Positioning method of mobile device, mobile device and storage medium

Abstract

In the application, after the positioning system is powered on and started, the position of the mobile device is calculated through the self-differential positioning mode and the precise single-point positioning mode, and because the calculation speed of the self-differential positioning mode is relatively high, under the condition that the calculation of the precise single-point positioning mode is not successful, the position of the mobile device is calculated through the self-differential positioning mode and the precise single-point positioning mode. And the first position information obtained by resolving in the self-differential positioning mode is used as the target position information of the mobile equipment, so that the positioning efficiency of the mobile equipment is ensured. And under the condition that the precise single-point positioning mode is successfully solved, performing position processing based on the second position information to realize high-precision positioning and high-precision operation in a network-free or weak network environment.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned equipment, and in particular to a positioning method for a mobile device, a mobile device and a storage medium. Background Art

[0002] With the development of unmanned equipment technology, more and more unmanned equipment is used for high-altitude operations on various plots of land. Before working on a plot of land, the plot of land is surveyed by unmanned equipment or surveyors to obtain the location of the plot of land. Whether working on a plot of land or surveying, the unmanned equipment or surveyor needs to confirm its own location information through the positioning system in order to fly or determine the location information of the plot of land based on its own location information.

[0003] In the prior art, the positioning system uses RTK (carrier phase differential technology) for positioning. The positioning system can calculate the centimeter-level high-precision coordinates of the unmanned equipment or surveyor itself through RTK. However, RTK requires the establishment of a base station, which is costly. The coverage of the base station is small, and the unmanned equipment or surveyor may exceed the coverage of the base station. In addition, the base station transmits satellite data to the unmanned equipment or surveyor through the network. When the network is unreliable (for example, there is no network environment or a weak network environment), positioning based on RTK cannot be performed, which affects the operating efficiency or surveying efficiency. Summary of the invention

[0004] The present application provides a positioning method, device, mobile device and storage medium for a mobile device, so as to determine the target position information of the mobile device through a self-differential positioning method after the positioning system is powered on, and at the same time solve it through a precise single-point positioning method, and perform position processing through the precise single-point positioning method after the solution is successful, so as to realize high-precision positioning operations even in the absence of a base station or a network.

[0005] In a first aspect, the present application provides a method for positioning a mobile device, comprising:

[0006] After the positioning system of the mobile device is powered on, the first position information is determined by a self-differential positioning method, and is solved by a precise single-point positioning method to obtain the second position information;

[0007] If the second location information is not obtained by solving the problem, determining that the first location information is the target location information of the mobile device;

[0008] When the second position information is obtained through calculation, position processing is performed based on the second position information.

[0009] In a second aspect, the present application provides a mobile device, including:

[0010] One or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the mobile device as described in the first aspect.

[0011] In a third aspect, the present application provides a storage medium comprising computer executable instructions, which, when executed by a computer processor, are used to execute the positioning method for a mobile device as described in the first aspect.

[0012] In this application, after the positioning system is powered on, the position of the mobile device is solved by the self-differential positioning method and the precise single-point positioning method. Since the self-differential positioning method has a faster solution speed, if the precise single-point positioning method has not yet been successfully solved, the first position information solved by the self-differential positioning method is used as the target position information of the mobile device to ensure the positioning efficiency of the mobile device. If the precise single-point positioning method is successfully solved, the position processing is performed based on the second position information to achieve high-precision positioning and high-precision operation in a networkless or weak network environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a hardware overall block diagram of the unmanned equipment provided in the embodiment of the present application;

[0014] Figure 2 It is a schematic diagram of the RTK positioning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0016] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0017] The positioning method of the mobile device provided in this embodiment can be executed by the mobile device, which can be implemented by software and / or hardware, and the mobile device can be composed of two or more physical entities, or can be composed of one physical entity. For example, the mobile device can be an unmanned device or a surveyor, and the surveyor refers to a terminal device that marks a plot of land to generate location information of the plot of land, and the unmanned device refers to a flying device or a ground platform that operates according to remote control instructions or preset instructions. The mobile device can also be a positioning system of the unmanned device or the surveyor.

[0018] The mobile device is installed with at least one type of operating system, and the mobile device can install at least one application based on the operating system, and the application can be an application that comes with the operating system, or an application downloaded from a third-party device or server. In this embodiment, the mobile device has at least an application that can execute the positioning method of the mobile device.

[0019] For ease of understanding, this embodiment is described by taking an unmanned device as the main body of executing the positioning method for a mobile device and taking the unmanned device as a flying device as an example.

[0020] In one embodiment, before working on a plot of land, the plot of land is surveyed and mapped by a surveyor or unmanned equipment to obtain the location of the plot of land. The unmanned equipment plans a flight route according to the location of the plot of land and performs flight operations according to the flight route. Whether working on the plot of land or surveying and mapping, the surveyor or unmanned equipment needs to confirm its own location information through a positioning system to fly or determine the location information of the plot of land according to its own location information. The existing positioning system generally performs positioning through RTK to calculate the centimeter-level high-precision coordinates of the surveyor or unmanned equipment itself. When using RTK technology for positioning, a reference station is set up in advance, and the reference station forwards its own reference coordinates and real-time received satellite data to the surveyor or unmanned equipment through the network. The surveyor or unmanned equipment calculates its own centimeter-level high-precision positioning coordinates based on the reference coordinates of the reference station, the satellite data received by the reference station, and the satellite data received by itself. However, the cost of the reference station is high and the coverage range is small. The surveyor or unmanned equipment may exceed the signal coverage range of the reference station, resulting in the inability to use RTK for positioning. Moreover, when the network of the surveyor or unmanned equipment is unreliable, RTK cannot be used for positioning. When RTK positioning cannot be used, the surveyor or unmanned equipment cannot successfully complete the surveying or operation of the land, affecting the operation efficiency or surveying efficiency.

[0021] In order to solve the problem in the prior art that unmanned equipment or surveying equipment cannot perform high-precision positioning without a network or a reference station, this embodiment provides a positioning method for a mobile device, including the following steps:

[0022] After the positioning system of the mobile device is powered on, the first position information is determined by a self-differential positioning method, and is solved by a precise single-point positioning method to obtain the second position information;

[0023] If the second location information is not obtained by solving the calculation, determining that the first location information is the target location information of the mobile device;

[0024] When the second position information is obtained through calculation, position processing is performed based on the second position information.

[0025] Self-differential positioning can be called VRTK positioning, and precise point positioning can be called PPP positioning. The mobile device can be a surveyor or an unmanned device, such as a drone.

[0026] This solution does not need to rely on an external network, that is, it does not require a mobile network, so it can be used in environments with no network or weak network.

[0027] After the mobile device positioning system is powered on, VRTK positioning and PPP positioning are solved simultaneously. VRTK positioning basically does not require waiting and can immediately obtain relatively accurate positioning, while PPP positioning requires a longer time to converge. When PPP positioning has not yet completed the solution, the location information obtained by VRTK positioning is used as the location information of the mobile device. When PPP positioning completes the solution and obtains the second location information, location processing can be performed based on the second location information.

[0028] In one embodiment, performing location processing based on the second location information includes:

[0029] The surveying and mapping position information of the work site is corrected based on the second position information. The surveying and mapping position information of the work site is obtained by surveying and mapping in a self-differential positioning manner before the second position information is obtained by solving the second position information.

[0030] When PPP positioning has not yet completed the solution, VRTK positioning is available. At this time, the user can first use the mobile device to survey the work area based on VRTK positioning. If the mobile device is a surveyor, the user can hold the surveyor and move around the work area, and mark points during the movement, for example, at the boundary points of the work area. At this time, the location information recorded by the marking is the location information located by VRTK. For example, if four points ABCD are marked, the location information of the four points is the location information located by VRTK. The mobile device can also be a drone, and the user can control the drone to fly and mark points through the remote control.

[0031] The position determined by VRTK is a relative position with a certain deviation, and can only maintain a certain accuracy in a short period of time. Over time, it will diverge and the position deviation will be greater.

[0032] When the user completes the surveying of the work area based on VRTK positioning, since PPP is also being solved during the surveying process, the PPP positioning may have been successfully solved after the surveying is completed, or the user only needs to wait a little while for the PPP positioning to be successfully solved.

[0033] After the PPP positioning solution is successful, because the position positioned by PPP is an absolute position, while the position positioned by VRTK is a relative position, there is a deviation between it and the actual position. Therefore, the second position information positioned by PPP can be used to correct the surveying and mapping position information of the work site previously obtained by VRTK positioning.

[0034] In one embodiment, correcting the surveying and mapping position information of the work plot based on the second position information includes:

[0035] A first offset between the second position information and the first position information corresponding to the same position point is determined, and the surveying and mapping position information of the to-be-operated land parcel is corrected according to the first offset.

[0036] Here, the same location point can be the same land boundary point or the same other location point, which is not limited in this patent. The offset of the second location information located by PPP and the first location information located by VRTK of the same location point is calculated, and then the offset is used to correct the surveying and mapping location information.

[0037] In one embodiment, the surveying and mapping position information of the land parcel to be operated includes positions of multiple boundary points of the land parcel to be operated, and the deviation correction of the surveying and mapping position information of the land parcel to be operated according to the first offset includes:

[0038] The positions of the boundary points of the to-be-operated land parcel are corrected according to the first offset.

[0039] In one embodiment, obtaining the surveying and mapping position information of the land to be operated includes:

[0040] When the mobile device moves to the boundary point of the plot to be operated, first position information located by the mobile device in a self-differential positioning manner is obtained, and the located first position information is used as the position information of the boundary point.

[0041] In one embodiment, performing location processing based on the second location information includes:

[0042] The calculated second position information is used as the target position information of the mobile device.

[0043] If the mobile device is a drone, the drone will first use VRTK positioning during the operation. After the PPP positioning solution is successful, it can directly switch to PPP positioning, thereby achieving reliable, long-term and effective high-precision positioning in a network-free environment.

[0044] In one embodiment, the method comprises:

[0045] When the convergence accuracy of the precise single-point positioning method reaches a set threshold, it is determined that the second position information is obtained by solution.

[0046] The convergence accuracy of PPP positioning can be, for example, specific parameters such as 25 cm, 20 cm, etc. Reaching the set threshold means that the convergence accuracy of PPP positioning is less than or equal to the set threshold. The smaller the convergence accuracy, the higher the positioning accuracy. When the convergence accuracy of the precise single-point positioning method reaches the set threshold, it can be determined that the second position information is obtained by solution.

[0047] In one embodiment, the method further comprises:

[0048] According to the surveying and mapping position information after correction, the operation path of the mobile device is planned, and the mobile device is controlled to move along the operation path to the land to be operated.

[0049] After the positioning system of the mobile device is powered on, the first position information is determined by a self-differential positioning method, and is solved by a precise single-point positioning method to obtain the second position information.

[0050] For example, when an unmanned device is to operate or survey a plot of land, the unmanned device is started to power on the positioning system of the mobile device. After the positioning system of the mobile device is powered on, the location information of the unmanned device is solved by self-differential positioning and precise single-point positioning.

[0051] Among them, the first position information is the coordinates of the unmanned device relative to the reference point calculated by the self-differential positioning method. When the unmanned device adopts the self-differential positioning method for solution, the differential correction value adopted by the self-differential positioning method can be determined first. For example, assuming that the initial coordinates of the unmanned device are obtained by the first solution, and the real coordinates at the position corresponding to the initial coordinates are known, the real coordinates are referred to as the reference point coordinates in the following text, then the offset between the initial coordinates of the unmanned device and the reference point coordinates can be determined as the first differential correction value. Therefore, in the solution process, after obtaining the pseudo-range measurement value of the unmanned device relative to the satellite at the current moment, the coordinates of the unmanned device at the current moment can be determined according to the pseudo-range measurement value and the first differential correction value. The solution process of the self-differential positioning method is simple, the solution speed is fast, and the coordinates of the unmanned device at the current moment can be quickly calculated.

[0052] Among them, the second location information is the coordinates of the unmanned device itself obtained by using the precise point positioning method (PPP, Precise Point Positioning). At present, satellite systems such as GPS (Global Positioning System) and Beidou system support PPP services. This embodiment describes the PPP service supported by the Beidou system as an example. The Beidou satellite system uses PPP-B2b (a high-precision signal) signal as a data broadcast channel, and the three GEO (geosynchronous orbit) satellites of Beidou-3 broadcast the orbit and clock correction information of other global satellite navigation systems of the Beidou-3 system, which can provide open and free high-precision positioning services for unmanned equipment. When the unmanned device uses the precise point positioning method for solution, the unmanned device receives the correction information sent by the GEO satellite through the PPP-B2b signal, and determines its own coordinates at the current moment according to the correction information.

[0053] When the high-precision second position information is not obtained by solution, the first position information is determined to be the target position information of the unmanned equipment.

[0054] In this embodiment, the target position information refers to the high-precision positioning coordinates of the unmanned equipment itself used for operation, deviation correction or surveying. Although the unmanned equipment is solved by both the self-differential positioning method and the precise single-point positioning method (PPP, Precise Point Positioning) after the positioning system is powered on, the convergence time required for the precise single-point positioning method to solve is about 18-20 minutes, that is, the precise single-point positioning method cannot quickly solve the centimeter-level high-precision positioning coordinates of the unmanned equipment. If the unmanned equipment directly uses the precise single-point positioning method for positioning, it will take a long time to enter the operating state or the surveying state, affecting the operating efficiency or surveying efficiency of the unmanned equipment. Therefore, in the case where the second position information with high precision at the centimeter level is not solved, the first position information solved by the self-differential positioning method is determined as the target position information of the unmanned equipment, so that the unmanned equipment can operate or survey based on the target position information.

[0055] The self-differential positioning method can quickly determine the high-precision coordinates of the unmanned equipment at the current moment, and can maintain relative positioning with a positioning accuracy within 20cm in a short period of time. As time goes by, the difference between the error caused by changes in factors such as satellite movement and the atmosphere and the first differential correction value gradually increases, causing the error of the first position information calculated by the self-differential positioning method to gradually increase. After a certain period of time, the error of the self-differential positioning method will reach more than the meter level, and it is impossible to perform high-precision positioning of the unmanned equipment. Therefore, after the high-precision second position information is calculated by the precise single-point positioning method, the target position information of the unmanned equipment is determined based on the high-precision second position information to ensure that the unmanned equipment can maintain high-precision positioning for a long time.

[0056] It is worth mentioning that the self-differential positioning method is a relative positioning method, while the precise single-point positioning method is an absolute positioning method. Therefore, the self-differential positioning method and the precise single-point positioning method have different benchmarks. After the unmanned equipment switches from the self-differential positioning method to the precise single-point positioning method, the first offset of the first position information and the second position information calculated at the same time can be used to convert the second position information to the benchmark of the self-differential positioning method based on the first offset to obtain the target position information. For example, at the moment when the high-precision second position information is calculated based on the precise single-point positioning method, the first position information is (lat1, log1, alt1), and the second position information is (lat2, log2, alt2). The first offset (lat1-lat2, log1-log2, alt1-alt2) is obtained by subtracting the second position information from the first position information. At this time, the unmanned device determines the first position information (lat1, log1, alt1) as the target position information of the unmanned device, and adds the first offset (lat1-lat2, log1-log2, alt1-alt2) to the second position information calculated based on the precise point positioning method in the future, and obtains the target position information located under the reference of the self-differential positioning method, ensuring that the target position information of the unmanned device at the previous and next moments is under the same reference. Under normal circumstances, the time required to obtain the second position information by the precise point positioning method is less than half an hour. Within half an hour, the error of the first position information obtained by the unmanned device by the self-differential positioning method is still maintained at the centimeter level. When the unmanned device calculates the high-precision second position information by the precise point positioning method, the reference error between the precise point positioning method and the self-differential positioning method can be determined, and the unmanned device can be relatively positioned with high precision by the precise point positioning method based on the reference error. When the unmanned equipment cannot connect to the network or the base station, the unmanned equipment can also quickly perform high-precision relative positioning after the positioning system is powered on, and can maintain high-precision relative positioning for a long time, ensuring the operating efficiency or surveying efficiency of the unmanned equipment.

[0057] Based on the above embodiment, another embodiment is provided, in which the positioning method of the mobile device includes:

[0058] S210, after the positioning system of the mobile device is powered on, determine whether the mobile device meets the preset positioning conditions. If the mobile device meets the preset positioning conditions, execute step S220; if the mobile device does not meet the preset positioning conditions, execute step S230.

[0059] Among them, the preset positioning conditions include the existence of a network and being within the coverage of a preset base station. Exemplarily, when the unmanned device uses RTK positioning to determine its own coordinates, it will search for a preset base station. If the unmanned device is within the range of the base station, a communication connection can be established with the base station. After the unmanned device establishes a communication connection with the preset base station, the base station forwards its own precise reference coordinates and the satellite data it receives in real time to the unmanned device through the network in RTCM format. The unmanned device determines the positioning error of the base station through the reference coordinates of the base station and the satellite data received in real time by the base station, and determines the centimeter-level high-precision coordinates of the unmanned device itself based on the positioning error and the satellite data received in real time by the unmanned device.

[0060] From the above, we can see that the conditions required for unmanned equipment to use RTK positioning are that it is within the range of the preset base station and has a network. The preset base station can be a self-built base station or other shared base stations. The coverage of the shared base station is large, and unmanned equipment generally does not exceed its coverage. Therefore, if the preset base station is a shared base station, the conditions required for unmanned equipment to use RTK positioning can be reduced to the unmanned equipment having a network.

[0061] In this embodiment, when the unmanned device is not within the coverage of the reference station or does not have a network, it can be determined that the unmanned device does not meet the conditions for using the RTK positioning method. At this time, the unmanned device can use the self-differential positioning method and the precise single-point positioning method for combined positioning, which can achieve rapid positioning while maintaining long-term high-precision positioning. When the unmanned device is within the coverage of the reference station and has a network, it can be determined that the unmanned device meets the conditions for RTK positioning. At this time, the unmanned device can use the RTK positioning method for high-precision positioning.

[0062] In one embodiment, Figure 1 This is the overall hardware block diagram of the unmanned equipment provided in the embodiment of the present application. Figure 1As shown, the unmanned device includes an indicator light, an IMU (Inertia Measurement Unit), a positioning system, a cellular network module, a wifi (wireless fidelity) module and a flight control module, and the positioning system includes an RTK module, a self-differential positioning module and a precise single-point positioning module. Among them, the indicator light is used to indicate the positioning status of the unmanned device, the wifi module is used to communicate with the remote control device on the ground, the cellular network module is used to communicate with the cloud server, the IMU is used to provide attitude data to the flight control module, and the positioning system is used to provide coordinate data to the flight control module. After the unmanned device is started, the unmanned device powers on the positioning system, searches for the preset reference station and confirms whether the network of the cellular network module is normal. If the unmanned device cannot search for the preset reference station or confirms that the network of the cellular network module is abnormal, the self-differential positioning module and the precise single-point positioning module are notified to start solving the coordinates of the unmanned device; if the unmanned device can search for the preset reference station and confirm that the network of the cellular network module is normal, the RTK module is notified to start solving the coordinates of the unmanned device.

[0063] S220: Determine the target location information of the mobile device by carrier phase differential method.

[0064] Figure 2 Schematic diagram of the RTK positioning method provided in the embodiment of the present application. Figure 2 As shown, the unmanned device is connected to the cloud server via the 4G network, and the cloud server is connected to the preset reference station via the 4G network. The reference station receives the first satellite data sent by the satellite in real time, and forwards the first satellite data and its own reference coordinates to the unmanned device through the cloud server. The unmanned device calculates the positioning error of the reference station based on the reference coordinates of the reference station and the first satellite data. The unmanned device receives the second satellite data sent by the satellite in real time, and calculates the target position information of the unmanned device at the current moment based on the second satellite data and the positioning error.

[0065] S230, determining the first position information by a self-differential positioning method, and solving it by a precise single-point positioning method to obtain the second position information.

[0066] S240: When high-precision second location information is not obtained by solution, determine that the first location information is the target location information of the mobile device.

[0067] When the unmanned equipment is in a state where there is no network or the preset base station cannot be searched and RTK positioning cannot be used for positioning, the self-differential positioning method and the precise single-point positioning method described in the above embodiment can be used for combined positioning.

[0068] On the basis of the above embodiments, when the unmanned equipment is operating on the work site, the positioning method described in the above embodiments can be used to determine the target position information of the unmanned equipment, and based on the target position information of the unmanned equipment and the high-precision position information of the work site, the unmanned equipment can be controlled to operate on the work site.

[0069] In this embodiment, when the unmanned device determines the target position information of the unmanned device at the current moment through the positioning system after receiving the first dot instruction, the target position information of the unmanned device at the current moment is determined by the positioning method provided in the above embodiment. That is, if the unmanned device meets the preset positioning conditions required for the RTK positioning method when the positioning system is powered on, the RTK positioning method is used for solving in real time to obtain the target position information of the unmanned device. If the unmanned device does not meet the preset positioning conditions required for the RTK positioning when the positioning system is powered on, the self-differential positioning method and the precise single-point positioning method are used for solving respectively. If the high-precision second position information is not solved by the precise single-point positioning method, the first position information solved by the self-differential positioning method is determined as the target position information of the unmanned device. If the high-precision second position information is solved by the precise single-point positioning method, the position processing is performed based on the second position information.

[0070] Plan the operation path of the mobile equipment according to the operation location information of the work site.

[0071] Based on the positioning system of the mobile device, the mobile device is controlled to move along the working path to the working area.

[0072] Exemplarily, the flight control module plans the flight route of the unmanned equipment according to the working position information of the working area, and controls the unmanned equipment to fly and operate along the flight route according to the attitude data collected by the IMU in real time and the target position information collected by the positioning system in real time.

[0073] In summary, in this application, after the positioning system is powered on, the position of the mobile device is solved by the self-differential positioning method and the precise single-point positioning method. Since the self-differential positioning method has a faster solution speed, when the precise single-point positioning method has not yet been successfully solved, the first position information solved by the self-differential positioning method is used as the target position information of the mobile device to ensure the positioning efficiency of the mobile device. When the precise single-point positioning method is successfully solved, the position processing is performed based on the second position information to achieve high-precision positioning and high-precision operation in a networkless or weak network environment.

[0074] The mobile device includes: a processor 61, a memory 62, a communication device 63, an input device 64, and an output device 65. The number of processors 61 in the mobile device can be one or more, and the number of memories 62 in the mobile device can be one or more. The processor 61, memory 62, communication device 63, input device 64, and output device 65 of the mobile device can be connected via a bus or other means.

[0075] The memory 62, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the positioning method of the mobile device of any embodiment of the present application (for example, the positioning start module 51, the first positioning module 52 and the second positioning module 53 in the positioning device of the mobile device). The memory 62 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the device, etc. In addition, the memory 62 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0076] The communication device 63 is used for data transmission.

[0077] The processor 61 executes the software programs, instructions and modules stored in the memory 62 to execute various functional applications and data processing of the device, that is, to implement the above-mentioned positioning method of the mobile device.

[0078] The input device 64 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 65 may include a display device such as a display screen.

[0079] The mobile device provided above can be used to execute the positioning method of the mobile device provided in the above embodiment, and has corresponding functions and beneficial effects.

[0080] An embodiment of the present application also provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a positioning method for a mobile device. The positioning method for the mobile device includes: after the positioning system of the mobile device is powered on, first position information is determined by a self-differential positioning method, and solved by a precise single-point positioning method to obtain second position information; when the high-precision second position information is not solved, the first position information is determined to be the target position information of the mobile device; when the high-precision second position information is solved, a first offset between the second position information and the first position information is determined, and the target position information of the mobile device is determined based on the first offset and the second position information.

[0081] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0082] Of course, the storage medium containing computer executable instructions provided in the embodiment of the present application is not limited to the above-mentioned positioning method of the mobile device, and the computer executable instructions can also execute the relevant operations in the positioning method of the mobile device provided in any embodiment of the present application.

[0083] The positioning device, storage medium and mobile device of the mobile device provided in the above embodiments can execute the positioning method of the mobile device provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the positioning method of the mobile device provided in any embodiment of the present application.

[0084] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for positioning a mobile device, characterized in that: include: After the positioning system of the mobile device is powered on, the first position information is determined by a self-differential positioning method, and is solved by a precise single-point positioning method to obtain the second position information; If the second location information is not obtained by solving the calculation, determining that the first location information is the target location information of the mobile device; When the second position information is obtained through calculation, position processing is performed based on the second position information.

2. The method for positioning a mobile device according to claim 1, characterized in that: The performing position processing based on the second position information includes: The surveying and mapping position information of the work site is corrected based on the second position information. The surveying and mapping position information of the work site is obtained by surveying and mapping in a self-differential positioning manner before the second position information is obtained by solving the second position information.

3. The method for positioning a mobile device according to claim 2, characterized in that: Correcting the surveying and mapping position information of the work plot based on the second position information includes: A first offset between the second position information and the first position information corresponding to the same position point is determined, and the surveying and mapping position information of the to-be-operated land parcel is corrected according to the first offset.

4. The method for positioning a mobile device according to claim 3, characterized in that: The surveying and mapping position information of the land parcel to be operated includes positions of multiple boundary points of the land parcel to be operated, and the deviation correction of the surveying and mapping position information of the land parcel to be operated according to the first offset includes: The positions of the boundary points of the to-be-operated land parcel are corrected according to the first offset.

5. The method for positioning a mobile device according to claim 2, characterized in that: Obtaining the surveying and mapping location information of the land to be operated, including: When the mobile device moves to the boundary point of the plot to be operated, first position information located by the mobile device in a self-differential positioning manner is obtained, and the located first position information is used as the position information of the boundary point.

6. The method for positioning a mobile device according to claim 1, characterized in that: The performing position processing based on the second position information includes: The calculated second position information is used as the target position information of the mobile device.

7. The method for positioning a mobile device according to claim 1, characterized in that: The method comprises: When the convergence accuracy of the precise single-point positioning method reaches a set threshold, it is determined that the second position information is obtained by solution.

8. The method for positioning a mobile device according to claim 1, characterized in that: After the positioning system of the mobile device is powered on, the method further includes: Determining whether the mobile device meets a preset positioning condition, wherein the preset positioning condition includes the existence of a network and being within the coverage of a preset reference station; When the preset positioning condition is met, the target location information of the mobile device is determined by carrier phase difference.

9. The method for positioning a mobile device according to claim 2, characterized in that: The method further comprises: According to the surveying and mapping position information after correction, the operation path of the mobile device is planned, and the mobile device is controlled to move along the operation path to the land to be operated.

10. The method for positioning a mobile device according to claim 1, characterized in that: The mobile device is an unmanned device or a surveyor.

11. A mobile device, characterized in that: include: one or more processors; The memory stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the mobile device as described in any one of claims 1-10.

12. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the positioning method of the mobile device as described in any one of claims 1-10 when executed by a computer processor.

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