Method and remote server for satellite positioning of vehicle

Abstract

The invention proposes a method for satellite positioning of a vehicle executed by a remote server, the method comprising the following steps: receiving satellite observations detected at the vehicle side for satellite positioning of the vehicle from the vehicle side; acquiring correction data for improving the satellite positioning accuracy of the vehicle; performing high-precision positioning calculation on the vehicle based on the deviation correction data and the received satellite observation result of the vehicle side so as to obtain the satellite precise position of the vehicle; and transmitting the satellite precise position of the vehicle to the vehicle side. The invention further provides a method executed on the vehicle side for satellite positioning of a vehicle, a remote server, a vehicle side positioning device, a system for satellite positioning of a vehicle and a machine-readable storage medium.

Description

Technical Field

[0001] The present invention relates to a method for satellite positioning of a vehicle executed by a remote server. The present invention also relates to a method for satellite positioning of a vehicle executed on the vehicle side, a remote server, a vehicle-side positioning device, a system for satellite positioning of a vehicle, and a machine-readable storage medium. Background Art

[0002] The Global Navigation Satellite System (GNSS) is a well-known satellite positioning system that uses satellite signals to determine the geographical coordinates of the receiver. However, directly observed satellite signals are affected by a variety of error sources, and relying solely on single-point positioning cannot meet the needs of some fields that require high positioning accuracy and integrity, such as vehicle autonomous driving, navigation, map display, path planning, etc.

[0003] In order to make up for the above shortcomings, it is necessary to use the GNSS augmentation system to provide real-time correction services to improve the performance and accuracy of vehicle positioning.

[0004] At present, it is necessary to rely on high-energy consumption and high-resolution positioning chips configured in vehicle terminals to support high-precision positioning based on GNSS raw observation data. However, this dedicated positioning chip has increased the manufacturing cost of the vehicle. In addition, it is necessary to continuously obtain correction information from the network. As the driving environment of the vehicle is constantly changing, this also has a certain impact on the convergence speed of the positioning algorithm.

[0005] The prior art also proposes to use mobile phone chips to complete high-precision satellite positioning of vehicles, but this solution also has its limitations. In particular, when the vehicle is in an area where the satellite signal is weakened or the network environment is unstable, positioning cannot be completed.

[0006] In this context, it is expected to provide an improved vehicle satellite positioning method to effectively reduce hardware costs and improve convergence speed by rationally migrating the complex positioning solution process. Summary of the invention

[0007] The object of the present invention is to provide a method for satellite positioning of a vehicle executed by a remote server, a method for satellite positioning of a vehicle executed on the vehicle side, a remote server, a vehicle-side positioning device, a system for satellite positioning of a vehicle and a machine-readable storage medium, so as to at least solve some of the problems in the prior art.

[0008] According to a first aspect of the present invention, there is provided a method for satellite positioning of a vehicle executed by a remote server, the method comprising the following steps:

[0009] receiving, from the vehicle side, satellite observation results detected at the vehicle side for satellite positioning of the vehicle;

[0010] Obtaining correction data for improving the satellite positioning accuracy of the vehicle;

[0011] Based on the correction data and the satellite observation results received from the vehicle side, the vehicle is positioned with high precision to obtain the precise satellite position of the vehicle; and

[0012] The precise satellite position of the vehicle is transmitted to the vehicle side.

[0013] The present invention particularly includes the following technical concepts: by migrating the correction data acquisition process and the high-precision positioning solution process from the vehicle side and transferring them to a remote server outside the vehicle for execution, on the one hand, it can effectively reduce the performance requirements for the processor chip carried by the vehicle, thereby saving the manufacturing cost of the entire vehicle; on the other hand, it can also rely on the server's more powerful computing power to achieve faster convergence positioning, thereby improving the accuracy and reliability of the vehicle's real-time dynamic positioning.

[0014] Optionally, receiving from the vehicle side satellite observation results detected on the vehicle side for satellite positioning of the vehicle includes: receiving from the vehicle terminal satellite observation results detected with the aid of the vehicle terminal; and / or receiving from the vehicle terminal satellite observation results detected with the aid of a mobile terminal of a vehicle user.

[0015] This can further reduce vehicle hardware costs by eliminating expensive vehicle antennas. In addition, by allowing vehicle terminals to participate in the transmission process of high-precision positioning data, the security and privacy of precise data can be ensured.

[0016] Optionally, the satellite observation results include: GNSS measurement values ​​collected on the vehicle side, the GNSS measurement values ​​including pseudorange measurement values, carrier phase measurement values ​​and / or Doppler measurement values; and / or, the approximate satellite position of the vehicle obtained by performing a preliminary positioning solution on the vehicle based on the GNSS measurement values ​​collected on the vehicle side, the accuracy of the approximate satellite position is lower than the precise satellite position.

[0017] Therefore, the form of reported satellite observation results can be flexibly selected according to actual needs. On the one hand, the data processing overhead on the vehicle side can be further reduced by transmitting the original GNSS measurement values. On the other hand, the approximate position can be transmitted when the communication bandwidth is heavily burdened to reduce the pressure of data transmission.

[0018] Optionally, the method further comprises the following steps:

[0019] Checking the confidence of satellite observation results received from the vehicle side in terms of the form of a solution for the vehicle's approximate satellite position and / or in terms of data quality indicators of GNSS measurements; when the confidence of the satellite observation results does not meet predefined conditions, preprocessing the satellite observation results before performing a high-precision positioning solution for the vehicle based on the satellite observation results to improve the confidence of the satellite observation results; and providing the preprocessed satellite observation results for a high-precision positioning solution for the vehicle's precise satellite position.

[0020] In this way, it is possible to reasonably judge whether the satellite observation results on the vehicle side are valid. In this way, even if the vehicle is in an area where the satellite signal is weak or blocked (such as tunnels, viaducts, urban canyons, etc.), preprocessing methods can be used to improve the quality of the GNSS measurement signal and improve the satellite positioning accuracy of the vehicle.

[0021] Optionally, the preprocessing includes at least one of the following:

[0022] Eliminate the observation epochs whose number does not meet the quantity requirement;

[0023] Eliminate satellite observations with missing observation types;

[0024] Chi-square test and receiver autonomous integrity test;

[0025] Eliminate satellites with unhealthy ephemeris marks, altitude angles, and signal-to-noise ratios below the threshold;

[0026] Clock jump detection and repair;

[0027] Cycle slip detection and repair;

[0028] Remove Lone Star; and / or

[0029] Eliminate satellite observation results whose observation timing does not meet the time requirements.

[0030] This enables more accurate detection of observation errors in satellite observation information, laying the foundation for higher vehicle positioning accuracy.

[0031] Optionally, obtaining correction data includes: receiving state domain correction numbers and / or observation domain correction numbers generated based on first reference satellite observation results of one or more reference stations, and determining the received state domain correction numbers and / or observation domain correction numbers as correction data; and / or, detecting second reference satellite observation results at a ground infrastructure device equipped with a remote server, and determining correction data based on the second reference satellite observation results.

[0032] Therefore, multiple possible ways of obtaining correction data are provided, so that the acquisition of correction data is not restricted by a fixed reference positioning source, further improving positioning accuracy and robustness.

[0033] Optionally, the method further comprises the following step: transmitting the precise satellite position of the vehicle in a multicast form to a plurality of other vehicles within a determined range around the vehicle.

[0034] Therefore, through a one-to-many information transmission method, multiple vehicles with similar positioning requirements in the same lane or the same road section can be grouped to achieve the sharing of satellite precise positions within a reasonable range, reducing data processing overhead and communication data volume.

[0035] Optionally, the method further includes the following steps: storing the precise satellite position of the vehicle calculated by high-precision positioning as reference correction data, and providing the reference correction data for high-precision positioning calculation of other vehicles within a determined range around the vehicle.

[0036] Therefore, nearby vehicles can be used as dynamic differential positioning sources, and their known coordinates can be fully utilized to eliminate satellite observation errors to obtain a more accurate position solution.

[0037] According to a second aspect of the present invention, there is provided a method for satellite positioning of a vehicle executed on a vehicle side, the method comprising the following steps:

[0038] Detecting satellite observation results for satellite positioning of the vehicle on the vehicle side;

[0039] transmitting the satellite observations to a remote server; and

[0040] The precise satellite position of the vehicle is received from a remote server through high-precision positioning of the vehicle based on correction data and satellite observation results.

[0041] Optionally, in the method: initial satellite observation results are detected by means of a vehicle terminal; and / or satellite observation results are detected by means of a mobile terminal of a vehicle user and the satellite observation results are transmitted to the vehicle terminal.

[0042] Optionally, the method also includes the following steps: the vehicle terminal performs security authentication on the vehicle user's mobile terminal; when the vehicle terminal successfully completes security authentication on the mobile terminal, the satellite observation results detected by the vehicle user's mobile terminal are transmitted to the vehicle terminal; and, the satellite observation results are transmitted from the vehicle side to a remote server with the help of the vehicle terminal.

[0043] Therefore, through the cooperation between the vehicle terminal and the mobile terminal, not only can the vehicle antenna be omitted when necessary, further reducing hardware overhead, but also the transmission security of precise positioning data is ensured through the authenticated data transmission link between the vehicle terminal and the remote server.

[0044] Optionally, the satellite observation results include: GNSS measurement values ​​collected on the vehicle side, the GNSS measurement values ​​including pseudorange measurement values, carrier phase measurement values ​​and / or Doppler measurement values; and / or, the approximate satellite position of the vehicle obtained by performing a preliminary positioning solution on the vehicle based on the GNSS measurement values ​​collected on the vehicle side, the accuracy of the approximate satellite position is lower than the precise satellite position.

[0045] Optionally, the method further comprises the following step: transmitting the received satellite precise position of the vehicle to other vehicles within a determined range around the vehicle via vehicle-to-vehicle communication.

[0046] In this way, the real-time sharing of high-precision positioning information is achieved by utilizing vehicle networking technology. When some vehicles are blocked by satellite signals or the positioning solution device fails, they can also benefit from the satellite positioning solution results of surrounding vehicles in this way.

[0047] According to a third aspect of the present invention, a remote server is provided, the remote server being used to execute the method according to the first aspect of the present invention, the remote server comprising:

[0048] a communication unit configured to be able to communicate with the vehicle side to receive from the vehicle side a satellite observation result detected at the vehicle side for satellite positioning of the vehicle and to transmit the satellite precise position of the vehicle to the vehicle side;

[0049] an acquisition unit configured to acquire correction data for improving the satellite positioning accuracy of the vehicle; and

[0050] The positioning solution unit is configured to perform high-precision positioning solution on the vehicle based on the correction data and the satellite observation results received on the vehicle side to obtain the precise satellite position of the vehicle.

[0051] According to a fourth aspect of the present invention, a vehicle side positioning device is provided, the vehicle side positioning device is used to perform the method according to the second aspect of the present invention, the vehicle side positioning device comprises:

[0052] a detection unit configured to be capable of detecting, on the vehicle side, a satellite observation result for satellite positioning of the vehicle; and

[0053] A communication unit is configured to communicate with a remote server to transmit satellite observation results detected on the vehicle side to the remote server, and receive from the remote server the precise satellite position of the vehicle obtained by performing high-precision positioning solution on the vehicle based on correction data and satellite observation results.

[0054] Optionally, the detection unit includes a satellite receiver of a vehicle terminal and / or a satellite receiver of a mobile terminal of a vehicle user.

[0055] According to a fifth aspect of the present invention, there is provided a system for satellite positioning of a vehicle, the system comprising the remote server according to the third aspect of the present invention and the vehicle-side positioning device according to the fourth aspect of the present invention.

[0056] According to a sixth aspect of the present invention, there is provided a machine-readable storage medium on which a computer program is stored, wherein the computer program is used to execute the method according to the first aspect and / or the second aspect of the present invention when run on a computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The present invention will be described in more detail below with reference to the accompanying drawings, so that the principles, features and advantages of the present invention can be better understood. The accompanying drawings include:

[0058] Figure 1a and Figure 1b A block diagram of a system for satellite positioning of a vehicle according to an exemplary embodiment of the present invention is shown;

[0059] Figure 2 A flow chart of a method for satellite positioning of a vehicle executed by a remote server according to an exemplary embodiment of the present invention is shown;

[0060] Figure 3 A flow chart of a method for satellite positioning of a vehicle executed by a remote server according to another exemplary embodiment of the present invention is shown;

[0061] Figure 4 A flow chart of a method for satellite positioning of a vehicle executed on a vehicle side according to an exemplary embodiment of the present invention is shown;

[0062] Figure 5 A schematic diagram showing satellite positioning of multiple vehicles in an exemplary application scenario; and

[0063] Figure 6 A schematic diagram of satellite positioning of multiple vehicles in another exemplary application scenario is shown. DETAILED DESCRIPTION

[0064] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0065] It should be understood that, in this document, the expressions "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of the indicated technical features.

[0066] Figure 1a and Figure 1b A block diagram of a system for satellite positioning of a vehicle according to an exemplary embodiment of the present invention is shown.

[0067] refer to Figure 1a A system 1 for performing satellite positioning on a vehicle includes a vehicle-side positioning device 2 and a remote server 3 .

[0068] The vehicle-side positioning device 2 relates to a positioning device that uses a global navigation satellite system (GNSS) to measure the current position. In this embodiment, the vehicle-side positioning device 2 can be constructed as or include a vehicle terminal 20, which is structurally integrated in the vehicle and therefore belongs to a part of the vehicle. It can be, for example, an on-board computer, an on-board computer, an on-board intelligent device with software computing functions, etc., or the vehicle terminal 20 can also be implemented as a GNSS navigation device embedded in an electronic control unit (ECU) of the vehicle. The vehicle-side positioning device 2 includes a detection unit 22 and a communication unit 24, which are connected to each other in terms of communication technology.

[0069] The detection unit 22 is used to detect satellite observation results for satellite positioning of the vehicle on the vehicle side. Figure 1a As shown in the exemplary embodiment, the detection unit 22 may include or be configured as a satellite receiver of the vehicle terminal 20, for example, to receive GNSS signals (also referred to as GNSS measurements) from a satellite cluster composed of a plurality of GNSS satellites 10, and use the received GNSS signals to calculate the satellite approximate position of the vehicle. The detection unit 22 then transmits the received GNSS measurements or the calculated satellite approximate position of the vehicle to the communication unit 24.

[0070] The communication unit 24 can be constructed as a T-Box of the vehicle, for example, which can use wireless Internet technologies such as wireless LAN (WLAN) (Wi-Fi), wireless broadband, etc., short-range communication technologies such as Bluetooth, near field communication (NFC), radio frequency identification (RFID), infrared, ZigBee, etc., and / or mobile communication technologies such as global system for mobile communications (GSM), long term evolution (LTE), code division multiple access (CDMA), etc. to perform wireless communication with the remote server 3. Thus, the communication unit 24 of the vehicle-side positioning device 2 can transmit the satellite observation results detected on the vehicle side to the remote server 3, and receive the satellite precise position of the vehicle obtained by performing high-precision positioning solution on the vehicle based on the correction data and the satellite observation results from the remote server 3.

[0071] In an embodiment not shown, the detection unit 22 of the vehicle-side positioning device 2 can also obtain other vehicle information from one or more sensors installed in the vehicle, so as to further improve the vehicle positioning accuracy in combination with other vehicle information. The one or more sensors can include, for example, an inertial sensor, a speed sensor, a distance sensor, etc.

[0072] The remote server 3 can be implemented in various applicable forms, which can be either a single server, a server cluster composed of several servers, or a cloud computing service center. The remote server 3 has a high computing power and can process the received data (such as calculation, analysis, etc.). In addition, the remote server 3 can also take further actions on the vehicle according to the processing results. For example, the remote server 3 can return positioning-related data (such as the precise satellite position mentioned below), operating instructions, warning information, guiding suggestions, etc. to the communication unit 24 of the vehicle. In a specific example, the remote server 3 can be mounted on a ground infrastructure device 5. The ground infrastructure device 5 can, for example, be part of an intelligent road infrastructure to communicate with other devices on the ground. In the embodiment of this article, the remote server 3 includes a communication unit 32, an acquisition unit 34, and a positioning solution unit 36, which are connected to each other in communication technology.

[0073] The communication unit 32 of the remote server 3 can communicate with the vehicle side (for example, with the communication unit 24 of the vehicle side positioning device 2) by means of the various wireless communication methods mentioned above to receive satellite observation results from the vehicle side and feed back the precise satellite position of the vehicle to the vehicle side.

[0074] In one embodiment, the acquisition unit 34 of the remote server 3 can, for example, communicate with the GNSS augmentation service provider, different types of reference stations 4 or communication satellites through different channels (e.g., wireless communication networks, star paths) to obtain correction data generated based on the first reference satellite observation results of different types of reference stations 4. For example, depending on different correction number systems and release mechanisms, the acquisition unit 34 can receive the correction data in a variety of ways. For example, the acquisition unit 34 can periodically receive various correction numbers broadcast by communication satellites. For another example, the acquisition unit 34 can also obtain the correction data from navigation messages broadcast by the GNSS system, online service providers or differential positioning sources through wireless communication networks. In another embodiment, the remote server 3 is arranged at the ground infrastructure device 5. In this case, the remote server 3 itself can also be equipped with a satellite receiver. Therefore, the acquisition unit 34 can obtain the global position of the remote server 3 based on the second reference satellite observation results received from the satellite receiver of the remote server 3 itself, and determine this as the correction data.

[0075] The positioning solution unit 36 ​​of the remote server 3 receives the satellite observation results and corresponding correction data of the vehicle side from the communication unit 32 and the acquisition unit 34, and performs high-precision positioning solution on the vehicle to obtain the precise satellite position of the vehicle. In the positioning solution unit 36, for example, one or more positioning algorithms (such as RTK positioning algorithm, PPP positioning algorithm, etc.) are stored, and the positioning solution unit 36 ​​can select an adaptive positioning algorithm in different situations, and each type of positioning algorithm corresponds to a specific correction data.

[0076] exist Figure 1b In another embodiment, a system 1 for satellite positioning of a vehicle is shown. Figure 1a The difference is that in Figure 1b In the positioning scenario, the vehicle-side positioning device 2 includes not only the vehicle terminal 20 but also the mobile terminal 21 of the vehicle user. The mobile terminal 21 is structurally independent of the vehicle, and can be implemented as a smart phone, a smart watch, a tablet computer, a personal digital assistant (PDA), a portable multimedia player (PMP), a laptop computer, etc. While the vehicle user is using the vehicle, the mobile terminal 21 will be brought into the vehicle and move with the vehicle. Therefore, although the mobile terminal 21 does not need to be fixed or integrated with the vehicle, when the vehicle user is driving or riding in the vehicle, the position of the mobile terminal 21 can also approximately reflect the vehicle position to a certain extent.

[0077] In this embodiment, the detection unit 22 of the vehicle-side positioning device 2 is constructed as or includes a satellite receiver (such as a satellite antenna) of the mobile terminal 21, thereby eliminating the need for the vehicle's own satellite receiver and obtaining satellite observation results entirely with the help of the mobile terminal 21. The communication unit 24 of the vehicle-side positioning device 2 is still fixed on the vehicle (for example, constructed as a part of the vehicle terminal 20). When there is a positioning demand for the vehicle, the mobile terminal 21 establishes a communication connection with the vehicle terminal 20. For example, when the vehicle terminal 20 detects the mobile terminal 21 inside the vehicle, the vehicle terminal 20 automatically establishes a communication connection with the mobile terminal 21 (such as a Bluetooth connection). As a result, the mobile terminal 21 can transmit the satellite observation results it obtains to the vehicle terminal 20 through this communication connection. At the same time, the vehicle terminal 20 continuously transmits the satellite observation results to the remote server 3 and receives the precise satellite position of the vehicle from there.

[0078] pass Figure 1b The system architecture shown can collect the satellite observation results on the vehicle side with the help of the mobile terminal 21, thereby saving the layout and installation costs of the vehicle's own satellite antenna. At the same time, it can also ensure that the data interaction between the vehicle-side positioning device 2 and the remote server 3 must be carried out with the participation of the authenticated vehicle terminal 20, thereby achieving the security and privacy of precise data transmission.

[0079] It should be noted that although the reference Figure 1a and Figure 1b The cases of detecting satellite observation results with the help of vehicle terminal 20 and mobile terminal 21 are introduced respectively. However, it is also foreseeable that the satellite observation results on the vehicle side can be obtained not only with the help of the satellite receiver of vehicle terminal 20 but also with the help of the satellite receiver of mobile terminal 21, which also falls within the scope of the present invention.

[0080] Figure 2 The flowchart of the method for satellite positioning of a vehicle executed by the remote server 3 according to an exemplary embodiment of the present invention is shown. Figure 2 The data transmission process shown in FIG. exemplarily occurs in Figure 1a-1b Between the vehicle-side positioning device 2 and the remote server 3 shown.

[0081] In step S201, a satellite observation result detected on the vehicle side for satellite positioning of the vehicle is received from the vehicle side. Prior to this, for example, GNSS measurement values ​​have been collected on the vehicle side by means of a vehicle terminal and / or a mobile terminal of a vehicle user, and the satellite approximate position of the vehicle is determined based on the GNSS measurement values, which will be described below in conjunction with Figure 4 The method shown is further elaborated.

[0082] The communication unit of the remote server 3 may include, for example, a network interface and a satellite antenna, whereby it can receive the satellite observation results of the vehicle side through both the wireless communication network and the communication satellite. Figure 2 Although not explicitly shown in the figure, the process of establishing a network connection between the vehicle-side positioning device 2 and the remote server 3 may also be included before step S201. The network connection may be any wireless network based on a communication technology standard, such as the long-term evolution (LTE) wireless network mentioned above. The authentication process of both parties may be implemented during the process of establishing a network connection between the vehicle-side positioning device 2 and the remote server 3. It should be noted that although reference is made to Figure 2 Only a single vehicle-side positioning device 2 is shown, but in actual application, multiple vehicle-side positioning devices 2 may simultaneously establish a network connection with the remote server 3 .

[0083] In step S202, correction data for improving the satellite positioning accuracy of the vehicle is obtained.

[0084] The satellite observation results directly detected by the vehicle-side positioning device 2 contain a large number of error terms, many of which are related to satellites and the atmosphere. Such error terms cannot be corrected by the vehicle-side positioning device's own communication unit (satellite receiver), so they can only be eliminated by external data. In this context, such data provided by the outside to improve satellite positioning accuracy is called "correction data."

[0085] Generally, correction data can be divided into observation domain correction numbers and state domain correction numbers, which have obvious differences in the type of data contained and the correction principle.

[0086] In one embodiment, at the remote server 3, state domain corrections and / or observation domain corrections generated based on the first reference satellite observation results of one or more reference stations can be received through a wireless communication network or a communication satellite (e.g., through the L band), and the received state domain corrections and / or observation domain corrections are determined as correction data. Here, for the case where the correction data involves state domain corrections, the "reference station" mentioned refers to a global or regional reference station, and for the case where the correction data involves observation domain corrections, the "reference station" mentioned refers to a local reference station that is geographically close to the vehicle.

[0087] Under the observation domain correction number system, the main principle is to recognize that errors such as satellite orbit error, satellite clock error, ionospheric delay, tropospheric delay, etc. have similar effects on two observation stations (such as a reference station and a vehicle) that are not far apart. The remote server 3 receives the reference station position, carrier phase measurement value, and pseudorange measurement value containing error information, which is also called an indirect correction number.

[0088] Under the state domain correction number system, the principle is to use global or regional reference station observations to perform physical modeling of the state space model, simulate the errors of the entire region, and describe the parameters of the state space at any given time through modeling. In this case, the remote server 3 receives the absolute error correction number.

[0089] In another embodiment, at the remote server 3, instead of receiving the correction data from the outside, the ground infrastructure device equipped with the remote server 3 is regarded as a "differential reference station", and the satellite receiver of the "differential reference station" is used to detect the second reference satellite observation result (in order to distinguish it from the first reference satellite observation result detected at the known station mentioned above, the satellite observation result detected locally at the remote server 3 is referred to as the second reference satellite observation result). Then, the correction data can be determined based on the second reference satellite observation result. This correction data acquisition method is very advantageous because even when there is no known reference station near the vehicle to be positioned or when the distance (baseline distance) between the vehicle to be positioned and the known reference station is far, the integer ambiguity can be accurately and quickly resolved to achieve a higher differential positioning accuracy.

[0090] In step S203, the vehicle is subjected to high-precision positioning solution based on the correction data and the satellite observation results received on the vehicle side to obtain the precise satellite position of the vehicle. Here, the precise satellite position refers to the position coordinates after the rough single-point positioning result of the vehicle is corrected based on the differential correction number or the absolute correction number. The precise satellite position has higher accuracy than the approximate satellite position determined directly on the vehicle side based on the satellite observation results. For example, the precise satellite position of the vehicle can refer to the position information with a positioning accuracy of sub-meter or even centimeter level.

[0091] In one embodiment, when the correction data obtained is an observation domain correction number, a differential positioning algorithm (such as an RTK positioning algorithm, an NRTK positioning algorithm, etc.) adapted to the observation domain correction number can be selected to determine the precise satellite position of the vehicle. Specifically, the satellite observation result on the vehicle side can be subtracted from the (virtual or real) reference satellite observation result containing various error terms. Through this difference process, the common partial error between the two is eliminated, and the positioning result obtained is the position of the vehicle relative to a known reference station or relative to the ground infrastructure device where the remote server 3 is deployed, such as a coordinate difference. Then, the absolute coordinates of the reference station or the ground infrastructure device are added to the solved coordinate difference to obtain the absolute coordinates of the vehicle.

[0092] In another embodiment, when the correction data obtained is a state domain correction number, a precise point positioning algorithm (such as a PPP positioning algorithm, a PPP-RTK positioning algorithm, a PPP-AR positioning algorithm, etc.) adapted to the state domain correction number can be selected to determine the precise satellite position of the vehicle. Specifically, the absolute correction number can be used to directly eliminate various state quantity error terms (such as satellite clock error, satellite orbit error, satellite phase deviation, ionospheric delay, tropospheric delay, etc.) contained in the carrier phase measurement value and pseudorange measurement value collected on the vehicle side, and the absolute coordinates without error are obtained after correction.

[0093] In step S204, the precise satellite position of the vehicle is transmitted to the vehicle side. As mentioned above, the communication between the remote server 3 and the vehicle side positioning device 2 can be realized through a wireless communication network or by means of a communication satellite to transmit the precise satellite position of the vehicle to the vehicle side. In addition, the remote server can also generate corresponding operation instructions, warning information, guiding suggestions, etc. according to the current precise satellite position of the vehicle, and then send these additional information to the vehicle side to support more driving decision-making tasks or driving assistance functions of the vehicle.

[0094] Figure 3 A flowchart of a method for satellite positioning of a vehicle executed by the remote server 3 according to another exemplary embodiment of the present invention is shown. Figure 3 The data transmission process shown in FIG. exemplarily occurs in Figure 1a-1b The vehicle side positioning device 2 and the remote server 3 are shown. Figure 3 In the implementation process of steps S201, S203 and S204, Figure 2 The corresponding steps are the same and have the same reference numerals, and will not be repeated here. Figure 3 and Figure 2 The difference.

[0095] like Figure 3 As shown, after the remote server 3 receives the satellite observation results detected on the vehicle side from the vehicle side in step S201, it does not directly use the received satellite observation results on the vehicle side to perform high-precision positioning solution for the vehicle, but checks the confidence of the satellite observation results received from the vehicle side in an additional step S201'.

[0096] In one embodiment, if the satellite observations received from the vehicle side are GNSS measurements, the confidence level can be evaluated in terms of data quality indicators of the GNSS measurements, such as satellite geometry (checking the geometric relationship between the receiver and the satellite), dop value (positioning precision factor), multipath effects, number of observed satellites, observation noise, GNSS signal strength, etc.

[0097] In another embodiment, if the satellite observation result received from the vehicle side is the approximate satellite position of the vehicle obtained by performing a preliminary positioning solution on the vehicle based on the GNSS measurement value, the confidence can be evaluated in terms of the form of the solution of the approximate satellite position of the vehicle. For example, the solution of the approximate satellite position of the vehicle obtained by the preliminary positioning solution can be divided into a fixed solution, a floating point solution and a single point solution.

[0098] If the solution to the approximate satellite position is a fixed solution, it means that the confidence level of the GNSS measurements used to calculate the approximate satellite position of the vehicle is high. Therefore, the approximate satellite position does not need to be preprocessed, but can be directly corrected. That is, the correction data is applied to the approximate satellite position to eliminate the error in the position, thereby obtaining the precise satellite position of the vehicle.

[0099] If the solution of the satellite approximate position is a floating point solution or a single point solution, it means that the confidence of the GNSS measurement used to calculate the satellite approximate position is low. In this case, the satellite approximate position needs to be inversely solved first to obtain the GNSS measurement used to solve the satellite approximate position. Then, the GNSS measurement is preprocessed, and the updated satellite approximate position is recalculated using the preprocessed GNSS measurement. On this basis, the subsequent correction process is performed.

[0100] like Figure 3 As shown, in another additional step S201", when the confidence of the satellite observation results on the vehicle side does not meet the predefined conditions, the satellite observation results are preprocessed before high-precision positioning of the vehicle is solved based on the satellite observation results to improve the confidence of the satellite observation results.

[0101] Specifically, the preprocessing includes at least one of the following:

[0102] 1. Eliminate the observation epochs whose number does not meet the requirement (for example, the number is less than 4).

[0103] In the initial processing of satellite observations on the vehicle side, if the number of satellites received by the satellite receiver on the vehicle side is less than 4, these observation epochs (GNSS measurements) are usually discarded. This is because at least 4 pseudo-range measurements from satellites need to be received to perform basic position estimation and positioning calculations. This ensures that sufficient data is used for positioning calculations and improves positioning accuracy and reliability.

[0104] Eliminating observation epochs with less than 4 satellites can be done by following the steps below:

[0105] 1) Check the number of visible satellites: GNSS measurements are analyzed to determine the number of satellites visible at each timestamp.

[0106] 2) Filter observation epochs: Based on the number of visible satellites, remove observation epochs with less than 4 satellites. This can be achieved by marking the observation epochs as missing values ​​or removing them completely from the dataset.

[0107] 3) Data processing: Before subsequent data processing and positioning calculations, ensure that only data from observation epochs with less than 4 satellites are used. This can avoid using insufficient data for positioning, thereby improving the accuracy and reliability of positioning results.

[0108] 2. Eliminate satellite observation results with missing observation types.

[0109] "Missing observation type" observation data refers to the situation where the measurement values ​​of certain observation types in the GNSS measurement values ​​are missing or unavailable. This may be caused by equipment failure, signal obstruction, data transmission error or other reasons. For example: missing pseudorange observations, missing carrier phase observations, missing signal strength observations, missing multipath observations, missing Doppler shift observations, etc.

[0110] When dealing with observational data with "missing observation type", a common method is to deal with it through data elimination. The following are common data elimination steps:

[0111] 1) Observation filtering: For specific observations of a certain observation type that are missing, they can be removed or marked as missing. By setting thresholds or rules, observations that are significantly deviated from the normal range or invalid can be excluded.

[0112] 2) Satellite removal: For satellites with missing observation types, they can be considered to be removed from the positioning and navigation solution process. This can be judged based on the quality indicators of the satellite (such as signal strength, carrier-to-noise ratio, etc.) or the accuracy of other available observation types.

[0113] 3) Data interpolation: If the missing observation type can be estimated to some extent by other observation types, interpolation methods can be used to fill in the missing values. This can be done by exploiting the relationship between related observations, such as using historical data, interpolation algorithms, or statistical models.

[0114] 4) Data weighting: When performing data processing and solving, a weighted approach can be used to handle data with missing observation types. The contribution of available observation types is weighted into the solution by assigning appropriate weights based on the accuracy and reliability of the observation types.

[0115] 3. Chi-square test, receiver autonomous integrity test:

[0116] The chi-square test is mainly used to evaluate the correlation between two categorical variables, while the receiver autonomous integrity test is mainly used to detect whether the satellite receiver is in normal working condition. The receiver autonomous integrity test is to ensure the reliability and accuracy of GNSS positioning. By monitoring the receiver output data, it is determined whether there is a fault or abnormality in the satellite receiver on the vehicle side. These algorithms are usually based on the internal data of the receiver (such as signal strength, Doppler frequency shift, carrier-to-noise ratio, etc.) or external data (such as satellite status, observation residuals, etc.) for analysis and judgment.

[0117] 4. Eliminate satellites with unhealthy ephemeris marks, altitude angles, and signal-to-noise ratios below the threshold:

[0118] Eliminating unhealthy satellites with low elevation angles and low signal-to-noise ratios is to improve the quality and reliability of positioning results. Eliminating unhealthy satellites can eliminate inaccurate data caused by satellite failures, and eliminating satellites with low elevation angles and low signal-to-noise ratios can eliminate satellites with poor visibility and poor signal quality. Specific thresholds and elimination strategies can be adjusted and optimized according to specific application requirements and positioning accuracy requirements.

[0119] The following are common elimination steps:

[0120] 1) Obtaining ephemeris data: Obtain satellite ephemeris data, which contains information such as satellite orbit parameters and clock correction. Ephemeris data can be obtained through navigation messages broadcast by the GNSS system or from online service providers.

[0121] 2) Analyze the ephemeris data: Analyze the ephemeris data to extract the satellite’s identifier, health status, altitude angle, signal-to-noise ratio and other information.

[0122] 3) Health status check: According to the health status information in the ephemeris data, determine whether each satellite is marked as healthy. Usually, the ephemeris data will contain the health status indicator bit (Health Flag) of the satellite. The health status of 0 indicates unhealthy and 1 indicates healthy. Satellites in unhealthy states will be eliminated.

[0123] 4) Elevation angle check: Calculate the elevation angle of each satellite, that is, the elevation angle of the satellite in the sky. For example, if the elevation angle of a satellite is lower than a set threshold (such as 15 degrees), it will be removed.

[0124] 5) Signal-to-Noise Ratio Check: Get the signal-to-noise ratio (SNR) value of each satellite, which represents the ratio of the received satellite signal strength to the noise. If the satellite's SNR is lower than the set threshold, it will be removed.

[0125] 6) Eliminate satellites: According to the results of the altitude angle and signal-to-noise ratio check, satellites that do not meet the conditions are eliminated. These satellites can be excluded from the positioning calculation or marked as invalid or missing values.

[0126] 5. Clock jump detection and repair:

[0127] Clock jump refers to a sudden error in the clock of a GNSS receiver, which causes a time offset in the receiver's observation data. Clock jumps can have a serious impact on positioning and navigation solutions, so they need to be detected and repaired.

[0128] Here are the general steps for clock jump detection and repair:

[0129] 1) Detection: The goal of clock jump detection is to identify the time point when the receiver clock jumps. A common detection method is based on the rate of change of continuous observation data. By checking the change trend of the observation data, if there is a sudden and large change, a clock jump may have occurred.

[0130] 2) Confirmation: After a potential clock jump is detected, further confirmation is needed to determine whether a clock jump has actually occurred. This can be done by comparing it with other independent data sources, such as reference station observation data, to determine whether there is a time offset.

[0131] 3) Repair: Once a clock jump is confirmed, repair is required. The goal of the repair is to correct the time offset caused by the clock jump and restore the observed data to a normal continuous time series.

[0132] 4) Clock differential repair: By performing differential calculation on the observation data during the clock jump, an offset can be obtained and applied to the affected observation data to achieve repair.

[0133] 5) Extrapolation repair: If there is a reliable external time reference, this reference can be used for interpolation or extrapolation to repair the observed data during the clock jump.

[0134] 6) Data filtering: After repairing the clock jump, data filtering may be required to remove noise and anomalies introduced by the clock jump and repair.

[0135] 6. MW combination combined with geometry-free distance combination:

[0136] MW combination refers to combining the Doppler frequency shift information on the L band (wavelength is about 19cm) received by the GNSS receiver with the pseudorange measurement value. The geometry-free distance combination refers to combining the pseudorange measurement values ​​of multiple satellites without considering the geometric distance between the satellite and the receiver. Because the MW combination takes into account the Doppler frequency shift information, it can be used to estimate the velocity information of the receiver and further improve the positioning accuracy. The geometry-free distance combination takes into account the pseudorange measurement values ​​of multiple satellites and can provide more information for positioning calculations. By combining the MW combination with the geometry-free distance combination, the information of the Doppler frequency shift and pseudorange measurement values ​​can be comprehensively utilized to improve the accuracy and robustness of GNSS positioning. The specific implementation method and parameter settings may be adjusted and optimized according to the specific application requirements and positioning accuracy requirements.

[0137] Here are the general steps to combine MW combination with geometry-free distance combination:

[0138] 1) Pseudorange observation processing: Process the received satellite pseudorange measurements, including removing clock error, ionospheric delay, atmospheric delay, etc. This can use conventional pseudorange processing methods, such as clock error correction, ionospheric delay model, atmospheric delay model, etc.

[0139] 2) MW combination processing: Combine the received Doppler frequency shift information with the pseudorange measurement value.

[0140] The Doppler shift information can be converted into velocity information and the velocity can be combined with the pseudorange measurement. A commonly used MW combination method is to combine the Doppler shift information with the pseudorange measurement by weighted averaging or linear combination.

[0141] 3) Non-geometric distance combination processing: The pseudo-range measurements of multiple satellites are combined, and methods such as weighted average or least squares can be used. By considering the observations of multiple satellites, more information can be provided for positioning calculations.

[0142] 4) Positioning calculation: Use the observation values ​​of MW combination and non-geometric distance combination to perform positioning calculation. This can use conventional positioning algorithms such as weighted least squares or extended Kalman filter.

[0143] 7. Use segmented empirical threshold models to detect and repair cycle slips

[0144] The segmented threshold model is a method for cycle slip repair. It is often used in GNSS data processing to detect and repair abnormal changes in observations caused by cycle slips. The basic idea of ​​the segmented threshold model is to divide the observation data into multiple continuous segments and set a threshold for each segment. If the observation exceeds the set threshold, it is marked as a cycle slip and repaired.

[0145] Cycle slip: It refers to the sudden change of the observation value when the receiver is receiving satellite signals due to certain reasons (such as satellite signal interruption, receiver reinitialization, etc.).

[0146] Cycle slip repair: Use a cycle slip repair algorithm to detect and repair cycle slips in the observed data. Common cycle slip repair methods include difference-based repair, smoothing repair, and interpolation repair. This will ensure the continuity and consistency of the observed data.

[0147] The following are the basic steps for cycle slip repair using the piecewise threshold model:

[0148] 1) Data segmentation: Continuous observation data is divided into multiple segments according to time or other criteria. Each segment usually contains a certain number of observations, for example, each segment contains data of several minutes or tens of minutes.

[0149] 2) Threshold setting: Set a threshold for each data segment. The threshold can be set based on statistical analysis, historical data, or empirical rules. Common threshold setting methods include fixed threshold, dynamic threshold, and adaptive threshold.

[0150] 3) Cycle slip detection: For each data segment, the observed value is compared with the corresponding threshold. If the observed value exceeds the threshold, it is marked as a cycle slip.

[0151] 4) Cycle slip repair: Once a cycle slip is detected, different repair methods can be used. Common cycle slip repair methods include differential repair, smoothing repair, and interpolation repair. The choice of repair method depends on the specific data processing algorithm and application requirements.

[0152] 5) Data splicing: After repairing the cycle slip of each data segment, the data segments are re-spliced ​​into a complete observation data sequence.

[0153] 8. Delete lone satellites and satellites with frequent cycle jumps:

[0154] Removing outliers and satellites with frequent cycle slips can improve the accuracy and reliability of GNSS positioning. The following are the general processing steps:

[0155] 1) Data quality assessment: Evaluate the quality of received satellite observation data, including indicators such as signal strength, carrier-to-noise ratio, and observation residuals. This can be done through statistical analysis and visualization methods.

[0156] 2) Lone Star Detection: Identify lone stars, which are outliers in the observed data or data points that deviate significantly from other observed data. Statistical methods such as outlier detection can be used.

[0157] Algorithms to identify lone stars.

[0158] 3) Lone star removal: Once a lone star is identified, it can be removed from the observation data. The method of removing the lone star can be to delete the corresponding observation data point or mark it as invalid or missing value.

[0159] 4) Data reconstruction: After removing lone satellites and repairing cycle slips, the remaining observation data can be used for positioning calculations. If a large amount of satellite observation data is deleted, data interpolation or extrapolation may be needed to fill in the missing observation data.

[0160] 9. Eliminate satellite observation results whose observation timing does not meet the time requirements.

[0161] For example, it is necessary to remove the observation data of several epochs at the beginning and end of the observation, thereby eliminating data with large errors or instability to improve the accuracy and reliability of the positioning results. Care should be taken when removing epoch data to ensure that only epochs that do not meet quality requirements are removed to avoid accidental deletion of valid data. The specific number of epochs and removal strategy can be determined based on specific application requirements and data analysis.

[0162] To remove the epoch data at the beginning and end of the observation, you can follow the steps below:

[0163] 1) Determine the number of epochs to be removed: Determine the number of epochs to be removed at the beginning and end of the observation according to specific needs and application scenarios. The range of removal can be determined based on time or epoch number.

[0164] 2) Elimination at the beginning of observation: Determine the number of epochs at the beginning of observation and exclude these epochs from the observation data set. Usually, the epochs at the beginning of observation may be affected by the initial state and have large errors or instability, so these epochs may need to be excluded in positioning calculations.

[0165] 3) Elimination at the end of observation: Determine the number of epochs at the end of observation and exclude these epochs from the observation data set. Epochs at the end of observation may be affected by receiver shutdown or other factors, and may have incomplete or unstable data, so they also need to be eliminated.

[0166] 4) Data removal operation: According to the number of epochs at the start and end of the observation phase, the observation data corresponding to these epochs are removed. These epoch data can be deleted from the data set or marked as invalid or missing values.

[0167] In step S202', if the confidence of the satellite observation results on the vehicle side does not meet the predefined conditions, the preprocessed satellite observation results are provided for high-precision positioning of the vehicle's satellite precise position. After a series of processing and screening, the interference factors such as outliers, lone stars, and cycle slips in the satellite observation results are removed, so that the initial satellite observation results on the vehicle side are converted into "relatively clean" satellite observation results, that is, observation results with higher quality and suitable for positioning and navigation calculations.

[0168] The implementation process of the subsequent steps S203-S204 can refer to Figure 2 The method described is carried out and will not be repeated here.

[0169] Figure 4 A flow chart of a method for satellite positioning of a vehicle, which is executed on the vehicle side, is shown according to an exemplary embodiment of the present invention. Figure 4 The data transmission process involved in the example occurs in Figure 1b Between the vehicle-side positioning device 2 and the remote server 3 shown.

[0170] In step S401 , a communication connection is established between the vehicle terminal 20 and the mobile terminal 21 of the vehicle user and security authentication is performed.

[0171] In this step, the vehicle terminal 20 and the mobile terminal 21 may establish a wireless connection through Bluetooth, Wi-Fi, etc., or may establish a wired connection through a Universal Serial Bus (USB), etc.

[0172] When the vehicle terminal 20 establishes a communication connection with the mobile terminal 21 (for example, a wireless connection is established via Bluetooth), the vehicle terminal 20 may turn on Bluetooth and initiate a Bluetooth connection request to the mobile terminal 21 via a Bluetooth signal, thereby completing the communication connection between the vehicle terminal 20 and the mobile terminal 21. Alternatively, the mobile terminal 21 may turn on Bluetooth, and the vehicle terminal 20 may receive the Bluetooth connection request from the mobile terminal 21 via a Bluetooth signal, thereby completing the establishment of the communication connection between the two.

[0173] In practical applications, the vehicle terminal 20 can interact with multiple mobile terminals 21. In order to prevent vehicle data from being stolen or abused, before the data is officially transmitted, it is necessary to perform security authentication on the mobile terminal 21 that requires access or access. For example, an access request issued by the mobile terminal 21 can be received via an established communication connection, and the access request includes corresponding encrypted information, for example. Subsequently, the received access request is securely authenticated at the vehicle terminal 20 to determine whether the mobile terminal 21 is qualified to access the vehicle. For example, in response to receiving an access request from the mobile terminal 21, the vehicle terminal 20 decrypts the encrypted information using a public key to obtain user identity information and a vehicle identification code. The vehicle terminal 20 determines whether the decrypted user identity information and vehicle identification code match the pre-stored user identity information and vehicle identification code according to a predetermined rule, and thereby generates an authentication response signal. Finally, the vehicle terminal 20 sends the security authentication result in the form of an authentication response signal to the mobile terminal 21 to allow only mobile terminals 21 with access qualifications to access the vehicle terminal 20.

[0174] In step S402 , when the vehicle terminal 20 successfully completes the security authentication of the mobile terminal 21 , the satellite positioning instruction of the vehicle is sent to the mobile terminal 21 .

[0175] The satellite positioning instruction can be understood as an instruction to instruct the mobile terminal 21 to detect satellite observation results. This instruction can be automatically initiated by the vehicle terminal 20 or triggered by the vehicle user (for example, by operating a control button set on the vehicle system). Exemplarily, when it is detected that the vehicle user presses the satellite positioning button set on the vehicle steering wheel, it is determined that the satellite positioning instruction triggered by the vehicle user is received. Then, this instruction is sent to the mobile terminal 21.

[0176] In step S403, when the mobile terminal 21 receives the satellite positioning instruction of the vehicle, the satellite observation result is detected by the mobile terminal 21. Figure 4 In the illustrated embodiment, the vehicle side only needs to rely on the mobile terminal 21 to detect the satellite observation results, so there is no need to arrange a satellite receiver on the vehicle itself, thereby saving the vehicle manufacturing cost to a certain extent. However, it is also possible to send the satellite positioning instruction to the vehicle terminal 20 and the mobile terminal 21 respectively, so as to detect the satellite observation results by means of the satellite receiver of the vehicle terminal 20 and the satellite receiver of the mobile terminal 21 respectively. In addition, it is also possible not to let the mobile terminal 21 of the vehicle user participate in the satellite positioning process of the vehicle, but only to detect the satellite observation results by means of the vehicle terminal 20.

[0177] In one embodiment, the satellite observation results on the vehicle side include GNSS measurement values ​​collected on the vehicle side, and the GNSS measurement values ​​include basic observation values ​​such as pseudorange measurement values, carrier phase measurement values, and / or Doppler measurement values. By understanding these three basic observation values ​​and combining the observed satellite information, the approximate position of the satellite receiver on the vehicle side can be solved. In this case, the preliminary positioning solution and high-precision positioning solution process of the vehicle are both completed at the remote server.

[0178] In another embodiment, the satellite observation results may also include the approximate satellite position of the vehicle obtained by performing a preliminary positioning solution on the vehicle based on the GNSS measurement values ​​collected on the vehicle side, that is, the preliminary positioning solution process of the vehicle is completed on the vehicle side. The approximate satellite position in this context means that the position is estimated using the observation results of only one receiver, which is lower in accuracy than the precise satellite position that is ultimately provided for high-precision positioning, navigation or autonomous driving decisions of the vehicle.

[0179] Exemplarily, the approximate satellite position of the vehicle can be solved by performing pseudorange single-point positioning processing on the GNSS measurement values. First, it is necessary to use a satellite receiver on the vehicle side to collect satellite signals and record the pseudorange measurements of the satellite. Then, it is necessary to obtain the position information of the satellite, which can usually be obtained through satellite ephemeris data (containing the satellite's orbital parameters and clock correction information). Ephemeris data can be obtained through navigation messages broadcast by the GNSS system or through an online service provider. Next, the approximate satellite position is calculated using the pseudorange measurements, which can be achieved through triangulation. For three-dimensional positioning, pseudorange measurements of at least 4 satellites are required, and for two-dimensional positioning, pseudorange measurements of at least 3 satellites are required.

[0180] In step S404, the satellite observation results detected by the mobile terminal 21 of the vehicle user are transmitted to the vehicle terminal 20. For example, the mobile terminal 21 can continuously send the satellite observation results to the vehicle terminal 20 through wireless communication such as Bluetooth or Wi-Fi, or the mobile terminal 21 can also periodically (for example, at a 1 Hz period) transmit the satellite observation results to the vehicle terminal 20. The vehicle terminal 20 is responsible for storing data and establishing a communication connection with the remote server 3.

[0181] In step S405, the satellite observation results are transmitted from the vehicle side to the remote server 3 by means of the vehicle terminal 20. For example, after the vehicle terminal 20 receives the satellite observation results from the mobile terminal 21, it controls the communication unit (such as T-Box) of the vehicle to turn on, so that the vehicle terminal 20 can forward the satellite observation results of the vehicle side to the remote server 3. For example, the satellite observation results of the vehicle side can be sent to the remote server 3 via a wireless communication network or a communication satellite.

[0182] In addition, the frequency of uploading satellite observation results to the remote server can be adjusted according to the motion state of the vehicle. For example, when the vehicle is in motion, the vehicle terminal 20 sends the detected satellite observation results to the remote server 3 at a period of 5 Hz, and when the vehicle is stationary, the vehicle terminal 20 sends the satellite observation results at a period of 1 Hz.

[0183] In step S406, the precise satellite position of the vehicle obtained by performing high-precision positioning calculation on the vehicle based on the correction data and the satellite observation results is received from the remote server 3. As mentioned above, the precise satellite position of the vehicle can exist in the form of absolute coordinates and can achieve sub-meter or even centimeter accuracy.

[0184] In step S407, it is also possible to consider fusing the precise satellite position of the vehicle with the data of other on-board sensors to obtain a more accurate position solution for the vehicle. Here, "other on-board sensors" refer to sensors based on other measurement principles other than the satellite antenna (satellite receiver) of the vehicle. For example, the acceleration, angular velocity, attitude and other information of the vehicle can also be measured on the vehicle side with the help of an inertial measurement unit (accelerometer, gyroscope, etc.). In addition, based on the precise satellite position, an extended Kalman filter can also be used to perform motion state estimation on the vehicle to estimate the state parameters such as the position, velocity and attitude of the vehicle in real time.

[0185] In step S408, the vehicle's position and other relevant information are output based on the positioning results obtained in steps S406-S407. The positioning results can be provided for the vehicle's driving assistance functions and / or automatic driving functions, which include, for example, navigation, map display, path planning and other applications.

[0186] Figure 5 A schematic diagram of satellite positioning of multiple vehicles in an exemplary application scenario is shown.

[0187] In this context, other vehicles 200, 201 within a determined range around the vehicle 100 may also be referred to as "neighboring vehicles", "surrounding vehicles", etc. Accordingly, the vehicle 100 may also be referred to as the "host vehicle" or "host vehicle" in this document.

[0188] like Figure 5 As shown, during the driving of the vehicle 100, the vehicle 100 continuously interacts with the remote server 3 to transmit the satellite observation results collected on the vehicle side to the remote server 3, and obtains the precise satellite position fed back from the remote server 3. In this process, the remote server 3 can not only return the precise satellite position specific to the vehicle 100 to the vehicle in a one-to-one manner, but also pack other vehicles 200 with satellite positioning needs within a certain range around the vehicle into a group. For example, other vehicles 200 in the same lane as the vehicle can be packed into a group, and all adjacent vehicles 200 of the vehicle can also be packed into a group 50. Here, the range size and number of members contained in each group can be flexibly adjusted according to the actual positioning accuracy requirements.

[0189] Then, Figure 5Taking the group A shown in the figure as an example, at the remote server 3, for example, in response to the positioning request of the vehicle 100 in group A (for example, in response to the satellite observation results transmitted by the vehicle 100), a high-precision positioning solution has been performed on it, and the precise satellite position has been determined accordingly. At the same time, for example, a satellite positioning request from other members 200 in group A is also received. For each vehicle 100, 200 to be positioned in group A, since their positions are close to each other, they can be regarded as having the same or similar positioning results, so the remote server 3 needs to send multiple copies of the same position data packet. At this time, if the transmission is still carried out in unicast form, the traffic will be doubled, occupying a large amount of network bandwidth, and even causing network congestion. Therefore, in this embodiment, it is only necessary to transmit the precise satellite position once per group A, and then automatically forward it to other vehicles 200 in group A in multicast form. In this way, all vehicles 100, 200 in group A can share the satellite positioning results, thereby minimizing the number of message copies transmitted in the network, improving data transmission efficiency, and reducing the possibility of congestion in the backbone network.

[0190] Compared with the "unconditional copy" data transmission method of broadcasting, multicast can limit the number and range of vehicles that can receive the same positioning results by reasonably determining the group membership mechanism, thereby well controlling the positioning accuracy and avoiding the distant vehicle 201 from mistakenly receiving satellite positioning information that does not match its current position.

[0191] In addition, if Figure 5 As shown, the vehicle 100 can also exchange data with other vehicles 200 in its vicinity by means of a communication interface based on vehicle networking technology (e.g., "V2V"). The communication interface can use dedicated short-range communication (DSRC) technology. In this way, the vehicle 100 can also share the precise satellite position obtained by the method described above with other vehicles 200 in the vicinity. Therefore, even if the satellite receiver or positioning solution device of the other vehicle 200 fails or the signal is blocked or interfered, the precise satellite position transmitted in this way can be fully utilized.

[0192] Figure 6 A schematic diagram of satellite positioning of multiple vehicles in another exemplary application scenario is shown.

[0193] refer to Figure 6, the remote server 3 receives the satellite observation result L1 detected locally in the vehicle from the vehicle 100, and also receives the corresponding correction data L0 from the reference station 4. Since the position of the reference station 4 is known, and many error terms involved in the satellite signal observation are strongly related to the region, if it is ensured that the vehicle 100 and the reference station 4 are close to each other in geographical location and receive satellite signals synchronously, then the reference satellite observation result L0 provided by the reference station 4 can be used to correct the approximate satellite position of the vehicle 100 to obtain the precise satellite position P1 of the vehicle 100. Alternatively, other forms of correction data can be used to correct specific error terms in the satellite observation results of the vehicle 100 one by one to achieve non-differential satellite positioning, which can also obtain the precise satellite position P1 of the vehicle 100.

[0194] In some cases, for other vehicles 200 within a determined range (e.g., within 1 km) near the vehicle 100, the following situation may exist: there is no geographically close roadside reference station available. Therefore, the remote server 3 may store the satellite precise position P1 determined for the vehicle 100 in advance, and use it as reference correction data to perform collaborative differential positioning of other vehicles 200. Specifically, if the first satellite observation result of the vehicle 100 is L1, and the second satellite observation result of the neighboring vehicle is L2, then, by comparing the collected first satellite observation result L1 with the second satellite observation result L2 at the remote server 3, the satellite differential information D can be calculated. In addition, for example, the satellite precise position P1 of the vehicle 100 has been stored at the remote server 3. At this time, the vehicle 100 can be regarded as a mobile reference station for other vehicles 200, and the satellite precise position P1 of the vehicle can be regarded as correction data for improving the satellite positioning accuracy of other vehicles 200. Therefore, based on the satellite differential information D and the precise satellite position P1 of the vehicle, the other nearby vehicles 200 can be differentially positioned by satellite and their precise satellite positions P2 can be obtained. Figure 6 The precise satellite positions P2 of other vehicles 200 are stored again as reference correction data and used for high-precision positioning solutions of other vehicles.

[0195] Through the collaborative differential positioning process described above, the surrounding vehicles can be flexibly selected as mobile reference stations at any time according to actual needs, thereby reducing the dependence on fixed differential positioning sources, which is particularly beneficial when the differential information is outdated or there is a lack of neighboring reference stations. In addition, in this way, it can always be ensured that the distance between the mobile reference station and the vehicle to be positioned is very close, so the climatic conditions in the geographical areas where the two are located are similar, and the various error terms such as ephemeris error, satellite clock error, ionospheric error, etc. contained in the satellite observation results are also highly similar. Therefore, by performing differential positioning between the two, a more accurate absolute coordinate of the vehicle to be positioned can be obtained, and the vehicle positioning accuracy can be further improved.

[0196] It can be understood that the methods of various embodiments of the present disclosure can be implemented by computer programs / software. These software can be loaded into the working memory of the processor and used to execute the methods according to various embodiments of the present disclosure when running.

[0197] According to another embodiment of the present disclosure, a machine-readable storage medium is provided, such as a CD-ROM, which includes a computer program, which, when executed, causes a computer or a processor to perform a method according to each embodiment of the present disclosure. The machine-readable storage medium is, for example, an optical storage medium or a solid-state medium supplied together with other hardware or as part of other hardware.

[0198] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A method for satellite positioning of a vehicle (100) performed by a remote server (3), the method comprising the following steps: receiving, from the vehicle side, satellite observation results detected at the vehicle side for satellite positioning of the vehicle (100); Acquiring correction data for improving the satellite positioning accuracy of the vehicle (100); Based on the correction data and the satellite observation results received from the vehicle side, a high-precision positioning solution is performed on the vehicle (100) to obtain the precise satellite position of the vehicle (100); as well as The precise satellite position of the vehicle (100) is transmitted to the vehicle side.

2. The method according to claim 1, wherein: Receiving, from the vehicle side, satellite observation results detected at the vehicle side for satellite positioning of the vehicle (100) includes: receiving satellite observation results detected by means of the vehicle terminal (20) from the vehicle terminal (20); and / or Satellite observation results detected by a mobile terminal (21) of a vehicle user are received from a vehicle terminal (20).

3. The method according to claim 1 or 2, wherein: The satellite observation results include: GNSS measurements collected on the vehicle, the GNSS measurements comprising pseudorange measurements, carrier phase measurements and / or Doppler measurements; and / or A satellite approximate position of the vehicle (100) is obtained by performing a preliminary positioning solution on the vehicle (100) based on GNSS measurement values ​​collected on the vehicle side, wherein the accuracy of the satellite approximate position is lower than the satellite precise position.

4. The method according to any one of claims 1 to 3, wherein: The method further comprises the following steps: Checking the confidence of satellite observations received from the vehicle side in terms of a solution for the approximate satellite position of the vehicle (100) and / or in terms of data quality indicators of the GNSS measurements; When the confidence level of the satellite observation result does not meet a predefined condition, preprocessing the satellite observation result before performing high-precision positioning calculation for the vehicle (100) based on the satellite observation result is performed to improve the confidence level of the satellite observation result; and The pre-processed satellite observation results are provided for high-precision positioning solution of the satellite precise position of the vehicle (100).

5. The method according to claim 4, wherein: The pre-processing includes at least one of the following: Eliminate the observation epochs whose number does not meet the quantity requirement; Eliminate satellite observations with missing observation types; Chi-square test and receiver autonomous integrity test; Eliminate satellites with unhealthy ephemeris marks, altitude angles, and signal-to-noise ratios below the threshold; Clock jump detection and repair; Cycle slip detection and repair; Remove Lone Star; and / or Eliminate satellite observation results whose observation timing does not meet the time requirements.

6. The method according to any one of claims 1 to 5, wherein: Obtaining correction data includes: Receiving state domain correction numbers and / or observation domain correction numbers generated based on first reference satellite observation results of one or more reference stations (4), and determining the received state domain correction numbers and / or observation domain correction numbers as correction data; and / or A second reference satellite observation result is detected at a ground infrastructure device (5) equipped with a remote server (3), and correction data is determined based on the second reference satellite observation result.

7. The method according to any one of claims 1 to 6, wherein: The method further comprises the following steps: The satellite precise position of a vehicle (100) is transmitted in a multicast form to a plurality of other vehicles (200) within a determined range around the vehicle (100).

8. The method according to any one of claims 1 to 7, wherein: The method further comprises the following steps: The precise satellite position of the vehicle (100) calculated through high-precision positioning is stored as reference correction data, and the reference correction data is provided for high-precision positioning of other vehicles (200) within a determined range around the vehicle (100).

9. A method for satellite positioning of a vehicle (100) performed on the vehicle side, the method comprising the following steps: Detecting satellite observation results for satellite positioning of the vehicle (100) on the vehicle side; transmitting the satellite observation results to a remote server (3); and The precise satellite position of the vehicle (100) is received from a remote server (3) by performing high-precision positioning calculation on the vehicle (100) based on the correction data and the satellite observation results.

10. The method according to claim 9, wherein: In the method: Detecting initial satellite observation results by means of a vehicle terminal (20); and / or The satellite observation results are detected by means of a mobile terminal (21) of a vehicle user and transmitted to a vehicle terminal (20).

11. The method according to claim 9 or 10, wherein: The method further comprises the following steps: The vehicle terminal (20) performs security authentication on the vehicle user's mobile terminal (21); When the vehicle terminal (20) successfully completes security authentication of the mobile terminal (21), the satellite observation results detected by the mobile terminal (21) of the vehicle user are transmitted to the vehicle terminal (20); and The satellite observation results are transmitted from the vehicle side to the remote server (3) by means of the vehicle terminal (20).

12. The method according to any one of claims 9 to 11, wherein: The satellite observation results include: GNSS measurements collected on the vehicle, the GNSS measurements comprising pseudorange measurements, carrier phase measurements and / or Doppler measurements; and / or A satellite approximate position of the vehicle (100) is obtained by performing a preliminary positioning solution on the vehicle (100) based on GNSS measurement values ​​collected on the vehicle side, wherein the accuracy of the satellite approximate position is lower than the satellite precise position.

13. The method according to any one of claims 9 to 12, wherein: The method further comprises the following steps: The received satellite precise position of the vehicle (100) is transmitted to other vehicles (200) within a determined range around the vehicle (100) through vehicle-to-vehicle communication.

14. A remote server (3), the remote server (3) being used to execute the method according to any one of claims 1 to 8, the remote server (3) comprising: a communication unit (32) configured to be able to communicate with the vehicle side to receive from the vehicle side a satellite observation result detected at the vehicle side for satellite positioning of the vehicle (100) and transmit the satellite precise position of the vehicle (100) to the vehicle side; An acquisition unit (34) configured to acquire correction data for improving the satellite positioning accuracy of the vehicle (100); as well as A positioning solution unit (36) is configured to perform high-precision positioning solution on the vehicle (100) based on the correction data and the satellite observation results received from the vehicle side, so as to obtain the precise satellite position of the vehicle (100).

15. A vehicle side positioning device (2), the vehicle side positioning device (2) being used to execute the method according to any one of claims 9 to 13, the vehicle side positioning device (2) comprising: A detection unit (22) configured to be capable of detecting satellite observation results for satellite positioning of the vehicle (100) on the vehicle side; as well as A communication unit (24) is configured to be able to communicate with a remote server (3) to transmit satellite observation results detected on the vehicle side to the remote server (3), and to receive from the remote server (3) the precise satellite position of the vehicle (100) obtained by performing high-precision positioning calculation on the vehicle (100) based on the correction data and the satellite observation results.

16. The vehicle-side positioning device (2) according to claim 15, wherein the detection unit (22) comprises a satellite receiver of the vehicle terminal (20) and / or a satellite receiver of a mobile terminal (21) of a vehicle user.

17. A system (1) for satellite positioning of a vehicle (100), the system (1) comprising a remote server (3) according to claim 14 and a vehicle-side positioning device (2) according to claim 15 or 16.

18. A machine-readable storage medium having a computer program stored thereon, the computer program being configured to execute the method according to any one of claims 1 to 13 when executed on a computer.

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