A joint positioning information switching method based on 5G and Beidou

Abstract

The present invention discloses a joint positioning information switching method based on 5G and Beidou, which belongs to the field of collaborative positioning technology, and specifically comprises: obtaining a reference station near a vehicle through a Beidou satellite connection, the reference station receiving the coordinates fed back by the Beidou satellite, and comparing with the actual coordinates of the reference station to obtain a measurement error; constructing a virtual reference station grid based on VRS technology; when the vehicle is closest to any reference station, a nearby virtual reference station R0 is selected to generate a first correction position, and the virtual observation error is transmitted through a 5G network to correct the initial position of the vehicle; after a unit time t, a new nearest virtual reference station Ri is selected, and a second correction position is generated; a vehicle-mounted inertial sensor is used to obtain a coordinate change within a unit time, the coordinate error between the real-time coordinate and the second correction position is calculated, and the virtual observation error of the virtual reference station Ri is updated; the present invention realizes the calibration and unification of the accuracy of the entire virtual reference station network.

Description

Technical Field

[0001] The present invention relates to the field of collaborative positioning technology, and in particular to a joint positioning information switching method based on 5G and Beidou. Background Art

[0002] In modern transportation systems, accurate vehicle positioning is crucial for intelligent navigation, autonomous driving, and traffic management. Traditional positioning technologies such as GPS (Global Positioning System) perform well in open environments, but in urban areas, especially in areas with densely populated high-rise buildings, signal blocking and multipath effects can seriously affect positioning accuracy. To solve this problem, combining multiple technical means for joint positioning has become a research hotspot.

[0003] The BeiDou satellite navigation system is a global satellite navigation system independently developed by China. It has the characteristics of high precision and high reliability, but it still faces challenges in complex urban environments. 5G communication technology, with its high speed and low latency, provides strong support for real-time data transmission. VRS (virtual reference station) technology establishes multiple physical reference stations on the ground and uses the data of these stations to simulate a virtual reference station to provide more accurate positioning information.

[0004] Although VRS technology reduces these errors by generating differential signals, the error characteristics at different locations may be different due to the complex and changing atmospheric conditions, including tropospheric and ionospheric delay errors, resulting in differences in virtual measurement errors. Summary of the invention

[0005] The purpose of the present invention is to provide a joint positioning information switching method based on 5G and Beidou to solve the following technical problems:

[0006] Due to the complexity and variability of atmospheric conditions, the error characteristics at different locations may be different, including tropospheric and ionospheric delay errors, which leads to differences in virtual measurement errors.

[0007] The purpose of the present invention can be achieved by the following technical solutions:

[0008] A joint positioning information switching method based on 5G and Beidou, comprising the following steps:

[0009] Connecting with BeiDou satellites through the vehicle positioning module to obtain the vehicle's current satellite positioning, and selecting three reference stations at a preset distance near the satellite positioning;

[0010] The positioning module based on the reference station receives the reference station positioning coordinates fed back by the Beidou satellite, compares the positioning coordinates with the actual coordinates of the reference station, obtains the measurement error, counts the actual coordinates and measurement errors of the three reference stations, and constructs a virtual reference station grid based on the VRS technology;

[0011] When the satellite positioning of the vehicle is closest to any reference station, the current satellite positioning is marked as the initial position, the virtual reference station closest to the initial position of the vehicle is selected and marked as R0, and the virtual observation error (Δx0, Δy0) of the virtual reference station is obtained, and the virtual observation error (Δx0, Δy0) is transmitted to the on-board positioning module through the 5G network. The initial position of the vehicle is corrected by the virtual observation error (Δx0, Δy0) to generate the first corrected position of the current vehicle;

[0012] A plane rectangular coordinate system is established. After a unit time t has passed, the virtual reference station closest to the vehicle is selected again, marked as Ri. A second correction position is generated according to the virtual observation error (Δxi, Δyi) of the virtual reference station Ri. The coordinate change of the vehicle within a unit time t is obtained based on the on-board inertial sensor. The real-time coordinates of the vehicle after a unit time t are calculated. The coordinate error between the second correction position and the real-time coordinates is calculated. The virtual observation error (Δxi, Δyi) of the virtual reference station Ri is adjusted according to the coordinate error, and the virtual observation error of Ri is updated.

[0013] As a further solution of the present invention: the specific process of adjusting the virtual observation error is:

[0014] Get the initial moving speed V of the vehicle at the first correction position 0 , the real-time acceleration a of the vehicle is measured by the inertial sensor in real time, then the real-time moving speed V of the vehicle 1 for:

[0015]

[0016] Then the distance L that the vehicle moves in unit time t is 1 for;

[0017]

[0018] Establish a plane rectangular coordinate system with any reference station as the origin, and mark the coordinates of the first correction position of the vehicle as (x 1 ,y 1 ), and obtain the moving angle θ of the vehicle in unit time through the inertial sensor, then the real-time coordinates (x t ,y t )for:

[0019] x t =x 1 +Lcosθ,y t =y 1 +Lsinθ;

[0020] The second corrected position of the vehicle is marked as (x 2,y 2 ), and (x t -x 2 ,y t -y 2 ) is used as the error adjustment value of the virtual observation error (Δxi, Δyi).

[0021] As a further solution of the present invention, the real-time corrected position and real-time coordinates corresponding to the vehicle are obtained every unit time t, and the virtual observation error of the virtual reference station currently corresponding to the vehicle is adjusted according to the coordinate error between the real-time corrected position and the real-time coordinates.

[0022] As a further solution of the present invention: whenever the three nearest reference stations corresponding to the vehicle change, the first virtual reference station R0 allocated in the virtual reference station network generated by the new three reference stations is obtained, and the virtual observation errors of the remaining virtual reference stations passed through in the current virtual reference station network are adjusted based on the new virtual reference station R0.

[0023] As a further solution of the present invention: the process of determining that the vehicle satellite positioning is closest to any reference station is:

[0024] Draw a perpendicular line from any reference station to the nearby road, and mark the perpendicular point as the nearest point. When any vehicle passes the first nearest point, the virtual reference station closest to the current satellite positioning is obtained, marked as R0.

[0025] As a further solution of the present invention: the virtual reference station network is composed of a control center, a reference station and a vehicle-mounted user terminal. Each reference station sends all measurement errors to the control center through the 5G network, and the control center sends the measurement errors and error adjustment values ​​to the vehicle-mounted user terminal.

[0026] By utilizing the high speed and low latency characteristics of the 5G network, real-time data transmission and processing can be achieved, allowing the system to quickly respond to environmental changes and make dynamic adjustments. This is especially important for high-speed moving vehicles, ensuring real-time updates and accuracy of positioning information.

[0027] As a further solution of the present invention: the construction process of the virtual reference station network is:

[0028] The ionospheric delay error and tropospheric delay error are calculated according to the actual measurement error of the reference station. The delay error is filtered based on the Saastamoinen error model and the ionosphere-free combined observation value. The differential correction number is generated by combining multi-epoch least squares parameter estimation with LAMBDA search. Based on the error model and the differential correction number, the virtual observation error of the virtual reference station is generated.

[0029] Beneficial effects of the present invention:

[0030] The present invention obtains the moving distance and direction of the vehicle in real time through inertial navigation, provides an accurate data source for determining the actual coordinates of the vehicle, and then combines the virtual reference station technology, uses the high-precision virtual reference station of the initial position of inertial navigation, and accurately calibrates the entire virtual reference station network. The calibration of the virtual reference station with the highest initial position accuracy in the entire network is crucial, ensuring the high accuracy of the positioning starting point. As the vehicle moves, the vehicle continuously receives data from the acceleration sensor, and uses this data to calibrate subsequent virtual reference stations, thereby maintaining the positioning accuracy of the entire system; the present invention effectively integrates 5G communication technology, Beidou satellite navigation system, VRS technology and vehicle-mounted sensor technology to form a comprehensive positioning solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] See also Figure 1 As shown, the present invention is a joint positioning information switching method based on 5G and Beidou, comprising the following steps:

[0035] Connecting with BeiDou satellites through the vehicle positioning module to obtain the vehicle's current satellite positioning, and selecting three reference stations at a preset distance near the satellite positioning;

[0036] The positioning module based on the reference station receives the reference station positioning coordinates fed back by the Beidou satellite, compares the positioning coordinates with the actual coordinates of the reference station, obtains the measurement error, counts the actual coordinates and measurement errors of the three reference stations, and constructs a virtual reference station grid based on the VRS technology;

[0037] When the satellite positioning of the vehicle is closest to any reference station, the current satellite positioning is marked as the initial position, the virtual reference station closest to the initial position of the vehicle is selected and marked as R0, and the virtual observation error (Δx0, Δy0) of the virtual reference station is obtained, and the virtual observation error (Δx0, Δy0) is transmitted to the on-board positioning module through the 5G network. The initial position of the vehicle is corrected by the virtual observation error (Δx0, Δy0) to generate the first corrected position of the current vehicle;

[0038] A plane rectangular coordinate system is established. After a unit time t has passed, the virtual reference station closest to the vehicle is selected again, marked as Ri. A second correction position is generated according to the virtual observation error (Δxi, Δyi) of the virtual reference station Ri. The coordinate change of the vehicle within a unit time t is obtained based on the on-board inertial sensor. The real-time coordinates of the vehicle after a unit time t are calculated. The coordinate error between the second correction position and the real-time coordinates is calculated. The virtual observation error (Δxi, Δyi) of the virtual reference station Ri is adjusted according to the coordinate error, and the virtual observation error of Ri is updated.

[0039] Although VRS technology reduces these errors by generating differential signals, due to the complex and changeable atmospheric conditions, the error characteristics of different locations may be different, resulting in differences in measurement errors. The Beidou satellite navigation system itself has orbital errors, and the orbital errors of different satellites are also different, which will affect the measurement accuracy of the virtual reference station generated based on satellite data.

[0040] Especially in urban environments, GPS signals may propagate through multipaths such as reflection and refraction, resulting in positioning errors. Different virtual base stations may be affected by multipath effects to different degrees.

[0041] The geographical distribution and density of the reference stations will also affect the measurement errors of the virtual reference stations. If the reference stations are unevenly distributed or the density is too low, the local error characteristics may not be fully captured.

[0042] The present invention obtains the moving distance and direction of the vehicle in real time through inertial navigation, providing an accurate data source for determining the actual coordinates of the vehicle. Combined with the virtual reference station technology, the high-precision virtual reference station at the initial position of inertial navigation is used to accurately calibrate the entire virtual reference station network, thereby ensuring the accuracy and consistency of the entire virtual reference station network.

[0043] In another preferred embodiment of the present invention, the specific process of adjusting the virtual observation error is as follows:

[0044] Get the initial moving speed V of the vehicle at the first correction position 0 , the real-time acceleration a of the vehicle is measured by the inertial sensor in real time, then the real-time moving speed V of the vehicle 1 for:

[0045]

[0046] Then the distance L that the vehicle moves in unit time t is 1 for;

[0047]

[0048] Establish a plane rectangular coordinate system with any reference station as the origin, and mark the coordinates of the first correction position of the vehicle as (x 1 ,y 1 ), and obtain the moving angle θ of the vehicle in unit time through the inertial sensor, then the real-time coordinates (x t ,y t )for:

[0049] x t =x 1 +Lcosθ,y t =y 1 +Lsinθ;

[0050] The second corrected position of the vehicle is marked as (x 2 ,y 2 ), and (x t -x 2 ,y t -y 2 ) is used as the error adjustment value of the virtual observation error (Δxi, Δyi).

[0051] During vehicle driving, especially in high-speed moving scenarios, traditional positioning methods may produce errors due to signal delay or multipath effects. Through the actual movement data provided by the acceleration sensor, the system can adjust and optimize the positioning results in real time, reduce errors caused by signal problems, and improve the accuracy of dynamic positioning.

[0052] In another preferred embodiment of the present invention, the real-time corrected position and real-time coordinates corresponding to the vehicle are obtained every unit time t, and the virtual observation error of the virtual reference station currently corresponding to the vehicle is adjusted according to the coordinate error between the real-time corrected position and the real-time coordinates.

[0053] In another preferred embodiment of the present invention, whenever the three nearest reference stations corresponding to the vehicle change, the first virtual reference station R0 allocated in the virtual reference station network generated by the new three reference stations is obtained, and the virtual observation errors of the remaining virtual reference stations passed through in the current virtual reference station network are adjusted based on the new virtual reference station R0.

[0054] In a preferred case of this embodiment, the process of determining whether the vehicle satellite positioning is closest to any reference station is as follows:

[0055] Draw a perpendicular line from any reference station to the nearby road, and mark the perpendicular point as the nearest point. When any vehicle passes the first nearest point, the virtual reference station closest to the current satellite positioning is obtained, marked as R0.

[0056] The calibration of the virtual reference station with the highest initial position accuracy in the entire network plays a vital role because it ensures high accuracy of the positioning starting point.

[0057] As the vehicle moves, the system continuously receives data from the acceleration sensor and uses this data to calibrate subsequent virtual reference stations to maintain the positioning accuracy of the entire system.

[0058] In another preferred embodiment of the present invention, the virtual reference station network consists of a control center, a reference station and a vehicle-mounted user terminal. Each reference station sends all measurement errors to the control center through the 5G network, and the control center sends the measurement errors and error adjustment values ​​to the vehicle-mounted user terminal.

[0059] In another preferred embodiment of the present invention, the construction process of the virtual reference station network is:

[0060] The ionospheric delay error and tropospheric delay error are calculated according to the actual measurement error of the reference station. The delay error is filtered based on the Saastamoinen error model and the ionosphere-free combined observation value. The differential correction number is generated by combining multi-epoch least squares parameter estimation with LAMBDA search. Based on the error model and the differential correction number, the virtual observation error of the virtual reference station is generated.

[0061] The invention effectively integrates 5G communication technology, Beidou satellite navigation system, VRS (virtual reference station) technology and vehicle-mounted sensor technology to form a comprehensive positioning solution. This integration not only improves the performance of positioning technology, but also expands its application potential in the fields of autonomous driving, intelligent transportation, etc.

[0062] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A joint positioning information switching method based on 5G and Beidou, characterized in that: The following steps are involved: Connecting with BeiDou satellites through the vehicle positioning module to obtain the vehicle's current satellite positioning, and selecting three reference stations at a preset distance near the satellite positioning; The positioning module based on the reference station receives the reference station positioning coordinates fed back by the Beidou satellite, compares the positioning coordinates with the actual coordinates of the reference station, obtains the measurement error, counts the actual coordinates and measurement errors of the three reference stations, and constructs a virtual reference station grid based on the VRS technology; When the satellite positioning of the vehicle is closest to any reference station, the current satellite positioning is marked as the initial position, the virtual reference station closest to the initial position of the vehicle is selected and marked as R0, and the virtual observation error (Δx0, Δy0) of the virtual reference station is obtained, and the virtual observation error (Δx0, Δy0) is transmitted to the on-board positioning module through the 5G network. The initial position of the vehicle is corrected by the virtual observation error (Δx0, Δy0) to generate the first corrected position of the current vehicle; Establish a plane rectangular coordinate system. After a unit time t has passed, select the virtual reference station closest to the vehicle again, marked as Ri, generate a second correction position according to the virtual observation error (Δxi, Δyi) of the virtual reference station Ri, obtain the coordinate change of the vehicle within the unit time t based on the vehicle-mounted inertial sensor, calculate the real-time coordinates of the vehicle after the unit time t, calculate the coordinate error between the second correction position and the real-time coordinates, adjust the virtual observation error (Δxi, Δyi) of the virtual reference station Ri by the coordinate error, and update the virtual observation error of Ri; The specific process of adjusting the virtual observation error is as follows: The initial moving speed V0 of the vehicle at the first calibration position is obtained, and the real-time acceleration a of the vehicle is measured in real time by the inertial sensor. Then the real-time moving speed V1 of the vehicle is: ； Then the moving distance L1 of the vehicle in unit time t is; ； A plane rectangular coordinate system is established with any reference station as the origin, and the coordinates of the first correction position of the vehicle are marked as (x1, y1). The moving angle θ of the vehicle in unit time is obtained through the inertial sensor. The real-time coordinates of the vehicle after unit time t (x t ,y t )for: x t =x1+Lcosθ,y t =y1+Lsinθ; The second corrected position of the vehicle is marked as (x2, y2), and (x t -x2,y t -y2) as the error adjustment value of the virtual observation error (Δxi, Δyi).

2. The method for switching joint positioning information based on 5G and BeiDou according to claim 1, characterized in that: The real-time correction position and real-time coordinates corresponding to the vehicle are obtained every unit time t, and the virtual observation error of the virtual reference station currently corresponding to the vehicle is adjusted according to the coordinate error between the real-time correction position and the real-time coordinates.

3. The method for switching joint positioning information based on 5G and BeiDou according to claim 1, characterized in that: Whenever the three nearest reference stations corresponding to the vehicle change, the first virtual reference station R0 allocated in the virtual reference station network generated by the new three reference stations is obtained, and the virtual observation errors of the remaining virtual reference stations in the current virtual reference station network are adjusted based on the new virtual reference station R0.

4. The method for switching joint positioning information based on 5G and Beidou according to claim 3, characterized in that: The process of determining the closest distance between the vehicle satellite positioning and any reference station is as follows: Draw a perpendicular line from any reference station to the nearby road, and mark the perpendicular point as the nearest point. When any vehicle passes the first nearest point, the virtual reference station closest to the current satellite positioning is obtained, marked as R0.

5. The method for switching joint positioning information based on 5G and BeiDou according to claim 1, characterized in that: The virtual reference station network consists of a control center, a reference station and a vehicle-mounted user terminal. Each reference station sends all measurement errors to the control center through the 5G network, and the control center sends the measurement errors and error adjustment values ​​to the vehicle-mounted user terminal.

6. The method for switching joint positioning information based on 5G and BeiDou according to claim 1, characterized in that: The construction process of the virtual base station network is as follows: The ionospheric delay error and tropospheric delay error are calculated according to the actual measurement error of the reference station. The delay error is filtered based on the Saastamoinen error model and the ionosphere-free combined observation value. The differential correction number is generated by combining multi-epoch least squares parameter estimation with LAMBDA search. Based on the error model and the differential correction number, the virtual observation error of the virtual reference station is generated.

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