Position information correction method and device based on sensing and satellite positioning, medium, equipment and product

Abstract

The invention discloses a position information correction method and device based on sensing and satellite positioning, a medium, equipment and a product, relates to the technical field of communication, and is used for improving the accuracy of position information of terminal equipment. The method comprises the following steps: acquiring positioning auxiliary data of access network equipment and initial position information of terminal equipment in a coverage range of the access network equipment; and correcting the initial position information based on the positioning auxiliary data to obtain corrected position information of the terminal equipment.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of communication technology, and in particular, to a method, device, medium, equipment and product for correcting position information based on synesthesia and satellite positioning. Background Art

[0002] Synaesthesia integration technology mainly integrates the two functions of communication and perception, that is, it realizes the dual functions of communication and perception on the same base station. For example, the base station can calculate the location information and other parameters of the terminal device based on the electromagnetic waves emitted to the terminal device and the reflected echo.

[0003] However, relying solely on electromagnetic waves to sense the location information of a terminal device will result in poor accuracy in determining the location information of the terminal device. Summary of the invention

[0004] The present application provides a location information correction method, apparatus, medium, equipment and product for improving the accuracy of location information of a terminal device.

[0005] In order to achieve the above purpose, this application adopts the following technical solutions:

[0006] In a first aspect, a method for correcting location information is provided, the method comprising: obtaining positioning assistance data of an access network device and initial location information of a terminal device within the coverage area of ​​the access network device; correcting the initial location information based on the positioning assistance data to obtain corrected location information of the terminal device.

[0007] Optionally, the initial position information is corrected based on the positioning assistance data to obtain the corrected position information of the terminal device, including: using a preset correction model to process the positioning assistance data to obtain positioning correction data; the positioning assistance data includes the pseudorange between the access network device and the positioning satellite, and / or the carrier phase of the positioning satellite; the initial position information is corrected based on the positioning correction data to obtain the corrected position information of the terminal device.

[0008] Optionally, the initial location information is the perceived location information detected by the access network device through electromagnetic waves or the satellite positioning data of the terminal device.

[0009] Optionally, the perceived location information includes the interval distance between the access network device and the terminal device, and the initial location information is corrected based on the positioning correction data to obtain the corrected location information of the terminal device, including: when the initial location information is the perceived location information perceived by the access network device, correcting the location information of the access network device based on the positioning correction data; and determining the corrected location information of the terminal device based on the corrected location information of the access network device and the interval distance.

[0010] Optionally, based on the corrected location information and interval distance of the access network device, the corrected location information of the terminal device is determined, including: when the number of access network devices is greater than or equal to a first threshold, three-sided positioning is performed based on the corrected location information and interval distance of the access network device to obtain the corrected location information of the terminal device.

[0011] Optionally, the perceived location information also includes the azimuth of the terminal device, and the corrected location information of the terminal device is determined based on the corrected location information and interval distance of the access network device, including: when the number of access network devices is less than a first threshold, substituting the corrected location information, interval distance and azimuth of the access network device into a preset geometric function to obtain the corrected location information of the terminal device.

[0012] Optionally, the initial position information is corrected based on the positioning correction data to obtain the corrected position information of the terminal device, including: when the initial position information is the satellite positioning data of the terminal device, differential calculation is performed based on the positioning correction data and the initial position information to obtain the corrected position information of the terminal device.

[0013] Based on the technical solution provided by this application, the initial location information of the terminal device within the coverage of the access network device is corrected through the positioning auxiliary data of the access network device. In this way, the reference source of the terminal device's location information is increased, and the perception capability and navigation positioning capability are integrated. Compared with relying solely on electromagnetic waves to perceive the location information of the terminal device, the accuracy of the terminal device's location information can be improved.

[0014] In the second aspect, a location information correction device is provided, which includes: an acquisition unit and a processing unit; the acquisition unit is used to acquire positioning assistance data of an access network device and initial location information of a terminal device within the coverage area of ​​the access network device; the processing unit is used to correct the initial location information based on the positioning assistance data to obtain the corrected location information of the terminal device.

[0015] Optionally, the processing unit is specifically used to: use a preset correction model to process the positioning assistance data to obtain positioning correction data; the positioning assistance data includes the pseudorange between the access network device and the positioning satellite, and / or the carrier phase of the positioning satellite; based on the positioning correction data, correct the initial position information to obtain the corrected terminal device position information.

[0016] Optionally, the initial location information is the perceived location information detected by the access network device through electromagnetic waves or the satellite positioning data of the terminal device.

[0017] Optionally, the perceived location information includes the interval distance between the access network device and the terminal device, and the processing unit is specifically used to: correct the location information of the access network device based on the positioning correction data when the initial location information is the perceived location information perceived by the access network device; determine the corrected location information of the terminal device based on the corrected location information of the access network device and the interval distance.

[0018] Optionally, based on the corrected location information and interval distance of the access network device, the processing unit is specifically used to: when the number of access network devices is greater than or equal to a first threshold, perform three-sided positioning according to the corrected location information and interval distance of the access network device to obtain the corrected location information of the terminal device.

[0019] Optionally, the perceived location information also includes the azimuth of the terminal device, and the processing unit is specifically used to: when the number of access network devices is less than a first threshold, substitute the corrected location information, interval distance and azimuth of the access network device into a preset geometric function to obtain the corrected location information of the terminal device.

[0020] Optionally, the processing unit is further specifically used to: when the initial position information is satellite positioning data of the terminal device, perform differential calculation based on the positioning correction data and the initial position information to obtain corrected position information of the terminal device.

[0021] In a third aspect, a position information correction device is provided, which can implement the functions performed by the position information correction device in the above-mentioned aspects or possible designs. The functions can be implemented through hardware, such as: in one possible design, the position information correction device may include: a processor and a communication interface, and the processor can be used to support the position information correction device to implement the functions involved in the above-mentioned first aspect or any possible design of the first aspect.

[0022] In another possible design, the position information correction device may further include a memory, the memory being used to store computer-executable instructions and data necessary for the position information correction device. When the position information correction device is running, the processor executes the computer-executable instructions stored in the memory, so that the position information correction device performs the first aspect or any possible position information correction method of the first aspect.

[0023] In a fourth aspect, a computer-readable storage medium is provided, which may be a readable non-volatile storage medium, and which stores computer instructions or programs. When the computer-readable storage medium is run on a computer, the computer can execute the first aspect or any possible position information correction method of the above aspects.

[0024] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the position information correction method of the first aspect or any possible design of the above aspects.

[0025] In a sixth aspect, an electronic device is provided, the electronic device comprising one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, the one or more memories are used to store computer program codes, the computer program codes include computer instructions, and when the one or more processors execute the computer instructions, the electronic device executes the position information correction method as described in the first aspect or any possible design of the first aspect.

[0026] In a seventh aspect, a chip system is provided, the chip system including a processor and a communication interface, the chip system can be used to implement the function performed by the position information correction device in the first aspect or any possible design of the first aspect. In one possible design, the chip system also includes a memory, the memory is used to store program instructions and / or data. The chip system can be composed of a chip, or it can include a chip and other discrete devices, without limitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of a synaesthesia technology provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of another synaesthesia technology provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of the structure of an RTK system provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of the structure of a position information correction device provided in an embodiment of the present application;

[0031] Figure 5 A flowchart of a method for correcting position information provided in an embodiment of the present application;

[0032] Figure 6 A flowchart of another method for correcting position information provided in an embodiment of the present application;

[0033] Figure 7 A schematic diagram of the structure of a position information correction system provided in an embodiment of the present application;

[0034] Figure 8 A schematic diagram of the structure of another position information correction device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0037] It should also be understood that the term “comprising” indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements and / or components.

[0038] The following explains the terms involved in the embodiments of the present application.

[0039] 1. Synaesthesia technology: Figure 1 FIG. 1 shows a schematic diagram of a synaesthesia technology. Figure 1 As shown in the figure, the synaesthesia technology is a technology that integrates communication and perception functions. For example, in the drone detection solution, this technology mainly uses the high-precision detection capability and communication function of the access network equipment to achieve real-time monitoring and positioning of the drone. Specifically, the access network equipment senses the surrounding environment by emitting millimeter wave signals and receiving reflected signals. When the terminal device enters the monitoring area, its fuselage will reflect the millimeter wave signal. After the base station receives these reflected signals, it can accurately calculate the location, speed and other information of the drone through complex algorithm processing. At the same time, the millimeter wave base station also has a communication function, which can transmit the detected drone information to the ground control center in real time. In this way, the control center can grasp the dynamics of the drone in real time.

[0040] Figure 2 A schematic diagram of another synaesthesia technology is shown. Figure 2 As shown, the AAU in the access network device has a built-in electromagnetic wave transmitter, and the access network device can transmit electromagnetic waves to the surrounding space through the electromagnetic wave transmitter. The access network device may also include a BBU. The access network device is connected to the core network.

[0041] It should be noted that the interawareness integration technology based on communication base stations can provide communication and high-precision perception services. Through large-scale antenna arrays and millimeter wave technologies, and by utilizing the networking characteristics of base stations, it can provide drones with a stable, continuous, high-speed and reliable communication network, thereby achieving effective monitoring of drones. This type of monitoring not only improves the ability of low-altitude security, but also supports multi-target detection and continuous tracking and reporting of complete cross-regional tracks, providing technical and network support for various applications.

[0042] 2. RTK system: Figure 3 A schematic diagram of the structure of an RTK system is shown. Figure 3 As shown, the RTK system includes multiple base stations, a data processing center, a data communication link, and a positioning terminal (mobile station). Among them, the base station is installed at a known position on the ground, the precise coordinates of the base station are known, and the base station is equipped with a dual-frequency full-wavelength GNSS receiver. The base station continuously observes the satellite system at a specified sampling rate, performs self-solution after receiving the satellite signal, compares the position signal transmitted by the satellite with its actual position information, and determines the positioning error of the transmission process. The base station sends the positioning error to the data processing center through the data communication link. The data processing center determines the error correction information based on the approximate coordinates sent by the terminal, and sends the error correction information to the terminal. The advantage of network RTK technology is that users using the terminal do not need to establish a base station, and the distance between the terminal device and the base station can be expanded to hundreds of kilometers, which also reduces the error source and improves the reliability and accuracy of the error correction information.

[0043] In one example, the workflow of the RTK system may include the following steps:

[0044] S1. The base station obtains the carrier phase, pseudorange and other observation quantities of the Beidou satellite through the local Beidou receiver, and uploads the original data to the data processing center in real time through the wired network.

[0045] S2. The data processing center performs a data integrity check on the raw data sent by each base station. The data processing center has a network error model, including an ionosphere error model, a troposphere error model, a satellite orbit error model, etc.

[0046] S3. The terminal sends a differential data request to the data processing center, which includes rough information about the terminal's location, user login name, and user password. The data processing center verifies the user information and generates a virtual reference station near the terminal based on the terminal's location information after the verification. The virtual reference station can store differential data, which is correction data (also called correction information) affected by various error sources.

[0047] S4. The data processing center sends the differential data of the virtual reference station to the terminal according to the communication network used by the terminal.

[0048] S5. The terminal performs differential calculation based on Beidou observation data and differential data received from the virtual reference station to determine the location information.

[0049] Although Beidou positioning has wide coverage and high accuracy, there are errors in satellite positioning itself. For example, there are errors caused by satellite signals penetrating the ionosphere and troposphere, errors caused by the Doppler effect caused by high-speed satellite movement, as well as multipath effect errors, channel errors, satellite clock errors, ephemeris errors, internal noise errors, etc. These reasons lead to the decline of Beidou positioning performance and accuracy. Beidou's single-point positioning accuracy is only about 10m.

[0050] In order to better eliminate errors and improve Beidou positioning accuracy, the Beidou ground-based augmentation system is currently being established, and network (real-time kinematic, RTK) technology is being used to improve Beidou positioning accuracy, achieving real-time centimeter-level and post-event millimeter-level positioning accuracy.

[0051] In addition, since the construction of Beidou CORS involves site selection, site land leasing, purchase of Beidou receivers, installation of Beidou receiver antennas, equipment rooms, and power facilities, and subsequent operation and maintenance, the construction and operation costs of the above Beidou CORS are relatively high. At present, a large number of Beidou CORS have been installed on the ground, with one Beidou CORS established approximately every 40 kilometres (km). The Beidou CORS stations are in a serious saturation state, resulting in a great waste of resources.

[0052] Base station interawareness integration technology and Beidou CORS technology are two technologies. When supporting low-altitude economic drone applications, two communication networks need to be built separately. One is the perception network based on interawareness integration technology to support drone intrusion monitoring applications. The other is the Beidou RTK positioning network based on communication and navigation integration technology to support high-precision positioning and navigation of drones. At present, these two communication networks belong to different technologies. If they are built independently, the construction and operation and maintenance costs will be high.

[0053] Relying solely on electromagnetic waves to sense the location information of terminal devices will result in poor accuracy in determining the location information of the terminal devices.

[0054] In view of this, an embodiment of the present application provides a method for correcting location information, including: obtaining positioning assistance data of an access network device and initial location information of a terminal device within the coverage area of ​​the access network device; correcting the initial location information based on the positioning assistance data to obtain corrected location information of the terminal device.

[0055] The method provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0056] It should be noted that the network system described in the embodiment of the present application is to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of network systems and the emergence of other network systems, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0057] A location information correction system provided in an embodiment of the present application may include a terminal device 11 and a server 12 .

[0058] The terminal device 11 is connected to the server 12. For example, the terminal device 11 and the server 12 may be connected wirelessly, or may be connected wiredly. There is no limitation.

[0059] Among them, the terminal device 11 involved in the embodiments of the present application may be a drone. It may also be called a terminal, a mobile station (MS), a mobile terminal (MT), etc., which is a device that provides voice and / or data connectivity to users. For example, the terminal device 31 may be a handheld device with wireless connection function, a vehicle-mounted device, etc. Specifically, it may be: a smart phone (mobile phone), a pocket personal computer (PPC), a handheld computer, a personal digital assistant (PDA), a laptop computer, a tablet computer, a wearable device, or a vehicle-mounted device, etc. The embodiments of the present application do not limit the specific technology, specific number, and specific device form adopted by the terminal device 31.

[0060] Among them, the server 12 involved in the embodiment of the present application is used to correct the initial location information according to the positioning assistance data to obtain the corrected location information of the terminal device. For example, it can also be called a differential data center. Among them, the server can be a single server, or it can be a server cluster composed of multiple servers. In some implementations, the server cluster can also be a distributed cluster. The embodiment of the present application does not limit the specific technology, specific number and specific device form of the server 12. The embodiment of the present application does not limit the specific technology, specific number and specific device form of the server 12.

[0061] When implementing it specifically, Figure 3 Each device in the Figure 4 The structure shown, or including Figure 4 Parts shown. Figure 4 1 is a schematic diagram of the structure of a position information correction device 200 provided in an embodiment of the present application. The position information correction device 200 may be a network device, or the position information correction device 200 may be a chip or a system on a chip in a network device. Figure 4 As shown, the position information correction device 200 includes a processor 201 , a communication interface 202 and a communication line 203 .

[0062] Furthermore, the position information correction device 200 may further include a memory 204 . The processor 201 , the memory 204 and the communication interface 202 may be connected via a communication line 203 .

[0063] The processor 201 is a CPU, a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 201 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0064] The communication interface 202 is used to communicate with other devices or other communication networks. The communication interface 202 can be a module, a circuit, a communication interface or any device capable of implementing communication.

[0065] The communication line 203 is used to transmit information between the components included in the position information correction device 200.

[0066] The memory 204 is used to store instructions, where the instructions may be computer programs.

[0067] The memory 204 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0068] It should be noted that the memory 204 can exist independently of the processor 201, or can be integrated with the processor 201. The memory 204 can be used to store instructions or program codes or some data, etc. The memory 204 can be located in the position information correction device 200, or can be located outside the position information correction device 200, without limitation. The processor 201 is used to execute the instructions stored in the memory 204 to implement the position information correction method provided in the following embodiments of the present application.

[0069] In one example, the processor 201 may include one or more CPUs, for example, Figure 4 CPU0 and CPU1 in.

[0070] As an optional implementation, the position information correction device 200 includes multiple processors, for example, Figure 4 In addition to the processor 201, a processor 205 may also be included.

[0071] It should be pointed out that Figure 4 The composition shown in the Figure 3 The limitations of each device in Figure 4 In addition to the parts shown, Figure 3 The individual devices in the Figure 4 More or fewer components, or combinations of certain components, or different arrangements of components.

[0072] In the embodiment of the present application, the chip system may be composed of a chip, or may include a chip and other discrete devices.

[0073] In addition, the actions, terms, etc. involved in the various embodiments of the present application can refer to each other without limitation. The message name or parameter name in the message exchanged between the various devices in the embodiments of the present application is only an example, and other names can also be used in the specific implementation without limitation.

[0074] In order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0075] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0076] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0077] The following describes the location information correction method provided in the embodiment of the present application in conjunction with the location information correction system.

[0078] Figure 5 A flow chart of a method for correcting position information provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the method includes the following S301-S302:

[0079] S301. Acquire positioning assistance data of an access network device and initial location information of a terminal device within the coverage area of ​​the access network device.

[0080] The positioning assistance data includes the pseudorange between the access network device and the positioning satellite, and / or the carrier phase of the positioning satellite. Of course, the above is only an exemplary description of the positioning assistance data, and the above positioning assistance data may also include other data, and the embodiments of the present application do not impose any restrictions on this.

[0081] In other words, the access network device can obtain the positioning assistance data between the access network device and the positioning satellite, which is equivalent to the access network device realizing the function of the CORS station to receive positioning assistance data. In this way, there is no need to independently build a CORS station, thereby reducing the operation and maintenance cost of correcting the location information of the terminal device.

[0082] The initial location information is the location information sensed by the access network device through electromagnetic wave detection or the satellite positioning data of the terminal device.

[0083] The access network device may be a modified base station device. For example, the access network device may include an active antenna unit (AAU) and a base band unit (BBU) satellite timing module, and the BBU satellite timing module may provide synchronized time for the communication network. Since the positioning and timing methods of the Beidou system are similar, the embodiment of the present application modifies the equipment (e.g., receiver and antenna) in the BBU satellite timing module of the access network device, so that the BBU satellite timing module of the modified 5G base station can receive positioning assistance data from Beidou satellites.

[0084] Exemplarily, Table 1 gives an exemplary description of the GNSS constellations, supported frequency bands, and output RTCM information that can be supported by the satellite timing module of the above-mentioned access network device. As shown in Table 1 below, the GNSS constellation supported by the satellite timing module of the access network device can be the global positioning system (GPS), the corresponding supported frequency band can be L1C / A+L2C+L5, and the corresponding RTCM information format is RTCM 1075.

[0085] The GNSS constellation supported by the satellite timing module of the access network device may also be BDS, the corresponding supported frequency band may be B1I+B1C+B2A, and the corresponding RTCM information format is RTCM 1125.

[0086] The GNSS constellation supported by the satellite timing module of the access network device may also be the Galileo satellite navigation system (GALILEO), the corresponding supported frequency band may be E1+E5a+E5b, and the corresponding RTCM information format is RTCM 1095.

[0087] The GNSS constellation supported by the satellite timing module of the access network device may also be the GLONASS system (glonass), the corresponding supported frequency band may be L1, and the corresponding RTCM information format is RTCM 1085.

[0088] The GNSS constellation supported by the satellite timing module of the access network device may also be the quasi-zenith satellite system (QZSS), the corresponding supported frequency band may be L1+L5+L2C, and the corresponding RTCM information format is RTCM 1115.

[0089] Of course, the above is only an exemplary description of the function of a satellite timing module of an access network device. The satellite timing module of the access network device can also support other functions, and the embodiments of the present application do not impose any restrictions on this.

[0090] Table 1 GNSS constellation, supported frequency bands and output RTCM information

[0091]

[0092]

[0093] It should be noted that Table 1 is only an exemplary description, and the GNSS constellation, supported frequency bands, and output RTCM information may also include other data without limitation.

[0094] As a possible implementation method, the location information correction device can obtain positioning assistance data through the antenna and receiver of the BBU Beidou timing module of the access network device; and obtain the initial location information of the terminal device through electromagnetic wave detection or satellite positioning.

[0095] In one example, when the initial location information is satellite positioning data, the access network device may send a satellite positioning data request message to the terminal device. Correspondingly, after receiving the satellite positioning data request message, the terminal device sends the satellite positioning data to the access network device.

[0096] In one example, when the initial location information is the perceived location information of the access network device through electromagnetic wave detection, the location information correction device can determine the perceived location information through the following S11-S12.

[0097] S11. The access network device transmits electromagnetic waves to the surrounding space by sensing the electromagnetic wave transmitter built into the AAU. When terminal devices (such as drones, etc.) enter the coverage area of ​​the access network device, they will reflect part of the electromagnetic waves, which are then received by the access network device.

[0098] Among them, access network equipment can use hardware sharing and spectrum sharing to allow AAU to use waveforms such as linear frequency modulation (LFM) or orthogonal frequency division multiplexing (OFDM) to achieve time-division transmission of perception signals and communication signals. While meeting communication needs, perception AAU can detect, track, and identify target devices, events, or environments, thereby realizing perception functions and achieving the integrated integration of communication and perception technologies.

[0099] S12. The signal processing system in the access network device will analyze the received reflected waves and can accurately calculate the perceived location information of the terminal device.

[0100] The perceived location information may include the distance between the access network device and the terminal device, and the azimuth of the terminal device.

[0101] In some embodiments, the perceived location information may include the speed of the terminal device, etc.

[0102] For example, the access network equipment can calculate the perceived location information of the terminal device through the principle of electromagnetic wave reflection (such as echo time difference, Doppler effect, etc.).

[0103] S302: Correct the initial location information based on the positioning assistance data to obtain corrected location information of the terminal device.

[0104] Among them, the corrected location information of the terminal device may be the latitude and longitude information of the actual location of the terminal device.

[0105] As a possible implementation method, the location information correction device can use a preset correction model to process the positioning assistance data to obtain positioning correction data, and correct the initial location information based on the positioning correction data to obtain the corrected location information of the terminal device.

[0106] For example, the position information correction device can input the positioning assistance data into a preset correction model to obtain positioning correction data.

[0107] The preset correction model may be set as required, for example, one or more of the following: an ionosphere error model, a troposphere error model, a satellite orbit error model, etc.

[0108] The positioning correction data may include at least one of the following: carrier phase differential correction data, code correction data, ionosphere error correction data, troposphere error correction data, or satellite orbit error correction data, etc. Of course, the above is only an exemplary description of the correction information, and the above correction information may also include other information, and the embodiments of the present application do not impose any limitation on this.

[0109] In some embodiments, the location information correction device may establish a correction model based on received historical data, verify the model according to new data, and continuously optimize the correction model based on the verification results to ensure the accuracy of the correction model.

[0110] Based on the technical solution provided by this application, the initial location information of the terminal device within the coverage of the access network device is corrected through the positioning auxiliary data of the access network device. In this way, the reference source of the terminal device's location information is increased, and the perception capability and navigation positioning capability are integrated. Compared with relying solely on electromagnetic waves to perceive the location information of the terminal device, the accuracy of the terminal device's location information can be improved.

[0111] A possible embodiment, Figure 6 A flowchart of another method for correcting position information provided in an embodiment of the present application is shown as follows: Figure 6 As shown, in order to correct the initial location information based on the positioning correction data to obtain the corrected location information of the terminal device, S302 of the present application may include the following S401-S402.

[0112] S401. When the initial location information is the perceived location information perceived by the access network device, correct the location information of the access network device based on the positioning correction data.

[0113] The location information of the access network device may be the longitude and latitude information of the access network device.

[0114] The location information of the access network device can be determined based on the positioning data of the satellite positioning system (such as the Beidou positioning system, the GPS positioning system, etc.). The positioning principle of the satellite positioning system can be: the access network device synchronously observes multiple Beidou satellites with known positions, and the access network device calculates the distance between the access network device and each satellite by measuring the arrival time of the satellite signal, and determines the location of the access network device through intersection calculation.

[0115] Theoretically, the location of the access network device can be solved by using the three satellites to form a station distance equation group. However, due to the deviation between the satellite clock and the terminal receiver clock, the clock error is also solved as an unknown quantity, so at least four satellite observation information is required to establish a positioning equation group to determine the location of the access network device.

[0116] For example, the positioning equation group can be the following formula 1:

[0117]

[0118] Where: (x i, y i ,z i ) is the position coordinate of the satellite, (x, y, z) is the position coordinate of the terminal receiver to be solved, t i is the time difference of signal transmission between the satellite and the user terminal, Δt is the error between the satellite clock and the receiver clock, c is the signal propagation speed, i.e. the speed of light, and i is the observed satellite serial number.

[0119] It should be noted that there are errors in satellite positioning. For example, errors may be caused when satellite signals penetrate the ionosphere and troposphere, errors caused by the Doppler effect caused by the high-speed movement of satellites, multipath effect errors, channel errors, satellite clock errors, ephemeris errors, internal noise errors, etc. These reasons lead to a decrease in satellite positioning performance and accuracy. The single-point positioning accuracy of satellites is only about 10m.

[0120] As a possible implementation method, the location information correction device can perform carrier phase differential calculation based on the positioning correction data to eliminate common errors (such as satellite orbit error, ionospheric delay, tropospheric delay, etc.) to correct the location information of the access network device.

[0121] S402: Determine the corrected location information of the terminal device based on the corrected location information and interval distance of the access network device.

[0122] The spacing distance is the spacing distance between the access network device and the terminal device. The spacing distance may refer to the spacing distance in a two-dimensional plane or the spacing distance in a three-dimensional plane.

[0123] For example, after transmitting electromagnetic waves, the access network device can determine the interval distance based on the product of the echo time received from the terminal device and the speed of light.

[0124] For another example, after transmitting electromagnetic waves, the access network device can determine the product of the echo time received from the terminal device and the speed of light, and perform a cosine operation on the product to obtain the interval distance.

[0125] As a possible implementation method, the location information correction device can perform three-sided positioning based on the corrected location information and interval distance of the access network devices when the number of access network devices is greater than or equal to the first threshold, so as to obtain the corrected location information of the terminal device.

[0126] The first threshold value may be set as required, for example, 3.

[0127] In one example, when the number of access network devices is 3, the location information correction device can determine the location information of the terminal device based on the corrected location information of the three access network devices, the distance between each access network device and the terminal device, and the three-side positioning formula.

[0128] Among them, the three-side positioning formula can satisfy the following formula 2:

[0129] (a1-a0)2+(b1-b0)2=d12

[0130] (a2-a0)2+(b2-b0)2=d22Formula 2

[0131] (a3-a0)2+(b3-b0)2=d22

[0132] Among them, (a1, b1), (a2, b2), (a3, b3) are the corrected location information of the three access network devices, and d1, d2, d3 are the interval distances between the three access network devices and the terminal device.

[0133] As another possible implementation method, when the number of access network devices is less than a first threshold, the location information correction device may substitute the corrected location information, interval distance and azimuth of the access network device into a preset geometric function to obtain the corrected location information of the terminal device.

[0134] In one example, the preset geometric function may be a trigonometric function.

[0135] It is understandable that by correcting the positioning data of the access network device, the accuracy of the location information of the access network device can be improved. In this way, after obtaining the perception data of the terminal device, the location information of the terminal device can be determined in combination with the corrected positioning data of the access network device, thereby improving the accuracy of determining the location information of the terminal device.

[0136] In a possible embodiment, when the initial position information is satellite positioning data of the terminal device, differential calculation is performed based on the positioning correction data and the initial position information to obtain corrected position information of the terminal device.

[0137] In some embodiments, Figure 7 A structural diagram of another location information correction system is shown, including terminal equipment, positioning satellites, access network equipment, core network, and differential data center. The corrected location information of the terminal equipment can also be determined by the terminal equipment. Figure 7 The structural diagram of the positioning information correction system is shown in FIG. 1 , and the process of the terminal device determining the corrected position information of the terminal device may include the following S21-S25:

[0138] S21. The access network device obtains positioning assistance data through a satellite receiver, and uploads the positioning assistance data to the differential data center in real time through a wired network.

[0139] S22, Beidou differential data center, performs data integrity check and establishes error model for the positioning assistance data sent by the access network equipment.

[0140] These include ionosphere error model, troposphere error model, satellite orbit error model, etc. Then the correction information of various error sources is calculated.

[0141] S23, the terminal device sends a request message to the access network device. Correspondingly, the access network device receives the request message from the terminal.

[0142] The request information is used to request the acquisition of positioning correction data.

[0143] For example, the terminal device may send a request message to the access network device in response to a user instruction, wherein the request message is used to request to obtain the positioning correction information. Correspondingly, the access network device receives the request message from the terminal.

[0144] S24: The access network device sends the positioning correction data to the terminal. Correspondingly, the terminal receives the positioning correction data from the access network device.

[0145] In one example, the request information includes broadcast configuration information, and the access network device determines the broadcast frequency and the broadcast frequency band in the broadcast configuration information based on the request information received from the terminal device, and sends the positioning correction data to the terminal device in the form of broadcast based on the determined broadcast frequency and the broadcast frequency band. Correspondingly, the terminal receives the positioning correction data from the access network device.

[0146] S25. The terminal device performs differential calculation based on the received satellite positioning data and the positioning correction data from the access network device to determine the corrected location information of the terminal device.

[0147] The embodiment of the present application can divide the position information correction device into functional modules or functional units according to the above method example. For example, each functional module or functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules or functional units. Among them, the division of modules or units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0148] In the case of dividing each functional module into corresponding functional modules, Figure 8A schematic diagram of the structure of another position information correction device 700 is shown, and the position information correction device may be a server, or a chip or processor used in a server, etc. The position information correction device 700 may be used to perform the functions of the position information correction device involved in the above embodiments. Figure 8 The position information correction device 700 shown may include: an acquisition unit 701 and a processing unit 702; the acquisition unit 701 is used to obtain positioning assistance data of an access network device and initial position information of a terminal device within the coverage of the access network device; the processing unit 702 is used to correct the initial position information based on the positioning assistance data to obtain the corrected position information of the terminal device.

[0149] Optionally, the processing unit 702 is specifically used to: use a preset correction model to process the positioning assistance data to obtain positioning correction data; the positioning assistance data includes the pseudorange between the access network device and the positioning satellite, and / or the carrier phase of the positioning satellite; based on the positioning correction data, correct the initial position information to obtain the corrected terminal device position information.

[0150] Optionally, the initial location information is the perceived location information detected by the access network device through electromagnetic waves or the satellite positioning data of the terminal device.

[0151] Optionally, the perceived location information includes the interval distance between the access network device and the terminal device. The processing unit 702 is further specifically used to: when the initial location information is the perceived location information perceived by the access network device, correct the location information of the access network device based on the positioning correction data; and determine the corrected location information of the terminal device based on the corrected location information of the access network device and the interval distance.

[0152] Optionally, based on the corrected location information and interval distance of the access network device, the processing unit 702 is specifically used to: when the number of access network devices is greater than or equal to a first threshold, perform three-sided positioning according to the corrected location information and interval distance of the access network device to obtain the corrected location information of the terminal device.

[0153] Optionally, the perceived location information also includes the azimuth of the terminal device. The processing unit 702 is specifically used to: when the number of access network devices is less than a first threshold, substitute the corrected location information, interval distance and azimuth of the access network device into a preset geometric function to obtain the corrected location information of the terminal device.

[0154] Optionally, the processing unit 702 is further specifically used to: when the initial position information is satellite positioning data of the terminal device, perform differential calculation based on the positioning correction data and the initial position information to obtain corrected position information of the terminal device.

[0155] The embodiment of the present application also provides a computer-readable storage medium. All or part of the processes in the above method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The computer-readable storage medium can be an internal storage unit of the position information correction device (including a data sending end and / or a data receiving end) of any of the above embodiments, such as a hard disk or memory of the position information correction device. The above computer-readable storage medium can also be an external storage device of the above terminal device, such as a plug-in hard disk, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. equipped on the above terminal device. Further, the above computer-readable storage medium can also include both the internal storage unit of the above position information correction device and an external storage device. The above computer-readable storage medium is used to store the above computer program and other programs and data required by the above position information correction device. The above computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0156] It should be noted that the terms "first" and "second" in the specification, claims and drawings of the present application are used to distinguish different objects rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products or devices.

[0157] It should be understood that in the present application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0158] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

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

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

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

[0162] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0163] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for correcting position information, characterized in that: The method comprises: Acquire positioning assistance data of the access network device and initial location information of the terminal device within the coverage area of ​​the access network device; The initial location information is corrected based on the positioning assistance data to obtain corrected location information of the terminal device.

2. The method according to claim 1, characterized in that The correcting the initial location information based on the positioning assistance data to obtain corrected location information of the terminal device includes: Processing the positioning assistance data using a preset correction model to obtain positioning correction data; the positioning assistance data includes a pseudorange between the access network device and a positioning satellite, and / or a carrier phase of the positioning satellite; The initial location information is corrected based on the positioning correction data to obtain the corrected location information of the terminal device.

3. The method according to claim 1 or 2, characterized in that: The initial location information is the perceived location information detected by the access network device through electromagnetic waves or the satellite positioning data of the terminal device.

4. The method according to claim 3, characterized in that The sensed location information includes the interval distance between the access network device and the terminal device, and the correcting the initial location information based on the positioning correction data to obtain the corrected location information of the terminal device includes: In a case where the initial location information is the perceived location information perceived by the access network device, correcting the location information of the access network device based on the positioning correction data; Based on the corrected location information of the access network device and the interval distance, the corrected location information of the terminal device is determined.

5. The method according to claim 4, characterized in that The determining the corrected location information of the terminal device based on the corrected location information of the access network device and the interval distance includes: When the number of the access network devices is greater than or equal to the first threshold, three-sided positioning is performed based on the corrected location information of the access network devices and the interval distance to obtain the corrected location information of the terminal device.

6. The method according to claim 4, characterized in that The sensed location information further includes the azimuth of the terminal device, and determining the corrected location information of the terminal device based on the corrected location information of the access network device and the interval distance includes: When the number of the access network devices is less than a first threshold, the corrected location information of the access network devices, the interval distance and the azimuth angle are substituted into a preset geometric function to obtain the corrected location information of the terminal device.

7. The method according to claim 3, characterized in that The step of correcting the initial location information based on the positioning correction data to obtain corrected location information of the terminal device includes: In the case where the initial position information is the satellite positioning data of the terminal device, differential calculation is performed based on the positioning correction data and the initial position information to obtain the corrected position information of the terminal device.

8. The method according to claim 3, characterized in that The access network device includes a modified active antenna unit AAU and a modified baseband unit BBU; the modified AAU is used to sense the initial location information; The modified BBU is used to receive positioning assistance data from a positioning satellite.

9. A position information correction device, characterized in that: The device comprises: an acquisition unit and a processing unit; The acquisition unit is used to acquire the positioning assistance data of the access network device and the initial location information of the terminal device within the coverage area of ​​the access network device; The processing unit is used to correct the initial location information based on the positioning assistance data to obtain corrected location information of the terminal device.

10. A computer-readable storage medium, characterized in that: The readable storage medium stores instructions, and when the instructions are executed, the method according to any one of claims 1 to 8 is implemented.

11. An electronic device, characterized in that: include: A processor, a memory and a communication interface; wherein the communication interface is used for the electronic device to communicate with other devices or networks; The memory is used to store one or more programs, which include computer-executable instructions. When the electronic device is running, the processor executes the computer-executable instructions stored in the memory to enable the electronic device to perform the method described in any one of claims 1-8.

12. A computer program product, comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 8 is implemented.

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