Method, device and storage medium for accurately determining position information of a moving object

Abstract

The present application discloses a method, apparatus, and storage medium for accurately determining the position information of a mobile object, including: a first mobile object transmits a first positioning signal to a plurality of first satellites; the plurality of first satellites generate first return messages in response to the first positioning signal and transmit the first return messages to the first mobile object; the first mobile object calculates a first distance from each first satellite based on the first return messages corresponding to each first satellite; the first mobile object determines a second distance from each first satellite based on first error information corresponding to each first satellite and the first distance from each first satellite; and the first mobile object determines position information based on the second distance from each first satellite. This method achieves the technical effect of improving the accuracy of positioning a mobile object.

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] Currently, with the continuous advancement of satellite technology, satellite-based positioning technology is also developing rapidly. Furthermore, because the position information of a moving object in three-dimensional space can be divided into longitude, latitude, and altitude information, at least three different satellites are required to determine the three-dimensional coordinate position information of the moving object. Examples of moving objects include cars, ships, and trains. In general, to achieve more accurate positioning and higher reliability, four satellites are typically required to determine the three-dimensional coordinate position information of the moving object. This means that positioning accuracy is low when only three satellites are used for satellite positioning.

[0003] However, if four satellites are used to locate a moving object, the moving object must send positioning signals to four different satellites, and then the four satellites return signals to the moving object. Only then can the position coordinates of the moving object be solved through a set of simultaneous equations, and then the moving object can be accurately located. In this process, not only the position information of the satellites must be determined, but also other error information must be determined, which increases the computational workload of the moving object and reduces computational efficiency.

[0004] Publication number CN118795521A, titled "A Mobile Target Monitoring System Based on Satellite Positioning and Communication Data Transmission," includes: Using deep learning-based artificial intelligence technology to analyze the location and speed of a mobile target, the system identifies the temporal variation patterns of the target's position and speed. Furthermore, through fine-grained feature correlation and fusion, the system acquires multimodal mobile target state information, intelligently estimating the target's next position update period and automatically updating the target's current position information when the update period arrives.

[0005] Publication number CN118911133A, titled "Satellite Positioning-Based Piling Method, System, Electronic Device, and Storage Medium," establishes a database of pile point parameters based on a regional map to obtain pile point location data; collects the ellipsoid coordinates of a pile top receiver, calculates the pile center position based on the ellipsoid coordinates and location data, and calculates the pile height based on the receiver antenna phase center elevation and the design elevation; obtains the operating status of a pile driver vehicle and modifies the operating status to obtain an optimized state for the pile driver vehicle; uses carrier phase difference technology and the optimized state of the pile driver vehicle to guide the pile driver vehicle to a piling position generated from the location data and the pile center position, and confirms the piling height at the piling position based on the pile height.

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

[0007] The embodiments of the present disclosure provide a method, apparatus, and storage medium for accurately determining the position information of a mobile object, so as to at least solve the technical problem in the prior art of low accuracy when positioning a mobile 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 and send the first return message to the first mobile body, wherein the first return message corresponding to each first satellite contains predetermined first error information; the first mobile body calculates a first distance between itself 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; the first mobile body determines a second distance between itself and the first satellite based on the first error information corresponding to each first satellite and the first distance between itself 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 itself 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 run, a processor executes any one of the above methods.

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

[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, including: 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 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 message corresponding to each first satellite contains predetermined first error information; the first mobile body calculates the first distance between itself and each first satellite based on the first return message corresponding to each first satellite, wherein the first distance is used to indicate the pseudorange between the first mobile body and each first satellite; the first mobile body determines the second distance between itself and the first satellite based on the first error information corresponding to each first satellite and the first distance between itself and each first satellite, wherein the second distance is used to indicate the 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 itself 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, in response to the first positioning signal, the plurality of first satellites respectively generate a first return message and send the first return message to the first mobile body. Furthermore, the first mobile body calculates the first distance between itself and each first satellite based on the first return message corresponding to each first satellite. Thereafter, the first mobile body determines the second distance between itself and each first satellite based on the first error information corresponding to each first satellite and the first distance between itself and each first satellite. Finally, the first mobile body determines the position information based on the second distance between each first satellite.

[0013] With reference to the above description, it can be seen that, when the first mobile object transmits first positioning signals to multiple first satellites respectively, the first return messages sent by the multiple first satellites to the first mobile object contain predetermined first error information. Therefore, the first mobile object can directly use this first error information to correct the calculated first distance (i.e., pseudorange), thereby determining the second distance (i.e., true distance) between the first mobile object and each first satellite.

[0014] That is, in the embodiments of the present application, the first mobile object 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. Thus, compared to positioning the first mobile object using only three satellites, the position information of the first mobile object can be determined more accurately. Furthermore, compared to positioning the first mobile object using four satellites, wasted satellite resources can be reduced.

[0015] This solves the technical problem in the prior art of low accuracy in positioning a mobile object using three satellites. 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 this 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 of the present disclosure. In the drawings:

[0017] Figure 1 is a schematic diagram of a system for performing satellite positioning on a mobile object according to Example 1 of the present application;

[0018] Figure 2A is a schematic diagram of the hardware architecture of the first satellite according to Example 1 of the present application;

[0019] Figure 2B 1 is a schematic diagram of the hardware architecture of the first moving body, the second moving body, and the third moving body according to Example 1 of the present application;

[0020] Figure 3 This is a flow chart of a method for accurately determining the position information of a moving object according to Example 1 of the present application;

[0021] Figure 4 is a schematic diagram of determining first error information by a first satellite based on a plurality of second moving objects according to embodiment 1 of the present application;

[0022] Figure 5 is a schematic diagram of a device for accurately determining position information of a moving object according to Example 2 of the present application;

[0023] Figure 6 This 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

[0024] 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 part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0025] 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 numbers used in this way can be interchanged 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 clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] Example 1

[0027] According to this embodiment, a method embodiment for accurately determining the position information of a mobile 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.

[0028] Figure 1Schematic diagram of a system for accurately determining the position information of a moving object according to Example 1 of the present application. Figure 1 As shown, the system includes: a plurality of first satellites 10 and a first mobile object 20. The first mobile object 20 is located within the communication coverage of the plurality of first satellites 10, so that the first mobile object 20 can communicate with each of the first satellites 10. For example, the first mobile object 20 can transmit a first positioning signal to each of the plurality of first satellites, and the first mobile object 20 can receive a first return message transmitted by each of the first satellites 10.

[0029] Figure 2A 1 is a schematic diagram of the hardware architecture of the first satellite 10 according to Example 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. 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 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 than shown, or with Figure 2A Different configurations shown.

[0030] 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, second, and third mobile bodies may include one or more processors (the processors may include, but are not limited to, microprocessors (MCUs) or processing devices such as programmable logic devices (FPGAs), memory for storing data, transmission devices for communication functions, and input / output interfaces. The memory, transmission devices, and input / output interfaces are connected to the processors via a bus. In addition, they may also include: a display, a keyboard, and a cursor control device connected to the input / output interfaces. Those skilled in the art will understand 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 than shown, or with Figure 2B Different configurations shown.

[0031] It should be noted that Figure 2A and Figure 2B The one or more processors and / or other data processing circuits shown in the figure may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be fully or partially integrated into any of the other components of the computing device. As discussed 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).

[0032] 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 performing satellite positioning for a mobile object in the embodiments of the present disclosure. The processor executes the software programs and modules stored in the memory to perform various functional applications and data processing, thereby implementing the method for performing satellite positioning for a mobile object in the aforementioned application. The memory can include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0033] 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 apparatus described above.

[0034] Under the above operating environment, according to the 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 implementation shown in . Figure 3 A schematic diagram of the process is shown in FIG. Figure 3 As shown, the method includes:

[0035] S302: The first mobile object sends first positioning signals to a plurality of first satellites respectively;

[0036] 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 object, wherein the first return message corresponding to each first satellite includes predetermined first error information;

[0037] S306: The first mobile object calculates a first distance between itself and each of the first satellites based on the first return messages corresponding to the first satellites, where the first distance indicates a pseudorange between the first mobile object and each of the first satellites.

[0038] S308: The first mobile object 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, wherein the second distance indicates a true distance between the first mobile object and each first satellite; and

[0039] S310: The first mobile object determines position information based on the second distances from each of the first satellites.

[0040] Specifically, refer to Figure 1 As shown, the first mobile object sends a first positioning signal to a plurality of first satellites (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 the first positioning signal. It is worth noting that in the embodiment of the present application, each first satellite The time of receiving the first positioning signal sent by the first mobile object is the same.

[0041] Afterwards, the plurality of 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 includes predetermined first error information.

[0042] It is worth noting that the first error information may be, for example, error information determined by each first satellite based on other mobile objects within its communication coverage. Furthermore, certain conditions must be met between the first satellites, such as the orbital altitudes of the first satellites being less than a preset threshold (i.e., the orbital altitudes of the first satellites being similar). For another example, the distance between the first satellites being less than a preset threshold (i.e., the distances between the first satellites being similar).

[0043] For example, in each first satellite When receiving the first positioning signal sent by the first mobile object, each first satellite Based on the first positioning signal, the first mobile body that transmits the first positioning signal is identified, and a mobile body identifier corresponding to the first mobile body is generated. A first return message is generated based on a mobile body identifier corresponding to the first mobile body, and the first return message including the mobile body identifier is sent to the first mobile body. The first return message includes the time when each first satellite received the first positioning signal and the time when each first satellite sent the first return message.

[0044] In addition, it is worth noting that the first satellites The generated first return message contains the first satellite Predetermined first error information.

[0045] Furthermore, the first mobile body calculates a first distance between itself 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 mobile body and each first satellite. From the above, we can know 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. Time of sending the first return message to the first mobile object and receiving a first return message corresponding to each first satellite time, determining the first mobile object and each first satellite The pseudo distance between the first mobile object and the first satellite is (i.e., the first distance). The pseudo-range calculation formula between is as follows:

[0046]

[0047] in, Indicates the first mobile 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.

[0048]

[0049] 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 when the first return message is sent to the first mobile object.

[0050] first mobile object and first satellite The pseudo-range calculation formula between is as follows:

[0051]

[0052] in, Indicates the first mobile 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.

[0053]

[0054] 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 when the first return message is sent to the first mobile object.

[0055] first mobile object and first satellite The pseudo-range calculation formula between is as follows:

[0056]

[0057] in, Indicates the first mobile 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.

[0058]

[0059] 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 when the first return message is sent to the first mobile object.

[0060] Furthermore, the first mobile object 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 mobile object and each first satellite. For example, the first mobile body has calculated the distance to each first satellite. Pseudorange between (ie, the first distance). Then, due to the first mobile object moving away from each first satellite The first error information is extracted from the corresponding first return message, so that the first moving object and the first satellite can be determined based on the following formula: The true distance between (i.e., the second distance):

[0061]

[0062] in, Indicates the first mobile object and the first satellite The real distance between Indicates the first mobile object and the first satellite The pseudo-range between Indicates the first satellite The corresponding first error information.

[0063] Based on the following formula, the first moving object and the first satellite are determined The true distance between (i.e., the second distance):

[0064]

[0065] in, Indicates the first mobile object and the first satellite The real distance between Indicates the first mobile object and the first satellite The pseudo-range between Indicates the first satellite The corresponding first error information.

[0066] Based on the following formula, the first moving object and the first satellite are determined The true distance between (i.e., the second distance):

[0067]

[0068] in, Indicates the first mobile object and the first satellite The real distance between Indicates the first mobile object and the first satellite The pseudo-range between Indicates the first satellite The corresponding first error information.

[0069] Thus, after determining the first moving object and each first satellite When the first mobile object determines the real distance (ie, the second distance) between the first mobile object and each first satellite, the first mobile object determines the position information based on the second distance between the first mobile object and each first satellite (S310). The actual distance between them, so that even though there are only 3 first satellites , the first moving object can also use triangulation to determine its own position information.

[0070] As described in the background, and because the position information of a moving object in three-dimensional space can be divided into longitude, latitude, and altitude, at least three different satellites are required to determine the three-dimensional coordinate position information of the moving object. Examples of the moving object include a moving car, a moving ship, and a moving train. In general, to achieve more accurate positioning and higher reliability, four satellites are typically required to determine the three-dimensional coordinate position information of the moving object. That is, when only three satellites are used for satellite positioning, positioning accuracy is low.

[0071] However, if four satellites are used to locate a moving object, the moving object must send positioning signals to four different satellites, and then the four satellites return signals to the moving object. Only then can the position coordinates of the moving object be solved through a set of simultaneous equations, and then the moving object can be accurately located. In this process, not only the position information of the satellites must be determined, but also other error information must be determined, which increases the computational workload of the moving object and reduces computational efficiency.

[0072] In view of this, the present application provides a method for satellite positioning of a mobile object. As can be seen from the above description, when a first mobile object transmits first positioning signals to multiple first satellites, the first return messages sent by the multiple first satellites to the first mobile object contain predetermined first error information. Therefore, the first mobile object can directly use this first error information to correct the calculated first distance (i.e., pseudorange) to thereby determine the second distance (i.e., true distance) to each of the first satellites.

[0073] That is, in the embodiments of the present application, the first mobile object 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 to positioning the first mobile object using only three satellites, the computational efficiency of the first mobile object can be improved while accurately determining the position information of the first mobile object. Furthermore, compared to positioning the first mobile object using four satellites, wasted satellite resources can be reduced.

[0074] This solves the technical problem in the prior art that the accuracy of positioning a mobile object using three satellites is low, while using four satellites to position the mobile object increases the amount of calculation for the mobile object and reduces the calculation efficiency.

[0075] Optionally, the method further includes: each first satellite predetermining corresponding first error information, wherein the operation of each first satellite predetermining corresponding first error information includes: a plurality of second mobile bodies respectively transmitting second positioning signals to each first satellite; a plurality of first satellites generating second return messages corresponding to each second mobile body in response to the second positioning signals corresponding to each second mobile body, and transmitting the corresponding second return messages to each second mobile body; each second mobile body respectively calculating second error information based on the time when each first satellite transmits the second positioning signal and the time when the second return message corresponding to each first satellite is received; and each first satellite determining 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 first error information based on the received second error information corresponding to each second mobile body includes: each first satellite determining corresponding first average information based on the second error information corresponding to each second mobile body; and each first satellite using the first average information as the first error information.

[0076] Specifically, referring to the above description, it can be seen that before each first satellite sends the first return message containing the first error information to the first mobile object, each first satellite needs to determine the first error information in advance.

[0077] Figure 4 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, multiple second mobile bodies send first positioning signals to each first satellite respectively. Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal and a second moving body Towards the first satellite Send a first positioning signal.

[0078] Second moving body Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal and a second moving body Towards the first satellite Send a first positioning signal.

[0079] Second moving body Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal, the second moving body Towards the first satellite Sending a first positioning signal and a second moving body Towards the first satellite Send a first positioning signal.

[0080] In multiple first satellites Received by each second moving body After sending the first positioning signal, multiple first satellites In response to the respective second moving bodies The corresponding second positioning signal is generated and the second moving body 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 .

[0081] 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 .

[0082] 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 .

[0083] 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.

[0084] For example, the second moving body 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 , 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 second return message time is , confirm that the first satellite is received The corresponding second return message time is , confirm that the first satellite is received The corresponding second return message time is .

[0085] And so on.

[0086] Second moving body 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 , 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 second return message time is , confirm that the first satellite is received The corresponding second return message time is , confirm that the first satellite is received The corresponding second return message time is .

[0087] 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:

[0088]

[0089] in, Indicates the second moving object With the first satellite The fourth error message between Indicates the second moving object With the first satellite Pseudorange between Indicates the second moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0090] And the second moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0091]

[0092] in, Indicates the second moving object 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.

[0093]

[0094] in, Indicates the propagation time of the second return message, Indicates the second moving object 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.

[0095] Second moving body The second moving body can be calculated based on the following formula With the first satellite The fourth error message between:

[0096]

[0097] in, Indicates the second moving object With the first satellite The fourth error message between Indicates the second moving object With the first satellite Pseudorange between Indicates the second moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0098] And the second moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0099]

[0100] in, Indicates the second moving object 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.

[0101]

[0102] in, Indicates the propagation time of the second return message, Indicates the second moving object 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.

[0103] Second moving body The second moving body can be calculated based on the following formula With the first satellite The fourth error message between:

[0104]

[0105] in, Indicates the second moving object With the first satellite The fourth error message between Indicates the second moving object With the first satellite Pseudorange between Indicates the second moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0106] And the second moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0107]

[0108] in, Indicates the second moving object 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.

[0109]

[0110] in, Indicates the propagation time of the second return message, Indicates the second moving object 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.

[0111] Therefore, from the above, it can be seen that the second moving body It can be determined with each first satellite Corresponding multiple fourth error information . And in the second moving body Determined with each first satellite Corresponding multiple fourth error information In the case of further determining the second moving body The corresponding second error information. The second error information can be calculated by the following formula:

[0112]

[0113] 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.

[0114] 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 Second moving body The second error information can be determined .

[0115] 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 .

[0116] Furthermore, when each first satellite receives the second error information corresponding to each second mobile object, the first error information is further determined based on the following formula:

[0117]

[0118] 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.

[0119] That is, in each first satellite Received with each second moving body Corresponding second error information In this case, the average value of the second error information can be used as the first error information.

[0120] 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. 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.

[0121] Optionally, the operation of each first satellite predetermining the corresponding first error information includes: a third mobile object transmitting a third positioning signal to each first satellite at different times; a plurality of first satellites generating third return messages corresponding to the third mobile object at different times in response to the third positioning signals corresponding to the third mobile object at different times, and transmitting the corresponding third return messages to the third mobile object at different times; the third mobile object calculating the third error information based on the time of the third positioning signal transmitted to each first satellite at different times and the time of the third return message received from each first satellite at different times; and each first satellite determining the first error information based on the received third error information corresponding to the third mobile object 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 object at different times includes: each first satellite determining second average value information based on the third error information corresponding to the third mobile object at different times; and each first satellite using the second average value information as the first error information.

[0122] Specifically, referring to the above description, it can be seen that before each first satellite sends the first return message containing the first error information to the first mobile object, each first satellite needs to determine the first error information in advance.

[0123] First, the third mobile body sends signals to the first satellites at different times. Send the 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.

[0124] For example, the first satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0125] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0126] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0127] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0128] And so on.

[0129] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0130] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0131] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0132] First Satellite exist Always move towards the third moving object Send a third return message, and the third mobile body exist The third return message is received at time .

[0133] 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.

[0134] The third mobile body can be calculated based on the following formula to obtain the distance from the first satellite: The fifth error message between:

[0135]

[0136] in, Indicates the third moving object With the first satellite The fifth error message between Indicates the third moving object With the first satellite Pseudorange between Indicates the third moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0137] And the third moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0138]

[0139] in, Indicates the second moving object 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.

[0140]

[0141] in, Indicates the propagation time of the third return message, Indicates the third moving object 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.

[0142] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0143]

[0144] in, Indicates the third moving object With the first satellite The fifth error message between Indicates the third moving object With the first satellite Pseudorange between Indicates the third moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0145] And the third moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0146]

[0147] in, Indicates the second moving object 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.

[0148]

[0149] in, Indicates the propagation time of the third return message, Indicates the third moving object 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.

[0150] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0151]

[0152] in, Indicates the third moving object With the first satellite The fifth error message between Indicates the third moving object With the first satellite Pseudorange between Indicates the third moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0153] And the third moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0154]

[0155] in, Indicates the second moving object 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.

[0156]

[0157] in, Indicates the propagation time of the third return message, Indicates the third moving object 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.

[0158] The third moving body The first satellite can be calculated based on the following formula The fifth error message between:

[0159]

[0160] in, Indicates the third moving object With the first satellite The fifth error message between Indicates the third moving object With the first satellite Pseudorange between Indicates the third moving object With the first satellite The real distance of the second moving object With the first satellite The real distance For example, it may be predetermined.

[0161] And the third moving body With the first satellite Pseudorange between It can be determined by the following formula:

[0162]

[0163] in, Indicates the second moving object 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.

[0164]

[0165] in, Indicates the propagation time of the third return message, Indicates the third moving object 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.

[0166] The third error information can be calculated by the following formula:

[0167]

[0168] in, Indicates the third error information, Indicates Always move towards the third moving object Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicates Always move towards the third moving object Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicates Always move towards the third moving object Send the third return message and The fifth error information corresponding to the third return message is received at the moment. Indicates Always move towards the third moving object Send the third return message and The fifth error information corresponding to the third return message is received at the moment.

[0169] The third mobile body can determine the distance from the first satellite. Corresponding third error information and the first satellite Corresponding fifth error information .

[0170] 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 .

[0171] And in each first satellite Receive the third moving object at different time Corresponding third error information In the case of , the first error information is further determined based on the following formula:

[0172]

[0173] 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.

[0174] That is, in each first satellite Received the third error message In the case of the third error information The average value of is taken as the first error information.

[0175] 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 object 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.

[0176] Optionally, the method further includes: the plurality of first satellites determining sixth error information at preset time intervals, and updating the first error information using the sixth error information, wherein the sixth error information indicates 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 real-time updating of the error information.

[0177] Therefore, according to the first aspect of this embodiment, compared with positioning the first moving object using only three satellites, it is possible to improve the computational efficiency of the first moving object based on the accurate determination of the position information of the first moving object.

[0178] In addition, reference Figure 1 As shown, according to a 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.

[0179] Therefore, according to this embodiment, compared with positioning the first moving object using only three satellites, it is possible to improve the calculation efficiency of the first moving object on the basis of accurately determining the position information of the first moving object.

[0180] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0181] Through the description of the above embodiments, those skilled in the art will clearly understand that the methods according to the above embodiments can be implemented using software plus the necessary general-purpose hardware platform. Of course, hardware can also be used, but in many cases the former is a more preferred embodiment. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, or 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 various embodiments of the present invention.

[0182] Example 2

[0183] Figure 5 FIG. 5 shows an apparatus 500 for accurately determining position information of a moving object according to this embodiment, which corresponds to the method according to embodiment 1. Figure 5 As shown, the apparatus 500 includes: a first positioning signal sending module 510, configured to cause a first mobile body to send first positioning signals to a plurality of first satellites respectively; a first return message generating module 520, configured to cause the plurality of first satellites to generate first return messages in response to the first positioning signals, and to 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, configured to cause the first mobile body to calculate a first distance from 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; a second distance determining module 540, configured to cause the first mobile body to determine a second distance from the first satellite based on the first error information corresponding to each first satellite and the first distance from each first satellite, wherein the second distance is used to indicate a true distance between the first mobile body and each first satellite; and a position information determining module 550, configured to cause the first mobile body to determine position information based on the second distance from each first satellite.

[0184] Optionally, the apparatus 500 further includes: a first error information determination module, configured to predetermine corresponding first error information for a plurality of first satellites, the first error information determination module including: a second positioning signal sending module, configured to respectively send second positioning signals from a plurality of second mobile bodies to respective first satellites; a second return message generating module, configured to generate second return messages corresponding to respective second mobile bodies in response to second positioning signals corresponding to respective second mobile bodies by the plurality of first satellites, and send corresponding second return messages to respective second mobile bodies; a second error information calculation module, configured to respectively calculate second error information for each second mobile body based on a time when each first satellite sends the second return message and a time when the second return message corresponding to each first satellite is received; and a first error information determination submodule, configured to respectively determine first error information for each first satellite based on the received second error information corresponding to each second mobile body.

[0185] 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.

[0186] 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 signals corresponding to the third mobile body at different times, generate third return messages corresponding to the third mobile body at different times, and send the corresponding third return messages to the third mobile body at different times; a third error information calculating module, which is used for the third mobile body to calculate 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 a second error information determination submodule, which is used for each first satellite to determine the first error information based on the third error information received corresponding to the third mobile body at different times.

[0187] 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.

[0188] Therefore, according to this embodiment, compared with positioning the first moving object using only three satellites, it is possible to improve the calculation efficiency of the first moving object on the basis of accurately determining the position information of the first moving object.

[0189] Example 3

[0190] Figure 6 FIG. 6 shows an apparatus 600 for accurately determining the position information of a moving object according to Embodiment 3, which corresponds to the method according to Embodiment 1. Figure 6 As shown, the device 600 includes: a processor 610; and a memory 620, connected to the processor 610, for providing 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; the multiple first satellites generate a first return message in response to the first positioning signal, and send the first return message to the first mobile body, wherein the first return message corresponding to each first satellite contains predetermined first error information; the first mobile body calculates a first distance between itself 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; the first mobile body determines a second distance between itself and the first satellite based on the first error information corresponding to each first satellite and the first distance between itself 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 position information based on the second distance between itself and each first satellite.

[0191] Optionally, the device 600 also includes: multiple first satellites pre-determine corresponding first error information, wherein the operation of each first satellite pre-determining the corresponding first error information includes: multiple second mobile bodies respectively send second positioning signals to each first satellite; 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 respectively 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.

[0192] Optionally, each first satellite determines the first error information based on the received second error information corresponding to each second mobile body, including: 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.

[0193] 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 signals 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.

[0194] Optionally, each first satellite determines the first error information based on the received third error information corresponding to the third mobile body at different times, including: 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.

[0195] Therefore, according to this embodiment, compared with positioning the first moving object using only three satellites, it is possible to improve the calculation efficiency of the first moving object on the basis of accurately determining the position information of the first moving object.

[0196] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0197] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0198] 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. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. 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.

[0199] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0200] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0201] If the integrated unit is implemented as 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, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk.

[0202] 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 principles of the present invention. These improvements and modifications should also be regarded as within 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 three first satellites respectively; The three first satellites generate first return messages respectively in response to the first positioning signal, and send the first return messages to the first mobile object, wherein the first return message corresponding to each first satellite includes predetermined first error information; The first mobile object calculates a first distance between itself and each of the first satellites based on the first return messages corresponding to the first satellites, wherein the first distance indicates a pseudorange between the first mobile object and each of the first satellites; The first mobile object determines a second distance from each of the first satellites based on first error information corresponding to the first satellites and a first distance from the first satellites, wherein the second distance indicates a true distance between the first mobile object and each of the first satellites, and the second distance between the first mobile object and each of the first satellites is directly corrected using the first error information. as well as The first mobile object determines position information based on a second distance from each of the first satellites, and wherein, The method further includes: the three first satellites predetermining corresponding first error information, and wherein the operation of the three first satellites predetermining corresponding first error information comprises: The plurality of second mobile objects respectively send second positioning signals to the first satellites; Each of the first satellites generates a second return message corresponding to each of the second mobile objects in response to the second positioning signal corresponding to each of the second mobile objects, and sends the corresponding second return message to each of the second mobile objects; Each second mobile object calculates second error information corresponding to each second mobile object based on the time when each first satellite transmits the second return message and the time when the second return message corresponding to each first satellite is received, and transmits the second error information to each first satellite; and Each of the first satellites determines the first error information based on the received second error information corresponding to each of the second moving objects.

2. The method according to claim 1, 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 mobile object includes: Each first satellite determines corresponding first average value information based on the second error information corresponding to each second mobile object; and Each first satellite uses the first average value information as the first error information.

3. The method according to claim 1, characterized in that The operation of predetermining corresponding first error information for each first satellite includes: The third mobile object sends a third positioning signal to each of the first satellites at different times; The three first satellites generate third return messages corresponding to the third moving object at different times in response to the third positioning signal corresponding to the third moving object at different times, and send the corresponding third return messages to the third moving object at different times; The third mobile object calculates third error information corresponding to the third mobile object at different times based on the times when the third positioning signals are sent to the first satellites at different times and the times when the third return messages corresponding to the first satellites are received at different times, and sends the third error information to the first satellites; and Each of the first satellites determines the first error information based on received third error information corresponding to a third moving object at a different time.

4. The method according to claim 3, characterized in that The operation of each first satellite determining the first error information based on received third error information corresponding to a third mobile object at a different time includes: Each first satellite 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.

5. 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 4.

6. A device for accurately determining the position information of a moving object, characterized in that: include: A first positioning signal sending module is used for the first mobile body to send first positioning signals to three first satellites respectively; a first return message generating module, configured to generate first return messages respectively via the three first satellites in response to the first positioning signal, and send the first return messages to the first mobile object, wherein the first return message corresponding to each first satellite includes 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 first return messages corresponding to the first satellites, wherein the first distance indicates a pseudorange between the first mobile body and each of the first satellites; a second distance determination module, configured to determine, by a first mobile object, a second distance from the first satellite based on first error information corresponding to each of the first satellites and a first distance from the first satellite, wherein the second distance indicates a true distance between the first mobile object and each of the first satellites, and the second distance between the first mobile object and each of the first satellites is directly corrected using the first error information; as well as A position information determination module is used for determining position information of the first mobile body based on the second distance between the first mobile body and the first satellites, and wherein The apparatus further includes: a first error information determination module, configured to predetermine corresponding first error information for the three first satellites, wherein the first error information determination module includes: A second positioning signal sending module, configured to send a second positioning signal to each of the first satellites respectively through a plurality of second mobile bodies; a second return message generating module, configured to generate, via each of the first satellites, a second return message corresponding to each of the second mobile bodies in response to a second positioning signal corresponding to each of the second mobile bodies, and send the corresponding second return message to each of the second mobile bodies; a second error information calculation module, configured for each second mobile body to calculate second error information corresponding to each second mobile body based on the time when each first satellite transmits the second positioning signal and the time when each second return message corresponding to each first satellite is received, and to send the second error information corresponding to each second mobile body to each first satellite; and The first error information determination submodule is configured to determine the first error information by each of the first satellites based on the received second error information corresponding to each of the second mobile objects.

7. The device according to claim 6, characterized in that The first error information determination submodule includes: a first average value information determining 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 configured to replace each first satellite with the first average value information as the first error information.

8. 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: Sending first positioning signals to three first satellites respectively through the first mobile object; generating, by the three first satellites, first return messages in response to the first positioning signal, respectively, and sending the first return messages to the first mobile object, wherein the first return messages corresponding to the respective first satellites include predetermined first error information; calculating, by a first mobile object, a first distance between the first mobile object and each of the first satellites based on 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; determining, by a first mobile object, a second distance from the first satellite based on first error information corresponding to each of the first satellites and a first distance from the first satellite, wherein the second distance indicates a true distance between the first mobile object and each of the first satellites, and the second distance between the first mobile object and each of the first satellites is directly corrected using the first error information; as well as Position information is determined by the first mobile object based on a second distance from each of the first satellites, and wherein, The memory is further configured to provide the processor with instructions for processing the following processing step: pre-determining corresponding first error information using the three first satellites, and wherein the operation of pre-determining the corresponding first error information using the three first satellites comprises: sending second positioning signals to the first satellites respectively through a plurality of second mobile bodies; generating, by the plurality of first satellites, second return messages corresponding to the respective second mobile bodies in response to second positioning signals corresponding to the respective second mobile bodies, and sending the corresponding second return messages to the respective second mobile bodies; calculating, by each second mobile body, second error information corresponding to each second mobile body based on the time when each first satellite transmits the second return message and the time when the second return message corresponding to each first satellite is received; and The first error information is determined based on the second error information corresponding to the second moving objects received by the first satellites.

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