High-precision positioning method and system, electronic equipment and storage medium

Abstract

The invention discloses a high-precision positioning method and system, electronic equipment and a storage medium. The method is applied to a satellite positioning signal receiver and comprises the following steps: acquiring satellite signal ambiguity as an initial pseudo-range; smoothing the satellite observation value at the current moment based on the initial pseudo-range to obtain a smoothed pseudo-range; calculating according to the smoothed pseudo-range to obtain a positioning result; wherein the satellite signal ambiguity is calculated by a remote server according to a satellite observation value, reported by the satellite positioning signal receiver, at a first historical moment, and is issued to the satellite positioning signal receiver. According to the scheme provided by the embodiment of the invention, on the premise of ensuring high positioning precision, the dependence on computing resources of a receiver is reduced, and the positioning solution execution performance is remarkably improved.

Description

Technical Field

[0001] This article relates to satellite positioning technology, particularly to a high-precision positioning method, system, electronic device and storage medium. Background Art

[0002] Satellite positioning technology is the core technology in modern navigation and geographic information systems, and is widely used in surveying and mapping, agriculture, autonomous driving, drone navigation and other fields. The traditional satellite positioning system (GNSS) can provide meter-level positioning accuracy, but for application scenarios such as autonomous driving and high-precision surveying and mapping, meter-level accuracy is far from enough. In order to meet this demand, the demand for high-precision positioning technology is becoming increasingly urgent. With the application needs of high-speed mobile devices, comprehensive requirements are put forward for high-precision positioning solutions in terms of processing time limit, accuracy and computing resources of the receiver. Exploring high-performance and high-precision positioning solutions is one of the efforts in the development of satellite positioning technology. Summary of the invention

[0003] The present application provides a high-precision positioning method, system, electronic device and storage medium, which utilize the stronger computing power of a remote server to solve multiple ambiguities based on historical satellite observation values ​​and perform local pseudorange smoothing of the receiver to compensate for the poor execution performance of the positioning solution caused by the low execution efficiency of ambiguity resolution due to insufficient local computing resources of the receiver. Under the premise of ensuring high positioning accuracy, the dependence on the computing resources of the receiver is reduced, and the positioning solution execution performance is significantly improved.

[0004] The embodiment of the present application provides a high-precision positioning method, which is applied to a satellite positioning signal receiver, including: Obtain satellite signal ambiguity as initial pseudorange; Smoothing the satellite observation value at the current moment based on the initial pseudorange to obtain a smoothed pseudorange; Obtaining a positioning result according to the smoothed pseudorange solution; The satellite signal ambiguity is calculated by a remote server based on the satellite observation value at the first historical moment reported by the satellite positioning signal receiver, and sent to the satellite positioning signal receiver.

[0005] The present application also provides a high-precision positioning system, including: Satellite positioning signal receiver and remote server; The satellite positioning signal receiver calculates and obtains a positioning result according to the high-precision positioning method described in any embodiment of the present application; The ambiguity of the satellite signal received by the satellite positioning signal receiver is calculated and issued by the remote server based on the satellite observation value reported by the satellite positioning signal receiver at the first historical moment.

[0006] The present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the high-precision positioning method as described in any embodiment of the present application.

[0007] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the high-precision positioning method as described in any embodiment of the present application is implemented.

[0008] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by implementing the present application. Other advantages of the present application can be realized and obtained by the schemes described in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The accompanying drawings are used to provide an understanding of the technical solution of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present application and do not constitute a limitation on the technical solution of the present application.

[0010] FIG1 is a flow chart of a high-precision positioning method in an embodiment of the present application; FIG2 is a flow chart of another high-precision positioning method in an embodiment of the present application; FIG3 is a flow chart of another high-precision positioning method in an embodiment of the present application; FIG. 4 is a schematic diagram of a high-precision positioning system in an embodiment of the present application. DETAILED DESCRIPTION

[0011] The present application describes multiple embodiments, but the description is exemplary rather than restrictive, and it is obvious to those skilled in the art that there may be more embodiments and implementations within the scope of the embodiments described in the present application. Although many possible feature combinations are shown in the drawings and discussed in the specific embodiments, many other combinations of the disclosed features are also possible. Unless specifically limited, any feature or element of any embodiment may be used in combination with any other feature or element in any other embodiment, or may replace any other feature or element in any other embodiment.

[0012] The present application includes and contemplates combinations of features and elements known to those of ordinary skill in the art. The embodiments, features and elements disclosed in the present application may also be combined with any conventional features or elements to form a unique invention scheme defined by the claims. Any features or elements of any embodiment may also be combined with features or elements from other invention schemes to form another unique invention scheme defined by the claims. Therefore, it should be understood that any feature shown and / or discussed in the present application may be implemented individually or in any appropriate combination. Therefore, except for the limitations made according to the attached claims and their equivalents, the embodiments are not subject to other restrictions. In addition, various modifications and changes may be made within the scope of protection of the attached claims.

[0013] In addition, when describing representative embodiments, the specification may have presented the method and / or process as a specific sequence of steps. However, to the extent that the method or process does not rely on the specific order of the steps described herein, the method or process should not be limited to the steps of the specific order described. As will be understood by those of ordinary skill in the art, other sequences of steps are also possible. Therefore, the specific sequence of the steps set forth in the specification should not be interpreted as a limitation to the claims. In addition, the claims for the method and / or process should not be limited to the steps of performing them in the order written, and those skilled in the art can easily understand that these sequences can be changed and still remain within the spirit and scope of the embodiments of the present application.

[0014] In response to the need to improve satellite positioning accuracy, high-precision positioning technologies such as real-time kinematic (RTK) positioning and precise point positioning (PPP) have emerged. These technologies improve positioning accuracy to centimeters or even millimeters through differential correction and precise orbit data. High-precision satellite positioning technology mainly relies on carrier phase observations rather than just pseudorange observations. Some feasible solutions use carrier phase smoothed pseudoranges, but due to the poor initial pseudorange accuracy, the final calculated positioning results are prone to deviation.

[0015] Carrier phase observation can provide higher accuracy than pseudorange observation, but it faces a key problem, namely the determination of ambiguity. Satellite signal ambiguity, also known as carrier ambiguity, or ambiguity for short, refers to the unknown number between the receiver and the satellite in a whole cycle, which needs to be solved in the positioning calculation, and the initial value is generally unknown. In the case of poor initial value accuracy, the efficiency of the receiver's local ambiguity resolution is low, which has a greater impact on the receiver's positioning performance and positioning accuracy.

[0016] The embodiment of the present application provides a high-precision positioning method, as shown in FIG1 , which is applied to a satellite positioning signal receiver, referred to as a receiver, and includes: Step 130, obtaining satellite signal ambiguity as an initial pseudorange; Step 140, smoothing the satellite observation value at the current moment based on the initial pseudorange to obtain a smoothed pseudorange; Step 150, obtaining a positioning result according to the smoothed pseudorange solution; The satellite signal ambiguity is calculated by a remote server based on the satellite observation value reported by the satellite positioning signal receiver at the first historical moment, and sent to the satellite positioning signal receiver.

[0017] In some exemplary embodiments, the remote server includes a cloud server; or other types of remote servers. The remote server communicates with the satellite positioning receiver via a wired and / or wireless communication network.

[0018] It can be understood that compared with the local computing resources of the receiver, the solution provided in the embodiment of the present application utilizes the more powerful computing power of the remote server, and can perform ambiguity resolution faster or use more complex and higher-precision algorithms, thereby avoiding the problem of low efficiency of local resolution of the receiver, so that low-configuration, low-cost receivers can also achieve high-precision positioning solutions.

[0019] Among them, the first historical moment is a moment before the current moment, and the time interval between the moment and the current moment is a first duration. The specific value is a pre-set fixed value, or is dynamically determined and set according to a set calculation scheme, and is not limited to a specific aspect.

[0020] In some exemplary embodiments, the method further comprises: step 100, determining whether a local ambiguity resolution condition is satisfied; Step 110, when it is determined that the conditions are met, locally solve the satellite signal ambiguity according to the satellite observation value at the second historical moment; Step 120, if it is determined that the condition is not satisfied, receiving the satellite signal ambiguity sent by the remote server; The first historical moment and the second historical moment are the same or different.

[0021] It should be noted that the historical moment corresponding to the local observation value based on which the receiver performs local ambiguity resolution and the historical moment corresponding to the observation value reported by the receiver based on which the remote server performs ambiguity resolution may be the same or different. Accordingly, the algorithm for local ambiguity resolution performed by the receiver and the algorithm for ambiguity resolution performed by the remote server may be the same or different.

[0022] It should be noted that in some exemplary embodiments, steps 100-120 are not limited to the execution order between steps 130-150, and can be executed before steps 130-150, or can be executed independently of steps 130-150 to prepare the satellite signal ambiguity required for the receiver to continuously perform positioning solution. According to the positioning solution time requirement, network delay and remote server processing performance, it can be flexibly determined without being limited to specific aspects.

[0023] It can be seen that when the local ambiguity resolution conditions are met, the ambiguity obtained by the local solution of the receiver is used as the initial pseudorange, which is used to perform pseudorange smoothing and positioning solution for the observation value at the latest moment, and obtain the latest positioning result; when the local ambiguity resolution conditions are not met, the receiver uses the ambiguity received from the remote server as the initial pseudorange, which is used to perform pseudorange smoothing and positioning solution for the observation value at the latest moment, and obtain the latest positioning result.

[0024] In some exemplary embodiments, the locally resolved ambiguities and the received ambiguities are both stored in a local memory of the satellite positioning signal receiver. Accordingly, in step 130, the satellite positioning signal receiver obtains the satellite signal ambiguities from the local memory.

[0025] In some exemplary embodiments, determining whether a local ambiguity resolution condition is satisfied includes: Based on the local available computing resources of the satellite signal receiver, it is determined whether a local ambiguity resolution condition is met.

[0026] In some exemplary embodiments, the locally available computing resources include one or more of the following: Remaining available memory, remaining available memory utilization percentage, and remaining available processor utilization percentage.

[0027] Accordingly, judging whether the local ambiguity resolution conditions are met includes: According to the preset minimum computing resource requirement required for local solution, if it is determined that the local available computing resources meet the minimum computing resource requirement, it is determined that the local ambiguity resolution condition is met; if the minimum computing resource requirement is not met, the local ambiguity resolution condition is not met.

[0028] In some exemplary embodiments, determining whether a local ambiguity resolution condition is satisfied includes: According to the operation status of the remote server, it is determined whether the local ambiguity resolution condition is met.

[0029] In some exemplary embodiments, the operating status of the remote server includes one or more of the following: Server response delay, server connection status.

[0030] Accordingly, judging whether the local ambiguity resolution conditions are met includes: When the server response delay is greater than the first timeout period, or the server connection status is disconnected, it is determined that the local ambiguity resolution condition is met.

[0031] It can be understood that at this time, due to the poor operating status of the remote server, it is unable to provide the latest ambiguity to the receiver, and the receiver performs ambiguity settlement locally.

[0032] In some exemplary embodiments, the received satellite signal ambiguity is calculated by the remote server using an RTK (Real-Time Kinematic) algorithm combined with a PPP RTK (Precise Point Positioning Real-Time Kinematic) algorithm based on the satellite observation values ​​reported by the satellite positioning signal receiver at the first historical moment (T01).

[0033] The satellite observation values ​​include: carrier phase observation values ​​and pseudorange observation values; or, the satellite observation values ​​also include: ephemeris data.

[0034] It should be noted that the RTK algorithm achieves centimeter-level positioning accuracy by establishing a differential correction model between the base station and the mobile station and resolving ambiguity in real time. The PPP RTK algorithm uses precise satellite orbit and clock error data and combines multi-frequency observations to eliminate errors and achieve high-precision positioning on a global scale.

[0035] It can be understood that the combination of RTK algorithm and PPP RTK algorithm uses global and regional real-time services to obtain correction data and provide more stable and fast-converging high-precision positioning services.

[0036] In some exemplary embodiments, the remote server uses a combination of the RTK algorithm and the PPP RTK algorithm to perform ambiguity resolution, including: The RTK physical reference base station satellite observation values ​​(including carrier phase observation values ​​and pseudo-range observation values) are solved using the PPP RTK algorithm engine to continuously calculate the ambiguity of the physical reference base station; After receiving the end-side observation values ​​reported by the satellite positioning receiver and uploading them, the remote server calculates the end-side RTK vector distance through the RTK algorithm and solves the end-side ambiguity based on the triangulation principle.

[0037] In some exemplary embodiments, the remote server uses a combination of the RTK algorithm and the PPP RTK algorithm to perform ambiguity resolution, including: The remote server performs RTK calculation based on the end-side observation values ​​reported by the satellite positioning receiver to obtain the end-side vector distance, and determines the ambiguity of the virtual reference base station (VRS) used when calculating the observation values ​​of the virtual reference base station; According to the triangulation principle, the ambiguity on the end side is solved.

[0038] In some exemplary embodiments, the remote server further calculates a high-precision positioning result based on the resolved ambiguity. It can be understood that the high-precision positioning result described here is a positioning result with higher positioning accuracy than the initial positioning result.

[0039] In some exemplary embodiments, the remote server sends the high-precision positioning result to the satellite positioning signal receiver. The remote server obtains the high-precision positioning result based on the satellite observation value at the first historical moment, which is recorded as the positioning result at the first historical moment, and obtains the high-precision positioning result based on the satellite observation value at the second historical moment, which is recorded as the positioning result at the second historical moment.

[0040] It can be seen that in some exemplary embodiments, the receiver reports the satellite observation values ​​at each moment to the remote server, which performs the positioning result solution and then sends it to the receiver. The receiver does not need to perform the positioning solution locally, which can reduce the need for computing resources of the receiver terminal. Under the premise of ensuring the network communication speed and reliability, the high-precision positioning needs of the receiver can also be met.

[0041] In some exemplary embodiments, before step 110, the method further includes: Receiving a positioning result for the satellite positioning signal receiver at a second historical moment sent by the remote server; Accordingly, step 110 includes: according to the satellite observation value at the second historical moment, using the positioning result at the second historical moment and the satellite position information at the corresponding moment, calculating to obtain the satellite signal ambiguity.

[0042] It can be seen that compared with the ambiguity resolution performed by the remote server, the ambiguity resolution performed by the receiver is called local resolution. The receiver can use a variety of available resolution methods for local resolution, not limited to specific aspects. In some exemplary implementations, using the high-precision positioning results sent by the remote server for local resolution can accelerate convergence and significantly improve the efficiency of local resolution.

[0043] It should be noted that, whether it is the remote server ambiguity resolution or the receiver local ambiguity resolution, relative to the current moment, it can be regarded as the satellite signal ambiguity resolved based on the satellite observation values ​​at the historical moment.

[0044] In some exemplary embodiments, the satellite signal ambiguity calculated according to the satellite observation value at the historical moment is used as the initial pseudorange to smooth the current satellite observation value, including: The historical moment is used as the initial smoothing moment, the corresponding satellite signal ambiguity is used as the initial pseudorange, and the pseudorange is accumulated based on the carrier phase observation value in the satellite observation value at the current moment to obtain the smoothed pseudorange.

[0045] In some exemplary embodiments, step 150 includes: using an SPP (Standard Point Positioning) algorithm to obtain the positioning result according to the smoothed pseudorange solution.

[0046] It can be understood that compared with the receiver using RTK algorithm, PPP algorithm, etc. to solve the local positioning result, the receiver uses SPP algorithm to settle the positioning result, which can eliminate the need for base station or external correction data, has fast calculation speed, and relatively low demand for receiver computing resources. According to the high-precision positioning method provided by the embodiment of the present application, the pseudorange involved in the SPP algorithm to calculate the positioning result is a smoothed pseudorange. When the accuracy of the smoothed pseudorange is guaranteed, the positioning result obtained by solving the solution also has high-precision guarantee, avoiding the problem of limited accuracy of executing the SPP algorithm based on the pseudorange observation value included in the original observation value of the receiver at the current moment.

[0047] The high-precision positioning method provided in the embodiment of the present application can dynamically select the execution entity of the ambiguity resolution according to the operating status of the remote server and / or the local operating status of the receiver, thereby making optimal use of the computing power of the remote server, reducing the continuous occupation of the local computing resources of the receiver, and fully meeting the high-precision positioning requirements of the low-configuration receiver system.

[0048] In some exemplary embodiments, the method further comprises: Step 180, determining whether the operating status of the satellite positioning signal receiver satisfies the ambiguity update condition, Step 190: When the ambiguity update condition is met, the satellite signal ambiguity is reacquired as the initial pseudorange and pseudorange smoothing is performed.

[0049] The fuzziness update condition is satisfied when the operating condition meets one of the following conditions: The time from the last update of the satellite signal ambiguity exceeds a preset timeout period; The preset fuzziness update cycle arrives; The satellite reception signal quality is lower than the preset signal quality threshold; The carrier phase observations in the satellite observations are locked.

[0050] It should be noted that the execution order of steps 180-190 and other steps is not limited to a specific method. The receiver executes steps 180-190 to update the satellite signal ambiguity, and uses the updated satellite signal ambiguity as the initial pseudorange to perform pseudorange smoothing for the satellite observation value at the current moment, so as to ensure that a high-precision pseudorange is obtained for participating in the final positioning result solution.

[0051] In some exemplary embodiments, reacquiring satellite signal ambiguities includes: step 110, determining whether a local ambiguity resolution condition is satisfied; Step 110, when it is determined that the conditions are met, locally solve the satellite signal ambiguity according to the satellite observation value at the fourth historical moment; Step 120, if it is determined that the condition is not satisfied, receiving the satellite signal ambiguity sent by the remote server; Among them, the satellite signal ambiguity sent by the remote server is calculated based on the satellite observation value of the fourth historical moment reported by the satellite signal receiver; the third historical moment and the fourth historical moment are the same or different.

[0052] It should be noted that, considering the real-time requirements of positioning and navigation applications, the satellite signal receiver continuously receives satellite signals to obtain the latest satellite observation values, and calculates the positioning results based on the latest satellite observation values. The first, second, third, and fourth historical moments described in the embodiment of the present application represent time points different from the current moment. The first, second, third, and fourth historical moments are not limited to a certain time sequence, and in the absence of conflict, they can also be the same historical moment.

[0053] The embodiment of the present application also provides a high-precision positioning method, as shown in FIG2 , including: Step 210, the receiver reports the local satellite observation value at time T0 to the cloud server; Step 220: The cloud server uses the RTK algorithm combined with the PPP RTK algorithm to calculate the high-precision positioning result and the ambiguity of the carrier observation value at time T0 based on the satellite observation value at time T0, and sends it to the receiver; Step 230, at time T1, the receiver determines whether the local ambiguity resolution condition is met; if so, step 240 is executed; if not, step 250 is executed; Step 240, according to the high-precision positioning result at time T0 and the satellite position information at time T0, the ambiguity of the carrier observation value is solved (updated) as the initial pseudorange; Step 250, using the ambiguity of the received carrier observation value at time T0 as the initial pseudorange; Step 260, smoothing the satellite observation value at time T1 based on the initial pseudorange to obtain a smoothed pseudorange; Step 270: According to the smoothed pseudorange, the SPP algorithm is used to calculate and obtain a positioning result.

[0054] In some exemplary embodiments, as shown in FIG. 3 , the method further includes step 280 , determining at time T2 whether the operating status of the satellite positioning signal receiver satisfies the ambiguity update condition; if so, repeating steps 210 - 270 .

[0055] It should be noted that the relevant moments T0, T1, T2, and T3 shown in FIG. 2 and FIG. 3 represent the order of different moments in the same embodiment, and are not limited to specific time points or evenly spaced time points. In different embodiments, the same moment T0 (T1 / T2 / T3) may represent different specific moments, or the same specific moment, without being limited to specific aspects.

[0056] The embodiment of the present application also provides a high-precision positioning system, as shown in FIG4 , comprising: Satellite positioning signal receiver 410 and remote server 420; The satellite positioning signal receiver 410 obtains a positioning result by solving the method described in any embodiment of the present application; The ambiguity of the satellite signal received by the satellite positioning signal receiver is calculated and issued by the remote server 420 according to the satellite observation value reported by the satellite positioning signal receiver at the first historical moment.

[0057] In some exemplary embodiments, the remote server 420 includes a cloud server.

[0058] In some exemplary embodiments, the satellite positioning signal receiver 410 is configured to report the latest local satellite observation values ​​to the remote server 420 according to preset reporting rules; wherein the preset reporting rules include one or more of the following: preset reporting time intervals, preset event triggers; specific rules are flexibly set according to application needs and are not limited to specific aspects.

[0059] In some exemplary embodiments, the satellite positioning signal receiver 410 is further configured to determine whether a local ambiguity resolution condition is met; if it is determined that the condition is met, perform local resolution according to the satellite observation value at the second historical moment to obtain the satellite signal ambiguity, and use the satellite signal ambiguity as the initial pseudorange to perform current pseudorange smoothing and positioning result resolution; if it is determined that the condition is not met, use the satellite signal ambiguity received from the remote server as the initial pseudorange to perform current pseudorange smoothing and positioning result resolution; Among them, the satellite signal ambiguity received from the remote server is calculated by the remote server 420 based on the satellite observation value of the first historical moment reported by the satellite positioning signal receiver 410; the first historical moment and the second historical moment are the same or different.

[0060] In some exemplary embodiments, the satellite positioning signal receiver 410 is further configured to save the satellite signal ambiguity obtained by local solution, and / or save the satellite signal ambiguity received from the remote server 420, so as to be used as the initial pseudorange to perform pseudorange smoothing, and finally solve to obtain the latest positioning result.

[0061] In some exemplary embodiments, the remote server 420 is configured to receive satellite observation values ​​reported by the satellite positioning signal receiver 410 , calculate satellite signal ambiguity based on the satellite observation values, and send it to the satellite positioning signal receiver 410 .

[0062] In some exemplary embodiments, the remote server 420 is further configured to receive satellite observation values ​​reported by the satellite positioning signal receiver 410 , calculate corresponding terminal-side positioning results based on the satellite observation values, and send the results to the satellite positioning signal receiver 410 .

[0063] In some exemplary embodiments, the satellite positioning signal receiver 410 is also configured to receive the positioning result of the receiver corresponding to the satellite observation value reported at the second historical moment and sent by the remote server 420, and to calculate the satellite signal ambiguity based on the local satellite observation value of the second historical moment and the positioning result of the second historical moment and the satellite position information of the corresponding moment.

[0064] In some exemplary embodiments, the satellite positioning signal receiver 410 is further configured to adopt an SPP (Standard Point Positioning) algorithm to obtain the positioning result according to the smoothed pseudorange solution.

[0065] In some exemplary embodiments, the remote server 420 is also configured to adopt a real-time dynamic carrier phase differential RTK algorithm combined with a precise point positioning real-time dynamic carrier phase differential PPP RTK algorithm to resolve the satellite signal ambiguity based on the satellite observation values ​​reported by the satellite positioning signal receiver.

[0066] The present application also provides an electronic device, including: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the high-precision positioning method as described in any embodiment of the present application.

[0067] In some exemplary embodiments, the electronic device is a satellite positioning signal receiver.

[0068] In some exemplary embodiments, the electronic device includes: a smart phone, a vehicle-mounted terminal, a navigator, etc.

[0069] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the high-precision positioning method as described in any embodiment of the present application.

[0070] The high-precision positioning solution provided by the implementation of this application utilizes the stronger computing power of the remote server to resolve multiple ambiguities based on historical satellite observation values ​​and perform pseudo-range smoothing at the local receiver, so as to make up for the poor positioning solution execution performance caused by the low efficiency of ambiguity resolution execution due to insufficient local computing resources of the receiver. Under the premise of ensuring high positioning accuracy, it reduces the dependence on the computing resources of the receiver and significantly improves the positioning solution execution performance.

[0071] It will be appreciated by those skilled in the art that all or some of the steps, systems, and functional modules / units in the methods disclosed above may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or non-transitory medium) and a communication medium (or transient medium). As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, it is well known to those skilled in the art that communication media typically contain computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

Claims

1. A high-precision positioning method, characterized in that: Applied to satellite positioning signal receivers, including: Obtain satellite signal ambiguity as initial pseudorange; Smoothing the satellite observation value at the current moment based on the initial pseudorange to obtain a smoothed pseudorange; Obtaining a positioning result according to the smoothed pseudorange solution; The satellite signal ambiguity is calculated by a remote server based on the satellite observation value at the first historical moment reported by the satellite positioning signal receiver, and sent to the satellite positioning signal receiver.

2. The high-precision positioning method according to claim 1, characterized in that: The method further includes: determining whether a local ambiguity resolution condition is satisfied; If it is determined that the conditions are met, locally solving the satellite signal ambiguity according to the satellite observation value at the second historical moment; if it is determined that the conditions are not met, receiving the satellite signal ambiguity sent by the remote server; The first historical moment and the second historical moment are the same or different.

3. The high-precision positioning method according to claim 1 or 2, characterized in that: The received satellite signal ambiguity is calculated by the remote server using a real-time dynamic carrier phase differential RTK algorithm combined with a precise point positioning real-time dynamic carrier phase differential PPP RTK algorithm based on the satellite observation value at the first historical moment reported by the satellite positioning signal receiver.

4. The high-precision positioning method according to claim 2, characterized in that: The method further includes: receiving a positioning result for the satellite positioning signal receiver at a second historical moment sent by the remote server; The satellite signal ambiguity is resolved locally as follows: According to the satellite observation value at the second historical moment, the solution is performed using the positioning result at the second historical moment and the satellite position information at the corresponding moment.

5. The high-precision positioning method according to claim 1 or 2, characterized in that: The obtaining of the positioning result according to the smoothed pseudorange solution includes: The positioning result is obtained by using the SPP (Standard Point Positioning) algorithm according to the smoothed pseudorange solution.

6. The high-precision positioning method according to claim 1 or 2, characterized in that: The method further includes: determining whether the operating status of the satellite positioning signal receiver satisfies an ambiguity update condition; if the ambiguity update condition is satisfied, reacquiring the satellite signal ambiguity as the initial pseudorange and performing pseudorange smoothing.

7. The high-precision positioning method according to claim 6, characterized in that: The fuzziness update condition is satisfied when the operating condition meets one of the following conditions: The time from the last update of the satellite signal ambiguity exceeds a preset timeout period; The preset fuzziness update cycle arrives; The satellite reception signal quality is lower than the preset signal quality threshold; The carrier phase observations in the satellite observations are locked.

8. A high-precision positioning system, characterized in that: include: Satellite positioning signal receiver and remote server; The satellite positioning signal receiver calculates and obtains a positioning result according to the method described in any one of claims 1 to 7; The ambiguity of the satellite signal received by the satellite positioning signal receiver is calculated and issued by the remote server based on the satellite observation value reported by the satellite positioning signal receiver at the first historical moment.

9. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the high-precision positioning method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the high-precision positioning method as described in any one of claims 1 to 7 is implemented.

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