual distance from the satellite to the terminal to be positioned, c·V tR 、c·V ts 、(δp i ) ion 、(δp i ) trop , ε i They respectively represent the error caused by the receiving clock difference, the error caused by the satellite clock difference, the error caused by the ionosphere, the error caused by the troposphere and the random error. The random error can be ignored.

[0076] because X i , Y i , Z j Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, and the coordinates of the terminal to be positioned can be expressed as X i =X0+ΔX,Y i =Y0+ΔY,Z i =Z0+ΔZ, X0, Y0, Z0 represent the coordinates of the reference terminal, ΔX, ΔY, ΔZ represent the coordinate differences between the terminal to be positioned and the reference terminal, so as to linearize the initial pseudorange observation equation and obtain the first corresponding relationship among the pseudorange, observation error, satellite coordinates, coordinates of the terminal to be positioned and coordinates of the reference terminal, as shown below:

[0077]

[0078] In the formula, represents pseudorange, ρ i Indicates the actual distance from the satellite to the terminal to be positioned, X i , Y i , Z i Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M i represents the observation error, a i , b i 、c i ,d i They respectively represent the error caused by the receiving clock difference, the error caused by the satellite clock difference, the error caused by the ionosphere, and the error caused by the troposphere.

[0079] Step S202: determining pseudorange observation equations corresponding to at least two terminals to be located according to the first corresponding relationship;

[0080] It should be noted that the number of terminals to be located in this embodiment is at least two, and the first terminal to be located and the second terminal to be located are used as examples for description. The number of satellites in this embodiment is at least two, and the first satellite and the second satellite are used as examples for description.

[0081] In a feasible implementation, step S202 may include: determining a first pseudorange observation equation of the first terminal to be located for the first satellite based on the first correspondence; determining a second pseudorange observation equation of the second terminal to be located for the first satellite based on the first correspondence; determining a third pseudorange observation equation of the first terminal to be located for the second satellite based on the first correspondence; and determining a fourth pseudorange observation equation of the second terminal to be located for the second satellite based on the first correspondence.

[0082] It should be noted that the first pseudo-range observation equation of the first terminal to be positioned for the first satellite is as follows:

[0083]

[0084] In the formula, is the pseudorange between the first terminal to be positioned and the first satellite, ρ 1,1 is the actual distance from the first satellite to the first terminal to be located, X1, Y1, and Z1 represent the coordinates of the first terminal to be located, and x s1 ,y s1 、z s1 represents the coordinates of the first satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M1,1 represents the observation error between the first terminal to be positioned and the first satellite, a 1,1 , b 1,1 、c 1,1 ,d 1,1 They respectively represent the receiving clock error between the first terminal to be positioned and the first satellite, the satellite clock error, the ionosphere error, and the troposphere error. The second pseudorange observation equation of the second terminal to be positioned for the first satellite is as follows:

[0085]

[0086] In the formula, is the pseudorange between the second terminal to be positioned and the first satellite, ρ 2,1 is the actual distance from the first satellite to the second terminal to be located, X2, Y2, and Z2 represent the coordinates of the second terminal to be located, and x s1 ,y s1 、z s1 represents the coordinates of the first satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M 2,1 represents the observation error between the second terminal to be positioned and the first satellite, a 2,1 , b 2,1 、c 2,1 ,d 2,1 They respectively represent the receiving clock error between the second terminal to be positioned and the first satellite, the satellite clock error, the ionosphere error, and the troposphere error. The third pseudorange observation equation of the first terminal to be positioned for the second satellite is as follows:

[0087]

[0088] In the formula, is the pseudorange between the first terminal to be positioned and the second satellite, ρ 1,2 is the actual distance from the second satellite to the first terminal to be located, X1, Y1, and Z1 represent the coordinates of the first terminal to be located, and x s2 ,y s2 、z s2 represents the coordinates of the second satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M 1,2 represents the observation error between the first terminal to be positioned and the second satellite, a 1,2 , b 1,2 、c 1,2 ,d 1,2 They respectively represent the receiving clock error between the first terminal to be positioned and the second satellite, the satellite clock error, the ionosphere error, and the troposphere error. The fourth pseudorange observation equation of the second terminal to be positioned for the second satellite is as follows:

[0089]

[0090] In the formula, is the pseudorange between the second terminal to be positioned and the second satellite, ρ 2,2 is the actual distance from the second satellite to the second terminal to be located, X2, Y2, and Z2 represent the coordinates of the second terminal to be located, and x s2 ,y s2 、z s2 represents the coordinates of the second satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M 2,2 represents the observation error between the second terminal to be positioned and the second satellite, a 2,2 , b 2,2 、c 2,2 ,d 2,2 They respectively represent the receiving clock difference influence error, satellite clock difference influence error, ionosphere influence error, and troposphere influence error between the second terminal to be positioned and the second satellite.

[0091] Step S203, performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0092] In a feasible implementation, step S203 may include steps S2031 to S2033:

[0093] Step S2031, performing difference processing on the first pseudorange observation equation and the second pseudorange observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a first pseudorange difference equation;

[0094] It can be understood that if the distance between the first terminal to be located and the second terminal to be located is relatively close, the satellite clock error, ionosphere error, and troposphere error are very similar. Therefore, subtracting the first pseudorange observation equation and the second pseudorange observation equation obtained by the first terminal to be located and the second terminal to be located simultaneously observing the first satellite can at least eliminate the satellite clock error and weaken the ionosphere error and troposphere error, thereby obtaining the first pseudorange differential equation.

[0095] Step S2032, performing difference processing on the third pseudorange observation equation and the fourth pseudorange observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second pseudorange difference equation;

[0096] Correspondingly, if the distance between the first terminal to be located and the second terminal to be located is relatively close, the satellite clock error, ionosphere error, and troposphere error are very similar. Therefore, subtracting the third pseudorange observation equation and the fourth pseudorange observation equation obtained by the first terminal to be located and the second terminal to be located simultaneously observing the second satellite can at least eliminate the satellite clock error and weaken the ionosphere error and troposphere error, thereby obtaining the second pseudorange differential equation.

[0097] Step S2033: performing difference processing on the first pseudorange differential equation and the second pseudorange differential equation to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error, and obtaining the second corresponding relationship.

[0098] It can be understood that by subtracting the first pseudorange differential equation from the second pseudorange differential equation, the error caused by the receiving clock error can be eliminated, and the ionospheric effect error and the tropospheric effect error can be further weakened. At this time, it can be considered that the ionospheric effect error and the tropospheric effect error have also been eliminated. That is to say, after step-by-step difference processing, the observation error in the pseudorange observation equation can be eliminated, thereby obtaining the correspondence between the pseudorange, satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal, and converting it into a second correspondence between the pseudorange, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal.

[0099] Step S204: determining the target pseudorange differential equation according to the pseudorange of the terminal to be located and the second corresponding relationship.

[0100] It should be noted that by substituting the pseudorange of the terminal to be located into the above second corresponding relationship, the required equation, ie, the target pseudorange differential equation, can be obtained.

[0101] In the specific implementation, since the transmission of complete observation data requires a lot of traffic, in order to reduce the transmission pressure, the error correction number is usually calculated at the reference station, and then the correction number is transmitted to the mobile station. The mobile station adds the correction number to the observation value and then calculates it. If the error correction number is a pseudorange error correction number, it is a distance difference; if the error correction number is a coordinate correction number, it is a coordinate difference.

[0102] Step S30, determining a target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be located;

[0103] In a feasible implementation, step S30 may include steps S301 to S305:

[0104] Step S301, obtaining a third corresponding relationship among carrier phase, ambiguity, observation error, satellite coordinates, coordinates of the terminal to be positioned, and coordinates of the reference terminal;

[0105] It should be noted that the initial carrier phase observation equation is as follows:

[0106]

[0107] In the formula, represents the carrier phase, λ represents the signal wavelength, ρ i Indicates the actual distance from the satellite to the terminal to be positioned, c·V tR 、c·V tS 、(δp i ) ion 、(δp i ) trop , ε i They respectively represent the error caused by the receiving clock difference, the error caused by the satellite clock difference, the error caused by the ionosphere, the error caused by the troposphere and the random error. The random error can be ignored.

[0108] because X i , Y i , Z i Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, and the coordinates of the terminal to be positioned can be expressed as X i =X0+ΔX,Y i =Y0+ΔY,Z i =Z0+ΔZ, X0, Y0, Z0 represent the coordinates of the reference terminal, ΔX, ΔY, ΔZ represent the coordinate difference between the terminal to be located and the reference terminal, and the carrier phase φ i With fuzziness N i The initial pseudo-range observation equation is linearized to obtain the third corresponding relationship among the carrier phase, ambiguity, observation error, satellite coordinates, coordinates of the terminal to be positioned, and coordinates of the reference terminal, as shown below:

[0109]

[0110] In the formula, represents the carrier phase, λ represents the signal wavelength, ρ i Indicates the actual distance from the satellite to the terminal to be positioned, X i , Y i , Z i Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, N i Indicates the fuzziness, M i represents the observation error, ai , b i 、c i ,d i They respectively represent the error caused by the receiving clock difference, the error caused by the satellite clock difference, the error caused by the ionosphere, and the error caused by the troposphere.

[0111] Step S302: determining carrier phase observation equations corresponding to at least two terminals to be located according to the third corresponding relationship;

[0112] In a feasible implementation, step S302 may include: determining a first carrier phase observation equation for the first satellite of the first terminal to be located according to the third correspondence; determining a second carrier phase observation equation for the first satellite of the second terminal to be located according to the third correspondence; determining a third carrier phase observation equation for the second satellite of the first terminal to be located according to the third correspondence; determining a fourth carrier phase observation equation for the second satellite of the second terminal to be located according to the third correspondence.

[0113] It should be noted that the first carrier phase observation equation of the first to-be-positioned terminal for the first satellite is as follows:

[0114]

[0115] In the formula, is the carrier phase between the first terminal to be positioned and the first satellite, λ1 represents the signal wavelength of the first satellite, and ρ 1,1 is the actual distance from the first satellite to the first terminal to be located, X1, Y1, and Z1 represent the coordinates of the first terminal to be located, and x s1 ,y s1 、z s1 represents the coordinates of the first satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, N 1,1 represents the ambiguity between the first terminal to be positioned and the first satellite, M 1,1 represents the observation error between the first terminal to be positioned and the first satellite, a 1,1 , b 1,1 、c 1,1 ,d 1,1 They respectively represent the receiving clock error between the first terminal to be positioned and the first satellite, the satellite clock error, the ionosphere error, and the troposphere error. The second carrier phase observation equation for the first satellite by the second terminal to be positioned is as follows:

[0116]

[0117] In the formula, is the carrier phase between the second terminal to be positioned and the first satellite, λ1 represents the signal wavelength of the first satellite, and ρ2,1 is the actual distance from the first satellite to the second terminal to be located, X2, Y2, and Z2 represent the coordinates of the second terminal to be located, and x s1 ,y s1 、z s1 represents the coordinates of the first satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, N 2,1 represents the ambiguity between the second terminal to be positioned and the first satellite, M 2,1 represents the observation error between the second terminal to be positioned and the first satellite, a 2,1 , b 2,1 、c 2,1 ,d 2,1 They respectively represent the receiving clock error between the second terminal to be positioned and the first satellite, the satellite clock error, the ionosphere error, and the troposphere error. The third carrier phase observation equation of the first terminal to be positioned for the second satellite is as follows:

[0118]

[0119] In the formula, is the carrier phase between the first terminal to be positioned and the second satellite, λ2 represents the signal wavelength of the second satellite, and ρ 1,2 is the actual distance from the second satellite to the first terminal to be located, X1, Y1, and Z1 represent the coordinates of the first terminal to be located, and x s2 ,y s2 、z s2 represents the coordinates of the second satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, N 1,2 represents the ambiguity between the first terminal to be positioned and the second satellite, M 1,2 represents the observation error between the first terminal to be positioned and the second satellite, a 1,2 , b 1,2 、c 1,2 ,d 1,2 They respectively represent the receiving clock error between the first terminal to be positioned and the second satellite, the satellite clock error, the ionosphere error, and the troposphere error. The fourth carrier phase observation equation of the second terminal to be positioned for the second satellite is as follows:

[0120]

[0121] In the formula, is the carrier phase between the second terminal to be positioned and the second satellite, λ2 represents the signal wavelength of the second satellite, and ρ 2,2 is the actual distance from the second satellite to the second terminal to be located, X2, Y2, and Z2 represent the coordinates of the second terminal to be located, and x s2 ,y s2 、z s2represents the coordinates of the second satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, N 2,2 represents the ambiguity between the second terminal to be positioned and the second satellite, M 2,2 represents the observation error between the second terminal to be positioned and the second satellite, a 2,2 , b 2,2 、c 2,2 ,d 2,2 They respectively represent the receiving clock difference influence error, satellite clock difference influence error, ionosphere influence error, and troposphere influence error between the second terminal to be positioned and the second satellite.

[0122] Step S303, performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0123] In a feasible implementation, step S303 may include steps S3031 to S3033:

[0124] Step S3031, performing difference processing on the first carrier phase observation equation and the second carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a first phase difference equation;

[0125] It can be understood that if the distance between the first terminal to be located and the second terminal to be located is relatively close, the satellite clock error, ionosphere error, and tropospheric error are very similar. Therefore, subtracting the first carrier phase observation equation and the second carrier phase observation equation obtained by the first terminal to be located and the second terminal to be located simultaneously observing the first satellite can at least eliminate the satellite clock error and weaken the ionosphere error and tropospheric error, thereby obtaining the first phase difference equation.

[0126] Step S3032, performing difference processing on the third carrier phase observation equation and the fourth carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second phase difference equation;

[0127] Correspondingly, if the distance between the first terminal to be located and the second terminal to be located is relatively close, the satellite clock error, ionosphere error, and tropospheric error are very similar. Therefore, subtracting the first carrier phase observation equation and the second carrier phase observation equation obtained by the first terminal to be located and the second terminal to be located simultaneously observing the second satellite can at least eliminate the satellite clock error and weaken the ionosphere error and tropospheric error, thereby obtaining the second phase difference equation.

[0128] Step S3033, performing difference processing on the first phase difference equation and the second phase difference equation to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error, and obtain the fourth corresponding relationship.

[0129] It can be understood that by subtracting the first phase difference equation from the second phase difference equation, the error caused by the receiving clock error can be eliminated, and the ionospheric error and the tropospheric error can be further weakened. At this time, it can be considered that the ionospheric error and the tropospheric error have also been eliminated. That is to say, after step-by-step difference processing, the observation error in the carrier phase observation equation can be eliminated, thereby obtaining the correspondence between the carrier phase, ambiguity, satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal, and converting it into a fourth correspondence between the pseudorange, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal.

[0130] Step S304, solving the ambiguity corresponding to the carrier phase of the terminal to be located;

[0131] It can be understood that the solution to the ambiguity is called a floating-point solution, and then the integer ambiguity value is obtained through the ambiguity fixing algorithm to be substituted into the observation equation to solve the coordinates.

[0132] Step S305: determining the target phase difference equation according to the carrier phase of the terminal to be located, the ambiguity and the fourth corresponding relationship.

[0133] It should be noted that by substituting the carrier phase of the terminal to be located into the fourth corresponding relationship, the required equation, ie, the target phase difference equation, can be obtained.

[0134] Step S40, solving the coordinate difference between the reference terminal and the terminal to be located based on the target pseudorange differential equation and the target phase differential equation;

[0135] It can be understood that by combining the target pseudorange differential equation and the target phase differential equation, the coordinate difference between the reference terminal and the terminal to be located, namely, ΔX, ΔY, ΔZ, can be solved.

[0136] Step S50: obtaining the coordinates of the terminal to be located based on the coordinate difference and the coordinates of the reference terminal.

[0137] It should be noted that by adding the coordinates of the reference terminal and the corresponding coordinate difference, the coordinates of the terminal to be located can be calculated. For example: assuming that the calculated coordinate difference between the reference terminal and the terminal to be located is ΔX1, ΔY1, ΔZ1, and the coordinates of the reference terminal are X0, Y0, Z0, then the coordinates of the terminal to be located are ΔX1+X0, ΔY1+Y0, ΔZ1+Z0.

[0138] It should be understood that multiple reference stations can be set up, and multiple reference stations can provide multiple differential correction information sources. The mobile station can detect based on the differential information of multiple reference stations, and make comprehensive corrections by excluding abnormal values ​​to improve the robustness of the system and obtain more accurate positioning results. Specifically, atmospheric error is one of the main factors affecting the accuracy of RTK positioning, including errors in tropospheric delay and ionospheric delay, etc. Multiple reference stations can cover a wider area and estimate and correct these atmospheric errors more accurately. The mobile station receives signals from reference stations at different locations and more accurately calculates the correction model of atmospheric errors, further improving positioning accuracy.

[0139] For example, the serial port data transmitted between the terminal to be positioned and the external RTK module may be as follows:

[0140] 00*4E

[0141] $GPTXT,01,01,01,ANTENNA OPEN*25

[0142] $GNGGA,092448.000,2232.66384,N,11355.64430,E,1,12,1.3,53.7,M,-3.5,M,*64

[0143] $GNGLL,2232.66384,N,11355.64430,E,092448.000,A,A*4C

[0144] $GNGSA,A,3,10,18,28,32,2.0,1.3,1.5,1*36

[0145] $GNGSA,A,3,02,06,07,13,16,23,27,28,39,41,2.0,1.3,1.5,4*37

[0146] $GPGSV,3,1,10,10,43,333,30,12,31,103,15,16,070,18,43,201,28,0*60

[0147] $GPGSV,3,2,10,23,72,034,24,37,037,25,30,152,28,23,225,20,0*6E

[0148] $GPGSV,3,3,10,32,26,293,17,194,36,122,0*57

[0149] $BDGSV,4,1,14,02,49,239,20,05,25,257,06,69,293,24,07,11,180,11,0*7A

[0150] $BDGSV,4,2,14,09,60,262,10,08,191,10,13,82,327,22,16,70,307,26,0*71

[0151] $BDGSV,4,3,14,23,46,188,24,27,18,261,10,28,17,212,15,32,12,309,0*7B

[0152] $BDGSV,4,4,14,39,67,335,19,41,50,354,25,0*72

[0153] Among them, "$GNGGA,092448.000,2232.66384,N,11355.64430,E,1,12,1.3,53.7" contains GPS / Beidou positioning information: UTC time 092448.000, latitude 2232.66384 (degrees and minutes), latitude hemisphere N (Northern Hemisphere), longitude 11355.64430 (degrees and minutes), longitude hemisphere E (Eastern longitude), GPS status 1 (1=non-differential positioning), number of satellites in use for positioning 12 (0~12), HDOP horizontal accuracy factor 1.3 (0.5~99.9), altitude 53.7 (-9999.9~9999.9 meters).

[0154] Among them, "$GNGLL,2232.66384,N,11355.64430,E,092448.000,A,A*4C" contains the geodetic coordinate information: latitude 2232.66384 (degrees and minutes), latitude hemisphere N (northern hemisphere), longitude 11355.64430 (degrees and minutes), longitude hemisphere E (east longitude), UTC time 092448.000, positioning status A (A=valid positioning), mode indication A (A=autonomous positioning, D=differential, E=estimation, N=invalid data).

[0155] The present embodiment provides an RTK positioning method for an intelligent mobile terminal, wherein the intelligent mobile terminal includes a reference terminal and a terminal to be positioned, wherein the terminal to be positioned is connected to an external RTK module via a serial port, and after the external RTK module receives a modulated signal transmitted by a satellite, a pseudorange and a carrier phase between the terminal to be positioned and the satellite are obtained; based on the pseudorange of the terminal to be positioned, a target pseudorange differential equation after eliminating an observation error is determined, wherein the observation error at least includes a receiving clock error influence error, a satellite clock error influence error, an ionosphere influence error, and a troposphere influence error; based on the carrier phase of the terminal to be positioned, a target phase differential equation after eliminating the observation error is determined; based on the target pseudorange differential equation and the target phase differential equation, a coordinate difference between the reference terminal and the terminal to be positioned is solved; based on the coordinate difference and the coordinates of the reference terminal, the coordinates of the terminal to be positioned are obtained. Attaching the RTK receiver as an external module to the smart mobile terminal enables the smart mobile terminal to adopt high-precision RTK positioning method, achieve centimeter-level high-precision positioning, improve positioning accuracy, and improve the portability of the entire positioning equipment. At the same time, through the stable and reliable serial port data transmission method, data transmission between the RTK receiver and the smart mobile terminal is realized, the stability of communication is improved, and it is better suitable for different fields such as land surveying and mapping, construction engineering, agricultural precision operations, vehicle navigation, marine surveying and mapping, UAV navigation, urban planning, mineral exploration, etc.

[0156] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the RTK positioning method of the smart mobile terminal of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0157] This application also provides an RTK positioning device for a smart mobile terminal, please refer to Figure 3 , the RTK positioning device of the intelligent mobile terminal includes:

[0158] The acquisition module 10 is used to acquire the pseudo-range and carrier phase between the terminal to be positioned and the satellite after the external RTK module receives the modulated signal transmitted by the satellite.

[0159] The differential module 20 is used to determine the target pseudorange differential equation after eliminating the observation error based on the pseudorange of the terminal to be positioned, and the observation error at least includes the receiving clock error, the satellite clock error, the ionosphere error and the troposphere error.

[0160] The differential module 20 is further used to determine a target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be located.

[0161] The positioning module 30 is used to solve the coordinate difference between the reference terminal and the terminal to be positioned based on the target pseudorange differential equation and the target phase differential equation.

[0162] The positioning module 30 is further configured to obtain the coordinates of the terminal to be positioned based on the coordinate difference and the coordinates of the reference terminal.

[0163] In one embodiment, the difference module 20 is further used to obtain a first corresponding relationship between the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal;

[0164] Determine, according to the first corresponding relationship, pseudorange observation equations corresponding to at least two terminals to be located;

[0165] Performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0166] The target pseudorange differential equation is determined according to the pseudorange of the terminal to be located and the second corresponding relationship.

[0167] In one embodiment, the difference module 20 is further used to determine a first pseudorange observation equation of the first terminal to be positioned for the first satellite according to the first corresponding relationship;

[0168] Determine, according to the first corresponding relationship, a second pseudorange observation equation of the second terminal to be positioned for the first satellite;

[0169] Determine, according to the first corresponding relationship, a third pseudorange observation equation of the first terminal to be positioned for the second satellite;

[0170] A fourth pseudorange observation equation of the second terminal to be positioned for the second satellite is determined according to the first corresponding relationship.

[0171] In one embodiment, the differential module 20 is further used to perform differential processing on the first pseudorange observation equation and the second pseudorange observation equation to eliminate the satellite clock error, and weaken the ionosphere error and the troposphere error, so as to obtain a first pseudorange differential equation;

[0172] Performing a difference processing on the third pseudorange observation equation and the fourth pseudorange observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second pseudorange difference equation;

[0173] The first pseudorange differential equation and the second pseudorange differential equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error, so as to obtain the second corresponding relationship.

[0174] In one embodiment, the differential module 20 is further used to obtain a third corresponding relationship between the carrier phase, the ambiguity, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal;

[0175] Determine, according to the third corresponding relationship, carrier phase observation equations corresponding to at least two terminals to be located;

[0176] Performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal;

[0177] Resolving the ambiguity corresponding to the carrier phase of the terminal to be located;

[0178] The target phase difference equation is determined according to the carrier phase of the terminal to be located, the ambiguity and the fourth corresponding relationship.

[0179] In one embodiment, the difference module 20 is further used to determine a first carrier phase observation equation of the first terminal to be positioned for the first satellite according to the third corresponding relationship;

[0180] Determine, according to the third corresponding relationship, a second carrier phase observation equation of the second terminal to be positioned for the first satellite;

[0181] Determine, according to the third corresponding relationship, a third carrier phase observation equation of the first terminal to be positioned for the second satellite;

[0182] According to the third corresponding relationship, a fourth carrier phase observation equation of the second terminal to be positioned for the second satellite is determined.

[0183] In one embodiment, the differential module 20 is further used to perform differential processing on the first carrier phase observation equation and the second carrier phase observation equation to eliminate the satellite clock error, and weaken the ionosphere effect error and the troposphere effect error to obtain a first phase differential equation;

[0184] Performing difference processing on the third carrier phase observation equation and the fourth carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second phase difference equation;

[0185] The first phase difference equation and the second phase difference equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error to obtain the fourth corresponding relationship.

[0186] The RTK positioning device for a smart mobile terminal provided by the present application adopts the RTK positioning method for a smart mobile terminal in the above-mentioned embodiment, and can solve the technical problem of low positioning accuracy of smart mobile devices. Compared with the prior art, the beneficial effects of the RTK positioning device for a smart mobile terminal provided by the present application are the same as the beneficial effects of the RTK positioning method for a smart mobile terminal provided by the above-mentioned embodiment, and other technical features in the RTK positioning device for a smart mobile terminal are the same as the features disclosed in the above-mentioned embodiment method, which will not be described in detail here.

[0187] The present application provides an RTK positioning device for an intelligent mobile terminal, and the RTK positioning device for an intelligent mobile terminal includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the RTK positioning method for the intelligent mobile terminal in the above-mentioned embodiment 1.

[0188] Reference below Figure 4 , which shows a schematic diagram of the structure of the RTK positioning device of the intelligent mobile terminal suitable for implementing the embodiment of the present application. The RTK positioning device of the intelligent mobile terminal in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 4 The RTK positioning device of the smart mobile terminal shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0189] like Figure 4As shown, the RTK positioning device of the smart mobile terminal may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the RTK positioning device of the smart mobile terminal are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the RTK positioning device of the smart mobile terminal to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the RTK positioning device of the smart mobile terminal with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0190] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0191] The RTK positioning device for the smart mobile terminal provided by the present application adopts the RTK positioning method for the smart mobile terminal in the above embodiment, which can solve the technical problem of low positioning accuracy of the smart mobile device. Compared with the prior art, the beneficial effects of the RTK positioning device for the smart mobile terminal provided by the present application are the same as the beneficial effects of the RTK positioning method for the smart mobile terminal provided by the above embodiment, and other technical features in the RTK positioning device for the smart mobile terminal are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0192] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0193] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0194] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the RTK positioning method for the intelligent mobile terminal in the above-mentioned embodiment.

[0195] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0196] The computer-readable storage medium may be included in the RTK positioning device of the smart mobile terminal; or may exist independently without being assembled into the RTK positioning device of the smart mobile terminal.

[0197] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the RTK positioning device of the smart mobile terminal, the RTK positioning device of the smart mobile terminal is enabled: the smart mobile terminal includes a reference terminal and a terminal to be positioned, the terminal to be positioned is connected to an external RTK module through a serial port, and after the external RTK module receives the modulated signal transmitted by the satellite, the pseudorange and carrier phase between the terminal to be positioned and the satellite are obtained; based on the pseudorange of the terminal to be positioned, a target pseudorange differential equation after eliminating the observation error is determined, and the observation error at least includes the error affected by the receiving clock error, the error affected by the satellite clock error, the error affected by the ionosphere, and the error affected by the troposphere; based on the carrier phase of the terminal to be positioned, a target phase differential equation after eliminating the observation error is determined; based on the target pseudorange differential equation and the target phase differential equation, the coordinate difference between the reference terminal and the terminal to be positioned is solved; based on the coordinate difference and the coordinates of the reference terminal, the coordinates of the terminal to be positioned are obtained.

[0198] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0199] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0200] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0201] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned RTK positioning method for the smart mobile terminal, and can solve the technical problem of low positioning accuracy of smart mobile devices. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the RTK positioning method for the smart mobile terminal provided by the above-mentioned embodiment, and will not be repeated here.

[0202] The present application also provides a computer program product, including a computer program, which implements the steps of the RTK positioning method for the intelligent mobile terminal as described above when executed by a processor.

[0203] The computer program product provided by this application can solve the technical problem of low positioning accuracy of intelligent mobile devices. Compared with the prior art, the beneficial effects of the computer program product provided by this application are the same as the beneficial effects of the RTK positioning method for intelligent mobile terminals provided in the above embodiments, which will not be repeated here.

[0204] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An RTK positioning method for an intelligent mobile terminal, characterized in that: The intelligent mobile terminal includes a reference terminal and a terminal to be positioned, and the terminal to be positioned is connected to an external RTK module via a serial port. The method includes: After the external RTK module receives the modulated signal transmitted by the satellite, the pseudorange and carrier phase between the terminal to be positioned and the satellite are obtained; Based on the pseudorange of the terminal to be positioned, determining a target pseudorange differential equation after eliminating observation errors, wherein the observation errors at least include a receiving clock error, a satellite clock error, an ionosphere error, and a troposphere error; Based on the carrier phase of the terminal to be located, determining a target phase differential equation after eliminating the observation error; Based on the target pseudorange differential equation and the target phase differential equation, solving the coordinate difference between the reference terminal and the terminal to be located; Based on the coordinate difference and the coordinates of the reference terminal, obtaining the coordinates of the terminal to be located; The step of determining the target pseudorange differential equation after eliminating the observation error based on the pseudorange of the terminal to be located comprises: Acquire a first corresponding relationship among the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal; Determine, according to the first corresponding relationship, pseudorange observation equations corresponding to at least two terminals to be located; Performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal; Determining the target pseudorange differential equation according to the pseudorange of the terminal to be located and the second corresponding relationship; Among them, the first corresponding relationship between the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal is: represents pseudorange, ρ i Indicates the actual distance from the satellite to the terminal to be positioned, X i , Y i , Z i Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M i represents the observation error, a i 、b i 、c i ,d i They represent the error caused by the receiving clock error, the error caused by the satellite clock error, the error caused by the ionosphere, and the error caused by the troposphere respectively; The serial port data transmitted between the terminal to be positioned and the external RTK module through the serial port includes positioning information and geodetic coordinate information. The positioning information includes UTC time, latitude, latitude hemisphere, longitude, longitude hemisphere, GPS status, the number of satellites being used for positioning, HDOP horizontal accuracy factor, and altitude. The geodetic coordinate information includes latitude, latitude hemisphere, longitude, longitude hemisphere, UTC time, positioning status, and mode indication.

2. The method according to claim 1, characterized in that The step of determining the pseudorange observation equations corresponding to at least two terminals to be located according to the first corresponding relationship comprises: Determine, according to the first corresponding relationship, a first pseudorange observation equation of the first terminal to be positioned for the first satellite; Determine, according to the first corresponding relationship, a second pseudorange observation equation of the second terminal to be positioned for the first satellite; Determine, according to the first corresponding relationship, a third pseudorange observation equation of the first terminal to be positioned for the second satellite; A fourth pseudorange observation equation of the second terminal to be positioned for the second satellite is determined according to the first corresponding relationship.

3. The method according to claim 2, characterized in that The step of performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal comprises: Performing difference processing on the first pseudorange observation equation and the second pseudorange observation equation to eliminate the satellite clock error, and weaken the ionosphere error and the troposphere error, to obtain a first pseudorange difference equation; Performing a difference process on the third pseudorange observation equation and the fourth pseudorange observation equation to eliminate the satellite clock error, and weaken the ionosphere error and the troposphere error, to obtain a second pseudorange difference equation; The first pseudorange differential equation and the second pseudorange differential equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error, and obtain the second corresponding relationship.

4. The method according to claim 1, characterized in that The step of determining the target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be positioned comprises: Acquire a third corresponding relationship among the carrier phase, ambiguity, observation error, satellite coordinates, coordinates of the terminal to be positioned, and coordinates of the reference terminal; Determine, according to the third corresponding relationship, carrier phase observation equations corresponding to at least two terminals to be located; Performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal; Resolving the ambiguity corresponding to the carrier phase of the terminal to be located; The target phase difference equation is determined according to the carrier phase of the terminal to be located, the ambiguity and the fourth corresponding relationship.

5. The method according to claim 4, characterized in that The step of determining the carrier phase observation equations corresponding to at least two terminals to be located according to the third corresponding relationship comprises: Determine, according to the third corresponding relationship, a first carrier phase observation equation of the first terminal to be positioned for the first satellite; Determine, according to the third corresponding relationship, a second carrier phase observation equation of the second terminal to be positioned for the first satellite; Determine, according to the third corresponding relationship, a third carrier phase observation equation of the first terminal to be positioned for the second satellite; According to the third corresponding relationship, a fourth carrier phase observation equation of the second terminal to be positioned for the second satellite is determined.

6. The method according to claim 5, characterized in that The step of performing difference processing on the carrier phase observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a fourth corresponding relationship between the carrier phase, ambiguity, satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal comprises: Performing difference processing on the first carrier phase observation equation and the second carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a first phase difference equation; Performing difference processing on the third carrier phase observation equation and the fourth carrier phase observation equation, eliminating the satellite clock error, and weakening the ionosphere error and the troposphere error, to obtain a second phase difference equation; The first phase difference equation and the second phase difference equation are subjected to difference processing to eliminate the ionosphere influence error, the troposphere influence error and the receiving clock difference influence error to obtain the fourth corresponding relationship.

7. An RTK positioning device for an intelligent mobile terminal, characterized in that: The RTK positioning device of the intelligent mobile terminal comprises: An acquisition module, used to acquire the pseudorange and carrier phase between the terminal to be positioned and the satellite after the external RTK module receives the modulated signal transmitted by the satellite; A differential module is used to determine a target pseudorange differential equation after eliminating observation errors based on the pseudorange of the terminal to be positioned, wherein the observation errors at least include a receiving clock error, a satellite clock error, an ionosphere error, and a troposphere error; The differential module is further used to determine a target phase differential equation after eliminating the observation error based on the carrier phase of the terminal to be located; A positioning module, configured to solve a coordinate difference between a reference terminal and the terminal to be positioned based on the target pseudorange differential equation and the target phase differential equation; The positioning module is further configured to obtain the coordinates of the terminal to be positioned based on the coordinate difference and the coordinates of the reference terminal; The differential module is further used to obtain a first corresponding relationship between the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal; Determine, according to the first corresponding relationship, pseudorange observation equations corresponding to at least two terminals to be located; Performing difference processing on the pseudorange observation equations corresponding to the at least two terminals to be positioned, eliminating the observation error, and obtaining a second corresponding relationship between the pseudorange, the satellite coordinates, and the coordinate difference between the terminal to be positioned and the reference terminal; Determining the target pseudorange differential equation according to the pseudorange of the terminal to be located and the second corresponding relationship; Among them, the first corresponding relationship between the pseudorange, the observation error, the satellite coordinates, the coordinates of the terminal to be positioned, and the coordinates of the reference terminal is: represents pseudorange, ρ i Indicates the actual distance from the satellite to the terminal to be positioned, X i , Y i , Z i Indicates the coordinates of the terminal to be located, x s ,y s 、z s represents the coordinates of the satellite, X0, Y0, Z0 represent the coordinates of the reference terminal, M i represents the observation error, a i 、b i 、c i ,d i They represent the error caused by the receiving clock error, the error caused by the satellite clock error, the error caused by the ionosphere, and the error caused by the troposphere respectively; The serial port data transmitted between the terminal to be positioned and the external RTK module through the serial port includes positioning information and geodetic coordinate information. The positioning information includes UTC time, latitude, latitude hemisphere, longitude, longitude hemisphere, GPS status, the number of satellites being used for positioning, HDOP horizontal accuracy factor, and altitude. The geodetic coordinate information includes latitude, latitude hemisphere, longitude, longitude hemisphere, UTC time, positioning status, and mode indication.

8. An RTK positioning device for an intelligent mobile terminal, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the RTK positioning method for an intelligent mobile terminal according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the RTK positioning method for an intelligent mobile terminal as described in any one of claims 1 to 6 are implemented.

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