Positioning methods, devices, terminals, servers, and storage media

Abstract

This application discloses a positioning method, device, terminal, server, and storage medium. The positioning method is applied to a terminal and includes: sending approximate location information of the terminal to a server; receiving first indication information sent by the server; the first indication information includes second differential data corresponding to a second virtual reference station; performing calculation based on the second differential data; and correcting the approximate location information based on a fixed solution obtained from the calculation of the first differential data corresponding to the first virtual reference station if a fixed solution is not obtained based on the second differential data; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station.

Description

Technical Field

[0001] This application relates to the field of location technology, and in particular to a positioning method, device, terminal, server and storage medium. Background Technology

[0002] Real-time kinematic (RTK) switching technology in related fields is primarily designed for static scenarios. From the start of localization to the end of the solution process, the terminal device remains stationary, and the corresponding Virtual Reference Station (VRS) remains unchanged, without addressing the switching of the VRS for the terminal device during localization. However, when network RTK technology is applied to consumer terminal devices and scenarios, such as cars, drones, and mobile phones, the problem arises because the terminal is constantly moving, and the corresponding VRS changes. This causes abrupt fluctuations in the terminal's localization accuracy, which is unacceptable for scenarios requiring high-precision localization. Summary of the Invention

[0003] In view of this, embodiments of this application provide a positioning method, device, terminal, server, and storage medium.

[0004] The technical solution of this application embodiment is implemented as follows:

[0005] This application provides a positioning method applied to a terminal. The method includes: sending approximate location information of the terminal to a server; receiving first indication information sent by the server; the first indication information includes second differential data corresponding to a second virtual reference station; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station; performing calculation based on the second differential data; and correcting the approximate location information based on the fixed solution obtained by calculating the first differential data corresponding to the first virtual reference station if no fixed solution is obtained based on the second differential data.

[0006] In the above scheme, the first indication information further includes the first differential data corresponding to the first virtual reference station; the method further includes: when a fixed solution is obtained based on the second differential data, sending indication information for switching the virtual reference station to the server; the indication information for switching the virtual reference station is used to control the server to stop sending the first differential data; and correcting the approximate location information based on the fixed solution corresponding to the second differential data.

[0007] In the above scheme, the step of correcting the approximate location information based on the fixed solution obtained from the first differential data corresponding to the first virtual reference station includes: correcting the approximate location information based on the most recent fixed solution obtained from the first differential data.

[0008] In the above scheme, the method further includes: receiving second indication information sent by the server; the second indication information includes first differential data; and calculating a fixed solution based on the first differential data.

[0009] This application provides a positioning device applied to a server, the device comprising:

[0010] The first receiving module is used to receive approximate location information sent by the terminal;

[0011] A first sending module is configured to send indication information to the terminal when it is determined, based on the approximate location information, that the terminal enters the range of a second virtual reference station from the range of a first virtual reference station. The indication information includes second differential data corresponding to the second virtual reference station. The indication information is used to instruct the terminal to perform calculations based on the second differential data, and if a fixed solution is not obtained based on the second differential data, to correct the approximate location information using a fixed solution obtained based on the first differential data corresponding to the first virtual reference station.

[0012] On the other hand, embodiments of this application provide a positioning device applied to a terminal, the device comprising:

[0013] The second receiving module is used to send the approximate location information of the terminal to the server;

[0014] The second sending module is used to receive indication information sent by the server; the indication information is the indication information sent by the server when it determines that the terminal has entered the range of the second virtual reference station from the range of the first virtual reference station based on the approximate location information; the indication information includes second differential data corresponding to the second virtual reference station;

[0015] The first processing module is used to perform calculations based on the second difference data;

[0016] The first adjustment module is used to correct the approximate location information based on the fixed solution obtained from the first difference data corresponding to the first virtual reference station when a fixed solution has not been obtained based on the second difference data.

[0017] On the other hand, embodiments of this application provide a positioning method applied to a server, the method comprising:

[0018] Receiving approximate location information sent by the terminal;

[0019] When the approximate location information determines that the terminal has entered the range of the second virtual reference station from the range of the first virtual reference station, a first indication information is sent to the terminal; the first indication information includes the second differential data corresponding to the second virtual reference station.

[0020] In the above scheme, the characteristic is that the first indication information further includes the first differential data corresponding to the first virtual reference station.

[0021] In the above scheme, after sending the first indication information to the terminal, the method further includes:

[0022] Upon receiving the instruction information for switching virtual reference stations sent by the terminal, the sending of the first differential data to the terminal is stopped; the instruction information for switching virtual reference stations indicates that the terminal has obtained a fixed solution based on the second differential data.

[0023] In the above scheme, the method further includes: when it is determined that the terminal is within the range of the first virtual reference station based on the approximate location information sent by the terminal, sending second indication information to the terminal, the second indication information including the first differential data, the second indication information being used to instruct the terminal to perform calculation based on the first differential data.

[0024] On the other hand, this application provides a terminal, characterized in that it includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method executed by the terminal described above.

[0025] On the other hand, embodiments of this application provide a server, characterized in that it includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described above for server execution.

[0026] On the other hand, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the methods described in the above embodiments.

[0027] The technical solution provided in this application embodiment involves a terminal sending its approximate location information to a server and receiving first indication information from the server. The first indication information includes second differential data corresponding to a second virtual reference station. The terminal performs calculations based on the second differential data. If no fixed solution is obtained based on the second differential data, the approximate location information is corrected based on the fixed solution obtained from the first differential data corresponding to the first virtual reference station. The first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station. In this application embodiment, when the terminal enters the second virtual reference station from the first virtual reference station, it calculates the second differential data sent by the server. If the terminal does not obtain a fixed solution based on the second differential data, it corrects the approximate location information based on the fixed solution obtained from the first differential data. Thus, when the terminal enters the range of a new virtual reference station and does not obtain a fixed solution corresponding to the new virtual reference station, it can continue to use the fixed solution corresponding to the previous virtual reference station to correct the approximate location, ensuring that the terminal positioning always maintains high positioning accuracy and avoiding jumps in positioning accuracy when the terminal switches virtual reference stations, which could lead to poor positioning performance. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application.

[0029] Figure 1 A schematic diagram illustrating the implementation process of a positioning method provided in an embodiment of this application;

[0030] Figure 2 A schematic diagram illustrating the implementation process of another positioning method provided in this application embodiment;

[0031] Figure 3 A schematic diagram illustrating the implementation process of another positioning method provided in this application embodiment;

[0032] Figure 4 A schematic diagram of the structure of a virtual reference station grid provided in an embodiment of this application;

[0033] Figure 5 A schematic diagram illustrating the implementation process of another positioning method provided in this application embodiment;

[0034] Figure 6 A schematic diagram illustrating the implementation process of another positioning method provided in this application embodiment;

[0035] Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application;

[0036] Figure 8This is a schematic diagram of another positioning device provided in an embodiment of this application;

[0037] Figure 9 A schematic diagram of the hardware composition structure of a terminal provided in an embodiment of this application;

[0038] Figure 10 This is a schematic diagram of the hardware structure of a server provided in an embodiment of this application. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this application. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0040] In the following description, references to "some embodiments" refer to a subset of all possible embodiments. It is understood that "some embodiments" may be the same or different subsets of all possible embodiments and may be combined with each other without conflict. The terms "first / second" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first / second" may be interchanged in a specific order or sequence where permissible, so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application.

[0042] Real-time kinematic (RTK) switching technology in related fields is primarily designed for static scenarios. From the start of localization to the end of the solution process, the terminal device remains stationary, and the corresponding Virtual Reference Station (VRS) remains unchanged, without addressing the issue of switching the VRS for the terminal device during localization. However, when network RTK technology is applied to consumer terminal devices and scenarios, such as cars, drones, and mobile phones, the problem arises because the terminal is constantly moving, and the corresponding VRS changes. This causes abrupt fluctuations in the terminal's localization accuracy, which is unacceptable for scenarios requiring high-precision localization.

[0043] For the above scenario, the existing technology generally solves the problem by broadcasting the differential data of VRS1 when the terminal's location corresponds to VRS1, and then the terminal performs positioning calculations based on the differential data of the grid where VRS1 is located. When the terminal moves to the grid where VRS2 is located, the differential data of VRS2 is broadcast, and then the terminal performs positioning calculations based on the differential data of the grid where VRS2 is located.

[0044] The problem with existing technology is that VRS1 and VRS2 reside in different grids, and their corresponding differential data are also different. When the terminal moves within the VRS1 range, the received differential data from VRS1 can obtain a fixed solution and high positioning accuracy. However, when the terminal has just moved into the VRS2 range and receives the differential data corresponding to VRS2, there is a certain time required for the terminal to obtain the fixed solution. During this time, it is very likely to be a differential solution or a single-point solution (with lower accuracy). A single-point solution indicates that the terminal and the reference station cannot communicate during RTK operation; a differential solution indicates that there is a signal, but due to various reasons, such as a poor virtual reference station position or an insufficient number of satellites, the accuracy is low, generally with an error between several meters and tens of meters; while a fixed solution indicates that the integer ambiguity has been resolved and the measurement has been initialized, which is the most accurate solution type. This is unacceptable for scenarios requiring high reliability, such as autonomous driving or drones.

[0045] In view of this, the embodiments of this application provide a positioning method that can ensure that the terminal positioning always maintains a high positioning accuracy.

[0046] Figure 1 This is a schematic diagram illustrating the implementation process of a positioning method provided in an embodiment of this application, applied to a terminal. For example... Figure 1 As shown, the method may include steps 101 to 104, wherein:

[0047] Step 101: Send the approximate location information of the terminal to the server.

[0048] In some embodiments, the approximate location information of the terminal is obtained through satellite positioning. However, the accuracy of satellite positioning is affected by the terminal's environment (e.g., indoor or densely vegetated scenes), cloud cover, humidity, atmospheric pressure, and other conditions. Therefore, the accuracy of the approximate location information is limited and cannot meet the needs of high-precision positioning scenarios. The terminal continuously sends its approximate location information to the server. It is understood that when the terminal sends approximate location information to the server, communication has been established between the terminal and the server, and they can exchange information and instructions. The terminal can establish communication with the server first and then obtain approximate location information from the satellite, or it can do both simultaneously, establishing communication with the server first and then sending the approximate location information obtained from the satellite to the server.

[0049] Based on the above embodiments, by sending the approximate location information of the terminal to the server, the server can obtain the location of the terminal and then send the differential data corresponding to the virtual reference station at the location of the terminal. This provides a prerequisite for the terminal to obtain a fixed solution based on the differential data and then correct the approximate location information.

[0050] Step 102: Receive first indication information sent by the server; the first indication information includes second differential data corresponding to the second virtual reference station.

[0051] In some embodiments, the terminal receives a first indication message sent by the server and performs calculations based on the second differential data contained in the first indication message. This only indicates that the terminal performs calculations on the second differential data at this time, and does not limit the terminal to only performing calculations on the second differential data. Furthermore, the first indication message received by the terminal can be sent by the server when the terminal enters the range of the second virtual reference station, or it can be sent by the terminal when it approaches the range of the second virtual reference station. Specifically, approaching can be expressed as the distance between the terminal and the second virtual reference station being less than a threshold, or the terminal entering the range of the second virtual reference station within a preset time.

[0052] Based on the above embodiments, the terminal calculates the differential data corresponding to the received virtual reference station to obtain the corresponding fixed solution. Then, in the following steps, the approximate location information can be corrected based on the obtained fixed solution, ensuring that the terminal consistently achieves high positioning accuracy.

[0053] Step 103: Solve based on the second difference data.

[0054] In some embodiments, after the terminal acquires the second differential data, it performs calculations on the second differential data. During the calculation process, results such as floating solutions, single-point solutions, differential solutions, and fixed solutions corresponding to the second differential data are obtained. Among them, the fixed solution has higher accuracy and is used in subsequent steps to correct the approximate position information. A single-point solution indicates that the terminal and the reference station cannot communicate during RTK operation; a floating solution indicates that the integer ambiguity has been resolved, but the measurement has not yet been initialized. Floating solutions have relatively high accuracy, reaching within 10 centimeters in some cases, and can be used when high accuracy is not required; a differential solution indicates that there is a signal, but the accuracy is reduced due to various reasons, such as a poor virtual reference station position or an insufficient number of satellites, with an error generally between several meters and tens of meters; while a fixed solution indicates that the integer ambiguity has been resolved and the measurement has been initialized. It is the most accurate solution type, and the approximate position information is corrected only after the fixed solution is acquired. It should be added that, due to differences in terminal computing power, the calculation process may take anywhere from several seconds to tens of seconds. Upon receiving the second differential data, a fixed solution corresponding to that data cannot be immediately obtained. It should also be noted that the terminal needs to maintain high positioning accuracy when calculating the second differential data. If a fixed solution is not obtained based on the second differential data, and other solutions are used to correct the approximate location, the positioning accuracy will significantly decrease. Therefore, when the terminal calculates the second differential data and does not obtain a fixed solution, it will not correct the approximate location based on the calculation result of the second differential data.

[0055] Based on the above embodiments, the terminal calculates the acquired second differential data and uses the obtained fixed solution to correct the approximate location to obtain accurate positioning information. The terminal can also calculate multiple differential data at the same time, so that if it is determined in subsequent steps that a fixed solution has not been obtained based on the current differential data, it can be corrected based on the previous fixed solution or other fixed solutions, thereby improving the accuracy and stability of positioning.

[0056] Step 104: If a fixed solution is not obtained based on the second differential data, the approximate location information is corrected based on the fixed solution obtained by solving the first differential data corresponding to the first virtual reference station; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station.

[0057] In some embodiments, before the terminal obtains a fixed solution based on the second difference data, the approximate location information can be corrected based on the fixed solution corresponding to the first difference data. It is understood that the terminal has already received the first difference data and obtained a fixed solution based on the first difference data before receiving the second difference data. Therefore, before obtaining a fixed solution based on the second difference data, the fixed solution corresponding to the first difference data can be temporarily used to correct the approximate location information.

[0058] Based on the above embodiments, when the terminal does not obtain a fixed solution based on the second differential data, it uses the fixed solution corresponding to the first differential data to correct the approximate location information, ensuring that the fixed solution is always used to correct the approximate location information, so that the terminal's positioning accuracy is always kept at a high level, avoiding jumps, and improving the positioning accuracy and stability of the user throughout the entire positioning process of using the terminal.

[0059] The technical solution provided in this application embodiment involves a terminal sending its approximate location information to a server and receiving first indication information from the server. The first indication information includes second differential data corresponding to a second virtual reference station. The terminal performs calculations based on the second differential data. If no fixed solution is obtained based on the second differential data, the approximate location information is corrected based on the fixed solution obtained from the first differential data corresponding to the first virtual reference station. The first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station. In this application embodiment, when the terminal enters the second virtual reference station from the first virtual reference station, it calculates the second differential data sent by the server. If the terminal does not obtain a fixed solution based on the second differential data, it corrects the approximate location information based on the fixed solution obtained from the first differential data. Thus, when the terminal enters the range of a new virtual reference station and does not obtain a fixed solution corresponding to the new virtual reference station, it can continue to use the fixed solution corresponding to the previous virtual reference station to correct the approximate location, ensuring that the terminal positioning always maintains high positioning accuracy and avoiding jumps in positioning accuracy when the terminal switches virtual reference stations, which could lead to poor positioning performance.

[0060] In some embodiments, the first indication information may further include first differential data corresponding to the first virtual reference station.

[0061] In some embodiments, the method further includes: when a fixed solution is obtained based on the second differential data, sending an instruction to the server to switch virtual reference stations; the instruction to switch virtual reference stations is used to control the server to stop sending the first differential data; and correcting the approximate location information based on the fixed solution corresponding to the second differential data.

[0062] In some embodiments, when the terminal obtains a fixed solution based on the second differential data, it can correct the approximate location information based on the fixed solution corresponding to the second differential data. At this point, it is no longer necessary to correct the approximate location information based on the fixed solution corresponding to the first differential data. Therefore, an instruction needs to be sent to the server to stop sending the first differential data. This indicates that the terminal has completed the calculation of the second differential data. It should be noted that as the distance between the terminal and the virtual reference station gradually increases, the accuracy of the correction of the fixed solution obtained based on the differential data of the virtual reference station will decrease. Therefore, when the terminal enters the range of a virtual reference station, it can be understood that the terminal is closest to that virtual reference station relative to other virtual reference stations, and the accuracy of the correction of the fixed solution obtained based on the differential data of that virtual reference station is the highest. Therefore, when the terminal enters the range of different virtual reference stations, it needs to continuously switch virtual reference stations, sending corresponding virtual reference station switching instruction information to the server based on the calculation progress, instructing the server to stop sending the differential data of the previous virtual reference station.

[0063] Based on the above embodiments, after the terminal calculates the fixed solution based on the second differential data, it instructs the server to stop sending the first differential data. This ensures that the terminal will not receive differential data from the previous virtual reference station after calculating the fixed solution corresponding to the second differential data, reducing the terminal's data processing load. At the same time, the terminal corrects the approximate location information based on the fixed solution corresponding to the second differential data. The fixed solution corresponding to the second differential data has higher accuracy, ensuring the accuracy of the terminal's positioning.

[0064] In some embodiments, correcting the approximate location information based on the fixed solution obtained from the first differential data corresponding to the first virtual reference station includes: correcting the approximate location information based on the most recent fixed solution obtained from the first differential data.

[0065] In some embodiments, the server continuously sends first difference data to the terminal. Each time the terminal receives the first difference data, it calculates the data and uses the most recently obtained fixed solution to correct the approximate location. Since the terminal needs some time to calculate the difference data, it cannot immediately obtain the corresponding fixed solution after receiving the first difference data. During this period, it can use the fixed solution corresponding to the previously received first difference data to calculate the approximate location information. It should be noted that the most recently obtained fixed solution is measured in terms of time; that is, the fixed solution calculated at the moment closest to the current time is the most recently obtained fixed solution.

[0066] Based on the above embodiments, by using the most recent fixed solution to correct the approximate location information, the terminal positioning process is guaranteed to have high positioning accuracy at all times, and the positioning accuracy is avoided from jumping between two solutions.

[0067] In some embodiments, the method further includes receiving second indication information sent by the server; the second indication information includes first differential data; and a fixed solution is calculated based on the first differential data.

[0068] In some embodiments, when the terminal enters the range of the first virtual reference station, the server sends a second indication message, which includes first differential data. After receiving the first differential data, the terminal calculates a fixed solution, which is used to correct the approximate location information. It should be noted that when the server sends the first indication message containing the first and second differential data to the terminal, it does not send the second indication message.

[0069] Figure 2 This is a flowchart illustrating another positioning method provided in an embodiment of this application, applied to a server. For example... Figure 2 As shown, the method may include steps 201 to 202, wherein:

[0070] Step 201: Receive approximate location information sent by the terminal.

[0071] In some embodiments, the approximate location is obtained by the terminal through satellite communication and satellite positioning. The approximate location information can determine the approximate location of the terminal. The positioning accuracy of satellite positioning is affected by the environment in which the terminal is located, such as indoors or in a scene with dense vegetation, cloud cover, humidity, atmospheric pressure, and other conditions. Therefore, the server also needs to send differential data to the terminal in the method described below. The terminal calculates a fixed solution based on the differential data and corrects the above approximate location information to obtain accurate positioning information.

[0072] In some embodiments, since the virtual reference station covers a large area, the error caused by satellite positioning does not affect the subsequent determination of the range of the virtual reference station where the terminal is located by the server. Therefore, obtaining the approximate location information sent by the terminal can meet the usage requirements of the current solution. It should be noted that the server will continuously receive the approximate location information sent by the terminal so that the terminal's location can be continuously determined in subsequent methods, and the range of the virtual reference station where the terminal is located can be determined.

[0073] Based on the above embodiments, the server receives the approximate location information sent by the terminal, and determines the range of the virtual reference station where the terminal is located based on the approximate location information in the following scheme, and then sends out the corresponding differential data. It does not need to obtain the precise location of the terminal, that is, it does not need to further process the obtained approximate location information, which reduces the computational burden of the server and improves the efficiency of communication and positioning between the server and the terminal.

[0074] Step 202: When it is determined that the terminal enters the range of the second virtual reference station from the range of the first virtual reference station based on the approximate location information, a first instruction information is sent to the terminal; the first instruction information includes second differential data corresponding to the second virtual reference station, and the first instruction information is used to instruct the terminal to perform calculation based on the second differential data, and if a fixed solution is not obtained based on the second differential data, the approximate location information is corrected using the fixed solution obtained based on the first differential data corresponding to the first virtual reference station.

[0075] In some embodiments, virtual reference station technology is a network real-time dynamic measurement technology. It establishes multiple GPS reference stations forming a mesh coverage area, creates a virtual reference station near the rover station, and calculates the virtual observation value of the virtual reference station based on the actual observation values ​​from surrounding reference stations, thus achieving high-precision positioning of the terminal. After the server obtains the approximate location of the terminal, it can determine which virtual reference station the terminal is currently within the coverage area of. It should be noted that the server can also send a first indication message to the terminal when the terminal approaches the coverage area of ​​a second virtual reference station. "Approaching" can be understood as the distance between the terminal and the second virtual reference station being less than a threshold, or based on the terminal's movement speed, determining that the terminal will enter the coverage area of ​​the second virtual reference station within a preset time.

[0076] In some embodiments, the first indication information may include two parts: one part is an instruction from the control terminal to correct the approximate location information using a fixed solution, and the other part is second differential data. The differential data is determined based on the real location of the virtual reference station and its satellite positioning location. Specifically, when a virtual reference station is formed using a real reference station, the real location of the virtual reference station can be determined using the real location of the real reference station. The satellite positioning location of the virtual reference station can be determined through satellite communication. By comparing the real location and the satellite positioning location of the virtual reference station, the difference between the two can be determined, thereby determining the differential data corresponding to the virtual reference station.

[0077] In some embodiments, the instruction information may instruct the terminal to correct the approximate location information using the most recently obtained fixed solution. Here, the most recently obtained fixed solution refers to the fixed solution obtained by the terminal in the last calculation of the differential data, and is not limited to the virtual reference station corresponding to the previously calculated differential data. That is, if the terminal fails to obtain a fixed solution based on the second differential data, the previously calculated differential data is the first differential data. This instructs the terminal to use the fixed solution obtained based on the first differential data to correct the approximate location information when no fixed solution is obtained based on the second differential data.

[0078] Based on the above embodiments, when it is determined that the terminal enters the range of the second virtual reference station from the range of the first virtual reference station based on the approximate location information, sending the first indication information to the terminal can instruct the terminal to correct the approximate location based on the correct solution result, that is, to correct the approximate location based on the most recently obtained fixed solution, so that the terminal always uses a fixed solution with higher accuracy to correct the approximate location during the positioning process, avoiding the positioning accuracy from jumping when the terminal switches virtual reference stations.

[0079] The technical solution provided in this application embodiment involves a server receiving approximate location information sent by a terminal. When the server determines, based on the approximate location information, that the terminal has moved from the range of a first virtual reference station to the range of a second virtual reference station, it sends a first indication message to the terminal. The first indication message includes second differential data corresponding to the second virtual reference station. This first indication message instructs the terminal to perform calculations based on the second differential data. If no fixed solution is obtained based on the second differential data, the approximate location information is corrected using the fixed solution obtained based on the first differential data corresponding to the first virtual reference station. In this embodiment, when the server detects that the terminal has entered the range of the second virtual reference station, it sends the first indication message to the terminal, instructing the terminal to continue using the fixed solution obtained based on the first differential data to correct the approximate location information if no fixed solution is obtained after calculation based on the second differential data. Thus, when the terminal enters the range of a new virtual reference station and does not obtain a fixed solution for the new virtual reference station, it can continue to use the fixed solution corresponding to the previous virtual reference station, ensuring that the terminal positioning always maintains high accuracy and avoiding the problem of poor positioning performance caused by a jump in positioning accuracy when the terminal switches virtual reference stations.

[0080] In some embodiments, the first indication information may further include first differential data corresponding to the first virtual reference station.

[0081] In some embodiments, after receiving the approximate location information sent by the terminal, the server can determine the range of the virtual reference station where the terminal is located and directly send the corresponding differential data. For example, if the terminal is within the range of the first virtual reference station, the server sends the first differential data to the terminal. It should be noted that the server has already sent the first differential data to the terminal before sending the first indication information; this is only to illustrate that the server can merge the first differential data into the first indication information and send them together.

[0082] Based on the above embodiments, the server simultaneously sends the first differential data and the second differential data to the terminal, enabling the terminal to perform calculations based on both differential data simultaneously. This ensures that the terminal can always correct the approximate location information based on the obtained fixed solution, thus guaranteeing the stability of the terminal's positioning accuracy.

[0083] In some embodiments, after sending the first indication information to the terminal, the method further includes:

[0084] Upon receiving the instruction from the terminal to switch virtual reference stations, the sending of the first differential data to the terminal is stopped.

[0085] The indication information for switching virtual reference stations indicates that the terminal obtains a fixed solution based on the second differential data.

[0086] In some embodiments, when the server receives an instruction from the terminal to switch virtual reference stations, it stops sending the first differential data to the terminal, while continuing to send the second differential data. The instruction to switch virtual reference stations indicates that the terminal has obtained a fixed solution using the second differential data, and can use the fixed solution corresponding to the second differential data to correct the approximate location information. It should be noted that the accuracy of correction based on the fixed solution obtained from the differential data of the virtual reference station decreases as the terminal's distance from the virtual reference station increases, but it remains higher than the accuracy of the single-point solution or differential solution before obtaining the fixed solution. Therefore, when the terminal has not obtained the fixed solution corresponding to the second differential data, it can still use the fixed solution corresponding to the first differential data to correct the approximate location. After the terminal obtains the fixed solution corresponding to the second differential data, it still needs to switch to the fixed solution corresponding to the second differential data to correct the approximate location information.

[0087] Based on the above embodiments, after receiving the instruction to switch virtual reference stations sent by the terminal, the transmission of the first differential data is stopped. At this time, the terminal has obtained the fixed solution corresponding to the second differential data. Instead of performing calculations based on the first differential data, the approximate location information is corrected based on the fixed solution corresponding to the second differential data, thus ensuring that the terminal maintains a high positioning accuracy throughout the positioning process.

[0088] In some embodiments, the method further includes: when it is determined that the terminal is within the range of the first virtual reference station based on the approximate location information sent by the terminal, sending second indication information to the terminal, the second indication information including the first differential data, the second indication information being used to instruct the terminal to perform calculation based on the first differential data.

[0089] In some embodiments, when the terminal is within the range of the first virtual reference station, it can mean that the terminal is within the range of the first virtual reference station and is not near any other virtual reference stations, or it can mean that the entire range of the first virtual reference station is cleared. In this case, first differential data is sent to the terminal, instructing the terminal to perform a calculation based on the first differential data. The fixed solution obtained by the terminal based on the first differential data is used to correct the approximate location information. It should be noted that when the server sends first indication information including the first differential data to the terminal, it can stop sending second indication information.

[0090] Based on the above embodiments, by determining the range of the virtual reference station where the terminal is located through the approximate location information sent by the terminal, sending the corresponding differential data and instructing the terminal to perform the calculation, the accuracy of the terminal's positioning can be improved.

[0091] Figure 3 This is a flowchart illustrating another positioning method provided in an embodiment of this application.

[0092] In some embodiments, the terminal first establishes a connection with the server. The terminal obtains approximate location information through single-point calculation or other calculations, such as obtaining approximate location information through satellite positioning. Based on the approximate location information reported by the terminal, the server determines the range of the virtual reference station (VRS1) where the terminal is currently located and sends differential data for VRS1. The terminal performs calculations based on the received differential data for VRS1 to obtain a fixed solution, continuously reporting approximate location information during this process. When the server determines, based on the approximate location information reported by the terminal, that the terminal has entered VRS2 (i.e., entered the range of the next virtual reference station), it simultaneously sends differential data for both VRS1 and VRS2. (Reference) Figure 4 The given example, Figure 4 This is a schematic diagram of the structure of a virtual reference station grid provided in this application. Figure 4 The diagram illustrates a region containing multiple virtual reference station grids (VRS1-VRSn) (only a portion is shown). A terminal transitions from the VRS1 grid to the VRS2 grid. Simultaneously, the terminal calculates the differential data from both VRS1 and VRS2. If a fixed solution corresponding to the VRS2 differential data is not obtained, the terminal corrects its approximate location based on the fixed solution corresponding to the VRS1 differential data. Once the terminal obtains a fixed solution based on the VRS2 differential data, it sends an instruction to the server to switch virtual reference stations. The server then stops sending VRS1 differential data. Subsequently, the server continuously sends VRS2 differential data, and the terminal continuously performs calculations based on VRS2.

[0093] Figure 5 This is a flowchart illustrating another positioning method provided in an embodiment of this application, applied to a server, such as... Figure 5 As shown, the method includes steps 501 to 506:

[0094] Step 501: Receive the approximate location information uploaded by the terminal.

[0095] Step 502: Select the VRS1 network based on the approximate location information uploaded by the terminal, and send the differential data of VRS1.

[0096] Selecting the VRS1 network means determining the coverage area of ​​which virtual reference station the terminal is in based on the approximate location information uploaded by the terminal, and identifying the corresponding virtual reference station.

[0097] Step 503: Determine whether the terminal has moved to the next virtual reference station VRS2. If not, return to step 502; if so, proceed to step 504.

[0098] Step 504: Simultaneously send the differential data of VRS1 and VRS2.

[0099] When the terminal first enters the VRS2 range, it needs to receive the VRS2 differential data before it can perform the calculation. At this time, it is obviously not possible to obtain the fixed solution of the VRS2 differential data, so it is necessary to send two kinds of differential data at the same time.

[0100] Step 505: Determine whether an instruction to switch virtual reference stations has been received from the terminal. If received, proceed to step 506; otherwise, return to step 504.

[0101] Step 506: Stop sending differential data for VRS1.

[0102] Figure 6 This is a flowchart illustrating another positioning method provided in an embodiment of this application, applied to a server, such as... Figure 6 As shown, the method includes steps 601 to 605:

[0103] Step 601: Report the approximate location information of the terminal to the server.

[0104] Step 602: Receive the differential data of VRS1 sent by the server and perform calculations. Correct the approximate location information based on the fixed solution corresponding to the differential data of VRS1.

[0105] Step 603: Receive the differential data of VRS2 sent by the server, and perform calculations based on the differential data of VRS1 and VRS2.

[0106] Step 604: Determine whether a fixed solution has been obtained based on the differential data of VRS2. If it has been obtained, proceed to step 605; otherwise, return to step 603.

[0107] Step 605: Based on the fixed solution corresponding to the differential data of VRS2, correct the approximate location information and notify the server to stop sending the differential data of VRS1.

[0108] Figure 7 This is a schematic diagram of the structure of a positioning device provided in an embodiment of this application, as shown below. Figure 7 As shown, the positioning device 700 includes:

[0109] The second determining module 710 is used to send the approximate location information of the terminal to the server;

[0110] The second sending module 720 is used to receive indication information sent by the server; the indication information includes second differential data corresponding to the second virtual reference station;

[0111] The first processing module 730 is used to perform calculations based on the second difference data;

[0112] The first adjustment module 740 is used to correct the approximate location information based on the fixed solution obtained from the first difference data corresponding to the first virtual reference station when no fixed solution is obtained based on the second difference data; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station;

[0113] The second sending module 720 is further configured to send an instruction message for switching the virtual reference station to the server when a fixed solution is obtained based on the second differential data; the instruction message for switching the virtual reference station is used to control the server to stop sending the first differential data;

[0114] The first adjustment module 740 is further configured to correct the approximate location information based on the fixed solution corresponding to the second difference data;

[0115] The first adjustment module 740 is further configured to, if a fixed solution has been calculated based on the currently received first difference data, correct the approximate location information based on the fixed solution corresponding to the currently received first difference data; if a fixed solution has not been calculated based on the currently received first difference data, correct the approximate location information based on the fixed solution calculated based on the previously received first difference data.

[0116] The first processing module 730 is further configured to receive second indication information sent by the server; the second indication information includes first differential data; and a fixed solution is obtained based on the first differential data;

[0117] In practical applications, the second determining module 710, the second sending module 720, the first processing module 730, and the first adjusting module 740 can be implemented by processors in the server, such as central processing units (CPUs), digital signal processors (DSPs), microcontroller units (MCUs), or field-programmable gate arrays (FPGAs).

[0118] Figure 8 This is a schematic diagram of another positioning device provided in an embodiment of this application, as shown below. Figure 8 As shown, the positioning device 800 includes:

[0119] The first receiving module 810 is used to receive approximate location information sent by the terminal;

[0120] A first sending module 820 is configured to send indication information to the terminal when, based on the approximate location information, it is determined that the terminal enters the range of a second virtual reference station from the range of a first virtual reference station. The indication information includes second differential data corresponding to the second virtual reference station. The indication information instructs the terminal to perform calculations based on the second differential data, and if no fixed solution is obtained based on the second differential data, to correct the approximate location information using a fixed solution obtained based on the first differential data corresponding to the first virtual reference station. In some embodiments, the first indication information further includes the first differential data corresponding to the first virtual reference station.

[0121] The first sending module 820 is further configured to stop sending the first differential data to the terminal when it receives the instruction information for switching virtual reference stations sent by the terminal; the instruction information for switching virtual reference stations indicates that the terminal has obtained a fixed solution based on the second differential data.

[0122] The first sending module 820 is further configured to send second indication information to the terminal when it is determined that the terminal is within the range of the first virtual reference station based on the approximate location information sent by the terminal. The second indication information includes the first differential data and is used to instruct the terminal to perform calculation based on the first differential data.

[0123] In practical applications, the first receiving module 810 and the first transmitting module 820 can be implemented by processors in the server, such as central processing units (CPUs), digital signal processors (DSPs), microcontroller units (MCUs), or field-programmable gate arrays (FPGAs).

[0124] It should be noted that the positioning device provided in the above embodiments is only illustrated by the division of the modules described above. In actual applications, the above processing can be assigned to different modules as needed, that is, the internal structure of the device can be divided into different modules to complete all or part of the processing described above. In addition, the positioning device and positioning method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0125] The aforementioned positioning device can be in the form of an image file. After execution, the image file can run as a container or virtual machine to implement the positioning method described in this application. However, it is not limited to the image file format; any software implementation capable of the positioning method described in this application is within the scope of protection of this application.

[0126] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a terminal. Figure 9 This is a schematic diagram of the hardware structure of the terminal in an embodiment of this application, as shown below. Figure 9 As shown, the terminal includes:

[0127] The communication interface 901 enables information exchange with other devices, such as network devices.

[0128] The processor 902 is connected to the communication interface 901 to enable information interaction with other devices and, when running a computer program, executes the methods provided by one or more of the aforementioned server-side technical solutions. The computer program is stored in the memory 903.

[0129] Of course, in practical applications, the various components in the server are coupled together through the bus system 904. It can be understood that the bus system 904 is used to implement communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus, and a status signal bus. However, for clarity, in... Figure 9 The general labeled all buses as Bus System 904.

[0130] The memory 903 in this embodiment is used to store various types of data to support the operation of the server. Examples of such data include any computer programs used to operate on the server.

[0131] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiments of this application, the embodiments of this application also provide a server. Figure 10 This is a schematic diagram of the hardware structure of the server in an embodiment of this application, as shown below. Figure 10 As shown, the server includes:

[0132] The communication interface 1001 enables information exchange with other devices, such as network devices.

[0133] The processor 1002 is connected to the communication interface 1001 to enable information interaction with other devices and, when running a computer program, executes the methods provided by one or more of the aforementioned terminal-side technical solutions. The computer program is stored in the memory 1003.

[0134] Of course, in practical applications, the various components in the terminal are coupled together through the bus system 1004. It can be understood that the bus system 1004 is used to realize the connection and communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in... Figure 10 The general labeled all buses as Bus System 1004.

[0135] The memory 1003 in this embodiment is used to store various types of data to support the operation of the terminal. Examples of such data include any computer program used to operate on the terminal.

[0136] It is understood that memory 1003 and memory 903 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this application are intended to include, but are not limited to, these and any other suitable types of memories.

[0137] The methods disclosed in the embodiments of this application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. A general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in memory. The processor reads the program from the memory and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0138] Optionally, when the processor 902 executes the program, it implements the corresponding processes implemented by the terminal in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0139] Optionally, when the processor 1002 executes the program, it implements the corresponding processes implemented by the server in the various methods of the embodiments of this application. For the sake of brevity, these will not be described in detail here.

[0140] In an exemplary embodiment, this application also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a first memory storing a computer program, which can be executed by a server's processor to complete the steps described in the aforementioned method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed apparatus, terminal, server, and method can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0142] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0143] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0144] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0145] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0146] It should be noted that the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0147] In addition, in this application example, terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0148] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning method, characterized in that, Applied to a terminal, the method includes: Send approximate location information of the terminal to the server; Receive first indication information sent by the server; the first indication information includes second differential data corresponding to the second virtual reference station; The solution is performed based on the second difference data; If a fixed solution is not obtained based on the second difference data, the approximate location information is corrected based on the fixed solution obtained from the first difference data corresponding to the first virtual reference station; the first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station.

2. The method according to claim 1, characterized in that, The first indication information also includes the first differential data corresponding to the first virtual reference station; the method further includes: When a fixed solution is obtained based on the second differential data, an instruction to switch the virtual reference station is sent to the server; the instruction to switch the virtual reference station is used to instruct the server to stop sending the first differential data. The approximate location information is corrected based on the fixed solution corresponding to the second difference data.

3. The method according to claim 1, characterized in that, The step of correcting the approximate location information using a fixed solution obtained from the first differential data corresponding to the first virtual reference station includes: The approximate location information is corrected based on the most recent fixed solution obtained from the first difference data.

4. The method according to claim 1, characterized in that, The method further includes: Receive second indication information sent by the server; the second indication information includes first differential data; A fixed solution is obtained based on the first difference data.

5. A positioning method, characterized in that, Applied to a server, the method includes: Receiving approximate location information sent by the terminal; When it is determined, based on the approximate location information, that the terminal enters the range of the second virtual reference station from the range of the first virtual reference station, a first instruction message is sent to the terminal. The first instruction message includes second differential data corresponding to the second virtual reference station. The first instruction message is used to instruct the terminal to perform calculation based on the second differential data, and if a fixed solution is not obtained based on the second differential data, the approximate location information is corrected using the fixed solution obtained based on the first differential data corresponding to the first virtual reference station.

6. The method according to claim 5, characterized in that, The first indication information also includes the first differential data corresponding to the first virtual reference station.

7. The method according to claim 6, characterized in that, After sending the first indication information to the terminal, the method further includes: Upon receiving the instruction information for switching virtual reference stations sent by the terminal, the sending of the first differential data to the terminal is stopped; the instruction information for switching virtual reference stations indicates that the terminal has obtained a fixed solution based on the second differential data.

8. The method according to claim 5, characterized in that, The method further includes: When the approximate location information sent by the terminal determines that the terminal is within the range of the first virtual reference station, a second indication information is sent to the terminal. The second indication information includes the first differential data and is used to instruct the terminal to perform calculations based on the first differential data.

9. A positioning device, characterized in that, The device includes: The second receiving module is used to send the approximate location information of the terminal to the server; The second sending module is used to receive indication information sent by the server; the indication information includes second differential data corresponding to the second virtual reference station; The first processing module is used to perform calculations based on the second difference data; The first adjustment module is used to correct the approximate location information based on the fixed solution obtained by solving the first difference data corresponding to the first virtual reference station when no fixed solution is obtained based on the second difference data. The first virtual reference station is the virtual reference station where the terminal was located before entering the second virtual reference station.

10. A positioning device, characterized in that, The device includes: The first receiving module is used to receive approximate location information sent by the terminal; A first sending module is configured to send indication information to the terminal when it is determined, based on the approximate location information, that the terminal enters the range of a second virtual reference station from the range of a first virtual reference station. The indication information includes second differential data corresponding to the second virtual reference station. The indication information is used to instruct the terminal to perform calculations based on the second differential data, and if a fixed solution is not obtained based on the second differential data, to correct the approximate location information using a fixed solution obtained based on the first differential data corresponding to the first virtual reference station.

11. A terminal, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 4.

12. A server, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method of any one of claims 5 to 8.

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

Images