Method and device for accurately determining position information of moving body and storage medium

Abstract

The invention discloses a method and device for accurately determining position information of a moving body and a storage medium. The method comprises the steps that a first moving body sends first positioning signals to a plurality of first satellites; the plurality of first satellites generate first return messages in response to the first positioning signal, and send the first return messages to the first moving body; the first moving body calculates a first distance between the first moving body and each first satellite based on the first return message corresponding to each first satellite; the first moving body determines a second distance between the first moving body and the first satellites based on the first error information corresponding to the first satellites and the first distance between the first moving body and the first satellites; and the first moving body determines position information based on the second distance between the first moving body and each of the first satellites. The technical effect of improving the positioning precision of the moving body is achieved.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a method, device and storage medium for accurately determining the position information of a moving object. Background Art

[0002] At present, with the continuous development of satellite technology, satellite-based positioning technology is also developing rapidly. And because the position information of a moving object in three-dimensional space can be divided into longitude information, latitude information and altitude information, at least three different satellites are required to determine the three-dimensional coordinate position information of the moving object. Among them, the moving object can be, for example, a moving car, a moving ship, and a moving train. In general, in order to obtain more accurate positioning and higher reliability, four satellites are usually required to determine the three-dimensional coordinate position information of the moving object. That is, when only three satellites are used for satellite positioning, the positioning accuracy is low.

[0003] However, if four satellites are used to locate a moving object, the moving object needs to send positioning signals to four different satellites respectively, and then the four satellites return signals to the moving object, so that the position coordinates of the moving object can be solved by the simultaneous equations, and then the moving object can be accurately located. In this process, not only the position information of the satellite needs to be determined, but also other error information needs to be determined, which increases the calculation amount of the moving object and reduces the calculation efficiency.

[0004] The publication number is CN118795521A, and the name is a mobile target monitoring system based on satellite positioning and communication data transmission. It includes: using artificial intelligence technology based on deep learning to analyze the location information and moving speed of the mobile target, respectively mining the temporal change rules of the location and moving speed of the mobile target, and then through fine-grained feature correlation fusion of the two, to obtain multi-modal mobile target state information, so as to intelligently estimate the next position update cycle of the mobile target, and automatically update the current position information of the mobile target when the update cycle arrives.

[0005] The publication number is CN118911133A, and the name is a pile driving method, system, electronic device and storage medium based on satellite positioning. A database of pile point parameters is established on the regional drawings to obtain the location data of the pile points; the ellipsoid coordinates of the pile top receiver are collected, the pile center position of the pile point is calculated based on the ellipsoid coordinates and the location data, and the pile height of the pile point is calculated based on the phase center elevation of the receiver antenna and the design elevation; the working state of the pile driver vehicle is obtained, and the working state is corrected to obtain the optimized state of the pile driver vehicle; the pile driver vehicle is guided and positioned to the piling position generated by the position data and the pile center position based on the carrier phase difference technology and the optimized state of the pile driver vehicle, and the piling height of the piling position is confirmed based on the pile height.

[0006] With respect to the technical problem of low accuracy in positioning a mobile object using three satellites in the above-mentioned prior art, no effective solution has been proposed yet. Summary of the invention

[0007] The embodiments of the present disclosure provide a method, an apparatus, and a storage medium for accurately determining the position information of a moving object, so as to at least solve the technical problem existing in the prior art of low accuracy when positioning a moving object using three satellites.

[0008] According to one aspect of an embodiment of the present disclosure, a method for accurately determining the position information of a mobile body is provided, comprising: a first mobile body sends a first positioning signal to a plurality of first satellites respectively; the plurality of first satellites generate a first return message in response to the first positioning signal respectively, and send the first return message to the first mobile body, wherein the first return message corresponding to each first satellite contains a predetermined first error information; the first mobile body calculates a first distance between the first mobile body and each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate a pseudo-range between the first mobile body and each first satellite; the first mobile body determines a second distance between the first satellite and each first satellite based on the first error information corresponding to each first satellite and the first distance between the first satellite and each first satellite, wherein the second distance is used to indicate a true distance between the first mobile body and each first satellite; and the first mobile body determines the position information based on the second distance between the first mobile body and each first satellite.

[0009] According to another aspect of an embodiment of the present disclosure, a storage medium is further provided, the storage medium including a stored program, wherein when the program is running, a processor executes any one of the methods described above.

[0010] According to another aspect of an embodiment of the present disclosure, there is also provided an apparatus for accurately determining the position information of a mobile body, comprising: a first positioning signal sending module, for the first mobile body to send first positioning signals to a plurality of first satellites respectively; a first return message generating module, for the plurality of first satellites to generate first return messages respectively in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return messages corresponding to the respective first satellites contain predetermined first error information; a first distance calculating module, for the first mobile body to calculate the first distance between the first mobile body and the respective first satellites based on the first return messages corresponding to the respective first satellites, wherein the first distance is used to indicate the pseudo-range between the first mobile body and the respective first satellites; a second distance determining module, for the first mobile body to determine the second distance between the first mobile body and the respective first satellites based on the first error information corresponding to the respective first satellites and the first distance between the first mobile body and the respective first satellites, wherein the second distance is used to indicate the true distance between the first mobile body and the respective first satellites; and a position information determining module, for the first mobile body to determine the position information based on the second distance between the first mobile body and the respective first satellites.

[0011] According to another aspect of an embodiment of the present disclosure, a device for accurately determining the position information of a mobile body is also provided, comprising: a processor; and a memory connected to the processor, for providing the processor with instructions for processing the following processing steps: a first mobile body sends a first positioning signal to a plurality of first satellites respectively; the plurality of first satellites generate a first return message in response to the first positioning signal respectively, and send the first return message to the first mobile body, wherein the first return message corresponding to each first satellite contains a predetermined first error information; the first mobile body calculates a first distance between the first mobile body and each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate a pseudo-range between the first mobile body and each first satellite; the first mobile body determines a second distance between the first satellite based on the first error information corresponding to each first satellite and the first distance between the first satellite, wherein the second distance is used to indicate a true distance between the first mobile body and each first satellite; and the first mobile body determines the position information based on the second distance between the first mobile body and each first satellite.

[0012] The present application provides a method for accurately determining the position information of a mobile body. First, a first mobile body sends a first positioning signal to a plurality of first satellites respectively. Then, the plurality of first satellites generate a first return message respectively in response to the first positioning signal, and send the first return message to the first mobile body. Furthermore, the first mobile body calculates the first distance between the first satellites based on the first return message corresponding to each first satellite. Thereafter, the first mobile body determines the second distance between the first satellites based on the first error information corresponding to each first satellite and the first distance between the first satellites. Finally, the first mobile body determines the position information based on the second distance between the first satellites.

[0013] With reference to the above contents, it can be known that, since when the first mobile body sends the first positioning signals to multiple first satellites respectively, the first return messages sent by multiple first satellites to the first mobile body contain predetermined first error information, the first mobile body can directly use the first error information to correct the calculated first distance (i.e., pseudorange), thereby determining the second distance (i.e., true distance) between each first satellite.

[0014] That is, in the embodiment of the present application, the first mobile body does not need to send positioning signals to other satellites to correct the determined pseudorange. Instead, the pseudorange can be corrected using the predetermined error information. Therefore, compared with positioning the first mobile body using only three satellites, the position information of the first mobile body can be accurately determined. In addition, compared with positioning the first mobile body using four satellites, the wasted satellite resources can be reduced.

[0015] This solves the technical problem of low accuracy in the prior art when using three satellites to position a moving object. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings: Figure 1 is a schematic diagram of a system for performing satellite positioning on a mobile object according to Embodiment 1 of the present application; Figure 2A is a schematic diagram of the hardware architecture of the first satellite according to Embodiment 1 of the present application; Figure 2B is a schematic diagram of the hardware architecture of the first moving body, the second moving body and the third moving body according to Embodiment 1 of the present application; Figure 3is a flowchart of a method for accurately determining the position information of a moving object according to Embodiment 1 of the present application; Figure 4 is a schematic diagram of determining first error information according to a first satellite based on a plurality of second moving objects according to Embodiment 1 of the present application; Figure 5 is a schematic diagram of a device for accurately determining position information of a moving object according to Embodiment 2 of the present application; Figure 6 It is a schematic diagram of a device for accurately determining the position information of a moving object according to Example 3 of the present application. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0018] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0019] Example 1 According to this embodiment, a method embodiment for accurately determining the position information of a moving object is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0020] Figure 1 Schematic diagram of a system for accurately determining the position information of a moving object according to Embodiment 1 of the present application. Figure 1As shown, the system includes: a plurality of first satellites 10 and a first mobile body 20. The first mobile body 20 is located within the communication coverage of the plurality of first satellites 10, so that the first mobile body 20 can communicate with each of the first satellites 10. For example, the first mobile body 20 can send a first positioning signal to each of the plurality of first satellites, and the first mobile body 20 can receive a first return message sent by each of the first satellites 10.

[0021] Figure 2A 1 is a schematic diagram of the hardware architecture of the first satellite 10 according to Embodiment 1 of the present application. Figure 2A As shown, the first satellite includes an integrated electronic system, which includes: a processor, a memory, a bus management module and a communication interface. The memory is connected to the processor, so that the processor can access the memory, read the program instructions stored in the memory, read data from the memory or write data to the memory. The bus management module is connected to the processor and is also connected to a bus such as a CAN bus. Therefore, the processor can communicate with the satellite-borne peripherals connected to the bus through the bus managed by the bus management module. In addition, the processor is also connected to communication devices such as cameras, star sensors, measurement and control transponders, and data transmission equipment via the communication interface. It can be understood by those skilled in the art that Figure 2A The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2A More or fewer components as shown, or with Figure 2A Different configurations are shown.

[0022] Figure 2B Schematic diagram of the hardware architecture of the first moving body, the second moving body and the third moving body according to Embodiment 1 of the present application. Figure 2B As shown, the first moving body, the second moving body and the third moving body may include one or more processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory for storing data, a transmission device for communication functions and an input / output interface. The memory, the transmission device and the input / output interface are connected to the processor via a bus. In addition, it may also include: a display, a keyboard and a cursor control device connected to the input / output interface. It can be understood by those skilled in the art that Figure 2B The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2B More or fewer components as shown, or with Figure 2B Different configurations are shown.

[0023] It should be noted that Figure 2A and Figure 2BThe one or more processors and / or other data processing circuits shown in the figure may generally be referred to as "data processing circuitry" herein. The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other elements in the computing device. As involved in the embodiments of the present disclosure, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0024] Figure 2A and Figure 2B The memory shown in the figure can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the method for satellite positioning of a mobile body in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the method for satellite positioning of a mobile body of the above-mentioned application program is realized. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0025] It should be noted that, in some optional embodiments, the above Figure 2A and Figure 2B The devices shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. Figure 2A and Figure 2B This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the above described apparatus.

[0026] Under the above operating environment, according to a first aspect of this embodiment, a method for accurately determining the position information of a moving object is provided. The method comprises: Figure 1 The positioning system shown in is implemented. Figure 3 A schematic diagram showing the process of the method is shown in FIG. Figure 3 As shown, the method includes: S302: The first mobile object sends first positioning signals to a plurality of first satellites respectively; S304: The plurality of first satellites respectively generate first return messages in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return messages corresponding to the respective first satellites include predetermined first error information; S306: The first mobile body calculates a first distance between the first mobile body and each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate a pseudorange between the first mobile body and each first satellite; S308: The first mobile object determines a second distance from each first satellite based on first error information corresponding to each first satellite and a first distance from each first satellite, wherein the second distance is used to indicate a true distance between the first mobile object and each first satellite; and S310: The first mobile object determines position information based on the second distances from each first satellite.

[0027] Specifically, refer to Figure 1 As shown, the first mobile object sends a first positioning signal to a plurality of first satellites respectively (S302). The first mobile object may be, for example, a car, a ship, or a train. For example, the first mobile object sends a first positioning signal to the first satellites. Sending a first positioning signal, the first mobile body to the first satellite Sending a first positioning signal, the first mobile body to the first satellite Send a first positioning signal. It is worth noting that in the embodiment of the present application, each first satellite The time at which the first positioning signal sent by the first mobile object is received is the same.

[0028] Afterwards, the first satellites generate first return messages in response to the received first positioning signals, and send the first return messages to the first mobile body (S304). The corresponding first return message contains predetermined first error information.

[0029] It is worth noting that the first error information may be, for example, error information determined by each first satellite based on other mobile bodies within the communication coverage. And certain conditions must be met between each first satellite, for example, the orbital height of each first satellite is less than a preset threshold (that is, the orbital heights between each first satellite are similar). For another example, the distance between each first satellite is less than a preset threshold (that is, the distance between each first satellite is similar).

[0030] For example, in each first satellite When receiving the first positioning signal transmitted by the first mobile object, each first satellite Based on the first positioning signal, a first mobile body transmitting the first positioning signal is identified, and a mobile body identifier corresponding to the first mobile body is generated. Based on the mobile body identifier corresponding to the first mobile body, a first return message is generated, and the first return message including the mobile body identifier is sent to the first mobile body, wherein the first return message includes the time when each first satellite receives the first positioning signal and the time when each first satellite sends the first return message.

[0031] In addition, it is worth noting that each of the first satellites The generated first return message contains the first satellite Predetermined first error information.

[0032] Further, the first moving body calculates a first distance between the first moving body and each first satellite based on the first return message corresponding to each first satellite (S306). The first distance is used to indicate the distance between the first moving body and each first satellite. From the above content, it can be known that the pseudo distance between each first satellite The corresponding first return message includes the corresponding first satellite The time when the first positioning signal is received and the time when the first return message is sent. The time of sending the first return message to the first moving body and receiving a first return message corresponding to each first satellite time, determining the first moving object and each first satellite The pseudo distance between the first moving object and the first satellite The pseudo-range calculation formula between is as follows:

[0033] in, Indicates the first moving object and the first satellite The pseudorange between (i.e., the first distance), The speed at which electromagnetic waves propagate in a vacuum. Indicates the first satellite The corresponding propagation time of the first return message.

[0034]

[0035] in, Indicates the first satellite The corresponding propagation time of the first return message, Indicates that the first mobile object receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The time for sending the first return message to the first moving object.

[0036] The first moving object and the first satellite The pseudo-range calculation formula between is as follows:

[0037] in, Indicates the first moving object and the first satellite The pseudorange between (i.e., the first distance), The speed at which electromagnetic waves propagate in a vacuum. Indicates the first satellite The corresponding propagation time of the first return message.

[0038]

[0039] in, Indicates the first satellite The corresponding propagation time of the first return message, Indicates that the first mobile object receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The time for sending the first return message to the first moving object.

[0040] First moving object and first satellite The pseudo-range calculation formula between is as follows:

[0041] in, Indicates the first moving object and the first satellite The pseudorange between (i.e., the first distance), The speed at which electromagnetic waves propagate in a vacuum. Indicates the first satellite The corresponding propagation time of the first return message.

[0042]

[0043] in, Indicates the first satellite The corresponding propagation time of the first return message, Indicates that the first mobile object receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The time for sending the first return message to the first moving object.

[0044] Further, the first moving body determines a second distance from each first satellite based on the first error information corresponding to each first satellite and the first distance from each first satellite (S308). The second distance is used to indicate the distance between the first moving body and each first satellite. For example, the first mobile body has calculated the real distance between each first satellite The pseudo-range between (i.e., the first distance). Then, due to the first moving object being away from each first satellite The first error information is extracted from the corresponding first return message, so that the error between the first moving object and the first satellite can be determined based on the following formula: The real distance between (i.e., the second distance):

[0045] in, Indicates the first moving object and the first satellite The real distance between Indicates the first moving object and the first satellite The pseudo-range between Indicates the first satellite The corresponding first error information.

[0046] Based on the following formula, the first moving object and the first satellite are determined The real distance between (i.e., the second distance):

[0047] in, Indicates the first moving object and the first satellite The real distance between Indicates the first moving object and the first satellite The pseudo-distance between Indicates the first satellite The corresponding first error information.

[0048] Based on the following formula, the first moving object and the first satellite are determined The real distance between (i.e., the second distance):

[0049] in, Indicates the first moving object and the first satellite The real distance between Indicates the first moving object and the first satellite The pseudo-distance between Indicates the first satellite The corresponding first error information.

[0050] Thus, after determining the first moving object and each first satellite When the first mobile object determines the real distance between the first satellite and the second satellite (i.e., the second distance), the first mobile object determines the position information based on the second distance between the first satellite and the second satellite (S310). The actual distance between the two satellites, so that even though there are only three first satellites , the first moving object can also use triangulation to determine its own position information.

[0051] As described in the background technology, and because the position information of a moving object in three-dimensional space can be divided into longitude information, latitude information, and altitude information, at least three different satellites are required to determine the three-dimensional coordinate position information of the moving object. The moving object may be, for example, a moving car, a moving ship, and a moving train. In general, in order to obtain more accurate positioning and higher reliability, four satellites are usually required to determine the three-dimensional coordinate position information of the moving object. That is, when only three satellites are used for satellite positioning, the positioning accuracy is low.

[0052] However, if four satellites are used to locate a moving object, the moving object needs to send positioning signals to four different satellites respectively, and then the four satellites return signals to the moving object, so that the position coordinates of the moving object can be solved by the simultaneous equations, and then the moving object can be accurately located. In this process, not only the position information of the satellite needs to be determined, but also other error information needs to be determined, which increases the calculation amount of the moving object and reduces the calculation efficiency.

[0053] In view of this, the present application provides a method for satellite positioning of a mobile body. Referring to the above-mentioned contents, it can be known that, when a first mobile body sends a first positioning signal to a plurality of first satellites respectively, the first return message sent by the plurality of first satellites to the first mobile body contains a predetermined first error information, so the first mobile body can directly use the first error information to correct the calculated first distance (i.e., pseudorange), thereby determining the second distance (i.e., true distance) between the first satellites and each first satellite.

[0054] That is, in the embodiment of the present application, the first mobile body does not need to send additional positioning signals to other satellites to correct the determined pseudorange. Instead, the pseudorange can be corrected using predetermined error information. Therefore, compared with positioning the first mobile body using only three satellites, the calculation efficiency of the first mobile body can be improved on the basis of accurately determining the position information of the first mobile body. In addition, compared with positioning the first mobile body using four satellites, the wasted satellite resources can be reduced.

[0055] This solves the technical problem in the prior art that the accuracy of positioning a mobile object using three satellites is low, while the calculation amount of the mobile object is increased and the calculation efficiency is reduced when positioning the mobile object using four satellites.

[0056] Optionally, it also includes: each first satellite predetermines the corresponding first error information, wherein the operation of each first satellite predetermining the corresponding first error information includes: multiple second mobile bodies send second positioning signals to each first satellite respectively; multiple first satellites generate second return messages corresponding to each second mobile body in response to the second positioning signals corresponding to each second mobile body, and send corresponding second return messages to each second mobile body; each second mobile body calculates the second error information based on the time when each first satellite sends the second positioning signal and the time when the second return message corresponding to each first satellite is received; and each first satellite determines the first error information based on the received second error information corresponding to each second mobile body. Further optionally, the operation of each first satellite determining the first error information based on the received second error information corresponding to each second mobile body includes: each first satellite determines the corresponding first average value information based on the second error information corresponding to each second mobile body; and each first satellite uses the first average value information as the first error information.

[0057] Specifically, referring to the above contents, it can be known that before each first satellite sends the first return message including the first error information to the first mobile object, each first satellite needs to determine the first error information in advance.

[0058] Figure 4 1 is a schematic diagram of each first satellite determining first error information based on multiple second moving objects according to an embodiment of the present application. Figure 4 As shown, first, a plurality of second mobile bodies respectively send a first positioning signal to each first satellite. To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal and a second moving body To the first satellite A first positioning signal is sent.

[0059] The second moving body To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal and a second moving body To the first satellite A first positioning signal is sent.

[0060] The second moving body To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal, the second moving body To the first satellite Sending a first positioning signal and a second moving body To the first satellite A first positioning signal is sent.

[0061] In multiple first satellites Received by each second moving body After sending the first positioning signal, multiple first satellites In response to each second moving body The corresponding second positioning signal is generated and the second positioning signal is generated The corresponding second return message. Afterwards, multiple first satellites Send the second return message corresponding to each second moving body to each second moving body For example, the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body .

[0062] First Satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body .

[0063] First Satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body , the first satellite Send the second return message to the second mobile body .

[0064] Afterwards, each second moving body Based on each first satellite The second error information is calculated based on the time when the second return message is sent and the time when the second return message corresponding to each first satellite is received.

[0065] For example, the second moving body Identify the first satellite The time for sending the second return message is , determine the first satellite The time for sending the second return message is , determine the first satellite The time for sending the second return message is . And the second moving body Confirm that the first satellite is received The corresponding time of the second return message is , confirm that the first satellite is received The corresponding time of the second return message is , confirm that the first satellite is received The corresponding time of the second return message is .

[0066] And so on.

[0067] The second moving body Identify the first satellite The time for sending the second return message is , determine the first satellite The time for sending the second return message is , determine the first satellite The time for sending the second return message is . And the second moving body Confirm that the first satellite is received The corresponding time of the second return message is , confirm that the first satellite is received The corresponding time of the second return message is , confirm that the first satellite is received The corresponding time of the second return message is .

[0068] Thus, the second moving body The second moving body can be calculated based on the following formula With the first satellite The fourth error message between:

[0069] in, Indicates the second moving body With the first satellite The fourth error message between Indicates the second moving body With the first satellite The pseudo-range between Indicates the second moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0070] And the second moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0071] in, Indicates the second moving body With the first satellite The pseudo-distance between Indicates the propagation time of the second return message, Indicates the propagation speed of the second return message.

[0072]

[0073] in, Indicates the propagation time of the second return message, Indicates the second moving body Receive the first satellite The time of the corresponding second return message, Indicates the first satellite The time when the second return message is sent.

[0074] The second moving body The second moving body can be calculated based on the following formula With the first satellite The fourth error message between:

[0075] in, Indicates the second moving body With the first satellite The fourth error message between Indicates the second moving body With the first satellite The pseudo-range between Indicates the second moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0076] And the second moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0077] in, Indicates the second moving body With the first satellite The pseudo-range between Indicates the propagation time of the second return message, Indicates the propagation speed of the second return message.

[0078]

[0079] in, Indicates the propagation time of the second return message, Indicates the second moving body Receive the first satellite The time of the corresponding second return message, Indicates the first satellite The time when the second return message is sent.

[0080] The second moving body The second moving body can be calculated based on the following formula With the first satellite The fourth error message between:

[0081] in, Indicates the second moving body With the first satellite The fourth error message between Indicates the second moving body With the first satellite The pseudo-range between Indicates the second moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0082] And the second moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0083] in, Indicates the second moving body With the first satellite The pseudo-distance between Indicates the propagation time of the second return message, Indicates the propagation speed of the second return message.

[0084]

[0085] in, Indicates the propagation time of the second return message, Indicates the second moving body Receive the first satellite The time of the corresponding second return message, Indicates the first satellite The time when the second return message is sent.

[0086] Therefore, it can be seen from the above that the second moving body It can be determined with each first satellite Corresponding plurality of fourth error information . And in the second moving body Determined with each first satellite Corresponding plurality of fourth error information In the case of a second moving body, The corresponding second error information. The second error information can be calculated by the following formula:

[0087] in, represents the second error information, Indicates the first satellite The corresponding fourth error information, Indicates the first satellite The corresponding fourth error information, Indicates the first satellite The corresponding fourth error information.

[0088] And so on. The second moving body The second error information can be determined , the second moving body The second error information can be determined The second moving body The second error information can be determined .

[0089] Thus, in each second moving body Determine the corresponding second error information In the case of The corresponding second error information Sent to each first satellite in the form of a message .

[0090] And when each first satellite receives the second error information corresponding to each second moving body, the first error information is further determined based on the following formula:

[0091] in, represents the first error information, Indicates that the second moving body The corresponding second error information, Indicates that the second moving body The corresponding second error information, Indicates that the second moving body The corresponding second error information, Indicates that the second moving body The corresponding second error information.

[0092] That is, in each first satellite Receive the second moving body The corresponding second error information In this case, the average value of the second error information can be used as the first error information.

[0093] In addition, it is worth noting that it is also possible to use only multiple first satellites Any one of the first satellites receives the signal from each second mobile body. The corresponding second error information , thereby determining the first error information . Afterwards, in multiple first satellites The first error information is calculated from any satellite in In the case of Send to other first satellites, thereby satisfying multiple first satellites The first error information is stored.

[0094] Optionally, the operation of each first satellite predetermining the corresponding first error information includes: the third mobile body sends a third positioning signal to each first satellite at different times; the plurality of first satellites generate a third return message corresponding to the third mobile body at different times in response to the third positioning signal corresponding to the third mobile body at different times, and send the corresponding third return message to the third mobile body at different times; the third mobile body calculates the third error information based on the time of the third positioning signal sent to each first satellite at different times and the time of the third return message corresponding to each first satellite received at different times; and each first satellite determines the first error information based on the received third error information corresponding to the third mobile body at different times. Further optionally, the operation of each first satellite determining the first error information based on the received third error information corresponding to the third mobile body at different times includes: each first satellite determines the second average value information based on the third error information corresponding to the third mobile body at different times; and each first satellite uses the second average value information as the first error information.

[0095] Specifically, referring to the above contents, it can be known that before each first satellite sends the first return message including the first error information to the first mobile object, each first satellite needs to determine the first error information in advance.

[0096] First, the third mobile body sends signals to each of the first satellites at different times. Send a third positioning signal. Then, multiple first satellites After receiving the third positioning signal sent by the third mobile body at a different time, the plurality of first satellites In response to a third positioning signal corresponding to a third mobile body at a different time, a third return message corresponding to the third mobile body at a different time is generated. A third return message corresponding to the third moving object at a different time is sent to the third moving object.

[0097] For example, the first satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0098] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0099] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0100] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0101] And so on.

[0102] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0103] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0104] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0105] First Satellite exist The third moving body Send a third return message, and the third mobile body exist The third return message is received at time.

[0106] Thus, the third mobile body is based on each first satellite The fifth error information is calculated respectively based on the time when the third return message is sent at different times and the time when the third return message corresponding to each first satellite is received at different times.

[0107] The third mobile body can be calculated based on the following formula to obtain the distance between the mobile body and the first satellite: The fifth error message between:

[0108] in, Indicates the third moving body With the first satellite The fifth error message between Indicates the third moving body With the first satellite The pseudo-range between Indicates the third moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0109] And the third moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0110] in, Indicates the second moving body With the first satellite The pseudo-range between Indicates the propagation time of the second return message, Indicates the propagation speed of the second return message.

[0111]

[0112] in, Indicates the propagation time of the third return message, Indicates the third moving body Receive the first satellite The time of the corresponding third return message, Indicates the first satellite The time when the third return message is sent.

[0113] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0114] in, Indicates the third moving body With the first satellite The fifth error message between Indicates the third moving body With the first satellite The pseudo-range between Indicates the third moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0115] And the third moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0116] in, Indicates the second moving body With the first satellite The pseudo-range between Indicates the propagation time of the second return message, Indicates the propagation speed of the second return message.

[0117]

[0118] in, Indicates the propagation time of the third return message, Indicates the third moving body Receive the first satellite The time of the corresponding third return message, Indicates the first satellite The time when the third return message is sent.

[0119] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0120] in, Indicates the third moving body With the first satellite The fifth error message between Indicates the third moving body With the first satellite The pseudo-range between Indicates the third moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0121] And the third moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0122] in, Indicates the second moving body With the first satellite The pseudo-distance between Indicates the propagation time of the third return message, Indicates the propagation speed of the third return message.

[0123]

[0124] in, Indicates the propagation time of the third return message, Indicates the third moving body Receive the first satellite The time of the corresponding third return message, Indicates the first satellite The time when the third return message is sent.

[0125] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0126] in, Indicates the third moving body With the first satellite The fifth error message between Indicates the third moving body With the first satellite The pseudo-range between Indicates the third moving body With the first satellite The real distance of the second moving body With the first satellite The real distance For example, it may be predetermined.

[0127] And the third moving body With the first satellite The pseudo-range between It can be determined by the following formula:

[0128] in, Indicates the second moving body With the first satellite The pseudo-range between Indicates the propagation time of the third return message, Indicates the propagation speed of the third return message.

[0129]

[0130] in, Indicates the propagation time of the third return message, Indicates the third moving body Receive the first satellite The time of the corresponding third return message, Indicates the first satellite The time when the third return message is sent.

[0131] The third error information can be calculated by the following formula:

[0132] in, represents the third error information, Indicated in The third moving body Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicated in The third moving body Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicated in The third moving body Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicated in The third moving body Send the third return message and The fifth error information corresponding to the third return message is received at the moment.

[0133] The third mobile body can determine the distance from the first satellite The corresponding third error information and the first satellite The corresponding fifth error information .

[0134] Thus, the third moving body at different times Determine the corresponding third error information In the case of the third moving body at different times The corresponding third error information is sent to each first satellite in the form of a message. .

[0135] And in each first satellite Receive the third moving object at different time The corresponding third error information In the case of, the first error information is further determined based on the following formula:

[0136] in, represents the first error information, Indicates the first satellite The corresponding third error information, Indicates the first satellite The corresponding third error information, Indicates the first satellite The corresponding third error information.

[0137] That is, in each first satellite Received error information related to the third In the case of The average value of is taken as the first error information.

[0138] In addition, it is worth noting that it is also possible to use only any one first satellite among multiple first satellites to receive the fifth error information sent by the third mobile body at different times, and after determining the third error information based on the ground object error information at different times, the first satellite shares the third error information with other first satellites, so that each first satellite determines the third error information as the first error information.

[0139] Optionally, the method further includes: a plurality of first satellites determining sixth error information at a preset time interval, and using the sixth error information to update the first error information, wherein the sixth error information is used to indicate error information corresponding to a next time period of the first error information. Each first satellite may, for example, re-determine the error information (i.e., the sixth error information) every 1 minute or every 10 minutes, thereby ensuring that the error information can be updated in real time.

[0140] Therefore, according to the first aspect of this embodiment, compared with positioning the first moving body using only three satellites, it is possible to improve the computational efficiency of the first moving body on the basis of accurately determining the position information of the first moving body.

[0141] In addition, reference Figure 1As shown, according to the second aspect of this embodiment, a storage medium is provided, wherein the storage medium includes a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0142] Therefore, according to this embodiment, compared with positioning the first moving body using only three satellites, it is possible to improve the calculation efficiency of the first moving body on the basis of accurately determining the position information of the first moving body.

[0143] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0144] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0145] Example 2 Figure 5 FIG. 5 shows an apparatus 500 for accurately determining position information of a moving object according to this embodiment, and the apparatus 500 corresponds to the method according to embodiment 1. Figure 5As shown, the device 500 includes: a first positioning signal sending module 510, which is used for the first mobile body to send the first positioning signal to multiple first satellites respectively; a first return message generating module 520, which is used for the multiple first satellites to generate first return messages in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return message corresponding to each first satellite contains predetermined first error information; a first distance calculating module 530, which is used for the first mobile body to calculate the first distance between each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate the pseudo distance between the first mobile body and each first satellite; a second distance determining module 540, which is used for the first mobile body to determine the second distance between the first satellite and the first satellite based on the first error information corresponding to each first satellite and the first distance between the first satellite, wherein the second distance is used to indicate the real distance between the first mobile body and each first satellite; and a position information determining module 550, which is used for the first mobile body to determine the position information based on the second distance between the first mobile body and each first satellite.

[0146] Optionally, the device 500 also includes: a first error information determination module, which is used for multiple first satellites to predetermine corresponding first error information, and the first error information determination module includes: a second positioning signal sending module, which is used for multiple second mobile bodies to send second positioning signals to each first satellite respectively; a second return message generation module, which is used for multiple first satellites to respond to the second positioning signals corresponding to each second mobile body, generate a second return message corresponding to each second mobile body, and send the corresponding second return message to each second mobile body; a second error information calculation module, which is used for each second mobile body to calculate the second error information based on the time when each first satellite sends the second return message and the time when the second return message corresponding to each first satellite is received; and a first error information determination submodule, which is used for each first satellite to determine the first error information based on the received second error information corresponding to each second mobile body.

[0147] Optionally, the first error information determination submodule includes: a first average value information determination module, which is used for each first satellite to determine the corresponding first average value information based on the second error information corresponding to each second mobile body; and a first average value information replacement module, which is used for each first satellite to use the first average value information as the first error information.

[0148] Optionally, the first error information determination module includes: a third positioning signal sending module, which is used for the third mobile body to send the third positioning signal to each first satellite at different times; a third return message generating module, which is used for multiple first satellites to respond to the third positioning signal corresponding to the third mobile body at different times, generate the third return message corresponding to the third mobile body at different times, and send the corresponding third return message to the third mobile body at different times; a third error information calculation module, which is used for the third mobile body to calculate the third error information based on the time of sending the third positioning signal to each first satellite at different times and the time of receiving the third return message corresponding to each first satellite at different times; and a second error information determination submodule, which is used for each first satellite to determine the first error information based on the received third error information corresponding to the third mobile body at different times.

[0149] Optionally, the second error information determination submodule includes: a second average value information determination module, which is used for each first satellite to determine the second average value information based on the third error information corresponding to the third mobile body at different times; and a second average value information replacement module, which is used for each first satellite to use the second average value information as the first error information.

[0150] Therefore, according to this embodiment, compared with positioning the first moving body using only three satellites, it is possible to improve the calculation efficiency of the first moving body on the basis of accurately determining the position information of the first moving body.

[0151] Example 3 Figure 6 FIG. 6 shows an apparatus 600 for accurately determining the position information of a moving object according to Embodiment 3, and the apparatus 600 corresponds to the method according to Embodiment 1. Figure 6 As shown, the device 600 includes: a processor 610; and a memory 620, which is connected to the processor 610 and is used to provide the processor 610 with instructions for processing the following processing steps: a first mobile body sends a first positioning signal to multiple first satellites respectively; multiple first satellites generate first return messages in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return messages corresponding to each first satellite contain predetermined first error information; the first mobile body calculates the first distance between each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate the pseudo-range between the first mobile body and each first satellite; the first mobile body determines the second distance between the first satellite based on the first error information corresponding to each first satellite and the first distance between the first satellite, wherein the second distance is used to indicate the real distance between the first mobile body and each first satellite; and the first mobile body determines the position information based on the second distance between the first satellite and each first satellite.

[0152] Optionally, the device 600 also includes: multiple first satellites predetermine corresponding first error information, wherein the operation of each first satellite predetermining the corresponding first error information includes: multiple second mobile bodies respectively send second positioning signals to each first satellite; multiple first satellites respond to the second positioning signals corresponding to each second mobile body, generate second return messages corresponding to each second mobile body, and send corresponding second return messages to each second mobile body; each second mobile body calculates the second error information based on the time when each first satellite sends the second return message and the time when the second return message corresponding to each first satellite is received; and each first satellite determines the first error information based on the received second error information corresponding to each second mobile body.

[0153] Optionally, each first satellite determines the operation of first error information based on the received second error information corresponding to each second mobile body, including: each first satellite determines corresponding first average value information based on the second error information corresponding to each second mobile body; and each first satellite uses the first average value information as the first error information.

[0154] Optionally, the operation of predetermining the corresponding first error information by each first satellite includes: the third mobile body sends a third positioning signal to each first satellite at different times; multiple first satellites generate third return messages corresponding to the third mobile body at different times in response to the third positioning signal corresponding to the third mobile body at different times, and send corresponding third return messages to the third mobile body at different times; the third mobile body calculates the third error information based on the time of the third positioning signal sent to each first satellite at different times and the time of the third return message corresponding to each first satellite received at different times; and each first satellite determines the first error information based on the received third error information corresponding to the third mobile body at different times.

[0155] Optionally, each first satellite determines the operation of first error information based on the received third error information corresponding to the third mobile body at different times, including: each first satellite determines second average value information based on the third error information corresponding to the third mobile body at different times; and each first satellite uses the second average value information as the first error information.

[0156] Therefore, according to this embodiment, compared with positioning the first moving body using only three satellites, it is possible to improve the calculation efficiency of the first moving body on the basis of accurately determining the position information of the first moving body.

[0157] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0158] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0159] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0160] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0161] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0163] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for accurately determining the position information of a moving object, characterized in that: include: The first mobile object sends first positioning signals to a plurality of first satellites respectively; A plurality of first satellites generate first return messages respectively in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return messages corresponding to each first satellite include predetermined first error information; The first mobile object calculates a first distance between the first mobile object and each of the first satellites based on the first return messages corresponding to the first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile object and each of the first satellites; The first mobile object determines a second distance between the first mobile object and each of the first satellites based on first error information corresponding to the first satellites and a first distance between the first mobile object and each of the first satellites, wherein the second distance is used to indicate a true distance between the first mobile object and each of the first satellites; as well as The first mobile object determines position information based on a second distance from each of the first satellites.

2. The method according to claim 1, characterized in that Also includes: The plurality of first satellites predetermine corresponding first error information, wherein the operation of each first satellite predetermining corresponding first error information comprises: A plurality of second mobile bodies respectively send second positioning signals to the first satellites; The plurality of first satellites generate second return messages corresponding to the respective second mobile bodies in response to the second positioning signals corresponding to the respective second mobile bodies, and send the corresponding second return messages to the respective second mobile bodies; Each second mobile body calculates second error information based on the time when each first satellite sends the second return message and the time when the second return message corresponding to each first satellite is received; and Each first satellite determines the first error information based on the received second error information corresponding to each second moving object.

3. The method according to claim 2, characterized in that The operation of each first satellite determining the first error information based on the received second error information corresponding to each second moving object includes: Each first satellite determines corresponding first average value information based on second error information corresponding to each second moving object; and Each first satellite uses the first average value information as the first error information.

4. The method according to claim 2, characterized in that: The operation of predetermining corresponding first error information for each first satellite comprises: The third mobile body sends a third positioning signal to each of the first satellites at different times; The plurality of first satellites generate third return messages corresponding to the third moving body at different times in response to the third positioning signals corresponding to the third moving body at different times, and send the corresponding third return messages to the third moving body at different times; The third mobile object calculates third error information based on the time when the third positioning signal is sent to the first satellites at different times and the time when the third return message corresponding to the first satellites is received at different times; and Each first satellite determines the first error information based on the received third error information corresponding to the third moving object at a different time.

5. The method according to claim 4, characterized in that The operation of each first satellite determining the first error information based on the received third error information corresponding to the third moving object at different time includes: each of the first satellites determines second average value information based on third error information corresponding to a third mobile object at a different time; and Each first satellite uses the second average value information as the first error information.

6. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is run, the processor executes the method according to any one of claims 1 to 5.

7. A device for accurately determining the position information of a moving object, characterized in that: include: A first positioning signal sending module, used for the first mobile body to send first positioning signals to multiple first satellites respectively; A first return message generating module, configured for a plurality of first satellites to respectively generate first return messages in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return message corresponding to each first satellite contains predetermined first error information; A first distance calculation module, configured to calculate, by a first mobile body, a first distance between the first mobile body and each of the first satellites based on a first return message corresponding to each of the first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile body and each of the first satellites; A second distance determination module is used for the first mobile body to determine a second distance from the first satellite based on first error information corresponding to the first satellites and the first distance from the first satellites, wherein the second distance is used to indicate a real distance between the first mobile body and the first satellites; as well as The position information determining module is used for the first mobile body to determine the position information based on the second distance between the first mobile body and each of the first satellites.

8. The device according to claim 7, characterized in that The device further includes: a first error information determination module, configured to predetermine corresponding first error information for each first satellite, wherein the first error information determination module includes: A second positioning signal sending module, used for multiple second mobile bodies to send second positioning signals to the first satellites respectively; A second return message generating module, configured for the plurality of first satellites to generate second return messages corresponding to the respective second moving bodies in response to the second positioning signals corresponding to the respective second moving bodies, and to send the corresponding second return messages to the respective second moving bodies; A second error information calculation module, configured for each second mobile body to calculate the second error information based on the time when each first satellite sends the second positioning signal and the time when the second return message corresponding to each first satellite is received; and The first error information determination submodule is used for each first satellite to determine the first error information based on the received second error information corresponding to each second moving body.

9. The device according to claim 8, characterized in that The first error information determination submodule includes: A first average value information determination module, configured for each first satellite to determine corresponding first average value information based on second error information corresponding to each second moving object; and The first average value information replacement module is used for each first satellite to use the first average value information as the first error information.

10. A device for accurately determining the position information of a moving object, characterized in that: include: processor; as well as A memory, connected to the processor, configured to provide the processor with instructions for processing the following processing steps: The first mobile object sends first positioning signals to a plurality of first satellites respectively; A plurality of first satellites generate first return messages respectively in response to the first positioning signal, and send the first return messages to the first mobile body, wherein the first return messages corresponding to each first satellite include predetermined first error information; The first mobile object calculates a first distance between the first mobile object and each of the first satellites based on the first return messages corresponding to the first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile object and each of the first satellites; The first mobile object determines a second distance from the first satellite based on first error information corresponding to the first satellites and a first distance from the first satellites, wherein the second distance is used to indicate a true distance between the first mobile object and the first satellites; as well as The first mobile object determines position information based on a second distance from each of the first satellites.

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