Method and device for dynamically adjusting positioning weight, memory and storage medium

Abstract

The invention relates to the technical field of satellite positioning, and discloses a method for dynamically adjusting a positioning weight. Comprising the following steps: grading environment quality, and judging an environment level of a current environment according to a grading standard; defining the motion mode, and judging the current motion mode according to the definition of the motion mode; judging the accuracy of the current positioning position precision; judging whether the motion mode, the environment quality and the current positioning position accuracy meet preset conditions or not; if yes, reducing the pseudo-range observed quantity weight and improving the Doppler observed quantity weight; if not, the Doppler observed quantity weight is reduced, and the pseudo-range observed quantity weight is improved; the method has the advantage of improving the precision and smoothness of the positioning track.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to a method, device, memory and storage medium for dynamically adjusting positioning weights. Background Art

[0002] For GNSS, the accuracy and smoothness of the positioning trajectory are two of the most important indicators. Especially for devices with small antennas such as watches and handheld devices, the satellite signal power is generally low, and the usage scenarios are usually in environments with severe multipath scenarios such as unilateral occlusion and bilateral occlusion. Therefore, it is very difficult to obtain good positioning trajectory accuracy and smoothness.

[0003] The existing method selects satellites and weights the pseudorange observations according to the pseudorange signal strength indicator carrier-to-noise ratio (CN0), elevation angle, prior residual and other information. The trajectory cannot be very smooth on open roads, and the repair is also slow in open environments after offset.

[0004] Therefore, a method, device, memory and storage medium for dynamically adjusting positioning weight are provided to solve the above problems. Summary of the invention

[0005] The main purpose of the present invention is to solve the problem in the prior art that the pseudorange observation quantity is weighted by selecting satellites according to the signal strength indicator carrier-to-noise ratio (CN0), elevation angle, prior residual and other information of the pseudorange, the trajectory cannot be very smooth in open sections, and the repair is also slow in an open environment after offset.

[0006] A first aspect of the present invention provides a method for dynamically adjusting positioning weights, the method for dynamically adjusting positioning weights comprising:

[0007] Classify the environmental quality and determine the current environmental level according to the classification standards;

[0008] Define the motion mode, and determine the current motion mode according to the definition of the motion mode;

[0009] Determine the accuracy of the current positioning position;

[0010] Determine whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; if so, reduce the weight of the pseudorange observation and increase the weight of the Doppler observation; if not, reduce the weight of the Doppler observation and increase the weight of the pseudorange observation.

[0011] Optionally, the grading of environmental quality includes:

[0012] The environmental qualities are marked in order from good to bad as open environment SHELTER0, slightly blocked SHELTER1, moderately blocked SHELTER2, severely blocked SHELTER3, and severely blocked SHELTER4.

[0013] Optionally, the specific method of determining the environmental level of the current environment according to the classification standard includes:

[0014] Count the number of satellites with CN0 greater than 30dBHz (up30Cnt), the number of satellites with CN0 greater than 25dBHz (up25Cnt), the number of satellites with CN0 greater than 20dBHz (up20Cnt), and the number of satellites with CN0 greater than 15dBHz (up15Cnt);

[0015] Calculate the average CNO of all satellites, denoted as averCN0;

[0016] When up30Cnt>TH1, up25Cnt>TH2 and averCN0>TH3 are established at the same time, the current environment level is SHELTER0;

[0017] When up25Cnt>TH4, up20Cnt>TH5 and averCN0>TH6 are established at the same time, the current environment level is SHELTER1;

[0018] When up20Cnt>TH7, up15Cnt>TH8 and averCN0>TH9 are established at the same time, the current environment level is SHELTER2;

[0019] When up20Cnt>TH10, up15Cnt>TH11 and averCN0>TH12 are established at the same time, the current environment level is SHELTER3;

[0020] If the above conditions are not met, the current environment level is determined to be SHELTER4.

[0021] Optionally, the defining of the motion mode and determining the current motion mode according to the definition of the motion mode specifically includes:

[0022] The movement modes are defined as stationary mode, straight-line travel mode, turning mode, and other modes;

[0023] A certain window period length n is set. Within the window period length n, when the heading change is less than TH13, and the heading variance within the window period length is less than TH14, it is identified as the straight-ahead mode; if the heading continues to increase, or continues to decrease, or the heading change within the window period is greater than TH15, it is identified as the turning mode; when the speed is continuously less than the threshold THStatic, it is identified as the stationary mode. If the above conditions are not met, it is identified as other modes.

[0024] Optionally, the determining the accuracy of the current positioning position precision specifically includes:

[0025] Calculate the variance psrStd of the prior residual of this pseudorange observation.

[0026] If the signal environment is better than SHELTER2 and psrStd>THPsrSTD, the position is judged to be inaccurate; if the signal environment is better than SHELTER2 and psrStd<THPsrSTD, the position is judged to be accurate; in other cases, the position accuracy is judged to be unknown.

[0027] Optionally, the determining whether the motion mode, environmental quality, and current positioning position accuracy meet preset conditions; if so, reducing the pseudorange observation weight and increasing the Doppler observation weight; if not, reducing the Doppler observation weight and increasing the pseudorange observation weight specifically includes:

[0028] If the signal environment is better than SHELTER2, the behavior mode is straight, and the position accuracy is judged to be accurate, then the weight of the pseudorange observation is reduced and the weight of the Doppler observation is increased;

[0029] If the position accuracy is judged to be inaccurate, the weight of the Doppler observation is reduced and the weight of the pseudorange observation is increased.

[0030] A second aspect of the present invention provides a device for dynamically adjusting positioning weights, comprising:

[0031] The environmental quality classification judgment module is used to classify the environmental quality and judge the environmental level of the current environment according to the classification standards;

[0032] A sports mode classification judgment module is used to define the sports mode and judge the current sports mode according to the definition of the sports mode;

[0033] Positioning progress judgment module, used to judge the accuracy of the current positioning precision;

[0034] The weight judgment and adjustment module judges whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; if so, the weight of the pseudo-range observation is reduced and the weight of the Doppler observation is increased; if not, the weight of the Doppler observation is reduced and the weight of the pseudo-range observation is increased.

[0035] A third aspect of the present invention provides an electronic device, the electronic device comprising a memory and at least one processor, the memory storing instructions;

[0036] The at least one processor calls the instructions in the memory to enable the electronic device to execute the various steps of the method for dynamically adjusting the positioning weight as described above.

[0037] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, and when the instructions are executed by a processor, the various steps of the method for dynamically adjusting the positioning weight as described above are implemented.

[0038] In the technical solution of the present invention, a method is proposed, which reduces the overall weight of pseudorange observations under certain conditions and reduces the overall weight of Doppler under certain conditions by distinguishing the signal environment, straight-line turning behavior, and position accuracy, thereby effectively improving the accuracy and smoothness of the positioning trajectory in open and complex scenes and greatly improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flow chart of a method for dynamically adjusting positioning weights provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the structure of a device for dynamically adjusting positioning weights provided by an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The embodiment of the present invention provides a method for dynamically adjusting the positioning weight, including grading the environmental quality, judging the environmental level of the current environment according to the grading standard; defining the motion mode, judging the current motion mode according to the definition of the motion mode; judging the accuracy of the current positioning position precision; judging whether the motion mode, environmental quality and the accuracy of the current positioning position meet the preset conditions; if so, reducing the weight of the pseudorange observation amount and increasing the weight of the Doppler observation amount; if not, reducing the weight of the Doppler observation amount and increasing the weight of the pseudorange observation amount. The present invention solves the problem in the prior art that the pseudorange observation amount is weighted by selecting stars according to the pseudorange signal strength indicator carrier-to-noise ratio (CN0), elevation angle, prior residual and other information, the trajectory cannot be very smooth, and it is also more likely to deviate when entering a complex section from an open section.

[0043] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , a first embodiment of the method for dynamically adjusting the positioning weight in an embodiment of the present invention includes:

[0045] Classify the environmental quality and determine the current environmental level according to the classification standards;

[0046] Specifically include:

[0047] The environmental quality is marked from good to bad as open environment SHELTER0, slightly blocked SHELTER1, moderately blocked SHELTER2, severely blocked SHELTER3, and severely blocked SHELTER4;

[0048] Count the number of satellites with CN0 greater than 30dBHz (up30Cnt), the number of satellites with CN0 greater than 25dBHz (up25Cnt), the number of satellites with CN0 greater than 20dBHz (up20Cnt), and the number of satellites with CN0 greater than 15dBHz (up15Cnt);

[0049] Calculate the average CNO of all satellites, denoted as averCN0;

[0050] When up30Cnt>TH1, up25Cnt>TH2 and averCN0>TH3 are established at the same time, the current environment level is SHELTER0;

[0051] When up25Cnt>TH4, up20Cnt>TH5 and averCN0>TH6 are established at the same time, the current environment level is SHELTER1;

[0052] When up20Cnt>TH7, up15Cnt>TH8 and averCN0>TH9 are established at the same time, the current environment level is SHELTER2;

[0053] When up20Cnt>TH10, up15Cnt>TH11 and averCN0>TH12 are established at the same time, the current environment level is SHELTER3;

[0054] If the above conditions are not met, the current environment level is determined to be SHELTER4.

[0055] Define the motion mode, and determine the current motion mode according to the definition of the motion mode;

[0056] Specifically include:

[0057] The movement modes are defined as stationary mode, straight-line travel mode, turning mode, and other modes;

[0058] A certain window period length n is set. Within the window period length n, when the heading change is less than TH13, and the heading variance within the window period length is less than TH14, it is identified as the straight-ahead mode; if the heading continues to increase, or continues to decrease, or the heading change within the window period is greater than TH15, it is identified as the turning mode; when the speed is continuously less than the threshold THStatic, it is identified as the stationary mode. If the above conditions are not met, it is identified as other modes.

[0059] Determine the accuracy of the current positioning position;

[0060] Specifically, they include:

[0061] Calculate the variance psrStd of the prior residual of this pseudorange observation.

[0062] If the signal environment is better than SHELTER2 and psrStd>THPsrSTD, the position is judged to be inaccurate; if the signal environment is better than SHELTER2 and psrStd<THPsrSTD, the position is judged to be accurate; in other cases, the position accuracy is judged to be unknown.

[0063] Determine whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; if so, reduce the weight of the pseudorange observation and increase the weight of the Doppler observation; if not, reduce the weight of the Doppler observation and increase the weight of the pseudorange observation;

[0064] Specifically: if the signal environment is better than SHELTER2, the behavior mode is straight, and the position accuracy is judged to be accurate, the weight of the pseudorange observation is reduced and the weight of the Doppler observation is increased;

[0065] If the position accuracy is judged to be inaccurate, the weight of the Doppler observation is reduced and the weight of the pseudorange observation is increased.

[0066] The above describes the method for dynamically adjusting the positioning weight in the embodiment of the present invention. The following describes the device for dynamically adjusting the positioning weight in the embodiment of the present invention. Figure 2 , the device for dynamically adjusting the positioning weight in the embodiment of the present invention includes:

[0067] The environmental quality classification judgment module 201 is used to classify the environmental quality and judge the environmental level of the current environment according to the classification standard;

[0068] The motion mode classification determination module 202 is used to define the motion mode and determine the current motion mode according to the definition of the motion mode;

[0069] The positioning progress determination module 203 is used to determine the accuracy of the current positioning precision;

[0070] The weight judgment and adjustment module 204 judges whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; if so, the pseudo-range observation weight is reduced and the Doppler observation weight is increased; if not, the Doppler observation weight is reduced and the pseudo-range observation weight is increased.

[0071] above Figure 2 The apparatus for dynamically adjusting the positioning weight in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The electronic device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0072] Figure 3 7 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device 700 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 710 (for example, one or more processors) and a memory 720, and one or more storage media 730 (for example, one or more mass storage devices) storing application programs 733 or data 732. Among them, the memory 720 and the storage medium 730 can be temporary storage or permanent storage. The program stored in the storage medium 730 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the electronic device 700. Furthermore, the processor 710 can be configured to communicate with the storage medium 730 to execute a series of instruction operations in the storage medium 730 on the electronic device 700.

[0073] The electronic device 700 may also include one or more power supplies 740, one or more wired or wireless network interfaces 750, one or more input and output interfaces 750, and / or one or more operating systems 731, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 3 The structure of the electronic device shown does not constitute a limitation on the electronic device, and may include more or less components than shown in the figure, or combine some components, or arrange the components differently.

[0074] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the method for dynamically adjusting the positioning weight.

[0075] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0076] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or partly contributed to the prior art or all or 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 a number of 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

[0077] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. 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 method for dynamically adjusting positioning weights, characterized in that: The method for dynamically adjusting the positioning weight includes: Classify the environmental quality and determine the current environmental level according to the classification standards; Define the motion mode, and determine the current motion mode according to the definition of the motion mode; Determine the accuracy of the current positioning position; Determine whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; if so, reduce the weight of the pseudorange observation and increase the weight of the Doppler observation; if not, reduce the weight of the Doppler observation and increase the weight of the pseudorange observation.

2. The method for dynamically adjusting positioning weights according to claim 1, characterized in that: The environmental quality classification includes: The environmental qualities are marked in order from good to bad as open environment SHELTER0, slightly blocked SHELTER1, moderately blocked SHELTER2, severely blocked SHELTER3, and severely blocked SHELTER4.

3. The method for dynamically adjusting positioning weights according to claim 2, characterized in that: The specific method of determining the environmental level of the current environment according to the classification standard includes: Count the number of satellites with CN0 greater than 30dBHz (up30Cnt), the number of satellites with CN0 greater than 25dBHz (up25Cnt), the number of satellites with CN0 greater than 20dBHz (up20Cnt), and the number of satellites with CN0 greater than 15dBHz (up15Cnt); Calculate the average CNO of all satellites, denoted as averCN0; When up30Cnt>TH1, up25Cnt>TH2 and averCN0>TH3 are established at the same time, the current environment level is SHELTER0; When up25Cnt>TH4, up20Cnt>TH5 and averCN0>TH6 are established at the same time, the current environment level is SHELTER1; When up20Cnt>TH7, up15Cnt>TH8 and averCN0>TH9 are established at the same time, the current environment level is SHELTER2; When up20Cnt>TH10, up15Cnt>TH11 and averCN0>TH12 are established at the same time, the current environment level is SHELTER3; If the above conditions are not met, the current environment level is determined to be SHELTER4.

4. The method for dynamically adjusting positioning weights according to claim 3, characterized in that: Defining the motion mode and determining the current motion mode according to the definition of the motion mode specifically includes: The movement modes are defined as stationary mode, straight-line travel mode, turning mode, and other modes; A certain window period length n is set. Within the window period length n, when the heading change is less than TH13, and the heading variance within the window period length is less than TH14, it is identified as the straight-ahead mode; if the heading continues to increase, or continues to decrease, or the heading change within the window period is greater than TH15, it is identified as the turning mode; when the speed is continuously less than the threshold THStatic, it is identified as the stationary mode. If the above conditions are not met, it is identified as other modes.

5. The method for dynamically adjusting positioning weights according to claim 4, characterized in that: The accuracy of determining the current positioning position precision specifically includes: Calculate the variance psrStd of the prior residual of this pseudorange observation. If the signal environment is better than SHELTER2 and psrStd>THPsrSTD, the position is judged to be inaccurate; if the signal environment is better than SHELTER2 and psrStd<THPsrSTD, the position is judged to be accurate; in other cases, the position accuracy is judged to be unknown.

6. The method for dynamically adjusting positioning weights according to claim 5, characterized in that: The determination of whether the motion mode, environmental quality and current positioning accuracy meet preset conditions; If yes, then reduce the weight of pseudorange observation and increase the weight of Doppler observation; If not, then reduce the Doppler observation weight and increase the pseudorange observation weight, specifically including: If the signal environment is better than SHELTER2, the behavior mode is straight, and the position accuracy is judged to be accurate, then the weight of the pseudorange observation is reduced and the weight of the Doppler observation is increased; If the position accuracy is judged to be inaccurate, the weight of the Doppler observation is reduced and the weight of the pseudorange observation is increased.

7. A device for dynamically adjusting positioning weight, characterized in that: include: The environmental quality classification judgment module is used to classify the environmental quality and judge the environmental level of the current environment according to the classification standards; A sports mode classification judgment module is used to define the sports mode and judge the current sports mode according to the definition of the sports mode; Positioning progress judgment module, used to judge the accuracy of the current positioning precision; The weight judgment and adjustment module determines whether the motion mode, environmental quality and current positioning accuracy meet the preset conditions; If yes, then reduce the weight of pseudorange observation and increase the weight of Doppler observation; If not, the weight of the Doppler observation is reduced and the weight of the pseudorange observation is increased.

8. An electronic device, comprising a memory and at least one processor, wherein instructions are stored in the memory; The at least one processor calls the instructions in the memory to enable the electronic device to execute each step of the method for dynamically adjusting the positioning weight as described in any one of claims 1 to 7.

9. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the various steps of the method for dynamically adjusting the positioning weight according to any one of claims 1 to 7 are implemented.

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