Positioning methods, systems, apparatuses, electronic devices, and computer program products

Abstract

The present disclosure provides a positioning method, system, device, electronic equipment and computer program product, the positioning method comprising: acquiring position information of a plurality of base stations, wherein at least one of the plurality of base stations is a mobile base station; acquiring carrier phase observation information generated by a positioning target terminal; determining integer ambiguity information corresponding to the carrier phase observation information of the positioning device based on at least the carrier phase observation information of the positioning device and the position information of the positioning device; and determining positioning information of the positioning target terminal of the positioning device based on the carrier phase observation information of the positioning device, the position information of the positioning device and the integer ambiguity information of the positioning device. By acquiring the position information of the plurality of base stations and the carrier phase observation information generated by the positioning target terminal, and at least one active base station in the plurality of base stations, the combination of the above position information and carrier phase observation information can improve the accuracy of integer ambiguity in positioning calculation, thereby improving the positioning accuracy.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of wireless communication, and in particular to a positioning method, system, device, electronic equipment and computer program product. BACKGROUND

[0002] In the prior art, in a wireless network, a carrier phase is implemented based on a downlink signal. Each adjacent base station transmits an orthogonal carrier phase positioning reference signal (CPRS). A user equipment (UE) receiver measures the CPRS from each adjacent base station and generates a carrier phase measurement value according to the CPRS configuration of each adjacent base station provided by the base station. An observation model is constructed according to the measurement values, which reflects the correlation between the carrier phase observation values received from each base station and the user equipment (UE) position, integer ambiguity and other parameters.

[0003] However, when the base station geometry is unchanged, the observation model may remain similar or the same between different epochs, and the position parameters to be solved are strongly correlated with the ambiguity parameters, thereby increasing the difficulty of positioning. SUMMARY

[0004] The present disclosure is proposed in view of the above problems. The present disclosure provides a positioning method, system, device, electronic equipment and computer program product.

[0005] According to one aspect of the present disclosure, a position information of a plurality of base stations is obtained, wherein at least one mobile base station is included in the plurality of base stations; carrier phase observation information generated by a positioning target terminal is obtained; integer ambiguity information corresponding to the carrier phase observation information is determined based on at least the carrier phase observation information and the position information; and positioning information of the positioning target terminal is determined based on the carrier phase observation information, the position information and the integer ambiguity information.

[0006] In addition, according to the positioning method of one aspect of the present disclosure, the position information of the mobile base station is obtained, including: obtaining the built-in inertial navigation data sent by the mobile base station; pre-processing the built-in inertial navigation data, wherein the pre-processing includes removing error data and redundant data in the built-in inertial navigation data; and determining the position information of the mobile base station based on the pre-processed built-in inertial navigation data.

[0007] In addition, according to the positioning method of one aspect of the present disclosure, the integer ambiguity information corresponding to the carrier phase observation information is determined based on at least the carrier phase observation information and the position information, including:

[0008] determining unknown parameter information to be solved, wherein the unknown parameter information at least includes position information of the positioning target terminal and integer ambiguity information corresponding to the carrier phase observation information;

[0009] determining an observation equation based on the carrier phase observation information and the unknown parameter information;

[0010] determining a coefficient matrix based on the observation equation and the unknown parameter information;

[0011] solving the integer ambiguity information based on a predetermined relationship among the observation equation, the unknown parameter information and the coefficient matrix.

[0012] According to another aspect of the present disclosure, a positioning system is provided, comprising a plurality of base stations and a positioning device; the positioning device is configured to receive position information of the plurality of base stations and carrier phase observation information generated by a positioning target terminal, and determine integer ambiguity information corresponding to the carrier phase observation information based on at least the carrier phase observation information and the position information; and determine positioning information of the positioning target terminal based on the carrier phase observation information, the position information and the integer ambiguity information; wherein the plurality of base stations at least includes a mobile base station.

[0013] In addition, according to the positioning system of another aspect of the present disclosure, the positioning device is further configured to acquire built-in inertial navigation data sent by the mobile base station; and determine the position information of the mobile base station based on the built-in inertial navigation data.

[0014] According to another aspect of the present disclosure, a positioning apparatus is provided, comprising: a position information acquisition unit configured to acquire position information of a plurality of base stations, wherein the plurality of base stations at least includes a mobile base station; a carrier phase observation information acquisition unit configured to acquire carrier phase observation information generated by a positioning target terminal; an integer ambiguity information determination unit configured to determine integer ambiguity information corresponding to the carrier phase observation information based on at least the carrier phase observation information and the position information; and a positioning information determination unit configured to determine positioning information of the positioning target terminal based on the carrier phase observation information, the position information and the integer ambiguity information.

[0015] In addition, according to the positioning apparatus of another aspect of the present disclosure, the position information acquisition unit is further configured to acquire built-in inertial navigation data sent by the mobile base station; and determine the position information of the mobile base station based on the built-in inertial navigation data.

[0016] In addition, according to another aspect of the present disclosure, the positioning apparatus is further configured to: determine unknown parameter information, wherein the unknown parameter information at least includes position information of the positioning target terminal and integer ambiguity information corresponding to the carrier phase observation information; determine an observation equation based on the carrier phase observation information and the unknown parameter information; determine a coefficient matrix based on the observation equation and the unknown parameter information; and determine the integer ambiguity information based on a predetermined relationship among the observation equation, the unknown parameter information, and the coefficient matrix.

[0017] According to a further aspect of the present disclosure, an electronic device is provided, comprising: a memory configured to store computer readable instructions; and a processor configured to execute the computer readable instructions, so that the electronic device performs the positioning method as described above.

[0018] According to a further aspect of the present disclosure, a storage medium is provided, configured to store computer readable instructions, which, when executed by a processor, cause the processor to perform the positioning method as described above.

[0019] According to a further aspect of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the positioning method as described above.

[0020] As will be described in detail below, according to the positioning method, system, apparatus, electronic device, and computer program product of the embodiments of the present disclosure, the present disclosure helps to reduce the correlation between epochs by obtaining position information of a plurality of base stations and carrier phase observation information generated by a positioning target terminal, wherein the position information of a mobile base station in the plurality of base stations is different in each epoch, and the accuracy of integer ambiguity in positioning calculation can be improved by combining the above position information and carrier phase observation information, thereby improving the positioning accuracy.

[0021] It is to be understood that both the foregoing general description and the following detailed description are exemplary, and are intended to provide further explanation of the subject technology. BRIEF DESCRIPTION OF DRAWINGS

[0022] The foregoing and other objects, features, and advantages of the present disclosure will become more apparent from the following detailed description, which proceeds with reference to the accompanying drawings. The drawings are intended to provide a further understanding, but are not intended for limitation of the present disclosure. The drawings illustrate embodiments of the present disclosure and, together with their description, serve to explain the present disclosure. In the drawings:

[0023] Figure 1 is a schematic diagram illustrating an application scenario of a positioning method according to an embodiment of the present disclosure.

[0024] Figure 2 This is a flowchart illustrating a positioning method according to an embodiment of the present disclosure.

[0025] Figure 3 This is a flowchart further illustrating the positioning method according to an embodiment of the present disclosure.

[0026] Figure 4 This is a functional block diagram illustrating a positioning system according to an embodiment of the present disclosure.

[0027] Figure 5 This is a functional block diagram illustrating a positioning device according to an embodiment of the present disclosure.

[0028] Figure 6 This is a hardware block diagram illustrating an electronic device according to an embodiment of the present disclosure.

[0029] Figure 7 This is a schematic diagram illustrating a storage medium according to an embodiment of the present disclosure.

[0030] Figure 8 This is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this disclosure more apparent, exemplary embodiments according to this disclosure will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments of this disclosure. It should be understood that this disclosure is not limited to the exemplary embodiments described herein.

[0032] like Figure 1 As shown, the application scenario 100 of the positioning method according to the embodiments of this disclosure includes a positioning device 101, a positioning target terminal 102, and multiple base stations (base station 103, base station 104, base station 105, and mobile base station 106).

[0033] The base station is an interface device for the positioning target terminal 102 to access the Internet and is also a form of radio station. They are responsible for information transmission between the positioning target terminal 102 and the mobile communication switching center in a certain radio coverage area. In the positioning system, the base station plays an important role. They not only provide communication services, but also participate in the collection and transmission of positioning information. The positioning target terminal 102, such as a smart phone, a notebook computer, a tablet computer, smart glasses, a smart bracelet, a smart speaker, or other Internet of Things devices, has different characteristics and functions, can connect to the Internet, and can perform various operations. It is the main tool for users to interact with the network. These devices are equipped with various sensors, such as Global Positioning System (GPS), accelerometers, gyroscopes, etc., which can collect their own position information and motion state data. When positioning is required, the positioning target terminal 102 will send these data and signal measurement information to the positioning device 101. The positioning device 101 is responsible for processing and analyzing the positioning data from the base station and the positioning target terminal 102 to determine the position of the positioning target terminal 102. It can be a separate server or cloud service with powerful computing and data processing capabilities. The positioning device 101 will use the information provided by the base station to calculate the precise position of the terminal device in combination with the target terminal data.

[0034] In summary, in the positioning system, the base station provides communication services and positioning data support, the positioning target terminal 102 collects and sends positioning information, and the positioning device 101 is responsible for processing this information and determining the position of the target terminal. Through information interaction and cooperation between the three, the goal of accurate positioning is achieved.

[0035] It is easy to understand that the specific device type of the plurality of base stations in the embodiments of the present disclosure is not limited, that is, for example: the base station 103, the base station 104, the base station 105, and the mobile base station 106 can be any other device capable of providing wireless network transmission; it is also easy to understand that the specific number of the plurality of base stations in the embodiments of the present disclosure is not limited, and the number of base stations can be flexibly configured according to actual needs and network planning.

[0036] The specific positioning method is described in detail below. Figures 2-3

[0037] Figure 2 is a flowchart of the positioning method according to the embodiments of the present disclosure. As shown in Figure 2 , the positioning method according to the embodiments of the present disclosure includes at least the following steps.

[0038] In step S201, the position information of a plurality of base stations is obtained, wherein the plurality of base stations includes at least one mobile base station. ​

[0039] It can be understood that the base station mainly refers to a fixed base station, and the base station of the present disclosure includes a mobile base station and a fixed base station. In an embodiment of the present disclosure, at least one mobile base station is included in the plurality of base stations.

[0040] In an embodiment of the present disclosure, the position information of the fixed base station is generally known. For the mobile base station, since the position information of the mobile base station is dynamic, the position information thereof changes over time, and the acquisition of the position information of the mobile base station generally needs to rely on some special positioning technology, such as global positioning system positioning or network signal-based positioning method. The present disclosure does not limit here.

[0041] In an embodiment of the present disclosure, the position information of the mobile base station can be acquired by first acquiring the built-in inertial navigation data sent by the mobile base station; the built-in inertial navigation data is preprocessed, and the position information of the mobile base station is determined based on the preprocessed built-in inertial navigation data.

[0042] It can be understood that the built-in inertial navigation data generally refers to the data generated by the inertial navigation system integrated in the mobile base station, which includes acceleration, angular velocity and other information. These data can be used to calculate the position, speed and attitude of the mobile base station. Specifically, the step of acquiring the built-in inertial navigation data sent by the mobile base station can include establishing a communication connection with the mobile base station, and then requesting and receiving the built-in inertial navigation data sent by the mobile base station. After receiving the built-in inertial navigation data, the built-in inertial navigation data is preprocessed. The main purpose of preprocessing is to improve the quality and accuracy of the data, so as to be better used for subsequent positioning. The preprocessing includes removing error data, which is caused by sensor failure, signal interference and the like, and removing error data can reduce the deviation of the positioning result. The preprocessing also includes removing redundant data, which refers to data that has little or no contribution to the positioning result, and removing redundant data helps to reduce the amount of calculation and improve the processing efficiency. Then the position information of the mobile base station can be determined according to the preprocessed built-in inertial navigation data. For example, the velocity can be calculated by integrating the acceleration data, and the displacement can be calculated by integrating the velocity data, so as to obtain the approximate position of the mobile base station. At the same time, the attitude change of the mobile base station can also be calculated by combining the angular velocity data, so as to correct the error in the position calculation process. In summary, by acquiring the built-in inertial navigation data sent by the mobile base station and processing and calculating based on these data, the position information of the mobile base station can be determined. The built-in inertial navigation data obtained by the inertial navigation system provides continuous and high-precision position information in a short time, and the position information of the mobile base station is solved by the built-in inertial navigation data, which helps to improve the positioning accuracy of the mobile base station.

[0043] In step S202, carrier phase observation information generated by the positioning target terminal is acquired.

[0044] It can be understood that the carrier phase observation information refers to the difference between the phase of the reference signal generated by the receiver of the positioning target terminal and the phase of the received carrier signal of the base station. Specifically, the carrier phase observation information represents the difference between the phase generated by the local oscillator of the receiver of the positioning target terminal and the received carrier phase of the base station.

[0045] In an embodiment of the present disclosure, a plurality of base stations respectively send orthogonal carrier phase positioning reference signals (CPRS) to the positioning target terminal, and then the positioning target terminal measures the CPRS from each adjacent base station according to the CPRS configuration of each adjacent base station provided by the plurality of base stations, and generates carrier phase observation information.

[0046] In an embodiment of the present disclosure, the positioning device can obtain the carrier phase observation information generated by the positioning target terminal by requesting the carrier phase observation information from the positioning target terminal, and then the positioning target terminal sends the carrier phase observation information to the positioning device.

[0047] In step S203, the integer ambiguity information corresponding to the carrier phase observation information is determined based on at least the carrier phase observation information and the position information.

[0048] It can be understood that the integer ambiguity information refers to the integer unknown corresponding to the first observation value of the phase difference between the carrier phase and the reference phase when the carrier phase is measured.

[0049] In an embodiment of the present disclosure, the integer ambiguity information corresponding to the carrier phase observation information can be determined based on at least the carrier phase observation information and the position information. Specifically, the integer ambiguity information can be determined based on the carrier phase observation information and the position information by using a plurality of methods. For example, the observation equation containing the integer ambiguity information as an unknown parameter is established based on the carrier phase observation information and the position information of the base station. The initial position estimation of the positioning target terminal and the base station is obtained by using the pseudo-range observation or other methods, and the least square method or other optimization algorithm is used to solve the observation equation by iteration, and then the integer ambiguity information corresponding to the carrier phase observation information is determined.

[0050] In step S204, the positioning information of the positioning target terminal is determined based on the carrier phase observation information, the position information, and the integer ambiguity information.

[0051] It can be understood that after the integer ambiguity information is determined, the carrier phase observation information, the position information and the integer ambiguity information can be further combined to solve the positioning information of the positioning target terminal. Specifically, the carrier phase observation information obtained in step S203 cannot be directly used due to the existence of the integer ambiguity information, and the solved integer ambiguity information needs to be added to the obtained carrier phase observation information to obtain the corrected carrier phase observation information. This corrected carrier phase observation information is closer to the true phase difference because it contains the complete integer number, and then after obtaining the corrected carrier phase observation information, it can be combined with other known observation information (such as base station position information, integer ambiguity information) to use the least square method or other optimization algorithm for positioning calculation, thereby obtaining the positioning information of the positioning target terminal. The position information includes the position information of the mobile base station, which is beneficial to increase the diversity of data and can enhance the robustness of the positioning system, so that it can maintain stable positioning performance in different scenarios and accurately position the positioning target terminal. The determination of the integer ambiguity can significantly reduce the positioning error and improve the positioning accuracy, especially in application scenarios that require high-precision positioning, such as autonomous driving, precision agriculture, and unmanned aerial vehicle navigation.

[0052] Figure 3 is a flowchart further illustrating a positioning method according to an embodiment of the present disclosure. As shown in Figure 3 , the positioning method according to an embodiment of the present disclosure at least includes the following steps, wherein steps S301-S302 are the same as steps S201-S202, which will not be repeated here.

[0053] In step S303, the unknown parameter information to be solved is determined, wherein the unknown parameter information at least includes the position information of the positioning target terminal and the integer ambiguity information corresponding to the carrier phase observation information.

[0054] It can be understood that in the positioning system, by solving the unknown parameter information, it is helpful to realize the calculation of the position of the positioning target terminal. The unknown parameter information is the key to realize the position calculation of the positioning target terminal, and by solving the unknown parameter information, it is helpful for the positioning system to accurately calculate the position of the target positioning terminal. In the positioning system, the position information of the positioning target terminal is the core content that the positioning system finally needs to solve, which represents the accurate coordinates of the target terminal in three-dimensional space. The carrier phase observation information may span multiple complete carrier periods, and the observation device can usually only record the phase change of less than one period. Therefore, in the positioning calculation, it is necessary to determine the integer number corresponding to each observation information, which is the integer ambiguity information. After determining the unknown parameter information to be solved, the subsequent positioning calculation process will be carried out around these unknown parameter information.

[0055] In step S304, the observation equation is determined based on the carrier phase observation information and the unknown parameter information.

[0056] It can be understood that the carrier phase measurement value is obtained by a series of data processing and algorithm calculation on the carrier phase observation information generated by the positioning target terminal. For example, the carrier phase measurement value φ i (k) of the carrier phase positioning reference signal (CPRS) from the base station i at time k can be represented as follows:

[0057] λφ i (k) = r i (k) - λ * N i + w r (Formula 1);

[0058] wherein r i (k) is the real distance from the positioning target terminal to the base station i; λ is the wavelength of the CPRS; N i is the integer ambiguity to be solved during positioning calculation; w r is the carrier phase measurement error.

[0059] Further analysis of the error contained in the carrier phase measurement value, the above formula can be written as:

[0060]

[0061] wherein, if the phase deflection of the electromagnetic wave encountering an obstacle is not considered, w r is the phase noise generated by the target positioning terminal, s i is the phase measurement error due to multipath (the received signal is a non-line-of-sight path NLOS), τ r is the clock bias of the target positioning terminal, is the clock bias of the i-th base station, c is the speed of light; φ i (k) represents the carrier phase measurement value.

[0062] According to the carrier phase measurement value and the unknown parameter information, an observation equation can be established. This equation describes the relationship between the carrier phase measurement value and the unknown parameter information. The observation equation is as follows:

[0063]

[0064] In order to avoid the problem of rank deficiency of the equation during calculation, the time of arrival (TOA) observation equation needs to be added during calculation. According to the time delay τ i between the positioning signal propagating between the base station i and the target positioning terminal, the relationship with the coordinates can establish the TOA observation equation:

[0065]

[0066] where τ r and are the clock biases of the target positioning terminal and base station i, respectively, Δτ i is the time delay measurement error caused by the correlation matching algorithm for estimating the time delay, ε i is the remaining error.

[0067] where r i (k) in the above formula 3 is:

[0068]

[0069] According to the time delay τ i of the positioning signal propagating between the base station i and the terminal, the relationship with the coordinates can establish the time of arrival (TOA) observation equation:

[0070]

[0071] where X i , Y i , Z i are the coordinates of the base station i, and x(k), y(k), z(k) are the coordinates of the positioning target terminal.

[0072] In step S305, the coefficient matrix is determined based on the observation equation and the unknown parameter information.

[0073] It can be understood that the observation equation is usually nonlinear, and if the observation equation is nonlinear, it can be linearized by Taylor series expansion or other methods. The linearized equation is easier to handle and can be solved using linear algebra methods.

[0074] In an embodiment of the present disclosure, the coefficient matrix can be determined according to the observation equation and the unknown parameter information. Specifically, the linearized observation equation can be expressed as the sum of the product of the coefficient matrix and the unknown parameter vector and the residual vector equal to the observation value vector, as follows:

[0075] L = BX + Δ (Formula 5);

[0076] where L is the observation value vector; X is the unknown parameter vector, and the X corresponding to the base station i is [x(k) y(k) z(k)N i ] T , if corresponding to multiple base stations, N i in the unknown parameter vector X is represented as: N1, N2...N i ; B is the coefficient matrix of the simplified X, as follows:

[0077]

[0078] wherein N i After the base station i sends the CPRS signal to the positioning target terminal, the positioning target terminal generates the integer ambiguity corresponding to the carrier reference signal, ρ1-ρ i is the distance between each base station and the positioning target terminal, λ is the wavelength corresponding to the frequency of the CPRS, x(0), y(0), z(0) are the initial positioning position coordinates of the positioning target terminal, x 1，2...i , y 1，2...i , z 1，2...i is the coordinate from the base station 1 to the base station i.

[0079] In step S306, the integer ambiguity information is solved based on the predetermined relationship of the observation equation, the unknown parameter information, and the coefficient matrix.

[0080] It can be understood that the integer ambiguity is an important parameter in the carrier phase observation, which represents the integer number difference between the observed phase and the true phase. Based on the predetermined relationship of the linearized observation equation, the unknown parameter information, and the coefficient matrix, the integer ambiguity information can be further determined. This process usually involves solving linear equations, estimating the value of unknown parameters, including integer ambiguity, through iteration and optimization algorithms.

[0081] Specifically, the integer ambiguity is calculated by the following formulas 7-11:

[0082]

[0083] l = L - BX0

[0084] wherein: X0 is the initial value set for convenience of calculation, N1, N2... N i is the integer ambiguity corresponding to the carrier reference signal generated by the positioning target terminal after the base station i sends the CPRS signal to the positioning target terminal, that is, if there are multiple base stations, then after each base station sends the CPRS signal to the positioning target terminal, the positioning target terminal generates multiple initial values of the integer ambiguity corresponding to the carrier reference signal, L is the observation vector, l is the residual, is the estimated value of the unknown parameter vector, that is, the coefficient to be estimated, based on the above formula, then:

[0085]

[0086] wherein V represents the residual of the observation value.

[0087] Using least squares estimation is to require that the estimated value makes the following quadratic form reach the minimum value, that is:

[0088]

[0089]

[0090] Where P is the observation weight matrix, the priori estimate is usually determined by empirical weight, and a symmetric positive definite constant matrix is selected, which can be set as the unit matrix if there is no special case.

[0091] Finally, the corresponding base station i is obtained Where, is the estimated value of the positioning target terminal coordinates, N floati is the corresponding integer ambiguity floating point solution of base station i, and if there are multiple base stations, N floati is expressed as N float1 , N float2 …N floati .

[0092] Since at least one mobile base station is included in the multiple base stations, the elements in the coefficient matrix B of each epoch will change greatly, which greatly reduces the correlation between epochs, so that the obtained solution X is relatively stable and maintains high precision.

[0093] According to the ambiguity fixing of the floating point ambiguity, the least square ambiguity decorrelation and smoothing processing can be used to obtain the integer result of the integer ambiguity N fixi .

[0094] In step S307, the positioning information of the positioning target terminal is determined based on the carrier phase observation information, the position information and the integer ambiguity information.

[0095] It can be understood that after the integer ambiguity information is determined, the integer result of the integer ambiguity N fixi is substituted into the observation equation determined according to the carrier phase observation information and the position information and is moved to the left side:

[0096]

[0097] For the linearization and simplification of the observation equation, the following format is obtained:

[0098] L = BX + Δ

[0099] In the formula, L is B is the coefficient matrix after simplification, at this time the integer ambiguity is a known quantity, and the parameters to be solved X are only the coordinates x(k), y(k), z(k) of the positioning target terminal, so the B matrix is left with only three columns, and Δ is a series of errors.

[0100]

[0101] The solution algorithm can use the least square method, That is, a high-precision positioning result can be obtained, and the position coordinates x(k), y(k), and z(k) of the positioning target terminal are obtained.

[0102] It can be understood that the observation value vector contains carrier phase measurement values generated by the positioning target terminal. These measurement values are basic data for determining the position of the positioning target terminal, but they cannot be directly used to calculate the position due to the existence of the integer ambiguity. The coefficient matrix includes the matrix of parameters related to the position information of the base station. These parameters play a crucial role in the positioning solution process, and they link the observation value vector with the unknown parameter information (including position information and integer ambiguity information). The predetermined relationship refers to the mathematical relationship between the observation value vector, the coefficient matrix, and the unknown parameter information established according to the positioning principle and algorithm. This relationship is usually in the form of a linear equation system or a nonlinear equation system, and by solving this equation system, the value of the unknown parameter can be estimated.

[0103] In one embodiment of the present disclosure, by utilizing the predetermined relationship of the observation value vector, the coefficient matrix, and the unknown parameter information, an equation system containing integer ambiguity information can be established. Then, by mathematical methods and algorithms (such as the least square method, Kalman filtering, etc.), this equation system is solved to determine the value of the integer ambiguity.

[0104] It can be understood that the determination of the integer ambiguity is crucial for improving the positioning accuracy and reliability. With accurate integer ambiguity information, the position information of the positioning target terminal can be further accurately solved. The present disclosure determines the integer ambiguity by adding the position information of the mobile base station to the position information and combining the position information of the mobile base station with the carrier phase observation information, thereby ensuring the accurate acquisition of the integer ambiguity information and providing a solid foundation for subsequent positioning solution, improving the accuracy and reliability of the positioning system, and providing better positioning services for practical applications.

[0105] The present disclosure adds a mobile base station to multiple base stations, solving the problem of strong correlation between observations between two epochs caused by the unchanged geometry of the base station. The positioning method and system can accelerate the fixing speed of the integer ambiguity, enhance the estimability of the parameters to be solved to obtain more accurate floating point solutions, and greatly improve the calculation speed and accuracy of the position solution.

[0106] The above description of the positioning method according to the embodiments of the present disclosure, and the following description of the positioning system and the positioning device according to the embodiments of the present disclosure. Figure 4 is a functional block diagram illustrating a positioning system according to an embodiment of the present disclosure. Figure 5 is a functional block diagram illustrating a positioning device according to an embodiment of the present disclosure.

[0107] AsFigure 4 As shown, the positioning system 400 according to an embodiment of the present disclosure includes a plurality of base stations 401 and a positioning device 402.

[0108] The positioning device 402 is configured to receive position information of the plurality of base stations 401 and carrier phase observation information generated by a positioning target terminal, and determine integer ambiguity information corresponding to the carrier phase observation information based on at least the carrier phase observation information and the position information; and determine positioning information of the positioning target terminal based on the carrier phase observation information, the position information, and the integer ambiguity information; wherein the plurality of base stations includes at least one mobile base station.

[0109] It can be understood that the plurality of base stations can broadcast CPRS signals, and after the plurality of base stations transmit the CPRS signals to the positioning target terminal, the positioning device can obtain the position information of the plurality of base stations (including at least one mobile base station) and carrier phase observation information processed by the positioning target terminal through a conventional carrier phase tracking method. The position information and the carrier phase observation information can be combined to determine the integer ambiguity information and ultimately determine the positioning information of the positioning target terminal.

[0110] In an embodiment of the present disclosure, the position information of the plurality of base stations 401 is generally known and can be fixed or dynamically changed (for a mobile base station). The carrier phase observation information is generated by the positioning target terminal and reflects the relative phase relationship between the positioning target terminal and each base station 401. The position information and the carrier phase observation information can be combined to determine the integer ambiguity. Determining this integer ambiguity is crucial for accurate positioning. Specifically, the positioning device 402 estimates and determines the integer ambiguity based on the carrier phase observation information and the position information of the base stations. After obtaining the integer ambiguity information, the positioning device 402 combines the carrier phase observation information, the position information of the base stations, and the integer ambiguity to perform positioning calculation for the positioning target terminal.

[0111] The present disclosure utilizes at least one mobile base station to participate in the positioning process, which increases the flexibility and coverage of positioning. The mobile base station can follow the positioning target terminal or move according to a preset path to provide continuous and high-quality positioning services.

[0112] As shown, Figure 5 As shown, Figure 5 is a positioning apparatus 500 according to an embodiment of the present disclosure, which includes a position information acquisition unit 501, a carrier phase observation information acquisition unit 502, an integer ambiguity information determination unit 503, and a positioning information determination unit 504.

[0113] Specifically, the position information acquisition unit 501 is configured to acquire position information of a plurality of base stations, wherein the plurality of base stations includes at least one mobile base station.

[0114] Specifically, the carrier phase observation information obtaining unit 502 is configured to obtain carrier phase observation information generated by the positioning target terminal.

[0115] Specifically, the integer ambiguity information determining unit 503 is configured to determine integer ambiguity information corresponding to the carrier phase observation information based on at least the carrier phase observation information and the position information.

[0116] Specifically, the positioning information determining unit 504 is configured to determine positioning information of the positioning target terminal based on the carrier phase observation information, the position information and the integer ambiguity information.

[0117] Further, the position information obtaining unit 501 is further configured to: obtain built-in inertial navigation data sent by the mobile base station; and determine the position information of the mobile base station based on the built-in inertial navigation data.

[0118] Further, the integer ambiguity information determining unit 503 is further configured to: determine unknown parameter information, wherein the unknown parameter information at least includes the position information of the positioning target terminal and integer ambiguity information corresponding to the carrier phase observation information; determine an observation equation based on the carrier phase observation information and the unknown parameter information; determine a coefficient matrix based on the observation equation and the unknown parameter information; and determine the integer ambiguity information based on a predetermined relationship among the observation equation, the unknown parameter information and the coefficient matrix.

[0119] Figure 6 is a hardware block diagram illustrating an electronic device 600 according to an embodiment of the present disclosure. The electronic device according to an embodiment of the present disclosure at least includes a processor; and a memory for storing computer readable instructions. When the computer readable instructions are loaded and run by the processor, the processor performs the positioning method as described above.

[0120] Figure 6 The electronic device 600 shown specifically includes a central processing unit (CPU) 601, a graphics processing unit (GPU) 602 and a main memory 603. These units are connected to each other through a bus 604. The central processing unit (CPU) 601 and / or the graphics processing unit (GPU) 602 can be used as the processor described above, and the main memory 603 can be used as the memory for storing computer readable instructions described above. In addition, the electronic device 600 can further include a communication unit 605, a storage unit 606, an output unit 607, an input unit 608 and an external device 609, and these units are also connected to the bus 604.

[0121] Figure 7 is a schematic diagram illustrating a storage medium according to an embodiment of the present disclosure. As shown in Figure 7As shown, the storage medium 700 according to the embodiments of the present disclosure has computer readable instructions 701 stored thereon. When the computer readable instructions 701 are run by a processor, the positioning method according to the embodiments of the present disclosure described with reference to the above figures is performed. The storage medium includes, but is not limited to, for example, volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory, etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, optical disc, magnetic disc, etc.

[0122] Figure 8 is a schematic diagram illustrating a computer program product according to an embodiment of the present disclosure. As shown, the computer program product 800 according to the embodiments of the present disclosure has a computer program 801 stored thereon. The computer program is executed by a processor to implement the positioning method as described above. The computer program product includes, but is not limited to, system software, application software, and games, etc. System software is the basic software of a computer, responsible for managing the hardware and application programs of the computer, including operating systems, device drivers, etc. Application software is software designed to meet specific needs, such as office software, image processing software, etc. Games are software for entertainment, providing various gaming experiences. In addition, the computer program product can also include embedded software, firmware, etc., for controlling and operating various hardware devices. Figure 8

[0123] The positioning method, system, device, electronic equipment and computer program product according to the embodiments of the present disclosure are described in detail above with reference to the drawings. The present disclosure helps to reduce the correlation between epochs by obtaining the position information of multiple base stations and the carrier phase observation information generated by the positioning target terminal, wherein the position information of the mobile base station in the multiple base stations is different in each epoch. The above position information and carrier phase observation information can be combined to improve the accuracy of integer ambiguity in positioning calculation, thereby improving the positioning accuracy.

[0124] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0125] ​The above describes the basic principles of the present disclosure in conjunction with specific embodiments, but it should be noted that the advantages, benefits, effects and the like mentioned in the present disclosure are only examples and are not limiting, and these advantages, benefits, effects and the like cannot be considered as necessary for each embodiment of the present disclosure. In addition, the specific details of the above disclosure are only for the purpose of example and understanding, and are not limiting, and the above details do not limit the present disclosure to be necessarily implemented with the above specific details.

[0126] The block diagrams of the devices, apparatuses, equipment, systems involved in the present disclosure are only illustrative examples and are not intended to require or imply the connection, arrangement, configuration as shown in the block diagram. As those skilled in the art will recognize, these devices, apparatuses, equipment, systems can be connected, arranged, configured in any manner. Words such as "include", "contain", "have" and the like are open-ended words, meaning "including but not limited to", and can be used interchangeably. The words "or" and "and" used herein refer to the word "and / or", and can be used interchangeably unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably.

[0127] In addition, as used herein, "or" used in the list of items "at least one of the items" indicates a separate list, so that, for example, "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). In addition, the phrase "exemplary" does not mean that the described example is preferred or better than other examples.

[0128] It should also be noted that in the systems and methods of the present disclosure, each component or step can be decomposed and / or recombined. These decompositions and / or recombinations should be considered as equivalents of the present disclosure.

[0129] Various changes, substitutions and alterations can be made to the technology herein without departing from the teachings of the technology defined by the appended claims. Also, the scope of the claims of the present disclosure is not limited to the specific aspects of the process, machine, manufacture, composition of matter, means, methods and acts of the above. Processes, machines, manufacture, composition of matter, means, methods or acts currently existing or later developed that perform substantially the same function or achieve substantially the same result as the corresponding aspects herein can be utilized. Accordingly, the appended claims include within their scope such processes, machines, manufacture, composition of matter, means, methods or acts.

[0130] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0131] The above description has been presented to enable any person skilled in the art to make or use the disclosure. Furthermore, the purpose of the above description is not intended to limit the embodiments of the present disclosure to the form disclosed herein. Although various example aspects and embodiments have been discussed above, those of ordinary skill in the art will appreciate a variety of modifications, alternatives, permutations, additions, and sub-combinations of the described aspects and embodiments.

Claims

1. A positioning method, characterized in that, include: The location information of multiple base stations is obtained, wherein at least one of the multiple base stations is a mobile base station, and the location information of the mobile base station changes over time. Acquire carrier phase observation information generated by the positioning target terminal; Based at least on the carrier phase observation information and the position information, determine the integer ambiguity information corresponding to the carrier phase observation information; and Based on the carrier phase observation information, the location information, and the integer ambiguity information, the positioning information of the positioning target terminal is determined.

2. The positioning method according to claim 1, characterized in that, Obtaining the location information of the mobile base station includes: Acquire the built-in inertial navigation data sent by the mobile base station; The built-in inertial navigation data is preprocessed, wherein the preprocessing includes removing erroneous and redundant data from the built-in inertial navigation data; The location information of the mobile base station is determined based on the preprocessed built-in inertial navigation data.

3. The positioning method according to claim 1, characterized in that, The step of determining the integer ambiguity information corresponding to the carrier phase observation information based at least on the carrier phase observation information and the position information includes: Determine the unknown parameter information to be solved, wherein the unknown parameter information includes at least the position information of the positioning target terminal and the integer ambiguity information corresponding to the carrier phase observation information; Based on the carrier phase observation information and the unknown parameter information, the observation equation is determined; Based on the observation equation and the unknown parameter information, determine the coefficient matrix; Based on the observation equation, the unknown parameter information, and the predetermined relationship of the coefficient matrix, the integer ambiguity information is solved.

4. A positioning system, characterized in that, Includes multiple base stations and positioning devices; The positioning device is used to receive the location information of the multiple base stations and the carrier phase observation information generated by the positioning target terminal, and to determine the integer ambiguity information corresponding to the carrier phase observation information based at least on the carrier phase observation information and the location information. And based on the carrier phase observation information, the location information, and the integer ambiguity information, the positioning information of the positioning target terminal is determined; Among the plurality of base stations, at least one mobile base station is included.

5. The positioning system according to claim 4, characterized in that, The positioning device is also used for: Acquire the built-in inertial navigation data sent by the mobile base station; The location information of the mobile base station is determined based on the built-in inertial navigation data.

6. A positioning device, characterized in that, include: The location information acquisition unit is configured to acquire location information of multiple base stations, wherein at least one of the multiple base stations is a mobile base station; The carrier phase observation information acquisition unit is configured to acquire carrier phase observation information generated by the positioning target terminal; The integer ambiguity information determination unit is configured to determine the integer ambiguity information corresponding to the carrier phase observation information based at least on the carrier phase observation information and the position information; and The positioning information determination unit is configured to determine the positioning information of the positioning target terminal based on the carrier phase observation information, the position information, and the integer ambiguity information.

7. The positioning device according to claim 6, characterized in that, The location information acquisition unit is further configured to: Acquire the built-in inertial navigation data sent by the mobile base station; The location information of the mobile base station is determined based on the built-in inertial navigation data.

8. The positioning device according to claim 6, characterized in that, The integer ambiguity information determination unit is further configured to: Determine unknown parameter information, wherein the unknown parameter information includes at least the location information of the positioning target terminal and the integer ambiguity information corresponding to the carrier phase observation information; Based on the carrier phase observation information and the unknown parameter information, the observation equation is determined; Based on the observation equation and the unknown parameter information, determine the coefficient matrix; The integer ambiguity information is determined based on the observation equation, the unknown parameter information, and the predetermined relationship of the coefficient matrix.

9. An electronic device, characterized in that, include: Memory, used to store computer-readable instructions; as well as A processor for executing the computer-readable instructions, causing the electronic device to perform the positioning method as described in any one of claims 1 to 3.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the positioning method according to any one of claims 1 to 3.

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