A positioning method, positioning device, equipment, medium and product

Abstract

The present application discloses a positioning method, positioning device, equipment, medium and product. The method is used to locate the target to be located, and the method includes: differentially locating the main antenna and the secondary antenna based on the base station observation data, obtaining the floating-point solution of the main antenna position and the floating-point solution of the antenna position; orienting based on the observation data of the main antenna and the secondary antenna, obtaining the floating-point solution of the orientation result; and fixing the ambiguity of the floating-point solution of the main antenna position, the floating-point solution of the secondary antenna position and the floating-point solution of the orientation result, and confirming the positioning result based on the ambiguity fixing result. According to the technical solution of the present application, the differential positioning result and the orientation result can be reflected to each other, while maintaining the positioning accuracy, the reliability of positioning is greatly improved, and the situation of unreliable or inaccurate positioning caused by the error of the ambiguity fixing result is effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a positioning method, positioning device, equipment, medium and product. Background Art

[0002] The commonly used positioning technology at present is differential positioning technology, which mainly obtains high-precision positioning by differential calculation between the local satellite main antenna observation value and the base station satellite observation value.

[0003] However, in the existing actual scenarios using differential technology for positioning, the process is easily affected by factors such as antenna occlusion, phase cycle jumps and multipath effects, resulting in failure or error in ambiguity fixation during the positioning process, thereby greatly reducing the accuracy and reliability of the final positioning results.

[0004] Therefore, when using differential technology for positioning, how to ensure the accuracy and reliability of the final positioning has become a problem that needs to be solved in this field. Summary of the invention

[0005] In view of this, the present application proposes a positioning method, a positioning device, a device, a medium and a product to improve the accuracy and reliability of positioning results.

[0006] In a first aspect, the present application proposes a positioning method for positioning a target to be positioned, comprising:

[0007] Based on the base station observation data, the main antenna and the secondary antenna are differentially positioned to obtain the floating point solution of the main antenna position and the floating point solution of the secondary antenna position;

[0008] Performing orientation based on the observation data of the main antenna and the secondary antenna to obtain a floating-point solution of the orientation result; and

[0009] The ambiguity of the floating point solution of the main antenna position, the floating point solution of the secondary antenna position and the floating point solution of the orientation result are fixed respectively, and the positioning result is confirmed based on the ambiguity fixing result; wherein,

[0010] The confirming the positioning result based on the ambiguity fixing result includes: in response to the ambiguity fixing results of the main antenna, the secondary antenna and the orientation being successful, determining whether the coordinate difference between the differential positioning result and the orientation result is within a threshold;

[0011] In response to the coordinate difference between the differential positioning result and the orientation result being within a threshold, the floating-point solution of the main antenna position is updated based on the ambiguity fixing result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

[0012] Preferably, the confirming the positioning result based on the ambiguity fixing result further includes:

[0013] In response to the coordinate difference between the differential positioning result and the orientation result not being within the threshold, determining whether the main antenna coordinates are reliable;

[0014] In response to the main antenna coordinates being reliable, the target to be located is located based on the main antenna coordinates.

[0015] Further preferably, the confirming the positioning result based on the ambiguity fixing result further includes:

[0016] In response to the ambiguity fixation of the primary antenna being unsuccessful and the ambiguity fixation of the secondary antenna and orientation being successful; or, in response to the coordinates of the primary antenna being unreliable;

[0017] Based on the ambiguity fixing results of the secondary antenna and the orientation, the corresponding floating point solutions are updated respectively to obtain the secondary antenna coordinates and the orientation results;

[0018] The main antenna coordinates are calculated based on the secondary antenna coordinates, the orientation result and the coordinate difference between the main antenna and the secondary antenna, and the target to be located is located based on the calculated main antenna coordinates.

[0019] Preferably, the confirming the positioning result based on the ambiguity fixing result further includes:

[0020] In response to the ambiguity fix of the primary antenna and orientation being unsuccessful, positioning is performed based on a float solution of the primary antenna position.

[0021] Preferably, the confirming the positioning result based on the ambiguity fixing result further includes:

[0022] In response to the ambiguity fixation of the main antenna being successful and the ambiguity fixation of at least one of the secondary antenna and the orientation being unsuccessful, the floating-point solution of the main antenna position is updated based on the ambiguity fixation result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

[0023] Preferably, the differential positioning and the orientation include:

[0024] Extended Kalman filtering is used to perform floating-point solutions of differential positioning and orientation respectively, to obtain a floating-point solution of the main antenna position, a floating-point solution of the secondary antenna position and a floating-point solution of the orientation result.

[0025] Preferably, the ambiguity is fixed, including:

[0026] Ambiguities of the floating-point solution of the main antenna position, the floating-point solution of the sub-antenna position and the floating-point solution of the orientation result are fixed respectively according to the satellite elevation angle to obtain the ambiguity fixing result of the main antenna, the ambiguity fixing result of the sub-antenna and the ambiguity fixing result of the orientation.

[0027] Further preferably, the step of determining based on the satellite altitude angle includes:

[0028] Determine the set of floating point solutions for all satellites in communication with the primary antenna and the secondary antenna;

[0029] Determining whether the ambiguity ratio value of the floating-point solution set is greater than a preset value;

[0030] In response to the blur ratio value being greater than the first preset value, blur fixation is successful;

[0031] In response to the ambiguity ratio value being not greater than the first preset value and the number of floating-point solutions in the floating-point solution set being greater than a set number, the floating-point solutions with the lowest satellite elevation angles are sequentially eliminated from the floating-point solution set, the ambiguities of the remaining floating-point solutions in the set are fixed, and it is determined again whether the ambiguity ratio value of the floating-point solution set is greater than the first preset value;

[0032] In response to the ambiguity ratio value being not greater than the first preset value and the number of floating-point solutions in the floating-point solution set being not greater than a set number, ambiguity fixing is unsuccessful.

[0033] In a second aspect, the present application proposes a positioning device for positioning a target to be positioned, the device comprising:

[0034] A differential positioning module is configured to perform differential positioning on the main antenna and the secondary antenna respectively based on the base station observation data, and obtain a floating point solution of the main antenna position and a floating point solution of the secondary antenna position;

[0035] an orientation module, configured to perform orientation based on the observation data of the main antenna and the secondary antenna, and obtain a floating-point solution of the orientation result; and

[0036] A verification and settlement module is configured to respectively fix the ambiguity of the floating-point solution of the main antenna position, the floating-point solution of the secondary antenna position and the floating-point solution of the orientation result, and confirm the positioning result based on the ambiguity fixing result; wherein,

[0037] The verification and settlement module is further configured to: in response to the ambiguity fixation results of the primary antenna, the secondary antenna and the orientation being successful, determine whether the coordinate difference between the differential positioning result and the orientation result is within a threshold;

[0038] In response to the coordinate difference between the differential positioning result and the orientation result being within a threshold, the floating-point solution of the main antenna position is updated based on the ambiguity fixing result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

[0039] In a third aspect, the present application provides an electronic device, comprising:

[0040] processor;

[0041] a memory for storing instructions executable by the processor;

[0042] The processor is used to read the executable instructions from the memory and execute the instructions to implement the method in the first aspect above.

[0043] In a fourth aspect, the present application proposes a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the method in the first aspect.

[0044] In a fifth aspect, the present application proposes a computer program product, comprising a computer program or instructions, characterized in that the computer program or the instructions implement the method in the above-mentioned first aspect when executed by a computer.

[0045] According to the technical solution of the present application, firstly, a floating-point solution of the main antenna position, a floating-point solution of the secondary antenna position and a floating-point solution of the orientation result are obtained, then the ambiguity of each floating-point solution is fixed, and finally the positioning result is confirmed based on the ambiguity fixing result; wherein, in response to the ambiguity fixing results of the main antenna, the secondary antenna and the orientation being successful, it is determined whether the coordinate difference between the differential positioning result and the orientation result is within a threshold; in response to being within the threshold, positioning is performed based on the main antenna coordinates, which can make the differential positioning result and the orientation result reflect each other, while maintaining the positioning accuracy, greatly improving the reliability of positioning, and effectively avoiding the unreliable or inaccurate positioning caused by the incorrect ambiguity fixing result.

[0046] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present application, and the schematic implementation modes and descriptions of the present application are used to explain the present application. In the accompanying drawings:

[0048] Figure 1 A schematic diagram of a flow chart of a positioning method according to a preferred embodiment of the present application;

[0049] Figure 2A schematic diagram of the relationship between various situations and positioning results in a preferred embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the structure of a positioning device according to a preferred embodiment of the present application;

[0051] Figure 4 This is a schematic diagram of the structure of an electronic device according to a preferred embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solution of the present application will be described in detail below with reference to the accompanying drawings and in combination with the implementation modes.

[0053] First, a positioning method proposed in this application is used to locate a target to be located. The target to be located may be a device or other mechanism including a main antenna and a secondary antenna. Figure 1 As shown, the positioning method provided by the present application includes steps 110-130:

[0054] Step 110, differentially positioning the main antenna and the secondary antenna based on the base station observation data, to obtain a floating point solution for the main antenna position and a floating point solution for the secondary antenna position;

[0055] Specifically, differential positioning technology mainly obtains high-precision positions by performing differential calculations on the observation values ​​of the local satellite main antenna and auxiliary antenna and the observation values ​​of the base station satellite. During the differential calculation process, floating-point solutions for the main antenna position and the auxiliary antenna position are obtained. The floating-point solutions are then ambiguity-fixed. If the fixation is successful, the floating-point solutions can be updated with the ambiguity-fixing results to obtain accurate positioning coordinates. The floating-point solution can be understood as a floating-point result obtained by directly using the minimum quadratic solution during the baseline solution process without fixing the ambiguity to an integer. It is usually expressed as a Double type solution with a decimal.

[0056] In this step, the process of obtaining the floating-point solution is as follows: the base station broadcasts the pseudorange, carrier observation value, base station coordinates and other related information to the target to be located through the data link. The target to be located uses the observation data of its own main antenna and secondary antenna, as well as the base station data, to form a differential observation equation to obtain the floating-point solution of the main antenna position and the floating-point solution of the secondary antenna position.

[0057] In a specific embodiment, the differential positioning in the present application can be specifically real-time dynamic carrier phase differential positioning (Real-Time Kinematic, RTK), and can specifically use extended Kalman filtering to perform floating-point solution of differential positioning to obtain a floating-point solution of the main antenna position and a floating-point solution of the secondary antenna position.

[0058] Step 120, performing orientation based on the observation data of the main antenna and the auxiliary antenna to obtain a floating-point solution of the orientation result;

[0059] Specifically, in addition to the differential positioning step, the present application also includes an orientation step. It should be noted that the present application does not limit the execution order of step 120 and step 110, that is, it does not limit the execution order of the differential positioning step and the orientation step. The execution of these two steps simultaneously or in any order does not affect the implementation of the present application and is within the protection scope of the present application.

[0060] Directional technology is to obtain the high-precision vector value between the main antenna and the secondary antenna by differential calculation of the observation values ​​of the main antenna and the secondary antenna. In the differential calculation process, a floating-point solution of the directional result will also be obtained, and the ambiguity of the floating-point solution will be fixed later. If the fixation is successful, the floating-point solution of the directional result can be updated with the ambiguity fixation result to obtain an accurate directional result.

[0061] In a specific embodiment, the orientation may be specifically Global Navigation Satellite System (GNSS) orientation, that is, GNSS orientation, and the extended Kalman filter may also be specifically used to perform floating-point solution of the orientation to obtain a floating-point solution of the orientation result.

[0062] Step 130, respectively fix the ambiguity of the floating point solution of the main antenna position, the floating point solution of the secondary antenna position and the floating point solution of the orientation result, and confirm the positioning result based on the ambiguity fixation result;

[0063] Specifically, regarding the concept and significance of ambiguity fixation, ambiguity can be understood as the ambiguity of whole cycles, which is the unknown integer corresponding to the first observed value of the phase difference between the carrier phase and the reference phase when measuring the carrier phase of the global positioning system technology. Ambiguity fixation can be understood as using a certain mathematical method to determine the whole cycle ambiguity, fixing the whole cycle ambiguity parameters from floating point solutions to integer solutions, so that the distance measurement from the satellite to the target to be positioned can be accurate to less than one wavelength, generally reaching the centimeter level.

[0064] It can be seen that there is a highly positive correlation between ambiguity fixation and the accuracy and reliability of positioning results. The ambiguity fixation result will greatly affect whether the final positioning is accurate and reliable. Once the ambiguity fixation fails, the final positioning accuracy may diverge from the centimeter level to the decimeter or even meter level, resulting in a significant reduction in positioning accuracy; or even if the ambiguity fixation is successful, the result of the fixation is wrong, which will cause the final positioning result to be wrong, reducing the reliability of the final output positioning result.

[0065] The two technologies of orientation and differential positioning involved in this application both eliminate ionospheric delay, tropospheric delay, orbit error, satellite clock error, satellite-side hardware delay, receiver-side hardware delay and other errors through carrier phase differential. They both require and are combined with ambiguity-resolving algorithms to solve the problem of integer ambiguity fixation in order to improve positioning accuracy and reliability.

[0066] In the prior art, positioning is performed solely based on the ambiguity fixing results of the main antenna and the secondary antenna, especially over-reliance on the ambiguity fixing results of the main antenna to determine the final positioning results, which is bound to be inaccurate, unreliable, and unstable. This includes the problem of positioning failure or reduced accuracy due to the unsuccessful ambiguity fixing of at least one of the main antenna and the secondary antenna, and also includes the situation where the ambiguities of both the main antenna and the secondary antenna are successfully fixed. In the case where the ambiguities of the main antenna and the secondary antenna are successfully fixed, it does not mean that the final positioning results of the main antenna and the secondary antenna are necessarily reliable. There may also be problems such as ambiguity fixing errors and position anomalies, which may result in unreliable positioning results of the main antenna and the secondary antenna. This application is a solution improvement for all the above problems.

[0067] Next, with respect to the method of ambiguity fixing, in a specific embodiment, ambiguity can be fixed on the floating-point solution of the main antenna position, the floating-point solution of the sub-antenna position and the floating-point solution of the orientation result according to the satellite elevation angle to obtain the ambiguity fixing result of the main antenna, the ambiguity fixing result of the sub-antenna and the ambiguity fixing result of the orientation.

[0068] Among them, the satellite elevation angle in the present application is specifically an algorithm obtained by combining the least squares descent correlation adjustment algorithm (Least-squares Ambiguity Decorrelation Adjustment, LAMBDA) with the satellite rejection rule, including steps 210-250:

[0069] Step 210, determining a set of floating point solutions for all satellites in communication with the primary antenna and the secondary antenna;

[0070] Specifically, usually, there is usually more than one satellite communicating with the target to be positioned, and there is usually more than one floating point solution and ambiguity corresponding to the main antenna and the secondary antenna. In other words, the floating point solution of the main antenna position, the floating point solution of the secondary antenna position, and the floating point solution of the orientation result may mean a set of floating point solutions, but no matter it is a floating point solution or a set of floating point solutions, the ambiguity can be fixed.

[0071] It should be noted that the description of the floating-point solution in steps 110-130 includes two cases where the floating-point solution is one floating-point solution and the floating-point solution is a set of floating-point solutions. Steps 210-250 are specific embodiments where the floating-point solution is a set of floating-point solutions.

[0072] Step 220, determining whether the ambiguity ratio value of the floating point solution set is greater than a first preset value;

[0073] Specifically, the present application may use the LAMBDA algorithm to confirm whether the ambiguity ratio value of the set of floating-point solutions is greater than the first preset value. Of course, this also includes the case where the set of floating-point solutions includes only one floating-point solution.

[0074] Among them, the LAMBDA algorithm is a method for solving integer ambiguity, including real least squares solution, matrix decomposition to find the reduced correlation transformation matrix, search for integer ambiguity and ambiguity correctness test. When testing the correctness of ambiguity, the commonly used method is to test through the ambiguity ratio value (Ratio). The ambiguity ratio value can be understood as the ratio of the fixed optimal solution to the suboptimal solution. The larger the ratio, the more reliable the optimal solution is, which reflects the more reliable the ambiguity fixation result to a certain extent.

[0075] It can be understood that when the ambiguity of the main antenna, the secondary antenna and the orientation is fixed, that is, when the ambiguity of each floating point solution mentioned above is fixed, a corresponding ambiguity ratio value will be generated, that is, in the process of fixing the ambiguity of the main antenna, the secondary antenna and the orientation, steps 210-250 can be used. If the ambiguity ratio value is greater than the first preset value, step 230 is executed, and if not, step 240 is executed.

[0076] Step 230, in response to the fuzziness ratio value being greater than the first preset value, the fuzziness is fixed successfully;

[0077] Specifically, if the ambiguity ratio value is greater than the first preset value, it is determined that the corresponding ambiguity is fixed successfully, and the ambiguity fixing result can be used to update the corresponding differential positioning (positioning of the main antenna and the secondary antenna) / orientation result. This process is described in the following step 130 and will not be repeated here.

[0078] Step 240, in response to the ambiguity ratio value being not greater than the first preset value and the number of floating-point solutions in the floating-point solution set being greater than the set number, the floating-point solutions of the satellite ambiguity parameters with the lowest elevation angles are sequentially eliminated from the set, the ambiguities of the remaining floating-point solutions in the set are fixed, and it is determined again whether the ambiguity ratio value is greater than the first preset value;

[0079] Specifically, the altitude angle of a satellite is also called the elevation angle, which refers to the angle between the direction from the target on the earth's surface, that is, the target to be located, to the satellite and the horizon. It represents the observation angle of the satellite above or below the earth's surface.

[0080] In the case of multi-satellite communication, the present application sorts the elevation angles of all satellites communicating with the target to be positioned from low to high. If the ambiguity ratio value is not greater than the first preset value and the number of floating-point solutions in the floating-point solution set is greater than the set number, then in the floating-point solution set, the floating-point solution corresponding to the satellite with the lowest current elevation angle is removed, and the ambiguity of the remaining floating-point solutions in the set is tried again to fix the ambiguity, and determine whether the ambiguity ratio value is greater than the first preset value, that is, return to execute step 220. Generally speaking, ambiguity fixing has a lower limit setting for the number of communication satellites, and there will be no single-satellite fixation. The set number here can be understood as the number of satellites required to communicate in the floating-point solution set, that is, the preset lower limit of the number of ambiguity fixed satellites.

[0081] Step 250, in response to the ambiguity ratio value being not greater than the first preset value and the number of floating point solutions in the floating point solution set being not greater than the set number, the ambiguity fixing is unsuccessful;

[0082] Specifically, if after removing the satellites with the lowest elevation angles in turn, the ambiguity ratio value of the floating-point solution is still not greater than the first preset value, and the number of floating-point solutions in the floating-point solution set exceeds the lower limit, the ambiguity fixing directly fails.

[0083] The above explains the significance of ambiguity fixation to positioning accuracy and reliability, as well as the method of ambiguity fixation. The key logic in this application is that compared with differential positioning, in the orientation process, due to the shorter distance between the baseline lengths of the primary and secondary antennas, the carrier phase differential performed can better eliminate various environmental errors, and can generally achieve better ambiguity fixation results than differential positioning. Therefore, by using the ambiguity fixation results of better orientation to calculate and verify with the ambiguity fixation results of the primary and secondary antennas, it is possible to determine whether the differential positioning results and orientation results are accurate, so as to improve the accuracy and reliability of the final positioning results.

[0084] Finally, combine Figure 1 and Figure 2 The different situations of positioning results under various conditions in this application are specifically described.

[0085] In the case where the ambiguity fixation results of the primary antenna, the secondary antenna and the orientation are all successful, the present application is further divided into the following three different cases: A1, A2 and A3:

[0086] Confirming the positioning and orientation results based on the fixed results includes the first case A1: in response to the success of the ambiguity fixation results of the main antenna, the secondary antenna and the orientation, and the coordinate difference between the differential positioning result and the orientation result is within the threshold (the "within" in this application includes this number), then based on the ambiguity fixation result of the main antenna, the floating-point solution of the main antenna position is updated to obtain the main antenna coordinates, and the target to be positioned is positioned based on the main antenna coordinates.

[0087] To be more specific, the coordinate difference between the differential positioning result and the orientation result can be understood as: the three-dimensional coordinate difference between the relative position between the main antenna and the secondary antenna obtained based on the current differential positioning and the orientation result, and the relative position between the main antenna and the secondary antenna can be obtained by updating the main antenna coordinates and the secondary antenna coordinates obtained by their respective floating-point solutions after the ambiguity of the main antenna and the secondary antenna is successfully fixed, and then subtracting them.

[0088] Moreover, as mentioned above, "when the ambiguities of the main antenna and the sub-antenna are fixed successfully, it does not mean that the final positioning results of the main antenna and the sub-antenna are necessarily reliable. There may also be problems such as ambiguity fixing errors and position abnormalities." Therefore, it is still necessary to further verify whether the positioning of the main antenna and the sub-antenna is reliable. The verification method is to determine whether the coordinate difference between the differential positioning result and the directional result is within the threshold. If the coordinate difference does not exceed the set threshold, that is, situation A1, it is believed that the ambiguity fixing results of the main antenna and the sub-antenna and the directional ambiguity fixing results can be mutually verified, and it is further believed that the differential positioning results and the directional results can also be mutually corrected, and then positioning is performed based on the main antenna coordinates with the highest accuracy in the differential positioning results. If the coordinate difference exceeds the set threshold, it belongs to the following A2 and A3 situations.

[0089] In the first case A1, the differential positioning result and the orientation result can be reflected from each other, which greatly improves the reliability of positioning and effectively avoids unreliable positioning caused by the ambiguity being fixed but the fixation result being wrong.

[0090] Confirming the positioning and orientation results based on the fixed results also includes the second situation A2: in response to the success of the ambiguity fixation results of the main antenna, the secondary antenna and the orientation, the coordinate difference between the differential positioning result and the orientation result is not within the threshold, and the main antenna coordinates are reliable, then as in situation A1, the target to be positioned is positioned based on the main antenna coordinates.

[0091] To be more specific, in case A2, the ambiguity of the main antenna, the secondary antenna and the ambiguity of the orientation result are all fixed successfully, but the positioning and orientation results of the main antenna and the secondary antenna cannot be reflected each other, indicating that at least one of the differential positioning results and / or orientation results is unreliable. In general, positioning mainly relies on the main antenna, so it is possible to first determine whether the positioning result of the main antenna is reliable, that is, whether the main antenna coordinates are reliable. If the main antenna coordinates are reliable, there is no need to consider the secondary antenna positioning results and orientation results, and the target to be positioned can be positioned directly based on the main antenna coordinates. If the main antenna coordinates are unreliable, it belongs to the following A3 case.

[0092] In a specific embodiment, how to determine whether the positioning result of the main antenna is reliable can be determined by confirming the consistency between epochs of the main antenna coordinates. The main antenna coordinates here are the differential positioning results obtained by updating their floating point solutions after the ambiguity is fixed. If the main antenna coordinates are smooth between epochs, the main antenna coordinates obtained by differential positioning are considered reliable; on the contrary, if the main antenna coordinates are not smooth between epochs, the main antenna coordinates obtained by differential positioning are considered unreliable.

[0093] In another specific embodiment, how to determine whether the positioning result of the main antenna is reliable can also be determined by confirming the ambiguity ratio value corresponding to the main antenna. Specifically, it can be: confirm whether the ambiguity ratio corresponding to the main antenna is greater than the second preset value. If it is greater, it can be confirmed that its coordinates are reliable. The second preset value here is higher than the first preset value, because in this case, the ambiguity fixation of the main antenna, the secondary antenna and the orientation is successful, and the ambiguity ratio value should be greater than the first preset value. The second preset value can be understood as an ambiguity ratio value used to determine which result is more reliable when the ambiguity fixation is successful.

[0094] It is understandable that the above two embodiments for determining whether the positioning result of the main antenna is reliable can be performed one by one, or can be performed simultaneously or successively. Those skilled in the art can select a specific implementation method according to their own needs. In addition, using the methods of the above two embodiments, it is also possible to determine whether the coordinates of the secondary antenna and the orientation result are reliable. If it is confirmed that one or more of the main antenna coordinates, the secondary antenna coordinates or the orientation result is unreliable, the relevant unreliable flag bit can be output to determine whether the final positioning result needs to be adjusted based on the flag bit.

[0095] In the second case A2, although the differential positioning result and the directional result cannot be reflected by each other, it can be determined that the differential positioning result of the main antenna is reliable, and the positioning result output is the same as that in A1. The known conditions can be used to the maximum extent to determine that the output positioning result is both the most accurate and very reliable.

[0096] Confirming the positioning and orientation results based on the fixed results also includes a third situation A3: in response to the success of the ambiguity fixation results of the main antenna, the sub-antenna and the orientation, the coordinate difference between the differential positioning result and the orientation result is not within the threshold, and the main antenna coordinates are unreliable, then based on the ambiguity fixation results of the sub-antenna and the orientation, the floating-point solutions of the sub-antenna position and the orientation results are updated respectively to obtain the sub-antenna coordinates and the orientation results, and then the main antenna coordinates are calculated based on the coordinate difference between the main and sub-antennas, the sub-antenna coordinates, and the orientation results, and the target to be positioned is positioned based on the calculated main antenna coordinates.

[0097] To be more specific, in case A3, although the ambiguity fixation of the main antenna, the sub-antenna and the ambiguity fixation of the directional results are successful, the positioning and directional results of the main antenna and the sub-antenna cannot be reflected from each other, and it is also determined that the main antenna coordinates are unreliable and cannot be used to output the final positioning result. However, since the ambiguity fixation of the sub-antenna and the directional is successful, and as mentioned above, the ambiguity fixation result of the directional is usually better, the sub-antenna coordinates plus the directional result can be used to recursively obtain the high-precision position of the main antenna, that is, the inferred main antenna coordinates.

[0098] Specifically, the coordinate difference between the main and secondary antennas can be understood as the relative position between the main antenna and the secondary antenna mentioned above, which can be obtained by making a difference between the main antenna coordinates and the secondary antenna coordinates. The directional result represents the vector value between the main antenna and the secondary antenna, so the main antenna coordinates can be calculated based on the coordinate difference between the main and secondary antennas, the secondary antenna coordinates, and the directional result.

[0099] In the third case A3, although the differential positioning result and the directional result cannot be reflected by each other, and the differential positioning result of the main antenna is also unreliable, the main antenna coordinates can be inferred by combining the relatively reliable directional result with the secondary antenna coordinates, avoiding the situation where the final positioning accuracy drops drastically when the main antenna cannot be used for positioning. When it is determined that the main antenna coordinates are unreliable, the inferred main antenna coordinates can still be used to obtain high-precision positioning.

[0100] The above describes the various different positioning results corresponding to the case where the ambiguity fixation results of the main antenna, the secondary antenna and the direction are all successful and under other different conditions. The following describes the various different positioning results corresponding to the case where at least one of the ambiguity fixation results of the main antenna, the secondary antenna and the direction is unsuccessful.

[0101] Confirming the positioning and orientation results based on the fixed results also includes a fourth situation B: in response to the unsuccessful fixation of the ambiguity of the main antenna and the successful fixation of the ambiguity of the secondary antenna and the orientation result, as in situation A3, based on the ambiguity fixation results of the secondary antenna and the orientation, the floating-point solutions of the secondary antenna position and the orientation result are updated respectively to obtain the secondary antenna coordinates and the orientation result, and then the main antenna coordinates are calculated based on the coordinate difference between the main and secondary antennas, the secondary antenna coordinates, and the orientation result, and the target to be positioned is positioned based on the calculated main antenna coordinates.

[0102] To be more specific, if the ambiguity of the main antenna is not fixed successfully, positioning cannot be performed based on the main antenna, nor can the positioning results and directional results of the main antenna and the secondary antenna be reflected against each other, nor can the directional results be used alone for positioning. However, the high-precision position of the main antenna can be recursively obtained by adding the secondary antenna coordinates to the directional results, that is, the inferred main antenna coordinates.

[0103] In the fourth case B, although the ambiguity of the main antenna was not fixed successfully, the ambiguity of the secondary antenna and the orientation was fixed successfully. The coordinates of the main antenna can be inferred using the secondary antenna coordinates and the orientation results. As in case A3, it also avoids the result that the final positioning accuracy drops drastically when the main antenna cannot be used for positioning. When it is determined that the main antenna coordinates are unreliable, the inferred main antenna coordinates can still be used to obtain high-precision positioning.

[0104] Confirming the positioning and orientation results based on the fixed results also includes a fifth situation C: in response to the ambiguity fixation of the main antenna and the orientation being unsuccessful, positioning is performed based on the floating-point solution of the main antenna position.

[0105] To be more specific, since the ambiguity fixation of the main antenna and the orientation is unsuccessful, it is impossible to use the main antenna coordinates after the ambiguity fixation, nor is it possible to infer the main antenna coordinates by combining the orientation result and the secondary antenna. Therefore, it does not matter whether the ambiguity fixation of the secondary antenna is successful. However, in the above step 110, the floating-point solution of the main antenna has been successfully calculated, and there is a floating-point solution for the main antenna position. Therefore, directly positioning the target to be positioned based on the floating-point solution of the main antenna position becomes a reliable option.

[0106] In the fifth case C, although the accuracy of positioning based on the floating-point solution of the main antenna position may be relatively low, its accuracy is still better than the result of positioning using only the secondary antenna, and is also better than the result of not being able to output a positioning result. This is a case of maximizing the use of known conditions to output the optimal result.

[0107] In addition, as a supplementary situation, corresponding to situation C, if the floating-point solution of the main antenna is unsuccessful at the beginning in the above step 110, it is the sixth situation E: the floating-point solution of the main antenna is unsuccessful, but the floating-point solution of the secondary antenna is successful, then positioning is performed based on the floating-point solution of the secondary antenna.

[0108] It is understandable that if the floating-point solution of the secondary antenna is also unsuccessful, no possible positioning result can be output.

[0109] In the sixth case E, although the accuracy of positioning based on the secondary antenna coordinates may be relatively low, it is still better than not being able to output a positioning result. This is a case of maximizing the use of known conditions to output the optimal result.

[0110] Confirming the positioning and orientation results based on the fixed results also includes the seventh situation D: in response to the successful fixation of the ambiguity of the main antenna and the unsuccessful fixation of the ambiguity of at least one of the secondary antenna and the orientation, the floating-point solution of the main antenna position is updated based on the ambiguity fixation result of the main antenna to obtain the main antenna coordinates, and the target to be positioned is positioned based on the main antenna coordinates.

[0111] Specifically, if the ambiguity of at least one of the secondary antenna and the orientation is not fixed successfully, the "three-way mutual verification" cannot be achieved, so other logic needs to be considered. In addition, no matter whether the ambiguity of the secondary antenna is fixed unsuccessfully or the ambiguity of the orientation result is fixed unsuccessfully, the ambiguity of the main antenna is fixed successfully, which does not affect the obtained main antenna coordinates, so the main antenna coordinates can be directly used for positioning.

[0112] In the seventh case D, it is mainly to supplement the situation where the "three cannot verify each other". Positioning is performed based on the high-precision main antenna coordinates, which is also a situation that maximizes the use of known conditions to output the optimal result.

[0113] The positioning method provided in the present application first obtains a floating-point solution of the main antenna position, a floating-point solution of the sub-antenna position and a floating-point solution of the orientation result, then performs ambiguity fixation on each floating-point solution, and finally confirms the positioning result based on the ambiguity fixation result; wherein, in response to the ambiguity fixation results of the main antenna, the sub-antenna and the orientation being successful, a threshold of the coordinate difference between the differential positioning result and the orientation result is determined; in response to being within the threshold, positioning is performed based on the main antenna coordinates, which can enable the differential positioning result and the orientation result to be mutually reflected, thereby greatly improving the reliability of positioning while maintaining the positioning accuracy, and effectively avoiding unreliable or inaccurate positioning caused by incorrect ambiguity fixation results.

[0114] In a second aspect, the present application also provides a positioning device for positioning a target to be positioned, such as Figure 3 As shown, the device comprises:

[0115] Differential positioning module 1: configured to perform differential positioning of the main antenna and the secondary antenna respectively based on the base station observation data, and obtain a floating point solution of the main antenna position and a floating point solution of the secondary antenna position;

[0116] Orientation module 2: configured to perform orientation based on observation data of the main antenna and the auxiliary antenna to obtain a floating-point solution of the orientation result; and

[0117] The verification and settlement module 3 is configured to fix the ambiguity of the floating point solution of the main antenna position, the floating point solution of the secondary antenna position and the floating point solution of the orientation result, and confirm the positioning result based on the ambiguity fixing result; wherein,

[0118] The verification and settlement module is further configured to: in response to the ambiguity fixation results of the primary antenna, the secondary antenna and the orientation being successful, determine whether the coordinate difference between the differential positioning result and the orientation result is within a threshold;

[0119] In response to the coordinate difference between the differential positioning result and the orientation result being within a threshold, the floating point solution of the main antenna position is updated based on the ambiguity fixing result of the main antenna to obtain the main antenna coordinates, and the target to be positioned is positioned based on the main antenna coordinates.

[0120] The specific principles, preferred embodiments, technical problems that can be solved and technical effects that can be brought about in the steps in the second aspect of this application are similar to the positioning method in the first aspect mentioned above and will not be repeated here.

[0121] Below, reference Figure 4 The electronic device 11 according to an embodiment of the present application is described. Figure 4 A block diagram of an electronic device according to an embodiment of the present application is shown.

[0122] like Figure 4 As shown, the electronic device 11 includes one or more processors 111 and a memory 112 .

[0123] The processor 111 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.

[0124] The memory 112 may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on a computer-readable storage medium, and the processor 111 may run the program instructions to implement the test methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0125] In one example, the electronic device 11 may further include: an input device 113 and an output device 114 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0126] The input device 113 may include, for example, a keyboard, a mouse, etc.

[0127] The output device 114 can output various information to the outside, including determined distance information, direction information, etc. The output device 114 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0128] Of course, to simplify, Figure 4 Only some of the components related to the present application in the electronic device 11 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 11 may also include any other appropriate components.

[0129] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the testing method according to various embodiments of the present application described in the above “Exemplary Method” section of this specification.

[0130] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0131] In addition to the above-mentioned methods, apparatuses, devices and media, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the testing method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of this specification.

[0132] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0133] The preferred embodiments of the present application are described in detail above; however, the present application is not limited to the specific details in the above embodiments. Within the technical concept of the present application, a variety of simple modifications can be made to the technical solution of the present application, and these simple modifications all fall within the protection scope of the present application.

[0134] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not further describe various possible combinations.

[0135] In addition, the various implementation modes of the present application may be arbitrarily combined, and as long as they do not violate the concept of the present application, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A positioning method, characterized in that: The positioning method is used to locate a target to be positioned, and the method includes: Based on the base station observation data, the main antenna and the secondary antenna are differentially positioned to obtain the floating point solution of the main antenna position and the floating point solution of the secondary antenna position; Performing orientation based on the observation data of the main antenna and the secondary antenna to obtain a floating-point solution of the orientation result; and The ambiguity of the floating point solution of the main antenna position, the floating point solution of the secondary antenna position and the floating point solution of the orientation result are fixed respectively, and the positioning result is confirmed based on the ambiguity fixing result; wherein, The confirming the positioning result based on the ambiguity fixing result includes: in response to the ambiguity fixing results of the main antenna, the secondary antenna and the orientation being successful, determining whether the coordinate difference between the differential positioning result and the orientation result is within a threshold; In response to the coordinate difference between the differential positioning result and the orientation result being within a threshold, the floating-point solution of the main antenna position is updated based on the ambiguity fixing result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

2. The method according to claim 1, characterized in that The confirming of the positioning result based on the ambiguity fixing result also includes: In response to the coordinate difference between the differential positioning result and the orientation result not being within the threshold, determining whether the main antenna coordinates are reliable; In response to the main antenna coordinates being reliable, the target to be located is located based on the main antenna coordinates.

3. The method according to claim 2, characterized in that The confirming of the positioning result based on the ambiguity fixing result also includes: In response to the ambiguity fixation of the primary antenna being unsuccessful and the ambiguity fixation of the secondary antenna and orientation being successful; or, in response to the coordinates of the primary antenna being unreliable; Based on the ambiguity fixing results of the secondary antenna and the orientation, the corresponding floating point solutions are updated respectively to obtain the secondary antenna coordinates and the orientation results; The main antenna coordinates are calculated based on the secondary antenna coordinates, the orientation result and the coordinate difference between the main antenna and the secondary antenna, and the target to be located is located based on the calculated main antenna coordinates.

4. The method according to claim 1, characterized in that: The confirming of the positioning result based on the ambiguity fixing result also includes: In response to the ambiguity fix of the primary antenna and orientation being unsuccessful, positioning is performed based on a float solution of the primary antenna position.

5. The method according to claim 1, characterized in that The confirming of the positioning result based on the ambiguity fixing result also includes: In response to the ambiguity fixation of the main antenna being successful and the ambiguity fixation of at least one of the secondary antenna and the orientation being unsuccessful, the floating-point solution of the main antenna position is updated based on the ambiguity fixation result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

6. The method according to claim 1, characterized in that The differential positioning and the orientation include: Extended Kalman filtering is used to perform floating-point solutions of differential positioning and orientation respectively, to obtain a floating-point solution of the main antenna position, a floating-point solution of the secondary antenna position and a floating-point solution of the orientation result.

7. The method according to claim 1, characterized in that The ambiguity is fixed, including: The ambiguity of the floating-point solution of the main antenna position, the floating-point solution of the sub-antenna position and the floating-point solution of the orientation result are respectively fixed according to the satellite elevation angle to obtain the ambiguity fixing result of the main antenna, the ambiguity fixing result of the sub-antenna and the ambiguity fixing result of the orientation.

8. The method according to claim 7, characterized in that Ambiguity fixation based on satellite altitude angle, including: Determine the set of floating point solutions for all satellites in communication with the primary antenna and the secondary antenna; Determining whether the ambiguity ratio value of the floating-point solution set is greater than a first preset value; In response to the blur ratio value being greater than the first preset value, blur fixation is successful; In response to the ambiguity ratio value being not greater than the first preset value and the number of floating-point solutions in the floating-point solution set being greater than a set number, the floating-point solutions with the lowest satellite elevation angles are sequentially eliminated from the floating-point solution set, the ambiguities of the remaining floating-point solutions in the floating-point solution set are fixed, and it is determined again whether the ambiguity ratio value of the floating-point solution set is greater than the first preset value; In response to the ambiguity ratio value being not greater than the first preset value and the number of floating-point solutions in the floating-point solution set being not greater than a set number, ambiguity fixing is unsuccessful.

9. A positioning device, characterized in that: The positioning device is used to locate the target to be positioned, and the device includes: A differential positioning module is configured to perform differential positioning on the main antenna and the secondary antenna respectively based on the base station observation data, and obtain a floating point solution of the main antenna position and a floating point solution of the secondary antenna position; an orientation module, configured to perform orientation based on the observation data of the main antenna and the secondary antenna, and obtain a floating-point solution of the orientation result; and A verification and settlement module is configured to respectively fix the ambiguity of the floating-point solution of the main antenna position, the floating-point solution of the secondary antenna position and the floating-point solution of the orientation result, and confirm the positioning result based on the ambiguity fixing result; wherein, The verification and settlement module is further configured to: in response to the ambiguity fixation results of the primary antenna, the secondary antenna and the orientation being successful, determine whether the coordinate difference between the differential positioning result and the orientation result is within a threshold; In response to the coordinate difference between the differential positioning result and the orientation result being within a threshold, the floating-point solution of the main antenna position is updated based on the ambiguity fixing result of the main antenna to obtain the main antenna coordinates, and the target to be located is located based on the main antenna coordinates.

10. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the method described in any one of claims 1 to 8.

11. A computer-readable storage medium storing a computer program, wherein the computer program is used to execute the method according to any one of claims 1 to 8.

12. A computer program product comprising a computer program or instructions, characterized in that When the computer program or the instructions are executed by a computer, the method according to any one of claims 1 to 8 is implemented.

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