Precise point positioning method and device, electronic equipment and storage medium

Abstract

The invention provides a precise point positioning method and device, electronic equipment and a storage medium, and belongs to the technical field of communication, and the method comprises the steps: obtaining a positioning system information block sent by a position management function end, the positioning system information block being obtained by the position management function end based on a maritime radio technology committee message, the maritime radio technology committee message is obtained by global navigation satellite system data obtained by a high-precision positioning platform based on a continuous operation reference station, and the maritime radio technology committee message comprises precision satellite orbit correction data and precision satellite clock error correction data; the positioning system information block is sent to the terminal, the terminal achieves precise point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal. According to the precise point positioning method provided by the invention, the technical problem that a 3GPP compatible terminal cannot autonomously complete precise point positioning in a precise point positioning method in the related technology is solved.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a precise single-point positioning method, device, electronic equipment and storage medium. Background Art

[0002] The mainstream technical solutions for high-precision positioning are differential mode and non-differential mode. The differential mode is the real-time kinematic differential technology (Real-Time Kinematic, RTK) technology, and the non-differential mode is the precise point positioning technology (Precise Point Positioning, PPP).

[0003] The precise point positioning technologies in related technologies all use satellite communications to broadcast corresponding data (precision satellite orbit corrections and precise satellite clock corrections), and do not use the fifth generation mobile network (5G) as a broadcast channel. The terminals must meet the requirements of satellite communication technology. The existing third generation partnership project (3GPP) terminals cannot directly obtain satellite broadcast data, resulting in the inability to directly use precise point positioning technology for positioning.

[0004] This shows that the precise single-point positioning method in the related art has the technical problem that 3GPP-compatible terminals cannot independently complete precise single-point positioning. Summary of the invention

[0005] The present invention provides a precise single-point positioning method, device, electronic device and storage medium, which are used to solve the technical problem that a 3GPP compatible terminal cannot independently complete precise single-point positioning in a precise single-point positioning method in related technologies.

[0006] The present invention provides a precise single-point positioning method, which is applied to a base station. The method comprises: obtaining a positioning system information block sent by a position management function end, wherein the positioning system information block is obtained by the position management function end based on a Maritime Radio Technical Committee message, and the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; sending the positioning system information block to a terminal, wherein the terminal realizes precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0007] According to a precise single-point positioning method provided by the present invention, the sending of the positioning system information block to the terminal includes: splitting the positioning system information block into multiple positioning system information block segments; broadcasting the multiple positioning system information block segments based on a wireless resource control protocol, wherein each positioning system information block segment in the multiple positioning system information block segments includes a location scheduling information list, and the terminal receives the multiple positioning system information block segments based on an indication of the location scheduling information list.

[0008] According to a precise single-point positioning method provided by the present invention, the obtaining of the positioning system information block sent by the location management function end includes: obtaining the positioning system information block transparently transmitted by the access and mobility management function end, wherein the positioning system information block is obtained by the location management function end decoding and unpacking the Maritime Radio Technical Committee message and then re-packaging it, and the access and mobility management function end transparently transmits the positioning system information block to the base station based on the Namf_Communication_NonUeN2MessageTransfer message sent by the location management function end.

[0009] According to a precise single-point positioning method provided by the present invention, the precise satellite orbit correction data and the precise satellite clock correction data are obtained by the high-precision positioning platform processing the global navigation satellite system data using an interpolation fitting model, and the Maritime Radio Technical Committee message is obtained by encoding the precise satellite orbit correction data and the precise satellite clock correction data.

[0010] The present invention provides a precise single-point positioning method, which is applied to a terminal, wherein the terminal is a 3GPP compatible terminal, and the method comprises: obtaining a positioning system information block sent by a base station, wherein the positioning system information block is sent to the base station by a location management function end, the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction number data and precise satellite clock correction number data; and precise single-point positioning is realized based on the positioning system information block.

[0011] The present invention also provides a precise single-point positioning device, which is applied to a base station, and the device includes: a first acquisition module, which is used to acquire a positioning system information block sent by a location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, and the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously running reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; a sending module, which is used to send the positioning system information block to a terminal, wherein the terminal realizes precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0012] The present invention also provides a precise single-point positioning device, comprising the following modules: applied to a terminal, the terminal is a 3GPP compatible terminal, the device comprises: a second acquisition module, used to acquire a positioning system information block sent by a base station, wherein the positioning system information block is sent to the base station by a location management function end, the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; a positioning module, used to realize precise single-point positioning based on the positioning system information block.

[0013] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a precise single-point positioning method as described above is implemented.

[0014] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the precise point positioning method as described in any one of the above is implemented.

[0015] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements any one of the above-mentioned precise point positioning methods.

[0016] The precise single-point positioning method, device, electronic device and storage medium provided by the present invention use a position management function terminal in the precise single-point positioning process, and obtain a positioning system information block based on the position management function terminal. Since the positioning system information block is based on the Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data. The terminal can then achieve precise single-point positioning based on the positioning system information block, thereby solving the technical problem that the precise single-point positioning method in the related art cannot independently complete precise single-point positioning in the 3GPP compatible terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 This is one of the flow charts of the precise single-point positioning method provided by the present invention.

[0019] Figure 2 It is one of the flow diagrams of the precise single-point positioning method provided by the present invention.

[0020] Figure 3 This is the second flow diagram of the precise single-point positioning method provided by the present invention.

[0021] Figure 4 This is the third flow diagram of the precise single-point positioning method provided by the present invention.

[0022] Figure 5 This is the fourth flow diagram of the precise single-point positioning method provided by the present invention.

[0023] Figure 6 This is the second flow chart of the precise single-point positioning method provided by the present invention.

[0024] Figure 7 This is one of the structural schematic diagrams of the precise single-point positioning device provided by the present invention.

[0025] Figure 8 This is the second structural schematic diagram of the precise single-point positioning device provided by the present invention.

[0026] Fig. 9 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] It should be noted that in the description of the present invention, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] The terms "first", "second", etc. in the present invention 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 interchanged under appropriate circumstances, so that the embodiments of the present invention can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" means at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0030] The following is an explanation of the terms used in this application: Location Management Function (LMF): A key component in the 5G core network, responsible for control plane positioning functions.

[0031] Positioning System Information Blocks (posSIBs): System information blocks specifically used to provide positioning services. They are a set of specific SIBs that carry positioning-related parameters.

[0032] Radio Technical Commission for Maritime Services (RTCM): RTCM is an international non-profit organization dedicated to developing and recommending technical standards and specifications for maritime radio communications and navigation equipment. RTCM messages generally refer to a series of standard formats developed by the organization for transmitting various types of data in maritime communications and navigation systems.

[0033] High-precision positioning platform: A system or framework that provides high-precision location services, which can provide precise geographic location information for various applications. Such platforms usually combine multiple technologies, including but not limited to global navigation satellite systems (GNSS), ground reference stations, data processing algorithms and communication networks.

[0034] Global Navigation Satellite System (GNSS): A satellite navigation system with global coverage that can provide precise geographic location, velocity and time information for almost any location on the Earth's surface.

[0035] Global Navigation Satellite System Data: GNSS data consists of signals transmitted by a series of satellites that are captured and processed by receivers on the ground to determine the receiver's position and time.

[0036] 3rd Generation Partnership Project (3GPP).

[0037] 3GPP-compatible terminals: Mobile communication devices that comply with 3GPP technical specifications and standards. These terminals can seamlessly connect and interact with networks and services based on 3GPP standards.

[0038] Position scheduling information list (posSchedulingInfoList): In the field of mobile communications, it usually refers to a series of information used to schedule wireless resources in the network, which is related to the location of the user equipment (UE).

[0039] User Equipment (UE): User equipment refers to the terminal device in the mobile network, which allows users to access wireless network services. Common UEs include smartphones, tablets, laptops (through wireless network cards), wireless routers, IoT devices, etc.

[0040] Access and Mobility Management Function (AMF): A key component of the 5G core network, responsible for processing user equipment (UE) access requests, mobility management, registration, authentication, authorization, and session management.

[0041] Continuously Operating Reference Station (CORS): A CORS reference station is a fixed ground observation facility that is part of the Global Navigation Satellite System (GNSS).

[0042] Network Transport of RTCM via Internet Protocol (NTRIP).

[0043] Differential technology (Real-Time Kinematic, RTK).

[0044] Precise Point Positioning (PPP) technology.

[0045] Next Generation Node B (GNB): GNB is a key component in 5G networks, replacing the eNodeB (Evolved Node B) in 4G networks. GNB is responsible for processing wireless communications of user equipment (UE) in 5G networks, including data transmission and reception, user authentication, frequency allocation, etc.

[0046] The mainstream technical solutions for high-precision positioning include differential mode and non-differential mode. The differential mode is real-time dynamic differential technology, and the non-differential mode is precise point positioning technology. The precise point positioning technology in related technologies uses satellite communication to broadcast the corresponding data (precision satellite orbit correction number and precision satellite clock correction number), and does not use 5G network as a broadcast channel. The terminal must meet the requirements of satellite communication technology; 3GPP terminals cannot directly obtain satellite broadcast data, resulting in the inability to directly use precise point positioning technology for positioning.

[0047] Differential technology uses CORS base station observation data to eliminate clock errors, ionosphere, troposphere, and random effects in the mobile station positioning process; while non-differential technology uses the obtained precise ephemeris correction, precise satellite clock error correction, and ionosphere-troposphere modeling to calculate the terminal position most accurately. The existing non-differential technology has not yet been broadcasted on the 5G network. It can be seen that the precise single-point positioning method in the relevant technology has the technical problem that 3GPP-compatible terminals cannot independently complete precise single-point positioning.

[0048] In order to at least solve some of the above problems, the following Figure 1-Figure 9 The present invention describes the precise single-point positioning method, device, electronic device and storage medium provided by the present invention.

[0049] Figure 1 It is one of the flow charts of the precise point positioning method provided by the present invention. The precise point positioning method is applied to a base station. The precise point positioning method in this embodiment is executed by the base station. Figure 1 As shown, including but not limited to the following steps: Step 101, obtain the positioning system information block sent by the location management function end, wherein the positioning system information block is obtained by the location management function end based on the Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by the high-precision positioning platform based on the global navigation satellite system data obtained by the continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data.

[0050] Step 102: Send the positioning system information block to the terminal, wherein the terminal implements precise point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0051] In this embodiment, posSIBs sent by LMF is obtained, posSIBs is obtained by LMF based on RTCM message, CORS base station obtains GNSS data, RTCM message is obtained from GNSS data of high-precision positioning platform, RTCM message includes precise satellite orbit correction data and precise satellite clock correction data.

[0052] Furthermore, posSIBs is sent to a 3GPP compatible terminal, and the 3GPP compatible terminal implements precise point positioning.

[0053] Precision satellite orbit correction data is used to correct satellite orbit predictions, thereby improving positioning accuracy; precision satellite clock correction data is used to adjust the difference between the satellite clock and the ground clock. These corrections are essential to ensure the accuracy of precise positioning.

[0054] Through the embodiments provided by the present application, a positioning system information block is obtained by the location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; the positioning system information block is sent to a terminal, wherein the terminal realizes precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP-compatible terminal; the precise single-point positioning method in the related art is solved, and the technical problem that a 3GPP-compatible terminal cannot independently complete precise single-point positioning is solved, thereby improving the positioning accuracy of the 3GPP-compatible terminal.

[0055] As an optional solution, the positioning system information block is sent to the terminal, including: S11, splitting the positioning system information block into multiple positioning system information block segments; S12, broadcasting a plurality of positioning system information block segments based on a wireless resource control protocol, wherein each of the plurality of positioning system information block segments comprises a location scheduling information list, and the terminal receives the plurality of positioning system information block segments based on an indication of the location scheduling information list.

[0056] In this embodiment, the GNB side (base station) periodically sends down PosSIB segments (multiple positioning system information block segments) according to the posSchedulingInfoList setting on the cell side; further, the UE side (terminal) receives multiple positioning system information block segments broadcasted by the Radio Resource Control Protocol (RRC) according to the posSchedulingInfoList indication, and the multiple positioning system information block segments include precise orbit data and precise clock difference data.

[0057] Through this embodiment, the positioning system information block is split into multiple positioning system information block segments, and multiple positioning system information block segments are broadcast based on the wireless resource control protocol, thereby improving the accuracy of the terminal in achieving precise single-point positioning based on the positioning system information block, thereby improving the reliability of the precise single-point positioning method of this embodiment.

[0058] As an optional solution, the positioning system information block sent by the location management function terminal is obtained, including: S21, obtain the positioning system information block transparently transmitted by the access and mobility management function end, wherein the positioning system information block is obtained by the location management function end after decoding and unpacking the Maritime Radio Technical Committee message and then repackaging it. The access and mobility management function end transparently transmits the positioning system information block to the base station based on the Namf_Communication_NonUeN2MessageTransfer message sent by the location management function end.

[0059] In this embodiment, posSIBs transparently transmitted by AMF is obtained, wherein posSIBs is obtained by LMF decoding and unpacking the RTCM message and then repackaging it. AMF transparently transmits posSIBs to the base station based on the Namf_Communication_NonUeN2MessageTransfer message sent by LMF.

[0060] Through this embodiment, the positioning system information block transparently transmitted by the access and mobility management function end is obtained, which improves the accuracy of the positioning system information block obtained by the base station, thereby improving the reliability of the precise single-point positioning method of this embodiment.

[0061] As an optional solution, the precise satellite orbit correction data and the precise satellite clock correction data are obtained by the high-precision positioning platform using an interpolation fitting model to process the global navigation satellite system data, and the Maritime Radio Technical Commission message is obtained by encoding the precise satellite orbit correction data and the precise satellite clock correction data.

[0062] In this embodiment, the precise satellite orbit correction data and the precise satellite clock correction data are obtained by processing the GNSS data using an interpolation fitting model on a high-precision positioning platform, and the RTCM message is obtained by encoding the precise satellite orbit correction data and the precise satellite clock correction data.

[0063] Through this embodiment, the accuracy of the acquired Maritime Radio Technical Committee message is improved, thereby improving the reliability of the precise single point positioning method of this embodiment.

[0064] Real-time precise single-point positioning requires real-time precise orbit and satellite clock error data. The single-point positioning error is at the same order of magnitude as the satellite orbit error. Therefore, in order to achieve real-time precise single-point positioning with centimeter-level accuracy, high-precision precise orbit coordinates must be used. At present, the CORS base station platform can provide 4 types of ephemeris files, all of which can provide satellite orbit coordinates. Their accuracy is from high to low, namely final precise ephemeris, rapid precise ephemeris, ultra-fast precise ephemeris, and broadcast ephemeris, and their accuracy is constantly improving. Among them, the post-24h forecast part of the ultra-rapid ephemeris data and the broadcast ephemeris can be obtained in real time, and the predicted orbit accuracy is much higher than that of the broadcast ephemeris. For example, the existing CORS base station platform can obtain precise ephemeris as shown in the following table:

[0065] Based on the above foundation, this application proposes to use the 5G network to carry satellite precise ephemeris and satellite precise clock error data to transmit them to the terminal, and the terminal completes precise single-point positioning based on the precise ephemeris and precise clock error.

[0066] In this embodiment, the precise point positioning method includes the following steps.

[0067] Step 1: The CORS base station periodically collects satellite information.

[0068] Step 2: The CORS base station collects multi-satellite multi-frequency information and transmits the information periodically (the current network frequency is 1 second) to the high-precision platform (including RTCM, RTCA (Radio Technical Commission for Aeronautics), RINEX (Receiver INdependent EXchange Format), etc.) through the NTRIP (Networked Transport of RTCM via Internet Protocol) protocol.

[0069] Step 3: The high-precision platform generates precise satellite orbit corrections and precise satellite clock corrections based on the high-frequency feedback data from the CORS base station using an interpolation fitting model. In the existing GNSS precise point positioning technology, such data (precise orbit, precise clock error) is transmitted through satellites, supporting satellite communication terminals to collect such data to complete precise point positioning.

[0070] The single-point precise positioning calculation process mainly includes: observation data preprocessing; acquisition of precise ephemeris and precise satellite clock error (the proposal mainly proposes to use the 5G network to broadcast these two sets of data); correction of various error models and parameter estimation.

[0071] The above calculation and analysis processes are all existing technologies and will not be described in detail. The focus of this application is to newly use the 5G network to broadcast precise satellite orbit correction numbers and precise satellite clock correction numbers.

[0072] Step 4: The terminal needs to receive two sets of data, namely, precise satellite orbit correction and precise satellite clock correction, for precise correction of single-point positioning (GPS (Global Positioning System) and BDS (Beidou Satellite Navigation System) systems use Kepler orbit elements and their rates of change to obtain the satellite position and velocity at the time of observation). The proposal takes the Beidou system as an example, and the data of other GNSS systems are approximately the same.

[0073] The specific meanings and fields of the two sets of data are as follows: Step 4.1: Precision satellite orbit corrections and user ranging accuracy index

[0074] The terminal uses its own GNSS hardware to receive satellite ephemeris, and uses the precise satellite orbit correction numbers sent by the 5G network to correct the original ephemeris in the radial, tangential and normal directions, accurately confirming the precise position of the satellite at a certain point in time. Through real-time precise satellite orbit correction numbers, the satellite position can be accurately positioned at the centimeter level, which is the basic premise for the later terminal positioning.

[0075] Step 4.2: Precision satellite clock corrections

[0076] Since the satellite clock error changes faster and more complexly, the sampling interval of the clock error correction number cannot meet the needs of real-time precise positioning. For this reason, the high-precision platform releases special precise clock error data, and its sampling interval is generally 5 minutes, 30 seconds, 5 seconds, or even more frequently. Despite this, the satellite clock error at the time of signal transmission still needs to be interpolated during the positioning process. Commonly used precise satellite clock error interpolation methods include linear interpolation, binomial interpolation, cubic spline interpolation, Lagrange polynomial interpolation, etc. Since the interval of precise clock error data is small, the linear interpolation method can meet the accuracy of clock error interpolation. After interpolation, the high-precision platform can obtain second-level clock error correction numbers.

[0077] Step 5: The high-precision platform generates precise satellite orbit corrections and precise satellite clock corrections based on the high-frequency feedback data from the CORS base station through interpolation fitting, and sends them southward to the LMF (Location Management Function) in CS mode.

[0078] Step 6: LMF network element is the most important network element in this application (the proposal proposes a new network element and defines the detailed functions of the network element). The main development functions are as follows: Unpack and repack the received precise satellite orbit corrections and precise satellite clock corrections. In the GNSS Assistance Data Elements in the 3GPP37.355 LTE Positioning Protocol (LPP) protocol, two new elements, precise satellite orbit corrections and precise satellite clock corrections, are defined as four groups of precise satellite orbit corrections: GPS-Precision-orbitcorrection, BDS-Precision-orbitcorrection, Galileo-Precision-orbitcorrection, and GLONASS-Precision-orbitcorrection; and four groups of precise satellite clock corrections: GPS-Precision-clockcorrection, BDS -Precision-clockcorrection, Galileo -Precision-clockcorrection, and GLONASS -Precision-clockcorrection. For the specific solution in this part, please refer to step 7.

[0079] Map precision-clockcorrection and precision-clockcorrection to Mapping of posSibType to assistance data element in 3GPP37.355 LTE Positioning Protocol (LPP) protocol (newly added Type 2-26 and 2-27 posSIBs (messages of different satellite systems cannot be mapped to the same SI). For the specific solution of this part, please refer to steps 8 and 9.

[0080] The LMF side packages the data and transmits it to the GNB side according to the 8.4.1Assistance Information Control signaling in the 3GPP 38.455 NR Positioning Protocol A (NRPPa). For details of this part, see step 10.

[0081] Since there is no corresponding interface between LMF and GNB, the Assistance Information Control signaling must be transparently transmitted to the GNB side through the AMF network element (through the NL1 interface between LMF and AMF). The LMF side encapsulates the Assistance Information Control signaling in step 11 into the Namf_Communication_NonUeN2MessageTransfer signaling in the 3GPP 23.273 5G System (5GS) LocationServices (LCS) protocol. For details, see 6.14.1 Broadcast of Assistance Data by an LMF. For the specific solution of this part, see step 12.

[0082] The GNB side completes the air interface SIB broadcast according to the posSibType and air interface broadcast frequency defined on the LMF side. For details of this part, see step 13.

[0083] Step 7: LMF adds Precision-orbitcorrection and Precision-clockcorrection information elements for GNSS Assistance Data Elements data mapping. Take the BDS system as an example (the precise orbit correction number and precise satellite clock correction number of the BDS system are mapped to the newly added information elements respectively): Step 7.1: The precision orbit correction correction number is mapped to BDS-Precision-orbitcorrection. The precision ephemeris (orbit correction number) of the existing high-precision platform provides satellite orbit correction numbers at 15-minute intervals, but it is given in the form of discrete positions, that is, it only provides satellite coordinates at equally spaced time points, and the time interval is usually 15 minutes. However, the sampling interval of terminal GNSS observation values ​​is generally 30 seconds, 10 seconds, 1 second, or even smaller. Therefore, it is necessary to use interpolation or fitting methods to obtain the satellite coordinates of the required epoch time (such as the satellite signal transmission time that GNSS navigation and positioning users are concerned about). The model selection and interpolation fitting are completed by the high-precision platform, which can provide second-level precision orbit correction numbers and send them to the LMF side.

[0084] According to the newly added mapping relationship in the proposal, the precise orbit correction number of a single satellite needs to occupy 69 bits. If all the MEO and IGSO satellite data of the Beidou system need to be transmitted, 27*69+19 equals 1882 bits. The existing 3GPP 38.331 RadioResource Control (RRC) protocol specification adds additional requirements for the description of System information, i.e. SI, and an air interface SI size is a maximum of 2976 bits. Therefore, all satellites of the Beidou system can be mapped to the same PosSIB without segmentation.

[0085] Step 7.2: The precision clock correction correction number is mapped to BDS-Precision-clockcorrection. In the current network, due to the rapid and more complex changes in satellite clock errors, the sampling interval of clock correction numbers cannot meet the needs of precise single-point positioning. For this reason, the high-precision platform releases special precision clock error data, and its sampling interval is generally 5 minutes, 30 seconds, 5 seconds, or even more frequent. Despite this, the satellite clock error at the time of signal transmission still needs to be interpolated and fitted during the positioning process. Commonly used precision satellite clock error interpolation methods include linear interpolation, binomial interpolation, cubic spline interpolation, Lagrange polynomial interpolation, etc. Since the interval of precision clock error data is small, the linear interpolation method can meet the accuracy of clock error interpolation. The model selection and interpolation fitting are completed by the high-precision platform, which can provide second-level precision clock error correction numbers and send them to the LMF side.

[0086] According to the newly added mapping relationship in the proposal, the precise clock correction number of a single satellite needs to occupy 18 bits. If all the MEO and IGSO satellite data of the Beidou system need to be transmitted, 27*18+28 equals 514 bits. The existing 3GPP 38.331 Radio Resource Control (RRC) protocol specification adds additional requirements for the description of System information, i.e. SI. The maximum size of an air interface SI is 2976 bits. Therefore, the precise clock correction number of all satellites of the Beidou system can be mapped to the same PosSIB without segmentation.

[0087] Step 8: LMF maps the newly added Precision-orbitcorrection and Precision-clockcorrection in the proposal to the Mapping of posSibType to assistance data element in the 3GPP 37.355 LTE Positioning Protocol (LPP) protocol (newly added Type 2-26 and 2-27 posSIBs, and the messages of different satellite systems cannot be mapped to the same SI).

[0088] The specific mapping examples corresponding to this step are shown in the following table:

[0089] Step 9: When mapping Precision-orbitcorrection and Precision-clockcorrection to the corresponding type 2-26 and 2-27, the following principles must be followed: For Generic posSIB, posSIBs of different satellite systems cannot be placed in the same air interface SI, that is, two posSIBs of Type 2-26 and 2-27, "Beidou" and "GPS", cannot be placed in the same air interface SI.

[0090] Each posSIB, including the Generic posSIB of the same system, can only appear once in an SI, that is, multiple segments of the same Type cannot be placed in the same air interface SI (referring to one cycle).

[0091] Non-Generic posSIBs and posSIBs of different types (regardless of whether they are from the same system) can be placed in the same SI.

[0092] Non-Generic posSIB and Generic posSIB can be placed in the same SI.

[0093] LMF maps the north-bound satellite precise orbit correction and precise clock correction to the newly added PosSIBType2-26 and Type2-27 posSIBs in the air interface based on the newly added GNSS-Precision-orbitcorrection and GNSS-Precision-clockcorrection in 3GPP 37.355.

[0094] Step 10: The LMF side packages and transmits the data to the GNB side according to the 8.4.1 Assistance Information Control signaling in the 3GPP 38.455 NR Positioning Protocol A (NRPPa) protocol (there is no direct interface between the LMF and the GNB, and it needs to be transparently transmitted through the AMF). The purpose of the assistance information control process is to allow the LMF to send positioning assistance information to the NG-RAN node using a signal for assistance information broadcasting.

[0095] Step 11: Figure 2 This is one of the flow diagrams of the precise point positioning method provided by the present invention, see Figure 2 Since there is no direct interface between LMF and GNB, the Assistance Information Control signaling (mainly including Message Type, NRPPa Transaction ID, Assistance Information, Broadcast, Positioning Broadcast Cells fields) must be transparently transmitted to the GNB side through the AMF network element (there is an NL1 interface between LMF and AMF). The LMF side encapsulates the Assistance Information Control signaling in step 10 into the Namf_Communication_NonUeN2MessageTransfer message in the 3GPP 23.273 5G System (5GS) Location Services (LCS) protocol. LMF calls the Namf_Communication_NonUeN2MessageTransfer service operation to AMF to request the transmission of the network assistance data (Assistance Information Control) message to the GNB node in NG-RAN. The service operation includes a network assistance data message and a target GNB node (Assistance Information Control signaling routing end point) identifier. The network assistance data message includes assistance data, which can be selectively encrypted.

[0096] globalRanNodeList contains the list of GNBs that LMF hopes AMF will transparently transmit to. This part of the data can be obtained according to the CELLlist in step 5 (the cell that you want to broadcast must be the GNB site to which RTK data needs to be transmitted), that is, the GNB corresponding to the Positioning Broadcast Cells in the Assistance Information Control message.

[0097] The n2Information cell includes the information to be sent to the identified GNB node on the N2 interface and the additional information required by the AMF to process the message. The Message Type, NRPPaTransaction ID, Assistance Information, and Broadcast fields in the Assistance Information Control are encapsulated in the n2Information cell.

[0098] Step 12: After receiving the Namf_Communication_NonUeN2MessageTransfer message from the LMF side, the AMF transparently transmits the n2Information information to the corresponding GNB through the DOWNLINK NON UEASSOCIATED NRPPA TRANSPORT message according to the GNB site defined in the globalRanNodeList (the AMF side only completes the transparent transmission work and unpacks and sends it).

[0099] AMF transmits DOWNLINK NON UE ASSOCIATED NRPPA TRANSPORT signaling to the GNB node through the NG interface, which is used by LMF to transmit NRPPa signaling (defined in TS 38.413) to GNB. This signaling is a broadcast signaling and is not related to a single UE. It is used for the GNB side to broadcast it as a whole in the cell in the form of a broadcast after receiving it.

[0100] The DOWNLINK NON UE ASSOCIATED NRPPA TRANSPORT signaling mainly includes MessageType, Routing ID, and NRPPa-PDU; the NRPPa-PDU element is the encapsulated n2Information, which carries the Message Type, NRPPa Transaction ID, Assistance Information, and Broadcast fields in the original Assistance Information Control.

[0101] Step 13: After receiving the DOWNLINK NON UE ASSOCIATED NRPPA TRANSPORT message, GNB decodes the NRPPa-PDU and decides whether to broadcast PosSIBs according to Broadcast (ON, OFF).

[0102] The mapping of posSIBs to SI messages is configured in posSchedulingInfoList and SchedulingInfoList2. Ordinary SIBs and posSIBs are also mapped to separate SI messages. Based on the above segmentation conclusions, the mapping requirements are as follows: For Generic posSIB, posSIBs of different satellite systems cannot be placed in the same air interface SI, that is, two posSIBs of Type 2-26 and 2-27, "Beidou" and "GPS", cannot be placed in the same air interface SI.

[0103] Each posSIB, including the Generic posSIB of the same system, can only appear once in an SI, that is, multiple segments of the same Type cannot be placed in the same air interface SI (referring to one cycle).

[0104] Non-Generic posSIBs and posSIBs of different types (regardless of whether they are from the same system) can be placed in the same SI.

[0105] Non-Generic posSIB and Generic posSIB can be placed in the same SI.

[0106] Step 14: The terminal bottom driver layer parses the SI and parses and encapsulates the segments one by one to obtain the original PosSIB code stream and provides it to the terminal high-level application layer (GNSS module) for use. This part is the principle of precise positioning, not the key technology of the proposal, and is only briefly introduced.

[0107] Precise single-point positioning uses the precise ephemeris modification number and satellite clock difference modification number provided by the high-precision platform to correct the terminal GNSS module self-test ephemeris and clock, obtain the precise satellite position and satellite precise time, and perform high-precision positioning based on the carrier phase observation value. The observation equation is as follows:

[0108] Where, P is the pseudorange combined observation value; L is the carrier phase combined observation value (equivalent distance); p is the geometric distance between the measuring station (X, Y, Z) and the GPS satellite (X, Y, Z); c is the speed of light; is the GPS receiver clock error; is the clock error of GPS satellite i; N is the ionospheric-free combined ambiguity; M is the projection function; zpd is the tropospheric delay in the zenith direction.

[0109] The precise single-point calculation process mainly includes: preprocessing of observation data; fitting and interpolation of precise ephemeris and precise satellite clock errors; model correction of various errors and parameter estimation, etc.

[0110] Figure 3 This is the second flow diagram of the precise single point positioning method provided by the present invention. The overall network element architecture of the technical solution is as follows: Figure 3 As shown, it includes a server side and a user side, the server side includes a server of a 5G core network, and the user side includes a terminal; the real-time data receiving and synchronization module in the server side obtains the observation data, station coordinates and antenna information of the CORS base station, and transmits the obtained data stream to the real-time data stream preprocessing module, the preprocessing module performs interpolation fitting preprocessing and sends the data to the real-time satellite trajectory estimation module and the real-time satellite clock error estimation module, the data is encoded and sent to the real-time product broadcasting module; the real-time product broadcasting module sends the processed data to the real-time data receiving module of the user side through real-time communication; the actual observation data and navigation message receiving module of the user side obtains the receiver observation data, and sends the data to the real-time data receiving module; the real-time precise single-point positioning module performs real-time positioning based on the data in the real-time data receiving module, and sends the positioning result to the user terminal display module.

[0111] Specifically, the implementation process of each module is as follows: The real-time data stream receiving and synchronization module receives real-time GNSS observation data from each continuously operating CORS reference station network, and receives ultra-fast precision orbit data from the outside. The system uses the Internet Protocol (TCP / IP) for the transmission of precise orbit data. After receiving the observation data, it is immediately decoded and time synchronized, and used as the observation data estimated by the real-time satellite clock on the server side. The real-time data broadcasting module broadcasts real-time precise orbit, clock error and other correction data to the user end (this proposal proposes to use the 5G network to implement the real-time data broadcasting module).

[0112] Figure 4 This is the third flow diagram of the precise point positioning method provided by the present invention. The key architecture of this solution (the key technology in the red box is the proposed technology) is as follows: Figure 4 shown.

[0113] The CORS base station collects RTCM messages and sends them to the high-precision platform; the high-precision platform interpolates and fits the high-frequency precision data of the satellite's precise orbit correction number and precise clock correction number based on the real-time messages.

[0114] According to the 5G cells under the geographic grid, LMF encapsulates the precise orbit correction and precise clock error in the form of LPP protocol, then encapsulates it into PosSIB, and then sends it to the corresponding AMF through Namf_Communication_NonUeN2MessageTransfer; at the same time, it obtains the 5G site, cell information, and AMF information covered by the geographic grid.

[0115] The AMF network element (transparent transmission) sends n2Information to the corresponding GNB according to the globalRanNodeList information element.

[0116] The GNB network element broadcasts posSIB to the corresponding CELL according to the Positioning Broadcast Cells information element.

[0117] After receiving posSIB, UE unpacks it into precise orbit modification and precise clock correction data to complete precise correction of satellite position and satellite time. At the same time, it receives satellite ephemeris, clock error and other data obtained by UE based on its autonomous GNSS hardware capability to measure satellite messages.

[0118] The UE completes precise positioning based on precise satellite data.

[0119] Figure 5 This is the fourth flow diagram of the precise point positioning method provided by the present invention. From the perspective of the signaling plane, the architecture is constructed as follows: Figure 5 shown.

[0120] Satellite data is observed by CORS base station and reported to the high-precision positioning platform in real time through NTRIP protocol. The high-precision platform uses interpolation fitting model to process the observed data to obtain real-time data of precise satellite orbit correction and precise satellite clock correction, and sends it to LMF. LMF is responsible for decoding and splitting RTCM messages (specifically involving precise orbit data and precise clock correction data), encapsulating them into posSIBs (the proposed new mapping field is used to encapsulate real-time data) cells, and transparently transmitting them to GNB through AssistanceInformation Control message (the actual process uses AMF's exposed service Namf_Communication_NonUeN2MessageTransfer service), where the Assistance Information Control message carries the list of cells to be broadcast. GNB periodically sends PosSIB segments according to the posSchedulingInfoList setting of the cell side, and UE receives precise orbit data and precise clock correction data broadcasted by RRC protocol according to posSchedulingInfoList indication, while taking into account the errors of ionosphere and troposphere to achieve high-precision positioning function. The entire business processing flow is based on the 5G site broadcast mode and is triggered by the upper layer.

[0121] Understandably, by broadcasting precise orbits and precise clock errors through the 5G network, the original GNSS precise point positioning method is changed from transmitting real-time data via GEO (high-orbit and geostationary orbit satellites) to broadcasting such data via the 5G network. This allows ordinary cellular communication standard (3GPP) terminals to independently complete GNSS precise point positioning, thereby improving the positioning accuracy of 3GPP communication terminals.

[0122] This embodiment provides a precise point positioning method, which is applied to a terminal, and the terminal is a 3GPP compatible terminal. The precise point positioning method in this embodiment is executed by the terminal. Figure 6 This is the second flow chart of the precise point positioning method provided by the present invention. Figure 6 As shown, the method includes but is not limited to the following steps: Step 601, obtaining a positioning system information block sent by a base station, wherein the positioning system information block is sent by a location management function terminal to the base station, the positioning system information block is obtained by the location management function terminal based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; Step 602: Implement precise point positioning based on the positioning system information block.

[0123] Through the embodiments provided in the present application, a positioning system information block sent by a base station is obtained, wherein the positioning system information block is sent by a location management function terminal to a base station, the positioning system information block is obtained by the location management function terminal based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; precise single-point positioning is achieved based on the positioning system information block; the precise single-point positioning method in the related technology is solved, and the technical problem that a 3GPP-compatible terminal cannot independently complete precise single-point positioning is solved, thereby improving the positioning accuracy of 3GPP-compatible terminals.

[0124] As an optional solution, obtaining a positioning system information block sent by a base station includes: Acquire multiple positioning system information block segments broadcast based on a radio resource control protocol, wherein the multiple positioning system information block segments are obtained by splitting the base station based on the positioning system information block, and each positioning system information block segment in the multiple positioning system information block segments includes a location scheduling information list; A plurality of positioning system information block segments are received based on an indication of the location scheduling information list.

[0125] As an optional solution, the positioning system information block is transparently transmitted by the access and mobility management function end. The positioning system information block is obtained by the location management function end after decoding and unpacking the Maritime Radio Technical Committee message and then re-packaging it. The access and mobility management function end transparently transmits the positioning system information block to the base station based on the Namf_Communication_NonUeN2MessageTransfer message sent by the location management function end.

[0126] As an optional solution, the precise satellite orbit correction data and the precise satellite clock correction data are obtained by the high-precision positioning platform using an interpolation fitting model to process the global navigation satellite system data, and the Maritime Radio Technical Commission message is obtained by encoding the precise satellite orbit correction data and the precise satellite clock correction data.

[0127] Figure 7 is one of the structural schematic diagrams of the precise single-point positioning device provided by the present invention, and the precise single-point positioning device is applied to a base station, such as Figure 7 As shown, the precise single-point positioning device includes but is not limited to the following modules: The first acquisition module 701 is used to acquire the positioning system information block sent by the location management function end, wherein the positioning system information block is obtained by the location management function end based on the Maritime Radio Technical Committee message, and the Maritime Radio Technical Committee message is obtained by the high-precision positioning platform based on the global navigation satellite system data obtained by the continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; The sending module 702 is used to send the positioning system information block to the terminal, wherein the terminal implements precise single point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal

[0128] Through the embodiments of the present application, a positioning system information block is obtained by the location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; the positioning system information block is sent to a terminal, wherein the terminal realizes precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP-compatible terminal; the precise single-point positioning method in the related art is solved, and the technical problem that a 3GPP-compatible terminal cannot independently complete precise single-point positioning is solved, thereby improving the positioning accuracy of the 3GPP-compatible terminal.

[0129] Figure 82 is a schematic diagram of the structure of the precise single-point positioning device provided by the present invention. The precise single-point positioning device is applied to a terminal, and the terminal is a 3GPP compatible terminal, such as Figure 8 As shown, the precise single-point positioning device includes but is not limited to the following modules: The second acquisition module 801 is used to acquire a positioning system information block sent by the base station, wherein the positioning system information block is sent by the location management function end to the base station, the positioning system information block is obtained by the location management function end based on the Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by the high-precision positioning platform based on the global navigation satellite system data obtained by the continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; The positioning module 802 is used to implement precise point positioning based on the positioning system information block.

[0130] It should be noted that the precise single-point positioning device provided by the present invention can execute the precise single-point positioning method of any of the above-mentioned embodiments during specific operation, which will not be elaborated in this embodiment.

[0131] Fig. 9 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Fig. 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930 and a communication bus 940, wherein the processor 910, the communication interface 920 and the memory 930 complete mutual communication through the communication bus 940. The processor 910 may call the logic instructions in the memory 930 to execute the precise point positioning method, the method comprising: obtaining a positioning system information block sent by the position management function end, wherein the positioning system information block is obtained by the position management function end based on the Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by the high-precision positioning platform based on the global navigation satellite system data obtained by the continuously running reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; sending the positioning system information block to the terminal, wherein the terminal implements precise point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0132] In addition, the logic instructions in the above-mentioned memory 930 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0133] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, and when the program instructions are executed by a computer, the computer can execute the precise single-point positioning method provided by the above-mentioned embodiments, the method including: obtaining a positioning system information block sent by a location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; sending the positioning system information block to a terminal, wherein the terminal realizes precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0134] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the precise single-point positioning method provided in the above-mentioned embodiments, the method comprising: obtaining a positioning system information block sent by a location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; sending the positioning system information block to a terminal, wherein the terminal implements precise single-point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

[0135] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0136] Through the description of the above implementation modes, those skilled in the art can clearly understand that each implementation mode can be implemented by means of software plus a necessary general hardware platform, or of course by hardware. Based on such an understanding, the above technical solution can essentially or in other words be embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0137] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A precise point positioning method, characterized in that: Applied to a base station, the method comprises: Obtaining a positioning system information block sent by a location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Commission message, the Maritime Radio Technical Commission message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Commission message includes precise satellite orbit correction data and precise satellite clock correction data; The positioning system information block is sent to a terminal, wherein the terminal implements precise point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

2. The precise point positioning method according to claim 1, characterized in that: The sending the positioning system information block to the terminal includes: Splitting the positioning system information block into a plurality of positioning system information block segments; The multiple positioning system information block segments are broadcast based on a radio resource control protocol, wherein each of the multiple positioning system information block segments contains a location scheduling information list, and the terminal receives the multiple positioning system information block segments based on an indication of the location scheduling information list.

3. The precise point positioning method according to claim 1, characterized in that: The obtaining of the positioning system information block sent by the location management function terminal includes: Obtain the positioning system information block transparently transmitted by the access and mobility management function end, wherein the positioning system information block is obtained by the location management function end after decoding and unpacking the Maritime Radio Technical Committee message and then repackaging it; the access and mobility management function end transparently transmits the positioning system information block to the base station based on the Namf_Communication_NonUeN2MessageTransfer message sent by the location management function end.

4. The precise point positioning method according to claim 1, characterized in that: The precise satellite orbit correction data and the precise satellite clock correction data are obtained by the high-precision positioning platform processing the global navigation satellite system data using an interpolation fitting model, and the Maritime Radio Technical Committee message is obtained by encoding the precise satellite orbit correction data and the precise satellite clock correction data.

5. A precise single-point positioning method, characterized in that: Applied to a terminal, the terminal being a 3GPP compatible terminal, the method comprises: Obtaining a positioning system information block sent by a base station, wherein the positioning system information block is sent by a location management function end to the base station, the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; Precise point positioning is achieved based on the positioning system information block.

6. A precision single-point positioning device, characterized in that: Applied to a base station, the device comprises: A first acquisition module is used to acquire a positioning system information block sent by a location management function end, wherein the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; A sending module is used to send the positioning system information block to a terminal, wherein the terminal implements precise point positioning based on the positioning system information block, and the terminal is a 3GPP compatible terminal.

7. A precision single-point positioning device, characterized in that: Applied to a terminal, the terminal being a 3GPP compatible terminal, the device comprises: A second acquisition module is used to acquire a positioning system information block sent by a base station, wherein the positioning system information block is sent by a location management function end to the base station, the positioning system information block is obtained by the location management function end based on a Maritime Radio Technical Committee message, the Maritime Radio Technical Committee message is obtained by a high-precision positioning platform based on global navigation satellite system data obtained by a continuously operating reference station, and the Maritime Radio Technical Committee message includes precise satellite orbit correction data and precise satellite clock correction data; A positioning module is used to achieve precise point positioning based on the positioning system information block.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the precise point positioning method according to any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the precise point positioning method according to any one of claims 1 to 5 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the precise point positioning method according to any one of claims 1 to 5 is implemented.

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