Information determination method, device and equipment, computer storage medium and computer program product

Abstract

The embodiment of the invention discloses an information determination method, and the method comprises the steps: obtaining the historical position of a reference station and the observation data of a satellite corresponding to the reference station, determining the target position of the reference station based on the observation data, and then determining the current position of the reference station based on the historical position, and whether the target position is abnormal or not is determined based on the current position, so that the problems of low position determination accuracy and poor efficiency in the process of determining the position of the reference station in related technologies are solved. The embodiment of the invention further discloses an information determination device and equipment, a computer storage medium and a computer program product.

Description

Technical Field

[0001] The present application relates to information determination technology in the computer field, and in particular to an information determination method, device, equipment, computer storage medium and computer program product. Background Art

[0002] With the development of science and technology, the BeiDou-3 global satellite navigation system has officially provided services and has been widely used in transportation, agriculture, forestry, fishery, hydrological monitoring, weather forecasting and other fields. However, due to the weak navigation signal of the satellite and the susceptibility to interference from other signals, the positioning results of the base station usually have large errors. Based on this, how to verify and compensate the positioning results to obtain the accurate base station position has become an urgent problem to be solved. At present, the relevant technology usually introduces additional Doppler measurement data, or uses inertial measurement methods to verify and compensate the positioning results of the base station, so as to obtain the accurate base station position. However, due to the introduction of additional Doppler measurement data and the high complexity of the inertial measurement method, there are problems of low accuracy and poor efficiency in determining the position of the base station in the process of determining the base station position. Summary of the invention

[0003] To solve the above technical problems, the embodiments of the present application hope to provide an information determination method, apparatus, device, computer storage medium and computer program product, which solve the problems of low accuracy and poor efficiency in determining the position of a base station in the related art.

[0004] To achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

[0005] A method for determining information, the method comprising:

[0006] Obtaining the historical position of a reference station and observation data of a satellite corresponding to the reference station;

[0007] determining a target position of the reference station based on the observation data;

[0008] The current position of the reference station is determined based on the historical position, and whether there is an abnormality in the target position is determined based on the current position.

[0009] In the above solution, determining the current position of the reference station based on the historical position, and determining whether the target position is abnormal based on the current position, includes:

[0010] determining a target position error based on the target position and a reference position;

[0011] Processing the historical position using a target prediction algorithm to obtain the current position of the reference station;

[0012] Based on the current position and the target position error, it is determined whether there is an abnormality in the target position.

[0013] In the above solution, determining whether the target position is abnormal based on the current position and the target position error includes:

[0014] Obtaining the historical moving speed of the reference station;

[0015] Correcting the current position based on the historical moving speed to obtain a corrected position;

[0016] Based on the corrected position and the target position error, it is determined whether there is an abnormality in the target position.

[0017] In the above solution, determining whether the target position is abnormal based on the corrected position and the target position error includes:

[0018] determining a difference between the corrected position and the target position;

[0019] If the difference is greater than or equal to a first threshold, it is determined that an abnormality exists at the target position;

[0020] If the difference is less than the first threshold, it is determined whether there is an abnormality in the target position based on the target position error.

[0021] In the above solution, determining whether the target position is abnormal based on the target position error includes:

[0022] If the target position error is greater than a second threshold, determining that an abnormality exists in the target position;

[0023] If the target position error is less than or equal to the second threshold, it is determined that there is no abnormality in the target position.

[0024] In the above scheme, the method further comprises:

[0025] If it is determined that the target position is abnormal, the target position is adjusted based on the corrected position to obtain the adjusted position of the reference station.

[0026] In the above solution, determining the target position of the reference station based on the observation data includes:

[0027] Determine a first position of the satellite and a satellite clock error based on the pseudorange and ephemeris data in the observation data;

[0028] The target position is determined based on the observation data, the first position and the satellite clock error.

[0029] An information determination device, the device comprising:

[0030] An acquisition unit, used to acquire the historical position of a reference station and observation data of a satellite corresponding to the reference station;

[0031] A first determining unit, configured to determine a target position of the reference station based on the observation data;

[0032] The second determining unit is configured to determine the current position of the reference station based on the historical position, and determine whether there is an abnormality in the target position based on the current position.

[0033] An information determination device, the device comprising: a processor, a memory, and a communication bus;

[0034] The communication bus is used to realize the communication connection between the processor and the memory;

[0035] The processor is used to execute the information determination program in the memory to implement the steps of the above-mentioned information determination method.

[0036] A computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the above-mentioned information determination method.

[0037] A computer program product comprises a computer program, wherein the computer program implements the above-mentioned information determination method when executed by a processor.

[0038] The information determination method, apparatus, device, computer storage medium and computer program product provided in the embodiments of the present application can obtain the historical position of the base station and the observation data of the satellite corresponding to the base station, and determine the target position of the base station based on the observation data. Thereafter, the current position of the base station is determined based on the historical position, and then whether there is an abnormality in the target position is determined based on the current position. In this way, the target position of the base station at the current moment can be determined based on the satellite observation data, and the current position of the base station can be predicted based on the historical position, and then the target position can be verified by the predicted current position to obtain accurate base station positioning, instead of introducing Doppler measurement data that is completely irrelevant to the positioning result, or verifying the positioning result by a more complex measurement method as in the related art, to obtain an accurate positioning result, thereby solving the problems of low accuracy and poor efficiency in position determination in the process of determining the base station position in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1A flowchart of an information determination method provided in an embodiment of the present application;

[0040] Figure 2 A flowchart of another information determination method provided in an embodiment of the present application;

[0041] Figure 3 A schematic diagram of the structure of an information determination device provided in an embodiment of the present application;

[0042] Figure 4 A schematic diagram of the structure of an information determination device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0044] It should be understood that the "embodiments of the present application" or "the aforementioned embodiments" mentioned throughout the specification mean that specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, "in the embodiments of the present application" or "in the aforementioned embodiments" appearing throughout the specification may not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the various embodiments of the present application, the size of the sequence numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application. The above-mentioned sequence numbers of the embodiments of the present application are for description only and do not represent the advantages and disadvantages of the embodiments.

[0045] Unless otherwise specified, the electronic device performs any step in the embodiments of the present application, and the processor of the electronic device may perform the step. It is also worth noting that the embodiments of the present application do not limit the order in which the electronic device performs the following steps. In addition, the methods used to process data in different embodiments may be the same method or different methods. It should also be noted that any step in the embodiments of the present application can be independently executed by the electronic device, that is, when the electronic device executes any step in the following embodiments, it may not rely on the execution of other steps.

[0046] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] The present application embodiment provides a method which can be applied to an information determination device, referring to Figure 1 As shown, the method may include the following steps:

[0048] Step 101: Obtain the historical position of a reference station and the observation data of the satellite corresponding to the reference station.

[0049] In the embodiment of the present application, the reference station may refer to a receiver; the historical position may refer to the position of the reference station at a certain time before the current time; and the observation data may refer to the satellite's own observation data sent by the corresponding satellite and received by the reference station. The observation data may include data such as pseudorange and carrier phase observation data between the reference station and the satellite.

[0050] In an embodiment of the present application, the historical position of the reference station stored in the database can be obtained, and the observation data sent by the satellite can be received.

[0051] Step 102: Determine the target position of the reference station based on the observation data.

[0052] In the embodiment of the present application, the target position may refer to the position of the reference station at the current moment. Specifically, the observation data may be decoded to obtain the pseudo-range measurement value between the reference station and the satellite and the ephemeris data of the satellite, and then the target position of the reference station may be determined based on the pseudo-range measurement value and the ephemeris data.

[0053] Step 103: Determine the current position of the reference station based on the historical position, and determine whether there is an abnormality in the target position based on the current position.

[0054] In an embodiment of the present application, the current position of the reference station at the current moment can be predicted based on the historical position of the reference station, and whether there is an abnormality in the target position determined by the observation data can be determined based on the predicted current position.

[0055] It should be noted that if it is determined that there is an abnormality in the target position, the target position can be corrected in combination with the historical position.

[0056] The information determination method provided in the embodiment of the present application can determine the target position of the base station at the current moment based on the satellite observation data, and predict the current position of the base station based on the historical position, and then verify the target position through the predicted current position to obtain accurate base station positioning, instead of introducing Doppler measurement data that is completely irrelevant to the positioning result, or verifying the positioning result through a more complex measurement method to obtain an accurate positioning result as in the related art, thereby solving the problems of low accuracy and poor efficiency in position determination in the process of determining the base station position in the related art.

[0057] Based on the above embodiments, the embodiments of the present application provide an information determination method, referring to Figure 2 As shown, the method may include the following steps:

[0058] Step 201: The information determination device obtains the historical position of a reference station and the observation data of the satellite corresponding to the reference station.

[0059] In the embodiment of the present application, each satellite corresponds to a set of observation data; the satellites corresponding to the reference station may include satellites of multiple categories.

[0060] In the embodiment of the present application, if the present application is applied to the BeiDou-3 global satellite navigation system, the satellites corresponding to the reference station may include geostationary orbit (GEO) satellites, inclined geosynchronous orbit (IGSO) satellites and medium earth orbit (MEO) satellites. Specifically, the B1C frequency of the reference station (i.e., the receiver) can collect the observation data of the BeiDou global constellation satellite corresponding to the reference station through the data branch, navigation branch or other channels of the reference station.

[0061] In one achievable manner, the acquisition frequency may be 1 Hz.

[0062] Step 202: The information determination device determines a first position of the satellite and a satellite clock error based on the pseudorange and ephemeris data in the observation data.

[0063] In the embodiment of the present application, the reference station can decode the observation data to obtain the pseudorange and ephemeris data between the reference station and the satellite, and then use different algorithms to calculate the pseudorange and ephemeris data of different types of satellites to obtain the position vector (i.e., the first position) and the satellite clock error at the time of launch. The ephemeris data may include the ephemeris reference time t oe , the square root of the major semiaxis Eccentricity e, perigee argument ω, the difference between the satellite's average motion rate and the calculated value Δn, and the mean anomaly M at the reference time 0 、Accuracy of ascending node calculated according to reference timeΩ 0 , the rate of change of right ascension of the ascending node Ω, the orbital inclination i 0 , orbit inclination rate of change IDOT, latitude argument cosine correction term C uc , Latitude Argument Sine Correction C us , orbit radius cosine correction C rc , orbit radius sine correction term C rs , orbit inclination cosine correction term C ic , orbit inclination sine correction term C ic .

[0064] In one achievable manner, different algorithms published in the Beidou satellite navigation system space signal interface control document (ICD) can be used to calculate the position coordinates (i.e., first positions) and clock errors of different types of satellites in the Beidou coordinate system. The first position can be represented by coordinates.

[0065] It should be noted that the Beidou coordinate system may refer to the National Geodetic Coordinate System (China Geodetic Coordinate System 2000, CGCS2000).

[0066] Step 203: The information determination device determines the target position based on the observation data, the first position and the satellite clock difference.

[0067] In an embodiment of the present application, a single-point positioning algorithm can be used to calculate the observation data, the first position and the satellite clock error to obtain the position of the reference station at the current moment (ie, the target position) and the clock error of the reference station.

[0068] Specifically, the initial observation equation can be linearized to obtain the target observation equations of multiple satellites. Further, the observation noise, the first position and the satellite clock error in the obtained observation data can be substituted into the target observation equation, and the target observation equation can be processed by the least square method to obtain the target position of the reference station in the Beidou coordinate system at the current epoch. The target position can be represented by coordinates, the initial observation equation can be shown in formula (1), and the target observation equation can be shown in formula (2).

[0069] ρ=X sat -X rec |+c·Δt sat -c·Δt rec +T ρ +I ρ +ε ρ Formula (1)

[0070] Where ρ represents pseudorange, X sat represents the first position of the satellite, X rec represents the target position of the reference station, Δt sat represents the satellite clock error, Δt rec represents the base station clock error, c represents the speed of light, T ρ It represents the process delay, which can be obtained by a priori model or a combination of observations. ρ represents the ionospheric delay, which can be obtained through the prior model, ε p It should be noted that the first position and the target position can be represented by vectors, that is, X sat =(xsat ,y sat , z sat ), X rec =(x rec ,y rec , z rec ).

[0071]

[0072] in, is the preset initial value. n Represents the satellite's observation sequence number, w n Represents the difference between the observed value and the estimated value obtained from the prior model.

[0073] It should be noted that the positions and clock errors of at least four satellites are required to calculate the target position of the reference station.

[0074] Step 204: The information determination device determines a target position error based on the target position and the reference position.

[0075] In the embodiment of the present application, after obtaining the position coordinates of the reference station in the Beidou coordinate system (i.e., the target position), the position coordinates can be converted into position coordinates (L, B, H) in the geodetic coordinate system, and then the target position and the reference position can be operated to obtain the error of the reference station position, and further, the obtained error can be converted to obtain the target position error. Specifically, the obtained error can be projected into the station center horizontal coordinate system, and the target position error (ΔE, ΔN, ΔU) can be determined according to formula (3) and formula (4).

[0076]

[0077] Wherein, B represents the latitude of the geodetic coordinate system of the reference station, and L represents the accuracy of the geodetic coordinate system of the reference station.

[0078] In one feasible manner, the station center horizontal coordinate system can be established with the antenna phase center as the origin, the tangent plane of the earth ellipsoid as the reference plane, the reference plane pointing north as the N axis, the reference plane pointing east as the E axis, and the vertical line of the earth as the H axis.

[0079] It should be noted that the reference position can be set based on historical data.

[0080] Step 205: The information determination device processes the historical position using a target prediction algorithm to obtain the current position of the reference station.

[0081] In the embodiment of the present application, the target prediction algorithm may refer to a fitting algorithm. It should be noted that the fitting algorithm may be implemented by a fitting function. Specifically, a fitting function may be used to process multiple historical positions acquired within a certain period of time in the past to predict the current position of the reference station at the current moment. Among them, the fitting function may refer to a robust quadratic polynomial fitting function, and the initial quadratic polynomial fitting function may be shown in the following formula (5).

[0082] X fit =a+b·(tt ref )+b·(tt ref ) 2 Formula (5)

[0083] Among them, X fit represents the current position of the reference station, t is the current epoch time, t ref is the reference epoch time, and t s represents the first moment in a certain period of time in the past, t e Indicates the last moment in a certain period of time in the past.

[0084] Specifically, the multiple historical positions (x p ,y p , z p ) and the epoch time corresponding to the historical position are substituted into formula (5) to calculate the specific values ​​of parameters a, b and c. Then, the specific values ​​of a, b and c are substituted into formula (5) to obtain the final target fitting function. Further, the target fitting function can be used to process the specific value of the current epoch time (that is, the specific value of the current epoch time is substituted into the target fitting function) to obtain the predicted position of the reference station at the current moment (that is, the current position).

[0085] It should be noted that in the process of anti-error fitting, the mean, standard deviation and median of multiple historical positions can be calculated, and the first absolute value of the difference between the mean and the median is calculated. Then, the maximum value among the multiple historical positions is removed, and the second absolute value of the difference between the mean and the median of the remaining historical positions is calculated. Then, based on the comparison result of the difference between the first absolute value and the second absolute value and the threshold, data with large errors, that is, historical positions with large gross errors, are eliminated from the multiple historical positions. In this way, the accuracy of the fitting results can be improved, thereby improving the accuracy of the predicted position of the base station.

[0086] Step 206: The information determination device determines whether there is an abnormality in the target position based on the current position and the target position error.

[0087] In an embodiment of the present application, the historical moving speed of the reference station can be obtained, and the predicted current position of the reference station can be corrected according to the historical moving speed, and whether there is an abnormality in the target position can be determined based on the corrected position and the target position error.

[0088] In the embodiment of the present application, step 206 can be implemented through steps 206a to 206c.

[0089] Step 206a: The information determination device obtains the historical moving speed of the reference station.

[0090] In the embodiment of the present application, the historical moving speed may refer to the moving speed of the reference station in the past period of time.

[0091] Step 206b: The information determining device corrects the current position based on the historical moving speed to obtain a corrected position.

[0092] In the embodiment of the present application, the historical moving speed and the target duration can be calculated to obtain the moving distance of the reference station within the target duration, and then the moving distance and the predicted current position are calculated, that is, the current position is corrected to obtain the corrected position. It should be noted that the target duration can refer to a period of time before the current moment; the calculation formula for the corrected position can be shown as formula (6):

[0093] X t1 =X fit +v*Δt Formula (6)

[0094] Among them, X t1 represents the corrected position, X fit represents the current position, v represents the historical moving speed, and Δt represents the target duration.

[0095] Step 206c: The information determination device determines whether there is an abnormality in the target position based on the corrected position and the target position error.

[0096] In the embodiment of the present application, the difference between the corrected position and the target position can be determined, and the target position can be verified based on the difference and the first threshold, that is, it is determined whether there is any abnormality in the target position.

[0097] In the embodiment of the present application, step 206c can be implemented through steps 206c1 to 206c3.

[0098] Step 206c1: The information determination device determines the difference between the corrected position and the target position.

[0099] In the embodiment of the present application, a subtraction operation can be performed on the corrected position and the target position to obtain a difference M between the corrected position and the target position. Where M=X t1 -X rec .

[0100] Step 206c2: If the difference is greater than or equal to the first threshold, the information determination device determines that there is an abnormality in the target position.

[0101] In an embodiment of the present application, if the difference M is greater than or equal to the first threshold, it means that there is a large gap between the current position obtained by historical position prediction and the target position calculated by observation data. At this time, it can be determined that there is an abnormality in the target position.

[0102] It should be noted that the first threshold may be set according to historical data and actual needs.

[0103] Step 206c3: If the difference is less than the first threshold, the information determination device determines whether there is an abnormality in the target position based on the target position error.

[0104] In an embodiment of the present application, if the difference M is less than the first threshold, it means that the current position obtained by historical position prediction and the target position calculated by observation data are relatively close. At this time, the target error can be further verified in combination with the target position error obtained previously to determine whether there is any abnormality in the target position.

[0105] In the embodiment of the present application, "the information determination device determines whether there is an abnormality in the target position based on the target position error" in step 206c3 can be implemented through steps 206c31 to 206c32.

[0106] Step 206c31: If the target position error is greater than the second threshold, the information determination device determines that there is an abnormality in the target position.

[0107] In the embodiment of the present application, if the difference M is less than the first threshold, the abnormal state of the target position can be determined based on the target position error and the second threshold. It should be noted that the second threshold may include multiple thresholds, that is, ΔE in the target position error corresponds to one threshold, ΔN corresponds to one threshold, and ΔU corresponds to one threshold. In other words, only one of ΔE, ΔN and ΔU is greater than the corresponding threshold, which means that the target position error is greater than the second threshold. Among them, multiple thresholds in the second threshold can be pre-set based on historical data and actual data.

[0108] In the embodiment of the present application, the following formula (7) is used, if ΔE>D 1 Or ΔN>D 2 Or ΔU>D 3, it means that the abnormal state s of the target position of the base station is "1", that is, there is an abnormality in the target position of the base station.

[0109]

[0110] In one achievable approach, D 1 Can be set to 10, D 2 Can be set to 10, D 3 Can be set to 20.

[0111] Step 206c32: If the target position error is less than or equal to the second threshold, the information determination device determines that there is no abnormality in the target position.

[0112] In the embodiment of the present application, as shown in formula (7), if any one of ΔE, ΔN and ΔU is less than or corresponds to a threshold, it indicates that the abnormal state s of the target position of the reference station is "0", that is, there is no abnormality in the target position of the reference station.

[0113] In other embodiments of the present application, step 207 may be performed after step 206c2 or step 206c31.

[0114] Step 207: If it is determined that there is an abnormality in the target position, the information determination device adjusts the target position based on the corrected position to obtain the adjusted position of the reference station.

[0115] In an embodiment of the present application, if it is determined that there is an abnormality in the target position calculated by the observation data, the corrected position data can be used as a compensation value, and the target position can be updated (i.e., adjusted) based on the compensation value to obtain the adjusted position of the base station.

[0116] In an embodiment of the present application, by using the historical position of the base station to predict the current position of the base station, and then verifying and compensating the target position calculated by the observation data according to the current position, not only the accuracy of the positioning result of the base station is improved, but also the reliability of the positioning result is improved.

[0117] It should be noted that, for the description of the same steps and the same contents in this embodiment as those in other embodiments, reference can be made to the description in other embodiments and will not be repeated here.

[0118] The information determination method provided in the embodiment of the present application can determine the target position of the base station at the current moment based on the satellite observation data, and predict the current position of the base station based on the historical position, and then verify the target position through the predicted current position to obtain accurate base station positioning, instead of introducing Doppler measurement data that is completely irrelevant to the positioning result, or verifying the positioning result through a more complex measurement method to obtain an accurate positioning result as in the related art, thereby solving the problems of low accuracy and poor efficiency in position determination in the process of determining the base station position in the related art.

[0119] Based on the above embodiments, the embodiments of the present application provide an information determination device, which can be applied to Figure 1 and Figure 2 In the information determination method provided in the corresponding embodiment, refer to Figure 3 As shown, the information determination device 3 may include: an acquisition unit 31, a first determination unit 32 and a second determination unit 33, wherein:

[0120] An acquisition unit 31 is used to determine a target position of a reference station based on the observation data;

[0121] A first determining unit 32, configured to calculate an offset position of the reference station based on a rough position of the reference station;

[0122] The second determining unit 33 is used to determine the current position of the reference station based on the historical position, and determine whether there is an abnormality in the target position based on the current position.

[0123] In other embodiments of the present application, the second determining unit 33 is further configured to perform the following steps:

[0124] determining a target position error based on the target position and the reference position;

[0125] The target prediction algorithm is used to process the historical position to obtain the current position of the reference station;

[0126] Based on the current position and the target position error, determine whether there is an abnormality in the target position.

[0127] In other embodiments of the present application, the second determining unit 33 is further configured to perform the following steps:

[0128] Get the historical moving speed of the base station;

[0129] Correct the current position based on the historical moving speed to obtain the corrected position;

[0130] Based on the corrected position and the target position error, determine whether there is an abnormality in the target position.

[0131] In other embodiments of the present application, the second determining unit 33 is further configured to perform the following steps:

[0132] determining the difference between the corrected position and the target position;

[0133] If the difference is greater than or equal to the first threshold, it is determined that an abnormality exists at the target position;

[0134] If the difference is less than the first threshold, it is determined whether there is an abnormality in the target position based on the target position error.

[0135] In other embodiments of the present application, the second determining unit 33 is further configured to perform the following steps:

[0136] If the target position error is greater than a second threshold, it is determined that there is an abnormality in the target position;

[0137] If the target position error is less than or equal to the second threshold, it is determined that there is no abnormality in the target position.

[0138] In other embodiments of the present application, the second determining unit 33 is further configured to perform the following steps:

[0139] If it is determined that there is an abnormality in the target position, the target position is adjusted based on the corrected position to obtain the adjusted position of the reference station.

[0140] In other embodiments of the present application, the first determining unit 32 is further configured to perform the following steps:

[0141] Determine the first position of the satellite and the satellite clock error based on the pseudorange and ephemeris data in the observation data;

[0142] The target position is determined based on the observation data, the first position and the satellite clock error.

[0143] It should be noted that the specific implementation process of the steps performed by each unit in the embodiment of the present application can be referred to Figure 1 and Figure 2 The implementation process of the information determination method provided in the corresponding embodiment will not be repeated here.

[0144] The information determination device provided in the embodiment of the present application can determine the target position of the base station at the current moment based on the satellite observation data, and predict the current position of the base station based on the historical position, and then verify the target position through the predicted current position to obtain accurate base station positioning, instead of introducing Doppler measurement data that is completely irrelevant to the positioning result, or verifying the positioning result through a more complex measurement method to obtain an accurate positioning result as in the related art, thereby solving the problems of low accuracy and poor efficiency in position determination in the process of determining the base station position in the related art.

[0145] Based on the above embodiments, the embodiments of the present application provide an information determination device, which can be applied to Figure 1 and Figure 2 In the information determination method provided in the corresponding embodiment, refer to Figure 4 As shown, the information determination device 4 may include: a processor 41, a memory 42 and a communication bus 43, wherein:

[0146] The communication bus 43 is used to realize the communication connection between the processor 41 and the memory 42;

[0147] The processor 41 is used to execute the information determination program in the memory 42 to implement the following steps:

[0148] Obtain the historical position of the base station and the observation data of the satellite corresponding to the base station;

[0149] Determine the target position of the reference station based on the observation data;

[0150] The current position of the reference station is determined based on the historical position, and whether there is an abnormality in the target position is determined based on the current position.

[0151] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the current position of the reference station based on the historical position, and determine whether there is an abnormality in the target position based on the current position, so as to implement the following steps:

[0152] determining a target position error based on the target position and the reference position;

[0153] The target prediction algorithm is used to process the historical position to obtain the current position of the reference station;

[0154] Based on the current position and the target position error, determine whether there is an abnormality in the target position.

[0155] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine whether there is an abnormality in the target position based on the current position and the target position error, so as to implement the following steps:

[0156] Get the historical moving speed of the base station;

[0157] Correct the current position based on the historical moving speed to obtain the corrected position;

[0158] Based on the corrected position and the target position error, determine whether there is an abnormality in the target position.

[0159] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine whether there is an abnormality in the target position based on the corrected position and the target position error, so as to implement the following steps:

[0160] determining the difference between the corrected position and the target position;

[0161] If the difference is greater than or equal to the first threshold, it is determined that an abnormality exists at the target position;

[0162] If the difference is less than the first threshold, it is determined whether there is an abnormality in the target position based on the target position error.

[0163] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine whether there is an abnormality in the target position based on the target position error, so as to implement the following steps:

[0164] If the target position error is greater than a second threshold, it is determined that there is an abnormality in the target position;

[0165] If the target position error is less than or equal to the second threshold, it is determined that there is no abnormality in the target position.

[0166] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to implement the following steps:

[0167] If it is determined that there is an abnormality in the target position, the target position is adjusted based on the corrected position to obtain the adjusted position of the reference station.

[0168] In other embodiments of the present application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target position of the reference station based on the observation data, so as to implement the following steps:

[0169] Determine the first position of the satellite and the satellite clock error based on the pseudorange and ephemeris data in the observation data;

[0170] The target position is determined based on the observation data, the first position and the satellite clock error.

[0171] It should be noted that the specific description of the steps executed by the processor can be referred to Figure 1 and Figure 2 The information determination method provided in the corresponding embodiment will not be repeated here.

[0172] The information determination device provided in the embodiments of the present application can determine the target position of the base station at the current moment based on the satellite observation data, and predict the current position of the base station based on the historical position, and then verify the target position through the predicted current position to obtain accurate base station positioning, instead of introducing Doppler measurement data that is completely irrelevant to the positioning result, or verifying the positioning result through a more complex measurement method to obtain an accurate positioning result as in the related art, thereby solving the problems of low accuracy and poor efficiency in position determination in the process of determining the base station position in the related art.

[0173] Based on the foregoing embodiments, the embodiments of the present application provide a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement Figure 1 and 2 The corresponding embodiments provide steps of the information determination method.

[0174] Based on the above embodiments, an embodiment of the present application provides a computer program product, the computer program product includes a computer program, the computer program is executed by a processor to achieve Figure 1 and 2 The corresponding embodiments provide steps of the information determination method.

[0175] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of hardware embodiments, software embodiments, or embodiments in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0176] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0177] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0178] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0179] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which 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 determining information, characterized in that: The method comprises: Obtaining the historical position of a reference station and observation data of a satellite corresponding to the reference station; determining a target position of the reference station based on the observation data; The current position of the reference station is determined based on the historical position, and whether there is an abnormality in the target position is determined based on the current position.

2. The method according to claim 1, characterized in that The determining the current position of the reference station based on the historical position, and determining whether the target position is abnormal based on the current position, includes: determining a target position error based on the target position and a reference position; Processing the historical position using a target prediction algorithm to obtain the current position of the reference station; Based on the current position and the target position error, it is determined whether there is an abnormality in the target position.

3. The method according to claim 2, characterized in that The determining whether the target position is abnormal based on the current position and the target position error includes: Obtaining the historical moving speed of the reference station; Correcting the current position based on the historical moving speed to obtain a corrected position; Based on the corrected position and the target position error, it is determined whether there is an abnormality in the target position.

4. The method according to claim 3, characterized in that The determining whether the target position is abnormal based on the corrected position and the target position error includes: determining a difference between the corrected position and the target position; If the difference is greater than or equal to a first threshold, it is determined that an abnormality exists at the target position; If the difference is less than the first threshold, it is determined whether there is an abnormality in the target position based on the target position error.

5. The method according to claim 4, characterized in that Determining whether the target position is abnormal based on the target position error includes: If the target position error is greater than a second threshold, determining that an abnormality exists in the target position; If the target position error is less than or equal to the second threshold, it is determined that there is no abnormality in the target position.

6. The method according to claim 5, characterized in that The method further comprises: If it is determined that the target position is abnormal, the target position is adjusted based on the corrected position to obtain the adjusted position of the reference station.

7. The method according to claim 1, characterized in that Determining the target position of the reference station based on the observation data includes: Determine a first position of the satellite and a satellite clock error based on the pseudorange and ephemeris data in the observation data; The target position is determined based on the observation data, the first position and the satellite clock error.

8. An information determination device, characterized in that: The device comprises: An acquisition unit, used to acquire the historical position of a reference station and observation data of a satellite corresponding to the reference station; A first determining unit, configured to determine a target position of the reference station based on the observation data; The second determining unit is configured to determine the current position of the reference station based on the historical position, and determine whether there is an abnormality in the target position based on the current position.

9. An information determination device, characterized in that The device comprises: a processor, a memory and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute the information determination program in the memory to implement the steps of the information determination method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps of the information determination method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that: When the computer program is executed by a processor, the computer program implements the information determination method according to any one of claims 1 to 7.

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