Positioning method and device

Abstract

The invention discloses a positioning method and device, which are used for improving the accuracy of ionosphere error estimation. The network equipment obtains a first original observed quantity and a second original observed quantity, the first original observed quantity is from the mobile equipment, and the second original observed quantity is from the base station; determining an ionosphere error of the virtual reference station according to the first original observed quantity and the second original observed quantity, and determining positioning auxiliary information according to the ionosphere error; and sending the positioning auxiliary information to the to-be-positioned device. In the scheme, the network equipment can determine the ionosphere error of the virtual reference station by combining the original observed quantity of the base station and the original observed quantity of the mobile equipment, so that on one hand, the original observed quantity used by the network equipment for constructing the virtual reference station is increased; therefore, the original observed quantity used by the network equipment for constructing the virtual reference station also has good dynamics, so that the accuracy of ionosphere error estimation can be improved.

Description

Positioning method and device Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a positioning method and device. Background Art

[0002] The ionosphere interferes with electromagnetic wave propagation, a source of error in satellite navigation positioning. Currently, most vehicles use positioning assistance information provided by a positioning service provider's cloud service platform to mitigate this error. For example, the positioning service provider's cloud service platform calculates the ionospheric error in the vehicle's area, then determines positioning assistance information based on the ionospheric error and sends it to the vehicle. During positioning, the vehicle combines the positioning assistance information with its own raw observations and navigation messages to perform positioning calculations, thereby eliminating the impact of ionospheric error.

[0003] In the existing technology, the cloud platforms of positioning service providers all calculate ionospheric errors based on the original observations provided by the reference stations, which leads to the problem of inaccurate ionospheric error estimation.

[0004] Summary of the Invention

[0005] Embodiments of the present application provide a positioning method and apparatus for improving the accuracy of ionospheric error estimation.

[0006] In a first aspect, a positioning method is provided, which can be applied to a network device or a chip in a network device. Taking the application of the method to a network device as an example, the method includes: the network device obtains a first original observation value and a second original observation value, the first original observation value comes from a mobile device, and the second original observation value comes from a reference station; the network device determines the ionospheric error of the virtual reference station based on the first original observation value and the second original observation value, and determines positioning assistance information based on the ionospheric error; the network device sends the positioning assistance information to the device to be positioned.

[0007] In an embodiment of the present application, in addition to the reference station, the mobile device can provide its own original observations (i.e., the first original observations) to the network device for use, so that the network device can determine the ionospheric error of the virtual reference station in combination with the original observations of the reference station and the original observations of the mobile device. On the one hand, the increase in the original observations used by the network device to construct the virtual reference station (and all of them are actual observation data) can improve the accuracy of the ionospheric error estimation; on the other hand, since the mobile device is mobile, the original observations used by the network device to construct the virtual reference station also have good dynamics, which can further improve the accuracy of the ionospheric error estimation. In one possible design, the network device determines the ionospheric error of the virtual reference station based on the first original observations and the second original observations, including: the network device constructs an ionospheric error model based on the second original observations and the position of the reference station; and determines the ionospheric error of the virtual reference station based on the first original observations and the ionospheric error model.

[0008] In this design, the first original observation is used for the network equipment to construct the ionospheric error of the virtual reference station, which can improve the accuracy of the ionospheric error of the virtual reference station.

[0009] In one possible design, the network device constructs an ionospheric error model based on the first original observation value, the second original observation value, and the position of the reference station; and determines the ionospheric error of the virtual reference station based on the ionospheric error model.

[0010] In this design, the first original observation quantity is used by the network equipment to construct an ionospheric error model, which can improve the accuracy of the ionospheric error model. Then, when the ionospheric error of the virtual reference station is determined based on the ionospheric error model, the accuracy of the ionospheric error of the virtual reference station can also be improved accordingly.

[0011] In one possible design, the ionospheric error model is also constructed based on ephemeris information from a reference station. For example, the network device constructs the ionospheric error model based on the ephemeris information, the first raw observation, the second raw observation, and the position of the reference station. Alternatively, the network device constructs the ionospheric error model based on the ephemeris information, the second raw observation, and the position of the reference station. The ephemeris information can come from the reference station.

[0012] In this design, the ionospheric error of the virtual reference station is also combined with the ephemeris information of the base station, which can further improve the accuracy of the ionospheric error of the virtual reference station.

[0013] In one possible design, the first raw observation value includes a raw observation value of a dual-frequency global navigation satellite system GNSS signal and / or a raw observation value of a triple-frequency GNSS signal.

[0014] In one possible design, the first raw observation value includes a raw observation value of a dual-frequency GNSS signal and a raw observation value of a triple-frequency GNSS signal. If the time of the raw observation value of the triple-frequency GNSS signal is within a preset time range, the network device determines the ionospheric error of the virtual reference station based on the raw observation value of the triple-frequency GNSS signal and the second raw observation value. Alternatively, if the time of the raw observation value of the triple-frequency GNSS signal is not within the preset time range and the time of the raw observation value of the dual-frequency GNSS signal is within the preset time range, the network device determines the ionospheric error of the virtual reference station based on the raw observation value of the dual-frequency GNSS signal and the second raw observation value.

[0015] In this design, when the network equipment obtains the original observations of the dual-frequency GNSS signal and the triple-frequency GNSS signal at the same time, the original observations of the triple-frequency GNSS signal can be used first to determine the ionospheric error of the virtual reference station, which can further improve the accuracy of the ionospheric error estimation.

[0016] In one possible design, the device to be located is a mobile device.

[0017] In this design, the device to be located can itself report the first original observation value as a mobile device, so that the network device can build a virtual reference station based on the original observation value of the device to be located, which can further improve the estimation accuracy of the ionospheric error.

[0018] In one possible design, the distance between the virtual reference station and the mobile device is less than a preset distance, wherein the preset distance can be set based on the maximum distance for obtaining a converged solution by the RTK algorithm, for example, 10 km.

[0019] This design can ensure that the first original observation used for ionospheric error estimation is the original observation near the virtual reference station, thereby improving the accuracy of the ionospheric error of the virtual reference station.

[0020] In one possible design, the network device may also obtain location information of the mobile device; the network device determines, based on the location information of the mobile device, that the distance between the virtual reference station and the mobile device is less than a preset distance.

[0021] In this design, the mobile device does not need to provide high-precision location information, only approximate location information is required, and the solution is easy to implement.

[0022] In one possible design, the accuracy level of the location information of the mobile device is at the meter level.

[0023] In a possible design, the position of the virtual reference station is determined according to the position of the reference station. For example, the position of a virtual reference station can be determined by several (such as three) adjacent reference stations.

[0024] This design can improve the reliability of data construction of the virtual reference station.

[0025] In one possible design, the first original observation includes one or more of a pseudorange, a carrier phase, and a receiving frequency. It is understood that the transmitting frequency is for the receiver and can also be referred to as the transmitting frequency from the perspective of a transmitter (such as a satellite).

[0026] Of course, the above are only examples and not specific limitations.

[0027] In one possible design, the mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.

[0028] Of course, the above is only an example and not a limitation. In actual applications, the mobile device may also be other movable devices with satellite positioning capabilities.

[0029] On the second aspect, a positioning method is provided, which can be applied to a mobile device or a chip in a mobile device. Taking the method applied to a mobile device as an example, the method includes: the mobile device receives a satellite signal, and determines a first original observation value based on the satellite signal; the mobile device sends the first original observation value to a network device, and the first original observation value is used to determine the ionospheric error of the virtual reference station.

[0030] In one possible design, the mobile device is the device to be positioned (i.e., the device to be positioned sends its first original observation value to the network device), then the mobile device can also receive positioning assistance information from the network device and locate the mobile device based on the positioning assistance information.

[0031] In one possible design, the first original observation quantity includes one or more of a pseudorange, a carrier phase, and a receiving frequency.

[0032] In one possible design, the mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.

[0033] In a third aspect, a positioning device is provided, which includes modules / units / technical means for implementing the method described in the first aspect or any possible design of the first aspect.

[0034] Exemplarily, the device may include:

[0035] A transceiver module is configured to obtain a first original observation value and a second original observation value, wherein the first original observation value comes from the mobile device and the second original observation value comes from the reference station;

[0036] a processing module, configured to determine an ionospheric error of the virtual reference station based on the first original observation amount and the second original observation amount, and determine positioning assistance information based on the ionospheric error;

[0037] The transceiver module is also used to send positioning auxiliary information to the device to be located.

[0038] In one possible design, the processing module is used to: construct an ionospheric error model based on the second original observation quantity and the position of the reference station; determine the ionospheric error of the virtual reference station based on the first original observation quantity and the ionospheric error model; or, construct an ionospheric error model based on the first original observation quantity, the second original observation quantity, and the position of the reference station; and determine the ionospheric error of the virtual reference station based on the ionospheric error model.

[0039] In one possible design, the ionospheric error model is also constructed based on the ephemeris information from the reference station.

[0040] In one possible design, the first original observation value includes the original observation value of the dual-frequency GNSS signal and the original observation value of the triple-frequency GNSS signal; the processing module is used to: if the time of the original observation value of the triple-frequency GNSS signal is within a preset time range, determine the ionospheric error of the virtual reference station based on the original observation value of the triple-frequency GNSS signal and the second original observation value; or, if the time of the original observation value of the triple-frequency GNSS signal is not within the preset time range and the time of the original observation value of the dual-frequency GNSS signal is within the preset time range, determine the ionospheric error of the virtual reference station based on the original observation value of the dual-frequency GNSS signal and the second original observation value.

[0041] In one possible design, the transceiver module is further used to obtain location information of the mobile device; and the processing module is further used to determine, based on the location information of the mobile device, that the distance between the virtual reference station and the mobile device is less than a preset distance.

[0042] In a fourth aspect, a positioning device is provided, which includes modules / units / technical means for implementing the method described in the second aspect or any possible design of the second aspect.

[0043] Exemplarily, the device may include:

[0044] a transceiver module, configured to receive a satellite signal and determine a first original observation value according to the satellite signal;

[0045] The transceiver module is further used to send a first original observation value to the network device, where the first original observation value is used to determine the ionospheric error of the virtual reference station.

[0046] In one possible design, the transceiver module is further used to: receive positioning assistance information from the network device; the device also includes a processing module for locating the mobile device based on the positioning assistance information.

[0047] In a fifth aspect, a positioning device is provided, comprising: at least one processor and an interface circuit; the interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other devices outside the device, and the processor is used to implement the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect through logic circuits or execution code instructions.

[0048] In a sixth aspect, a computer-readable storage medium is provided, which is used to store instructions. When the instructions are executed, the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect is implemented.

[0049] In the seventh aspect, a computer program product is provided, in which instructions are stored, which, when run on a computer, enable the computer to execute the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect.

[0050] In an eighth aspect, a positioning system is provided, comprising: a mobile device for sending a first original observation value to a network device; a base station for sending a second original observation value to the network device; a network device for determining an ionospheric error of a virtual reference station based on the first original observation value and the second original observation value, and determining positioning assistance information based on the ionospheric error; and sending positioning assistance information to a device to be positioned.

[0051] For the beneficial effects of the second to eighth aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding design in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] FIG1 is a schematic diagram of a positioning scenario provided by an embodiment of the present application;

[0053] Figure 2 is a schematic diagram of network RTK;

[0054] 3A and 3B are schematic diagrams of two positioning systems provided in embodiments of the present application;

[0055] FIG4 is a schematic diagram of a positioning method provided in an embodiment of the present application;

[0056] 5A and 5B are schematic diagrams of two possible mobile devices reporting raw observations;

[0057] 6A and 6B are schematic diagrams of two methods for determining the ionospheric error of a virtual reference station;

[0058] FIG7 is a schematic diagram of a vehicle performing positioning calculation;

[0059] FIG8 is a schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0060] FIG9 is a schematic structural diagram of another positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] The technical solution provided in the embodiments of the present application can be applied to any scenario where positioning is performed based on satellite signals.

[0062] For example, referring to FIG1 , a schematic diagram of a positioning scenario is provided for an embodiment of the present application. The scenario may be an automated driving (AD), assisted driving, or manual driving scenario. In this scenario, a vehicle can receive satellite signals from satellites and perform positioning based on the satellite signals.

[0063] It should be noted that the scenario shown in Figure 1 is only an example. In addition to vehicles, the technical solutions provided in the embodiments of the present application can also be applied to any other terminal devices with satellite positioning capabilities. For example, the terminal device can be an intelligent device with satellite positioning capabilities, including but not limited to: smart home devices, such as televisions, sweeping robots, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, vans, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart factories, etc. Alternatively, the terminal device can also be a portable electronic device with satellite positioning capabilities, such as a mobile phone, tablet computer, PDA, headphones, speakers, wearable devices (such as smart watches), vehicle-mounted equipment, virtual reality equipment, augmented reality equipment, etc.

[0064] As you can understand, satellites operate at an altitude of approximately 20,000 kilometers above the ground. During the transmission process from the satellite to the ground, satellite signals need to pass through the ionosphere (thousands of kilometers above the ground) and the troposphere (60 kilometers above the ground). As satellite signals pass through the ionosphere, the ionosphere interferes with the propagation of satellite signals, resulting in ionospheric errors in the satellite signals reaching the ground. The ionospheric error can be represented by the onospheric total electron content (TEC). Of course, in practical applications, the ionospheric error can also be represented by other methods, which are not limited in this application.

[0065] Ionospheric interference is related to the satellite signal frequency. An ionospheric error model can be constructed based on dual-frequency signals (such as L1 and L2, or L1 and L5), thereby minimizing this interference factor and significantly improving positioning accuracy. When the ionosphere is highly active due to the influence of the sun, the ionospheric error model constructed based on dual-frequency signals cannot eliminate high-order residuals, resulting in large positioning errors. In this case, a more complex model can be constructed using triple-frequency signals (such as L1, L2, and L5) to eliminate high-order effects.

[0066] Exemplarily, a method for calculating a dual-frequency ionospheric error TEC is provided below:

[0067] Assume that the pseudoranges of the dual-frequency signals are ρ1 and ρ2, and the receiving frequencies of the receiver (or the transmitting frequencies of the satellite) are f1 and f2, respectively. Then:

[0068]

[0069] Exemplarily, a method for calculating a triple-frequency ionospheric error TEC is provided below:

[0070] The three differential phases are obtained by subtracting the carrier phases of the two signals in the three-frequency signal: ΔP 12 , ΔP 13 , ΔP 23 , the satellite transmission frequency is f0, the speed of light is c, then:

[0071]

[0072]

[0073]

[0074] roll out:

[0075]

[0076] Where n1 = 3; n2 = 8; f0 = 16.668MHz; mode1 is modulo 1. Substituting into the above formula, we get:

[0077]

[0078] Where K is the three-frequency phase integration constant, is the relative value of the differential Doppler phase data, given by the receiver.

[0079] The two examples above demonstrate that information such as pseudorange, carrier phase, and receive frequency is crucial for ionospheric error estimation. Therefore, in practical applications, these information can be used as positioning aids for positioning calculations.

[0080] To eliminate ionospheric errors, Network RTK, also known as Base Station RTK, was introduced. It is a new technology built on the foundations of conventional RTK and the Global Navigation Satellite System (GNSS). Network RTK, also known as multi-base station RTK, typically involves establishing multiple (usually three or more) base stations within a region to form a network-like coverage network. This positioning method, also known as multi-base station RTK, uses one or more of these base stations as a reference to calculate and broadcast positioning assistance information (such as pseudorange, carrier phase, and receiving frequency), thereby providing real-time corrections to the positioning of users within the region.

[0081] See Figure 2, which is a schematic diagram of network RTK. Network equipment (such as the cloud service platform of a positioning service provider, or a data processing center) can obtain the original observations of one or more base stations, and then determine the ionospheric error based on these original observations, and determine the positioning assistance information based on the ionospheric error. The positioning assistance information is then sent to the device to be positioned (such as a vehicle) through the road side unit (RSU). When performing high-precision positioning, the vehicle can combine the positioning assistance information, the original observations and navigation messages obtained by the GNSS module, etc., and calculate its own position information through algorithms such as real-time kinematic (RTK) and dead reckoning (DR).

[0082] However, in actual applications, there are distance requirements for the base stations that can be used by vehicles to provide positioning assistance information (for example, the distance between the base station and the vehicle must be less than 10km). This places extremely high demands on the number of base stations to be built, and this requirement cannot be met in many areas. On the other hand, the actual location of the base station is confidential information, and service providers cannot outsource positioning equipment.

[0083] To address these issues, virtual reference station (VRS) technology was introduced. VRS technology is a type of network RTK. Its basic principle is to set up a certain number of reference stations within a certain area. The base stations receive satellite signals and transmit the obtained raw observations to the network equipment. The network equipment will then "virtualize" a reference station near these base stations (for example, three adjacent base stations). This is called a virtual reference station. Like the base stations, virtual reference stations have definite location information and corresponding raw observations. The difference is that the position of the virtual reference station is determined based on the position of the base station, and the raw observations of the virtual reference station are calculated by simulating the raw observations of the base station. The raw observations of the virtual reference station can be broadcast to the device to be positioned as positioning auxiliary information, just like the raw observations of the base station.

[0084] It is understandable that when the network equipment calculates the original observation quantity of the virtual reference station, it is also necessary to consider the impact of the ionospheric error on the original observation quantity of the virtual reference station, so it is necessary to estimate the ionospheric error of the virtual reference station.

[0085] The above-mentioned VRS technology mainly estimates the ionospheric error of the virtual reference station based on the original observations of the base station. However, it suffers from the problem of poor stability in ionospheric error estimation. The reasons are as follows: 1. The data construction of the virtual reference station is relatively complex, and non-actual observation data cannot achieve accurate estimation. In actual applications, the number of actually deployed base stations is small, resulting in a small amount of actual observation data, which in turn leads to poor accuracy in ionospheric error estimation; 2. The data dynamics of the base station are poor. When the ionosphere is very active due to the influence of the sun, the accuracy of the ionospheric error obtained through the virtual reference station is further reduced.

[0086] In order to solve the above technical solutions, the technical solutions of the embodiments of the present application are provided.

[0087] 3A , which is a schematic diagram of a positioning system provided in an embodiment of the present application, the system includes a satellite, a reference station, a network device, an RSU, a mobile device, and a device to be positioned.

[0088] Satellites include, but are not limited to, GPS satellites, BeiDou satellites, etc., which can send GNSS satellite signals.

[0089] The mobile device can receive satellite signals and obtain corresponding raw observation quantities, such as the first raw observation quantities described below; and can also provide the obtained first raw observation quantities to the network device. The number of mobile devices can be one or more, and this application does not impose any limitation.

[0090] The reference station can receive satellite signals and obtain corresponding raw observations, such as the second raw observations described below; and can also provide the second raw observations obtained by itself to the network device. The number of reference stations can be one or more, and this application does not impose any restrictions.

[0091] The device to be positioned can receive satellite signals and obtain corresponding original observations, such as the third original observations (it is understood that when the mobile device is the device to be positioned, the third original observations are also referred to as the first original observations). The device to be positioned can perform positioning calculations based on the original observations obtained by itself and the positioning assistance information sent by the network device.

[0092] It can be understood that the original observation quantity in this article can also be called original observation data. The original observation quantity is the observation data obtained by a receiver (such as a base station or a mobile device) observing certain satellites in a global satellite navigation system (such as GPS). Specifically, it can be obtained by processing the satellite signals by the GNSS chip (or GNSS board) of the receiver.

[0093] In this article, the data types in the original observations include but are not limited to pseudorange, carrier phase, receiving frequency, etc.

[0094] Pseudorange refers to the approximate distance between the receiver and the satellite. Taking the pseudorange of a base station as an example, assuming the base station's clock and the satellite's clock are strictly synchronized, the propagation time of the satellite signal can be calculated based on the time the satellite transmits the signal and the time the base station receives the signal. Multiplying this by the propagation speed yields the distance between the satellite and the base station. However, clock errors inevitably exist between the base station's clock and the satellite's clock, and the propagation of satellite signals is also affected by factors such as atmospheric refraction. Therefore, the distance directly measured using this method is not the true distance from the satellite to the base station, hence the name pseudorange.

[0095] Carrier phase refers to the phase difference between the satellite signal received by the receiver from the satellite and the receiver's local oscillator reference signal.

[0096] The receiving frequency refers to the frequency at which a receiver receives satellite signals. For example, satellite signals transmitted by a satellite may include three carrier frequency bands: L1, L2, and L5. The frequency f1 of the L1 carrier band is 1575.42 MHz, the frequency f2 of the L2 carrier band is 1227.6 MHz, and the frequency f5 of the L5 carrier band is 1176.45 MHz. It is understood that, from the perspective of the satellite, the receiving frequency can be replaced by the transmitting frequency.

[0097] It should be noted that the data types contained in the raw observations obtained by different devices can be the same or different, and this application does not impose any restrictions. In addition, for the same data type, the specific observation values ​​obtained by different devices may be the same or different, depending on the location of the device and the processing capabilities of the device's GNSS chip. For example, the pseudorange value in the first raw far measurement can be different from the pseudorange value in the second raw observation.

[0098] The network device can be a data processing center for network RTK, specifically a cloud service platform of a positioning service provider. The network device can construct and determine positioning assistance information for at least one virtual reference station based on raw observations provided by base stations, mobile devices, and other devices. This information is then transmitted to the device being positioned via the RSU. The specific method by which the network device constructs virtual reference stations and determines their positioning assistance information will be described in detail later.

[0099] The RSU can be any device capable of communicating with the device to be located and network devices, such as a base station, user equipment, etc. This embodiment of the present application does not impose any specific limitations. The RSU can receive positioning assistance information issued by the network device and forward it to the device to be located. Furthermore, the RSU can also serve as a relay station for signals sent by other devices. For example, a base station can send a second raw observation value to a network device via the RSU, which is not a limitation of this application.

[0100] In one possible design, the device to be located may be a mobile device. In other words, the device to be located may provide its own original observations to the network device for use.

[0101] For example, referring to FIG3B , which is a schematic diagram of another positioning system provided in an embodiment of the present application, in which the device to be positioned (mobile device) can provide the first original observation value obtained by itself to the network device.

[0102] It can be understood that in actual applications, when the mobile device and the device to be located are different devices, only the mobile device or the device to be located may provide the original observation amount to the network device, or the mobile device and the device to be located may provide the original observation amount to the network device at the same time. This application does not impose any restrictions.

[0103] It can be understood that the devices shown in Figures 3A and 3B are only examples. In actual applications, the system may also include other devices, for example, a network device for providing applications such as navigation maps.

[0104] Referring to FIG4 , which is a schematic diagram of a positioning method provided in an embodiment of the present application, the method can be applied to the system shown in FIG3A or FIG3B , and the method includes:

[0105] S401: A mobile device sends a first original observation value, and correspondingly, a network device receives the first original observation value.

[0106] Specifically, the mobile device may receive a satellite signal and obtain a first original observation value based on the satellite signal.

[0107] Mobile devices can be any mobile device with satellite positioning capabilities, including, but not limited to: smart home devices such as televisions, robot vacuums, and video surveillance systems; smart transportation equipment such as cars, ships, drones, trains, vans, and trucks; and smart manufacturing equipment such as robots, industrial equipment, smart logistics, and smart factories. Alternatively, terminal devices can be portable electronic devices with satellite positioning capabilities, such as mobile phones, tablets, PDAs, headphones, speakers, wearable devices (such as smart watches), in-vehicle devices, virtual reality devices, augmented reality devices, and the like.

[0108] In one possible design, a mobile device is the device to be positioned, such as in the scenario shown in FIG3B . Optionally, the mobile device (i.e., the device to be positioned) can send the first raw observation value to the network device when positioning calculation is required. This ensures that the first raw observation value at the network device has good real-time performance and avoids the problem of power consumption wasted due to frequent transmission of raw observation values ​​by the mobile device.

[0109] In one possible design, the mobile device is different from the device to be located, such as the scenario shown in Figure 3A. In this scenario, the number of mobile devices can be one or more. Optionally, each mobile device can periodically send the first raw observation value to the network device at a set time interval to ensure the real-time performance of the first raw observation value at the network device, thereby improving the accuracy of subsequent ionospheric error estimation.

[0110] Of course, when the mobile device and the device to be located are different, the device to be located can also send the original observation value to the network device, and this application does not impose any limitation.

[0111] In an embodiment of the present application, the data type contained in the first original observation quantity includes but is not limited to one or more of the first pseudorange, the first carrier phase, and the first receiving frequency, and the present application does not impose any limitation thereto.

[0112] In one possible design, the mobile device (or the device to be located) further receives first indication information. If the indication information instructs the user of the mobile device (or the device to be located) (e.g., the vehicle owner) to provide the first raw observation value to the network device for use, the mobile device sends the first raw observation value to the network device; if the first indication information indicates that the user does not agree to provide the first raw observation value to the network device for use, the mobile device does not send the first raw observation value.

[0113] In this way, the privacy of user data can be improved and the user experience can be enhanced.

[0114] In another possible design, before the mobile device (or the device to be located) sends the first original observation value to the network device, if the mobile device receives the second indication information, it confirms that the user agrees to provide the first original observation value to the network device for use, and the mobile device sends the first original observation value to the network device; if the second indication information is not received, it confirms that the user does not agree to provide the first original observation value to the network device for use, and the mobile device will not send the first original observation value.

[0115] In this way, the privacy of user data can be guaranteed and the user experience can be improved.

[0116] S402: The reference station sends a second original observation value, and correspondingly, the network device receives the second original observation value.

[0117] Specifically, the base station may receive satellite signals and process the satellite signals to obtain second raw observations. The data types included in the second raw observations include, but are not limited to, one or more of a second pseudorange, a second carrier phase, and a second receiving frequency, which are not limited in this application.

[0118] It should be understood that the data type contained in the first original observation amount and the data type contained in the second original observation amount may be the same (for example, the first original observation amount includes a first pseudorange, a first carrier phase, and a first receiving frequency, and the second original observation amount includes a second pseudorange, a second carrier phase, and a second receiving frequency), or they may be different (for example, the first original observation amount includes a first carrier phase and a first receiving frequency, and the second original observation amount includes a second carrier phase and a second receiving frequency). This application does not impose any restrictions.

[0119] In one possible design, each reference station can periodically send the second raw observation value to the network device at a set time interval. This ensures that the second raw observation value at the network device has good real-time performance, which helps improve the accuracy of subsequent ionospheric error estimation.

[0120] In an embodiment of the present application, the network device knows the precise location information of each reference station (for example, the accuracy level is at the centimeter level), or each reference station can report its own precise location information when reporting its original observation value to the network device.

[0121] It should be noted that, in the embodiment of the present application, the order of step S401 and step S402 may not be distinguished.

[0122] S403. The network device determines an ionospheric error of the virtual reference station according to the first original observation value and the second original observation value, and determines positioning auxiliary information according to the ionospheric error.

[0123] In an embodiment of the present application, the distance between the virtual reference station and the mobile device is less than a preset distance, wherein the preset distance can be set according to the maximum distance for obtaining a converged solution by the RTK algorithm, for example, 10 km, which is not specifically limited in this application.

[0124] In an embodiment of the present application, the specific position of the virtual reference station can be determined based on the position of the reference station. For example, in a specific application, multiple reference stations are constructed in an area, wherein a virtual reference station can be constructed for every adjacent several (such as three) reference stations. For example, in an RTK network, every three adjacent reference stations can constitute an RTK grid, and based on the data of the reference stations in each RTK grid, a virtual reference station can be constructed at any position in the grid. The specific construction method is, for example: based on the position of the reference station in each RTK grid, the position of the virtual reference station in the RTK grid is determined, and based on the original observation quantity of the reference station in each RTK grid, the original observation quantity of the virtual reference station in the RTK grid is simulated and calculated.

[0125] Therefore, the network device can select at least three reference stations within a preset range near the mobile device based on the location information of the mobile device, and then determine the position of the virtual reference station (i.e., the virtual reference station described in S403) for use by the device to be positioned based on the positions of the at least three reference stations.

[0126] In a specific implementation, when a mobile device sends the first raw observation value to a network device, it can also report its own location information to the network device. For example, if the mobile device is different from the device to be located, the mobile device can periodically report its own location information and the first raw observation value to the network device at set time intervals. For example, if the mobile device is the device to be located, the device to be located reports its own location information and the first raw observation value to the network device when positioning is required. This ensures that the mobile device's location information and the first raw observation value obtained by the network device are highly real-time, helping to improve the accuracy of subsequent ionospheric error estimation.

[0127] It should be noted that the mobile device's location information here can be approximate or rough location information, for example, with an accuracy level of meters. The network device can then determine the location of the virtual reference station based on the mobile device's location information. Alternatively, the mobile device can determine its approximate location information based on single-point positioning or other methods. It will be understood that even if the above-mentioned location information is approximate or rough, for ease of explanation, it will still be referred to as "mobile device location information" herein.

[0128] In actual applications, the network device can receive location information and original observation values ​​reported by multiple mobile devices. Each mobile device can periodically report location information and original observation values ​​at set time intervals. The network device can determine the location information of each mobile device and the distance between the mobile device and the virtual reference station based on the location information of the mobile device, discard the original observation values ​​of mobile devices whose distance from the virtual reference station is not less than a preset distance, and only use the original observation values ​​of mobile devices whose distance from the virtual reference station is within a preset distance range.

[0129] This helps to improve the accuracy of ionospheric error estimation.

[0130] In an embodiment of the present application, when the device to be positioned and the mobile device are the same device, the network device uses the original observation value and the second original observation value reported by the device to be positioned to determine the ionospheric error of the virtual reference station.

[0131] When the device to be located is different from the mobile device, in one case, the network device only receives the raw observations reported by the mobile device, then the network device uses the raw observations reported by the mobile device and the second raw observations to determine the ionospheric error of the virtual reference station, that is, the first raw observations are reported by the mobile device. In another case, the network device only receives the raw observations reported by the device to be located, then the network device uses the raw observations reported by the device to be located and the second raw observations to determine the ionospheric error of the virtual reference station, that is, the first raw observations are reported by the device to be located. In another case, the network device receives both the raw observations reported by the device to be located and the raw observations reported by the mobile device, then the network device can select the raw observations reported by one of the devices to determine the ionospheric error of the virtual reference station, that is, the first raw observations are selected by the network device from the raw observations reported by the device to be located and the raw observations reported by the mobile device.

[0132] Optionally, when the network device receives raw observations reported by the device to be positioned and raw observations reported by the mobile device, the network device selects the raw observations reported by the device to be positioned to use in determining the ionospheric error of the virtual reference station. This can further improve the accuracy of the ionospheric error estimation.

[0133] Furthermore, in practical applications, mobile devices are equipped with GNSS chips to process satellite signals into raw observations. GNSS chips come in a variety of types, including single-frequency, dual-frequency, and triple-frequency. Raw observations of GNSS signals with dual or higher frequencies are generally used for ionospheric error estimation. Therefore, in embodiments of the present application, the first raw observations received by the network device may include raw observations of dual-frequency GNSS signals and / or raw observations of triple-frequency GNSS signals.

[0134] In one possible design, if the network device only obtains the original observation value of the dual-frequency GNSS signal, the original observation value of the dual-frequency GNSS signal is used to determine the ionospheric error of the virtual reference station; if the network device can obtain the original observation value of the dual-frequency GNSS signal and the triple-frequency GNSS signal, it can be considered to give priority to using the original observation value of the triple-frequency GNSS signal to determine the ionospheric error of the virtual reference station. For example, if the time of the original observation value of the triple-frequency GNSS signal is within a preset time range, the network device determines the ionospheric error of the virtual reference station based on the original observation value of the triple-frequency GNSS signal and the second original observation value; or, if the time of the original observation value of the triple-frequency GNSS signal is not within the preset time range and the time of the original observation value of the dual-frequency GNSS signal is within the preset time range, the network device determines the ionospheric error of the virtual reference station based on the original observation value of the dual-frequency GNSS signal and the second original observation value. The preset time range can be set according to demand and is not limited by this application.

[0135] 5A , a mobile device supporting a triple-frequency GNSS chip (referred to as a triple-frequency mobile device) is used as an example to report raw observations.

[0136] S501A: Each of at least one tri-band mobile device periodically outputs raw observations of its own tri-band GNSS signal at set time intervals.

[0137] S502A: At least one mobile device sends a data packet to a network device (e.g., via cellular communication technology), where the data packet carries raw observations of a triple-frequency GNSS signal and approximate location information. In response, the network device receives the data packet sent by the at least one mobile device.

[0138] S503A, assuming that the latest data packet currently received by the network device is the Nth data packet, the network device determines whether the distance between the tri-band mobile device corresponding to the Nth data packet and the virtual reference station is less than a preset distance;

[0139] If yes, execute S504A, otherwise execute S505A;

[0140] S504A, calculating the ionospheric error of the virtual reference station based on the original observation value in the Nth data packet. After obtaining the ionospheric error of the virtual reference station, end this ionospheric error calculation process;

[0141] S505A: discard the original observations in the Nth data packet, return to S503A, obtain the N+1th data packet, repeat S503A and subsequent processes until the ionospheric error of the virtual reference station is obtained, and then end this ionospheric error calculation process.

[0142] It is understandable that the above steps S501A to S502A may be periodically repeated at set time intervals. The above step S503A and subsequent steps (S504A or S505A) may be executed by the network device only when it is necessary to calculate the ionospheric error of the virtual reference station.

[0143] 5B , which takes as an example the case where both a mobile device supporting a dual-frequency GNSS chip and a mobile device supporting a triple-frequency GNSS chip can report raw observations:

[0144] S501B: Each of the multiple mobile devices (including tri-band mobile devices and dual-band mobile devices) periodically outputs its own raw observation value of the GNSS signal at a set time interval;

[0145] S502B, each mobile device sends a data packet to the network device (e.g., via cellular communication technology), the data packet carrying the original observation value and approximate location information; in response, the network device receives the data packet;

[0146] S503B, assuming that the network device currently receives the Nth data packet, and assuming that the Nth data packet carries the original observation value of the dual-frequency GNSS signal; the network device determines whether the distance between the mobile device corresponding to the Nth data packet and the virtual reference station is less than a preset distance; if so, execute S504B; otherwise, execute S507B;

[0147] S504B, determining whether the original observation quantity of the triple-frequency GNSS signal is received within the preset time range; if yes, executing S505B, otherwise executing S506B;

[0148] S505B, discard the Nth data packet, calculate the ionospheric error of the virtual reference station based on the original observations of the triple-frequency GNSS signals received within the preset time range, and end the ionospheric error calculation process after obtaining the ionospheric error of the virtual reference station;

[0149] S506B, calculating the ionospheric error based on the original observation value in the Nth data packet (i.e., the original observation value of the dual-frequency GNSS signal), and ending the current ionospheric error calculation process after obtaining the ionospheric error of the virtual reference station;

[0150] S507B, discard the Nth data packet, return to S503B, obtain the N+1th data packet, repeat S503B and the subsequent processes until the ionospheric error of the virtual reference station is obtained, and then end this ionospheric error calculation process.

[0151] It is understandable that the above steps S501B to S502B may be periodically repeated at set time intervals. The above steps S503B and subsequent steps may be executed only when the network device needs to calculate the ionospheric error of the virtual reference station.

[0152] This will help to further improve the accuracy of ionospheric error estimation.

[0153] In one possible design, the mobile device also receives a third indication message. If the third indication message indicates that the user of the mobile device (e.g., the car owner) agrees to provide his or her location information to the network device for use, the mobile device reports its own location information; if the third indication message indicates that the user of the mobile device (e.g., the car owner) does not agree to provide his or her location information to the network device for use, the mobile device does not report its own location information.

[0154] In another possible design, if the mobile device receives the fourth indication information, it confirms that the user of the mobile device (such as the car owner) agrees to provide his or her location information to the network device for use, and the mobile device reports its own location information; if the mobile device does not receive the fourth indication information, it confirms that the user of the mobile device (such as the car owner) does not agree to provide his or her location information to the network device for use, and the mobile device does not report its own location information.

[0155] In this way, the privacy of user data can be improved and the user experience can be enhanced.

[0156] In one possible design, the network device determines the ionospheric error of the virtual reference station based on the first original observation value and the second original observation value, which can be achieved by constructing an ionospheric error model.

[0157] The ionospheric error model includes the location information of multiple points within a certain area, as well as the ionospheric error of each of the multiple points. The network device can determine the ionospheric error at any point in the area based on the model.

[0158] In a specific example, the first original observation is used by the network device to construct the ionospheric error of the virtual reference station. As shown in FIG6A, taking the device to be positioned as a mobile device as an example: the network device first constructs an ionospheric error model based on the original observations (i.e., the second original observation) of at least three reference stations (reference stations 1, 2, and 3 are used as examples in FIG6A, but are not limited thereto) and the position information of the at least three reference stations. The input of the ionospheric error model is the position information, and the output is the ionospheric error at the corresponding position. After receiving the original observations of the device to be positioned and the position information of the device to be positioned (e.g., position information with meter-level accuracy), the network device can correct the ionospheric error model based on the original observations of the device to be positioned, and determine the ionospheric error of the virtual reference station based on the corrected ionospheric error model and the position information of the device to be positioned. Alternatively, the network device directly constructs the ionospheric error of the virtual reference station based on the original observations of the device to be positioned.

[0159] It is understandable that the accuracy of the location information of the reference station is higher than that of the location information of the device to be located. For example, the accuracy level of the location information of the device to be located is at the meter level, while the accuracy level of the location information of the reference station is at the centimeter level.

[0160] In another specific example, the first original observation is used by the network device to construct an ionospheric error model. As shown in FIG6B , taking the device to be positioned as a mobile device as an example: the network device first constructs an ionospheric error model based on the original observations (i.e., the second original observation) of at least three reference stations (reference stations 1, 2, and 3 are used as examples in FIG6B , but are not limited thereto) and the precise location information of the at least three reference stations, as well as the original observations (i.e., the first original observation) of at least one mobile device and the location information of the at least one mobile device (e.g., location information with meter-level accuracy). The input of the ionospheric error model is location information, and the output is the ionospheric error at the corresponding location. Then, the ionospheric error of the virtual reference station is determined based on the ionospheric error model and the location information of the device to be positioned.

[0161] In one possible design, in addition to the first raw observation and the second raw observation, the network device may also determine the ionospheric error of the virtual reference station using ephemeris information, where the ephemeris information may be from the reference station. For example, in the example shown in FIG6A or FIG6B , the reference station may also provide ephemeris information to the network device for use in constructing an ionospheric error model.

[0162] In this way, the accuracy of the ionospheric error of the virtual reference station can be further improved.

[0163] After the network equipment determines the ionospheric error of the virtual reference station, it can determine the positioning assistance information based on the ionospheric error.

[0164] In the embodiment of the present application, the positioning assistance information can be understood as relevant information of the virtual reference station, for example, including but not limited to the original observation value of the virtual reference station. The original observation value of the virtual reference station includes the pseudorange of the virtual reference station and / or the carrier phase of the virtual reference station.

[0165] Accordingly, the network device determines the positioning auxiliary information based on the ionospheric error, which may include: the network device corrects the original observation quantity of the virtual reference station based on the ionospheric error, so that the network device sends the corrected original observation quantity as positioning auxiliary information to the device to be positioned, thereby improving the accuracy of positioning.

[0166] Optionally, the raw observations of the virtual reference station may include, in addition to the pseudorange and / or carrier phase of the virtual reference station, other information about the virtual reference station, such as the receiving frequency of the virtual reference station. It will be appreciated that the receiving frequency of the virtual reference station can be obtained based on the receiving frequency of the reference station.

[0167] Optionally, in addition to the original observation values ​​of the virtual reference station, the positioning assistance information may also include other information such as the ephemeris information of the virtual reference station and the position of the virtual reference station. As long as the information of the virtual reference station can provide auxiliary positioning for the device to be positioned, it can be included in the positioning assistance information.

[0168] Optionally, the reference station may also provide other reference information such as tropospheric error to the network device, and the network device may then determine positioning assistance information based on the tropospheric error and other information, thereby further improving positioning accuracy. The reference information is indicated by dashed lines in FIG6A and FIG6B as optional.

[0169] S404: The network device sends positioning assistance information to the device to be located; correspondingly, the device to be located receives the positioning assistance information from the network device.

[0170] Exemplarily, referring to FIG. 3A and FIG. 3B , the positioning assistance information may be transmitted to the device to be positioned via one or more RSUs.

[0171] S405: The device to be positioned performs positioning calculation according to the positioning auxiliary information.

[0172] For example, referring to FIG7 , taking the device to be positioned as a mobile device and the device to be positioned specifically as a vehicle as an example, the vehicle includes a GNSS chip, a micro control unit (MCU) and a vehicle-mounted communication terminal (telematics box, T-BOX). Among them, the vehicle can receive satellite signals and process satellite signals through the GNSS chip to obtain a first original observation value. The vehicle can send the first original observation value through the T-BOX, for example, upload it to a network device; the vehicle can also receive positioning assistance information issued by the network device through the T-BOX (i.e., the positioning assistance information of the virtual reference station issued in step S404). The MCU of the vehicle can perform RTK calculations in combination with the first original observation value and the positioning assistance information, thereby obtaining the vehicle's position information that eliminates the influence of ionospheric errors.

[0173] In the above scheme, in addition to the reference station, the mobile device can provide its own original observations (i.e., the first original observations) to the network device for use, so that the network device can determine the ionospheric error of the virtual reference station by combining the original observations of the reference station and the original observations of the mobile device. On the one hand, the increase in the original observations used by the network device to construct the virtual reference station (and all of them are actual observation data) can improve the accuracy of the ionospheric error estimation; on the other hand, due to the mobility of the mobile device, the original observations used by the network device to construct the virtual reference station also have good dynamics, which can further improve the estimation accuracy of the ionospheric error. In addition, the device to be located itself can report the first original observations as a mobile device, which can further improve the estimation accuracy of the ionospheric error.

[0174] The method provided by the embodiment of the present application is described above in conjunction with the accompanying drawings, and the device provided by the embodiment of the present application is described below in conjunction with the accompanying drawings.

[0175] Based on the same technical concept, an embodiment of the present application provides a positioning device 800, which includes modules / units / means for executing the method performed by any device in the above method embodiments. The modules / units / means can be implemented through software or hardware, or the corresponding software implementation can be executed by hardware.

[0176] Exemplarily, referring to FIG. 8 , a positioning device 800 may include: a transceiver module 801 and a processing module 802 .

[0177] When the positioning device 800 is used to implement the modules / units / means of the method executed by the network device in the above method embodiment, the transceiver module 801 is used to obtain the first original observation value and the second original observation value, the first original observation value comes from the mobile device, and the second original observation value comes from the reference station; the processing module 802 is used to determine the ionospheric error of the virtual reference station based on the first original observation value and the second original observation value, and determine the positioning assistance information based on the ionospheric error; the transceiver module 801 is also used to send the positioning assistance information to the device to be positioned.

[0178] When the positioning device 800 is used to implement the modules / units / means of the method executed by the mobile device in the above method embodiment, the transceiver module 801 is used to receive satellite signals and determine the first original observation value based on the satellite signals; the transceiver module 801 is also used to send the first original observation value to the network device, and the first original observation value is used to determine the ionospheric error of the virtual reference station.

[0179] It should be understood that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0180] Based on the same technical concept, referring to FIG9 , an embodiment of the present application further provides a positioning device 900, which includes at least one processor 901 and an interface circuit 902; the interface circuit 902 is used to receive signals from other devices outside the device 900 and transmit them to the processor 901 or send signals from the processor 901 to other devices outside the device, and the processor 901 is used to implement the method performed by any device in the above method embodiment through a logic circuit or executing code instructions.

[0181] It should be understood that the processors mentioned in the embodiments of the present application can be implemented by hardware or software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc. When implemented by software, the processor can be a general-purpose processor that is implemented by reading software code stored in a memory.

[0182] Exemplarily, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0183] It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0184] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0185] It should be noted that the memory described herein is intended to include, but not be limited to, these and any other suitable types of memory.

[0186] Based on the same technical concept, an embodiment of the present application also provides a computer-readable storage medium, including a program or instruction. When the program or instruction runs on a computer, the method performed by any device in the above method embodiment is executed.

[0187] Based on the same technical concept, an embodiment of the present application also provides a computer program product containing instructions. The computer program product stores instructions that, when run on a computer, enable the method performed by any device in the above method embodiment to be executed.

[0188] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0189] 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 present application. It should be understood that each flow and / or box in the flow chart and / or block diagram, as well as the combination of the flow chart and / or box in the flow chart 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more flow charts and / or one or more boxes in the block diagram.

[0190] These computer program instructions may also be stored in a computer-readable memory that can direct 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 a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0191] 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, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0192] Obviously, those skilled in the art may make various modifications and variations to this application without departing from the scope of protection of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

[0193] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

Claims

1. A positioning method, characterized in that: include: Acquire a first original observation value and a second original observation value, wherein the first original observation value comes from a mobile device, and the second original observation value comes from a reference station; Determining an ionospheric error of a virtual reference station according to the first original observation value and the second original observation value, and determining positioning assistance information according to the ionospheric error; The positioning assistance information is sent to the device to be positioned.

2. The method according to claim 1, wherein Determining the ionospheric error of the virtual reference station according to the first original observation value and the second original observation value includes: constructing an ionospheric error model based on the second original observations and the position of the reference station; determining the ionospheric error of the virtual reference station based on the first original observations and the ionospheric error model; or An ionospheric error model is constructed based on the first original observation quantity, the second original observation quantity, and the position of the reference station; and the ionospheric error of the virtual reference station is determined based on the ionospheric error model.

3. The method according to claim 2, wherein The construction of the ionospheric error model is also based on the ephemeris information from the reference station.

4. The method according to any one of claims 1 to 3, wherein The first original observation amount includes the original observation amount of the dual-frequency global navigation satellite system GNSS signal and / or the original observation amount of the triple-frequency GNSS signal.

5. The method according to claim 4, wherein The first original observation amount includes the original observation amount of the dual-frequency GNSS signal and the original observation amount of the triple-frequency GNSS signal; Determining the ionospheric error of the virtual reference station according to the first original observation value and the second original observation value includes: If the time of the original observation value of the triple-frequency GNSS signal is within a preset time range, determining the ionospheric error of the virtual reference station according to the original observation value of the triple-frequency GNSS signal and the second original observation value; or, If the time of the original observation value of the triple-frequency GNSS signal is not within the preset time range, and the time of the original observation value of the dual-frequency GNSS signal is within the preset time range, the ionospheric error of the virtual reference station is determined based on the original observation value of the dual-frequency GNSS signal and the second original observation value.

6. The method according to any one of claims 1 to 5, wherein: The device to be located is the mobile device.

7. The method according to any one of claims 1 to 6, wherein: The distance between the virtual reference station and the mobile device is less than a preset distance.

8. The method according to claim 7, wherein The method further comprises: Obtaining location information of the mobile device; It is determined according to the position information of the mobile device that the distance between the virtual reference station and the mobile device is less than the preset distance.

9. The method according to any one of claims 1 to 8, wherein The position of the virtual reference station is determined according to the position of the base station.

10. The method according to any one of claims 1 to 9, wherein The first original observation quantity includes one or more of a pseudorange, a carrier phase, and a receiving frequency.

11. The method according to any one of claims 1 to 10, wherein: The mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.

12. A positioning method, characterized in that: include: receiving a satellite signal, and determining a first original observation value according to the satellite signal; The first original observation value is sent to a network device, where the first original observation value is used to determine an ionospheric error of a virtual reference station.

13. The method according to claim 12, wherein: Also includes: Receive positioning assistance information from the network device, and locate the mobile device according to the positioning assistance information.

14. The method according to claim 12 or 13, wherein: The first original observation quantity includes one or more of a pseudorange, a carrier phase, and a receiving frequency.

15. The method according to any one of claims 1 to 14, wherein: The mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.

16. A positioning device, characterized in that: include: a transceiver module, configured to obtain a first original observation value and a second original observation value, wherein the first original observation value comes from a mobile device and the second original observation value comes from a reference station; a processing module, configured to determine an ionospheric error of a virtual reference station according to the first original observation amount and the second original observation amount, and determine positioning assistance information according to the ionospheric error; The transceiver module is further configured to send the positioning assistance information to the device to be positioned.

17. The device according to claim 16, wherein The processing module is used for: constructing an ionospheric error model based on the second original observations and the position of the reference station; determining the ionospheric error of the virtual reference station based on the first original observations and the ionospheric error model; or An ionospheric error model is constructed based on the first original observation quantity, the second original observation quantity, and the position of the reference station; and the ionospheric error of the virtual reference station is determined based on the ionospheric error model.

18. The device according to claim 16 or 17, characterized in that The construction of the ionospheric error model is also based on the ephemeris information from the reference station.

19. The device according to any one of claims 16 to 18, characterized in that The first raw observation amount includes the raw observation amount of the dual-frequency GNSS signal and the raw observation amount of the triple-frequency GNSS signal; the processing module is used to: If the time of the original observation value of the triple-frequency GNSS signal is within a preset time range, determining the ionospheric error of the virtual reference station according to the original observation value of the triple-frequency GNSS signal and the second original observation value; or, If the time of the original observation value of the triple-frequency GNSS signal is not within the preset time range, and the time of the original observation value of the dual-frequency GNSS signal is within the preset time range, the ionospheric error of the virtual reference station is determined based on the original observation value of the dual-frequency GNSS signal and the second original observation value.

20. The device according to any one of claims 16 to 19, characterized in that The transceiver module is further used to: obtain location information of the mobile device; The processing module is further configured to determine, based on the location information of the mobile device, that the distance between the virtual reference station and the mobile device is less than the preset distance.

21. A positioning device, characterized in that: include: a transceiver module, configured to receive a satellite signal and determine a first original observation value according to the satellite signal; The transceiver module is further used to send the first original observation value to the network device, where the first original observation value is used to determine the ionospheric error of the virtual reference station.

22. The device according to claim 21, wherein The transceiver module is further configured to: receive positioning assistance information from the network device; The apparatus further includes a processing module configured to locate the mobile device according to the positioning assistance information.

23. A positioning device, characterized in that: include: at least one processor and interface circuitry; The interface circuit is used to receive signals from other devices outside the device and transmit them to the processor or send signals from the processor to other devices outside the device. The processor implements the method according to any one of claims 1 to 11 or the method according to any one of claims 12 to 15 through logic circuits or execution code instructions.

24. A computer-readable storage medium, characterized in that The readable storage medium is used to store instructions, and when the instructions are executed, the method according to any one of claims 1 to 11 or the method according to any one of claims 12 to 15 is implemented.

25. A computer program product, characterized in that The computer program product stores instructions, and when the computer program product is run on a computer, the computer is caused to execute the method according to any one of claims 1 to 11 or the method according to any one of claims 12 to 15.

26. A positioning system, characterized in that: include: A mobile device, configured to send a first original observation value to a network device; A reference station, configured to send a second original observation value to the network device; The network device is configured to determine an ionospheric error of a virtual reference station based on the first original observation value and the second original observation value, and determine positioning assistance information based on the ionospheric error; The positioning assistance information is sent to the device to be positioned.

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