A method, apparatus, device, computer storage medium, and computer program product for determining information.

Abstract

This application discloses an information determination method, including: determining reference position information of the driving device based on a first signal received by a first antenna of the driving device; determining approximate position information of the target device based on a second signal received by a second antenna of the target device mounted on the driving device; wherein the first antenna is located within a planar area formed by multiple second antennas; and determining the target error of the driving device's position based on the reference position information and the approximate position information, thus solving the problem of low accuracy in determining the positioning error of a vehicle in related technologies. This application also discloses an information determination device, equipment, computer storage medium, and computer program product.

Description

Technical Field

[0001] This application relates to information determination technology in the field of computer network technology, and more particularly to an information determination method, apparatus, device, computer storage medium, and computer program product. Background Technology

[0002] With the development of technology, in the field of intelligent driving, real-time vehicle positioning information is typically obtained through a surveying device. However, errors often occur when using surveying devices to locate vehicles. Therefore, determining the accurate positioning error to ensure accurate vehicle positioning is crucial. Currently, related technologies calculate the vehicle positioning error by comparing the single vehicle positioning obtained by the surveying device with a reference positioning. However, this method of determining the positioning error based solely on the vehicle positioning from a single surveying device results in relatively low accuracy of the obtained positioning error. Summary of the Invention

[0003] To address the aforementioned technical problems, this application aims to provide an information determination method, apparatus, device, computer storage medium, and computer program product, thereby resolving the issue of low accuracy in determining the positioning error of a vehicle in related technologies.

[0004] The technical solution of this application is implemented as follows:

[0005] An information determination method, the method comprising:

[0006] Based on the first signal received by the first antenna of the driving device, the reference position information of the driving device is determined;

[0007] Based on the second signal received by the second antenna of the target device mounted on the driving equipment, the approximate position information of the target device is determined; wherein, the first antenna is located within a planar area formed by a plurality of second antennas;

[0008] Based on the reference position information and the preliminary position information, the target error of the position of the driving device is determined.

[0009] In the above scheme, determining the target error of the position of the driving device based on the reference position information and the preliminary position information includes:

[0010] The target position of the driving device is determined based on multiple preliminary location information.

[0011] Based on the reference position information and the target position, the target error of the position of the driving device is determined.

[0012] In the above scheme, determining the target position of the driving device based on multiple preliminary position information includes:

[0013] Determine the distance between the first antenna and each of the second antennas;

[0014] Based on the target parameters, multiple preliminary location information are filtered to obtain multiple first location information;

[0015] The target position of the driving device is determined based on the plurality of first location information and the plurality of distances.

[0016] In the above scheme, determining the target position of the driving device based on the plurality of first location information and the plurality of distances includes:

[0017] Determine the weight corresponding to each of the distances;

[0018] The target location is determined based on the plurality of first location information, the plurality of distances, and the plurality of weights.

[0019] In the above scheme, determining the target location based on the plurality of first location information, the plurality of distances, and the plurality of weights includes:

[0020] Based on the multiple first position information, multiple first coordinates are determined, and each first coordinate is converted to a different format to obtain multiple second coordinates;

[0021] A reference coordinate is determined based on the plurality of second coordinates, the plurality of distances, and the plurality of weights; wherein the target location includes the reference coordinates.

[0022] In the above scheme, determining the target error of the position of the driving device based on the reference position information and the target position includes:

[0023] The reference coordinates are formatted to obtain the converted coordinates;

[0024] The reference coordinates are determined based on the reference position information, and the target error is determined based on the reference coordinates and the transformed coordinates.

[0025] In the above scheme, determining the target error based on the reference coordinates and the transformed coordinates includes:

[0026] Based on the reference coordinates and the transformed coordinates, determine the horizontal error and elevation error of the location;

[0027] The target error is determined based on the plurality of horizontal errors and the plurality of elevation errors.

[0028] An information determining device, the device comprising:

[0029] The first determining unit is configured to determine the reference position information of the driving device based on the first signal received by the first antenna of the driving device.

[0030] The second determining unit is used to determine the approximate position information of the target device based on the second signal received by the second antenna of the target device mounted on the driving equipment; wherein the first antenna is located in a planar area formed by a plurality of second antennas;

[0031] The third determining unit is used to determine the target error of the position of the driving device based on the reference position information and the preliminary position information.

[0032] An information determining device, the device comprising: a processor, a memory, and a communication bus;

[0033] The communication bus is used to realize the communication connection between the processor and the memory;

[0034] The processor is used to execute the information determination program in the memory to implement the steps of the information determination method described above.

[0035] A computer-readable storage medium storing one or more programs that can be executed by one or more processors to implement the steps of the information determination method described above.

[0036] A computer program product comprising a computer program that, when executed by a processor, implements the aforementioned information determination method.

[0037] The information determination method, apparatus, device, computer storage medium, and computer program product provided in this application can determine the reference position information of a driving device based on a first signal received by a first antenna within a planar area formed by multiple second antennas, and determine the approximate position information of a target device based on a second signal received by a second antenna of a target device mounted on the driving device. Furthermore, based on the reference position information and the approximate position information, the target error of the driving device's position can be determined. Thus, the positioning error of the driving vehicle can be determined by combining the reference position information determined from the signal received by the first antenna and the multiple approximate position information determined from the signals received by the multiple second antennas. That is, multiple approximate position information are considered when determining the positioning error of the driving vehicle, rather than determining the positioning error based solely on a single positioning position as in related technologies. This solves the problem of low accuracy in determining the positioning error of vehicles in related technologies. Furthermore, by placing the first antenna within a planar area formed by multiple second antennas, the problem of additional errors introduced by the adjacent placement of the vehicle's antenna and the surveying equipment's antenna in related technologies can also be solved, further improving the accuracy of the determined vehicle positioning error. Attached Figure Description

[0038] Figure 1 A flowchart illustrating an information determination method provided in an embodiment of this application;

[0039] Figure 2 A flowchart illustrating another information determination method provided in an embodiment of this application;

[0040] Figure 3 This is a schematic diagram of the structure of an information determination device provided in an embodiment of this application;

[0041] Figure 4 This is a schematic diagram of the structure of an information determination device provided in an embodiment of this application. Detailed Implementation

[0042] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0043] It should be understood that the phrases "embodiments of this application" or "foreign embodiments" throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "embodiments of this application" or "in the foreign embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0044] Unless otherwise specified, any step in the embodiments of this application performed by the electronic device may be executed by the processor of the electronic device. It is also worth noting that the embodiments of this application do not limit the order in which the electronic device performs the following steps. Furthermore, the methods used to process data in different embodiments may be the same or different methods. It should also be noted that any step in the embodiments of this application can be executed independently by the electronic device; that is, when the electronic device performs any step in the following embodiments, it may not depend on the execution of other steps.

[0045] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application.

[0046] This application provides an information determination method, referring to... Figure 1 As shown, the method may include the following steps:

[0047] Step 101: Determine the reference position information of the driving equipment based on the first signal received by the first antenna of the driving equipment.

[0048] In this embodiment, the driving device can be a car, ship, or drone, etc.; the first antenna can refer to an antenna installed on the driving device. Specifically, the first signal received by the driving device can be processed to obtain the first Global Positioning System Fix Data (GGA) for the driving device, and the reference position information of the driving object can be determined based on the first GGA data.

[0049] Step 102: Determine the approximate location information of the target device based on the second signal received by the second antenna of the target device mounted on the driving equipment.

[0050] The first antenna is located within a planar region formed by multiple second antennas.

[0051] In this application embodiment, the target device may refer to a real-time kinematic (RTK) mapping device installed on a driving device; the second antenna may refer to the antenna of the RTK mapping device itself.

[0052] Each RTK mapping device may have one second second line of sight or two second second lines of sight. It should be noted that the number of second second lines of sight in this invention is at least two, that is, the driving equipment is equipped with at least two RTK mapping devices with one second second line of sight, or at least one RTK mapping device with two second second lines of sight.

[0053] In this embodiment, the planar area formed by the second second line can be a line segment, a triangle, or a rectangle, etc., and can be determined according to the number of second second lines.

[0054] Step 103: Based on the reference position information and the preliminary position information, determine the target error of the position of the traveling equipment.

[0055] In the embodiments of this application, the target position of the driving device can be determined based on multiple preliminary position information, and the positioning error of the driving device, i.e., the target error of the position of the driving device, can be determined based on the target position and reference position information.

[0056] The information determination method provided in the embodiments of this application can determine the positioning error of a driving vehicle by combining reference position information determined based on the signal received by the first antenna and multiple approximate position information determined based on the signals received by multiple second antennas. That is, multiple approximate positions are considered when determining the positioning error of the driving vehicle, rather than relying solely on a single positioning position as in related technologies. This solves the problem of low accuracy in determining the positioning error in related technologies. Furthermore, by placing the first antenna within the planar area formed by multiple second antennas, the problem of additional errors introduced by the adjacent placement of the vehicle's antenna and the surveying equipment's antenna in related technologies can also be solved, further improving the accuracy of the determined vehicle positioning error.

[0057] Based on the foregoing embodiments, embodiments of this application provide an information determination method, which can be applied to an information determination device, with reference to... Figure 2 As shown, the method may include the following steps:

[0058] Step 201: The information determining device determines the reference position information of the driving device based on the first signal received by the first antenna of the driving device.

[0059] In this embodiment, the reference location information may include latitude and longitude information, altitude information, and data recording time. Specifically, the first signal can be processed according to the National Marine Electronics Association (NMEA) protocol to obtain first GGA data, and then the reference location information can be extracted from the first GGA data. The altitude information may include a first altitude and a second altitude; the data recording time may refer to Coordinated Universal Time (UTC).

[0060] It should be noted that the traveling equipment has only one first antenna, and the installation position of the first first antenna needs to be determined based on the number and installation position of the second second antenna of the RTK mapping equipment mounted on the traveling equipment.

[0061] For example, the first GGA data can be shown in Table 1 below.

[0062]

[0063] Table 1

[0064] It should be noted that, in addition to UTC time, longitude, latitude, and altitude information, GGA data may also include positioning quality indication, horizontal accuracy factor, number of satellites, and other information.

[0065] Step 202: The information determining device determines the approximate position information of the target device based on the second signal received by the second antenna of the target device mounted on the driving device.

[0066] The first antenna is located within a planar region formed by multiple second antennas.

[0067] In this embodiment, if there are two second antennas, the first antenna is set on the line segment formed by the installation points of the two second antennas, that is, the installation position of the first antenna and the installation positions of the two second antennas are on the same straight line; if there are three second antennas, the first antenna will be located in the triangular area or circular area formed by the three second antennas; if there are four second antennas, the second antennas will be located in the rectangular area or circular area formed by the four second antennas.

[0068] It should be noted that if there are two second antennas, the first antenna can preferably be placed in the middle of the two second antennas, even if the center of the second antenna coincides with the center of the line segment formed by the two antennas.

[0069] In this embodiment, the preliminary location information may include the latitude and longitude information, altitude information, and data recording time corresponding to the second antenna. Specifically, at least two second signals received from at least two second antennas can be processed according to the NMEA protocol to obtain multiple second GGA data. Then, preliminary location information can be extracted from each second GGA data. It should be noted that each second antenna corresponds to one preliminary location information.

[0070] Step 203: The information determination device determines the target position of the traveling device based on multiple preliminary position information.

[0071] In this embodiment, the target location may refer to the theoretical location of the driving device. Specifically, the distance between the first antenna and each second antenna can be determined, and the target location of the driving object can be determined based on multiple distances and multiple preliminary location information.

[0072] In the embodiments of this application, step 203 can be implemented by steps 203a to 203c.

[0073] Step 203a: The information determination device determines the distance between the first antenna and each second antenna.

[0074] In the embodiments of this application, if there are two second antennas, two distances can be determined; if there are three second antennas, three distances can be determined.

[0075] In one feasible approach, if there are two second antennas and the first antenna is located at the midline between the two second antennas, two distances can be obtained, and the two distances obtained are equal.

[0076] Step 203b: The information determination device filters multiple preliminary location information based on the target parameters to obtain multiple first location information.

[0077] In this embodiment, the target parameter can characterize whether the preliminary location information is missing any necessary field information. In one possible implementation, the target parameter can be carried in the preliminary location information and can be represented by a numerical value. For example, 0 can indicate that the preliminary location information contains all necessary field information; 1 can indicate that the preliminary location information is missing some necessary information.

[0078] In this embodiment of the application, multiple preliminary location information can be filtered according to the target parameters in each preliminary location information to obtain multiple first location information (i.e., fixed solutions) containing all necessary field information, that is, the preliminary location information lacking necessary information is removed from all preliminary location information.

[0079] Step 203c: The information determining device determines the target position of the traveling device based on multiple first position information and multiple distances.

[0080] In the embodiments of this application, step 203c can be implemented by steps 203c1 to 203c2.

[0081] Step 203c1: The information determination device determines the weight corresponding to each distance.

[0082] In this embodiment, the weight represents the importance corresponding to each distance. If multiple distances are equal, then the weight corresponding to each distance is also equal. It should be noted that the weight can be determined based on historical data and actual needs.

[0083] Step 203c2: The information determination device determines the target location based on multiple first location information, multiple distances, and multiple weights.

[0084] In this embodiment of the application, multiple first coordinates can be obtained by processing the first position information, and the target position of the driving object can be determined based on the multiple first coordinates, multiple distances and the weight corresponding to each distance.

[0085] In the embodiments of this application, step 203c2 can be implemented by steps 203c21 to 203c23.

[0086] Step 203c21: The information determining device determines multiple first coordinates based on multiple first position information, and performs format conversion on each first coordinate to obtain multiple second coordinates.

[0087] In the embodiments of this application, the latitude, longitude and altitude information in each first location information can be converted into geodetic coordinates in the geodetic coordinate system, namely BLH coordinates.

[0088] For example, if the first location information is as shown in Table 2 below, then the first coordinates obtained after converting the latitude, longitude and altitude information can be (31.250489718, 121.612116071, 51.400299999).

[0089]

[0090] Table 2

[0091] Then, the obtained first coordinates can be transformed again to convert them into coordinates in a spatial rectangular coordinate system. For example, after transforming the first coordinates (31.250489718, 121.612116071, 51.400299999), we can obtain its second coordinates in a spatial rectangular coordinate system (-2860729.990282290, 4647847.671791870, 3289694.259323440).

[0092] It should be noted that one first coordinate corresponds to one second coordinate.

[0093] Step 203c22: The information determination device determines the reference coordinates based on multiple second coordinates, multiple distances, and multiple weights.

[0094] The target location includes the reference coordinates.

[0095] In this embodiment, each distance and its corresponding weight can be calculated first to obtain multiple values. Then, the reference coordinates can be determined based on the multiple values ​​and multiple second coordinates. In one feasible approach, if there are two second antennas, that is, two second coordinates, two distances and two weights, the formula for calculating the reference coordinates can be as shown in formulas (1) to (3) below.

[0096]

[0097] Where d1 represents the first distance from the first antenna to the first second antenna; d2 represents the second distance from the first antenna to the second second antenna; a represents the weight corresponding to the first distance; b represents the weight corresponding to the second distance; x1 represents the x-coordinate of the first second coordinate system corresponding to the first second antenna; x2 represents the x-coordinate of the second second coordinate system corresponding to the second second antenna; y1 represents the y-coordinate of the first second coordinate system corresponding to the first second antenna; y2 represents the y-coordinate of the second second coordinate system corresponding to the second second antenna; z1 represents the vertical coordinate of the first second coordinate system corresponding to the first second antenna; z2 represents the vertical coordinate of the second second coordinate system corresponding to the second second antenna; x c y represents the x-coordinate in the reference coordinate system. c z represents the ordinate in the reference coordinate system. c This represents the vertical coordinate in the reference coordinate system.

[0098] It should be noted that the reference coordinates are coordinates in a spatial rectangular coordinate system.

[0099] Step 204: The information determination device determines the target error of the position of the traveling device based on the reference position information and the target position.

[0100] In this embodiment of the application, reference coordinates can be determined based on reference position information, and the positioning error of the driving device, i.e. the target error of the position of the driving device, can be determined based on the reference coordinates and the reference coordinates in the target position.

[0101] In the embodiments of this application, step 204 can be implemented by steps 204a to 204b.

[0102] Step 204a: The information determination device performs format conversion on the reference coordinates to obtain the converted coordinates.

[0103] In the embodiments of this application, the coordinates in the spatial rectangular coordinate system can be transformed to obtain the geodetic coordinates in the geodetic coordinate system, namely the BLH coordinates (transformed coordinates).

[0104] Step 204b: The information determining device determines the reference coordinates based on the reference position information, and determines the target error based on the reference coordinates and the transformed coordinates.

[0105] In this embodiment, the target error may include horizontal error and elevation error. Specifically, the latitude, longitude, and altitude information in the reference location information can be converted into geodetic coordinates in a geodetic coordinate system, i.e., reference coordinates. Based on the obtained reference coordinates and the converted coordinates, the horizontal and elevation errors of the position of the traveling equipment can be determined.

[0106] In the embodiments of this application, step 204b can be implemented through steps 204b1 to 204b2.

[0107] Step 204b1: The information determination device determines the horizontal and vertical errors of the position based on the reference coordinates and the transformed coordinates.

[0108] In this embodiment, the reference coordinates can be converted into coordinates in a spatial rectangular coordinate system, i.e., the converted reference coordinates are obtained. Then, the horizontal error and the elevation error are determined based on the reference coordinates, the converted reference coordinates, the datum coordinates, and the converted coordinates. It should be noted that the reference coordinates, the converted reference coordinates, the datum coordinates, and the converted coordinates all correspond to the same UTC time.

[0109] Specifically, the reference coordinates (X, X) of point i can be determined according to the following formula (4). i ,Y i Z i ), transformed reference coordinates (B) i ,I i H i ) and the reference coordinates (X) of point j j ,Y j Z j ), transformed coordinates (B) j,I j H j ) Perform the calculation to obtain the station center coordinates (e) of point j relative to point i. j ,n j ,u j ).

[0110]

[0111] Then, the obtained station center coordinates can be calculated according to formula (5) to obtain the azimuth angle d of point j relative to point i. j .

[0112]

[0113] Furthermore, the station center coordinates (e) of point i relative to point j can be calculated using formulas (4) and (5). i ,n i ,u i ) and azimuth d i Then, the horizontal error herr of the position of the traveling equipment at point j can be calculated according to formulas (6) and (7). j and elevation error lerr j .

[0114]

[0115] lerr j =|herr*cos(d j -d i -π)| Formula (7)

[0116] Then, similarly, the horizontal error herr of the position of the driving device at point i can be calculated according to formulas (6) and (7). i and elevation error lerr i .

[0117] Step 204b2: The information determination device determines the target error based on multiple horizontal errors and multiple elevation errors.

[0118] In this embodiment of the application, the horizontal and vertical errors of the position of the driving device at each UTC time can be calculated according to step 204b3, and the multiple horizontal and vertical errors obtained can be statistically analyzed to obtain the target error including the standard deviation 1 sigma, two times the standard deviation 2 sigma, three times the standard deviation 3 sigma and the circular probability error (CEP) value.

[0119] It should be noted that the descriptions of the same steps and contents as in other embodiments in this embodiment can be found in the descriptions in other embodiments, and will not be repeated here.

[0120] The information determination method provided in the embodiments of this application can determine the positioning error of a driving vehicle by combining reference position information determined based on the signal received by the first antenna and multiple approximate position information determined based on the signals received by multiple second antennas. That is, it considers multiple approximate position information when determining the positioning error of the driving vehicle, rather than determining the positioning error based solely on a single positioning position as in related technologies. This solves the problem of low accuracy in determining the positioning error in related technologies. Furthermore, by placing the first antenna within the planar area formed by multiple second antennas, it also solves the problem of additional errors introduced by the adjacent placement of the vehicle's antenna and the surveying equipment's antenna in related technologies, further improving the accuracy of the determined vehicle positioning error.

[0121] Based on the foregoing embodiments, this application provides an information determining device, which can be applied to... Figure 1 and 2 In the information determination method provided in the corresponding embodiment, refer to Figure 3 As shown, the information determining device 3 may include: a first determining unit 31, a second determining unit 32, and a third determining unit 33, wherein:

[0122] The first determining unit 31 is used to determine the reference position information of the driving equipment based on the first signal received by the first antenna of the driving equipment.

[0123] The second determining unit 32 is used to determine the approximate location information of the target device based on the second signal received by the second antenna of the target device mounted on the driving equipment; wherein the first antenna is located in a planar area composed of multiple second antennas;

[0124] The third determining unit 33 is used to determine the target error of the position of the traveling equipment based on the reference position information and the preliminary position information.

[0125] In other embodiments of this application, the third determining unit 33 is further configured to perform the following steps:

[0126] The target position of the driving equipment is determined based on multiple preliminary location information.

[0127] Based on the reference position information and the target position, the target error of the position of the traveling equipment is determined.

[0128] In other embodiments of this application, the third determining unit 33 is further configured to perform the following steps:

[0129] Determine the distance between the first antenna and each second antenna;

[0130] Based on the target parameters, multiple preliminary location information are filtered to obtain multiple first location information;

[0131] The target location of the driving equipment is determined based on multiple primary location information and multiple distances.

[0132] In other embodiments of this application, the third determining unit 33 is further configured to perform the following steps:

[0133] Determine the weight corresponding to each distance;

[0134] The target location is determined based on multiple primary location information, multiple distances, and multiple weights.

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

[0136] Multiple first coordinates are determined based on multiple first position information, and the format of each first coordinate is converted to obtain multiple second coordinates;

[0137] The reference coordinates are determined based on multiple second coordinates, multiple distances, and multiple weights; the target location includes the reference coordinates.

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

[0139] The reference coordinates are formatted to obtain the converted coordinates;

[0140] The reference coordinates are determined based on the reference position information, and the target error is determined based on the transformed coordinates of the reference coordinates.

[0141] In other embodiments of this application, the third determining unit 33 is further configured to perform the following steps:

[0142] Based on the reference coordinates and the transformed coordinates, determine the horizontal and vertical errors of the location;

[0143] The target error is determined based on multiple horizontal and multiple vertical errors.

[0144] It should be noted that a detailed explanation of the steps performed by each unit can be found in [reference needed]. Figure 1 and 2 The information determination method provided in the corresponding embodiments will not be described again here.

[0145] The information determining apparatus provided in the embodiments of this application can determine the positioning error of a driving vehicle by combining reference position information determined based on signals received by a first antenna and multiple approximate position information determined based on signals received by multiple second antennas. That is, it considers multiple approximate position information when determining the positioning error of the driving vehicle, rather than determining the positioning error based solely on a single positioning position as in related technologies. This solves the problem of low accuracy in determining the positioning error of vehicles in related technologies. Furthermore, by placing the first antenna within the planar area formed by multiple second antennas, it also solves the problem of additional errors introduced by the adjacent placement of the vehicle's antenna and the surveying equipment's antenna in related technologies, further improving the accuracy of the determined vehicle positioning error.

[0146] Based on the foregoing embodiments, embodiments of this application provide an information determining device, which can be applied to... Figure 1 and 2 In the information determination method provided in the corresponding embodiment, refer to Figure 4 As shown, the information determining device 4 may include: a processor 41, a memory 42, and a communication bus 43, wherein:

[0147] Communication bus 43 is used to realize the communication connection between processor 41 and memory 42;

[0148] The processor 41 is used to execute the information determination program in the memory 42 to perform the following steps:

[0149] Based on the first signal received by the first antenna of the driving equipment, the reference position information of the driving equipment is determined;

[0150] Based on the second signal received by the second antenna of the target device mounted on the driving equipment, the approximate location information of the target device is determined; wherein, the first antenna is located in a planar area formed by multiple second antennas;

[0151] Based on reference position information and preliminary position information, the target error of the position of the traveling equipment is determined.

[0152] In other embodiments of this application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target error of the position of the driving device based on the reference position information and the preliminary position information, so as to achieve the following steps:

[0153] The target position of the driving equipment is determined based on multiple preliminary location information.

[0154] Based on the reference position information and the target position, the target error of the position of the traveling equipment is determined.

[0155] In other embodiments of this application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target position of the driving device based on multiple preliminary position information, in order to implement the following steps:

[0156] Determine the distance between the first antenna and each second antenna;

[0157] Based on the target parameters, multiple preliminary location information are filtered to obtain multiple first location information;

[0158] The target location of the driving equipment is determined based on multiple primary location information and multiple distances.

[0159] In other embodiments of this application, the processor 41 is configured to execute an information determination program stored in the memory 42 to determine the target position of the driving device based on multiple first position information and multiple distances, in order to perform the following steps:

[0160] Determine the weight corresponding to each distance;

[0161] The target location is determined based on multiple primary location information, multiple distances, and multiple weights.

[0162] In other embodiments of this application, the processor 41 is configured to execute an information determination program stored in the memory 42 to determine a target location based on multiple first location information, multiple distances, and multiple weights, in order to implement the following steps:

[0163] Multiple first coordinates are determined based on multiple first position information, and the format of each first coordinate is converted to obtain multiple second coordinates;

[0164] The reference coordinates are determined based on multiple second coordinates, multiple distances, and multiple weights; the target location includes the reference coordinates.

[0165] In other embodiments of this application, the processor 41 is used to execute the information determination program in the memory 42 to determine the target error of the position of the driving device based on the reference position information and the target position, in order to achieve the following steps:

[0166] The reference coordinates are formatted to obtain the converted coordinates;

[0167] The reference coordinates are determined based on the reference position information, and the target error is determined based on the reference coordinates and the transformed coordinates.

[0168] In other embodiments of this application, processor 41 is used to execute the information determination program in memory 42 to determine the target error based on reference coordinates and transformed coordinates, in order to implement the following steps:

[0169] Based on the reference coordinates and the transformed coordinates, determine the horizontal and vertical errors of the location;

[0170] The target error is determined based on multiple horizontal and multiple vertical errors.

[0171] It should be noted that a detailed description of the steps performed by the processor can be found in [reference needed]. Figure 1 and 2 The information determination method provided in the corresponding embodiments will not be described again here.

[0172] The information determination device provided in the embodiments of this application can determine the positioning error of a driving vehicle by combining reference position information determined based on the signal received by the first antenna and multiple approximate position information determined based on the signals received by multiple second antennas. That is, it considers multiple approximate position information when determining the positioning error of the driving vehicle, rather than determining the positioning error based solely on a single positioning position as in related technologies. This solves the problem of low accuracy in determining the positioning error of vehicles in related technologies. Furthermore, by placing the first antenna within the planar area formed by multiple second antennas, it also solves the problem of additional errors introduced by the adjacent placement of the vehicle's antenna and the surveying equipment's antenna in related technologies, further improving the accuracy of the determined vehicle positioning error.

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

[0174] Based on the foregoing embodiments, embodiments of this application provide a computer program product, which includes a computer program that, when executed by a processor, implements... Figure 1 and 2 The corresponding embodiments provide the steps of the information determination method.

[0175] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0176] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0177] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0178] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0179] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining information, characterized in that, The method includes: Based on the first signal received by the first antenna of the driving device, the reference position information of the driving device is determined; Based on the second signal received by the second antenna of the target device mounted on the driving equipment, the approximate position information of the target device is determined; wherein, the first antenna is located within a planar area formed by a plurality of second antennas; Determine the distance between the first antenna and each of the second antennas, and determine the weight corresponding to each distance; Based on the target parameters, multiple preliminary location information are filtered to obtain multiple first location information; The target location is determined based on the plurality of first location information, the plurality of distances, and the plurality of weights; Based on the reference position information and the target position, the target error of the position of the driving device is determined.

2. The method according to claim 1, characterized in that, Determining the target location based on the plurality of first location information, the plurality of distances, and the plurality of weights includes: Based on the multiple first position information, multiple first coordinates are determined, and each first coordinate is converted to a different format to obtain multiple second coordinates; A reference coordinate is determined based on the plurality of second coordinates, the plurality of distances, and the plurality of weights; wherein the target location includes the reference coordinates.

3. The method according to claim 1, characterized in that, The step of determining the target error of the position of the driving device based on the reference position information and the target position includes: The reference coordinates are formatted to obtain the converted coordinates; The reference coordinates are determined based on the reference position information, and the target error is determined based on the reference coordinates and the transformed coordinates.

4. The method according to claim 3, characterized in that, Determining the target error based on the reference coordinates and the transformed coordinates includes: Based on the reference coordinates and the transformed coordinates, determine the horizontal error and elevation error of the location; The target error is determined based on the plurality of horizontal errors and the plurality of elevation errors.

5. An information determining device, characterized in that, The device includes: The first determining unit is configured to determine the reference position information of the driving device based on the first signal received by the first antenna of the driving device. The second determining unit is used to determine the approximate position information of the target device based on the second signal received by the second antenna of the target device mounted on the driving equipment; wherein the first antenna is located in a planar area formed by a plurality of second antennas; The third determining unit is configured to determine the distance between the first antenna and each of the second antennas, and determine the weight corresponding to each distance; based on the target parameters, filter the multiple preliminary position information to obtain multiple first position information; based on the multiple first position information, the multiple distances and the multiple weights, determine the target position; and based on the reference position information and the target position, determine the target error of the position of the driving device.

6. An information determining device, characterized in that, The device includes: a processor, a memory, and a communication bus; The communication bus is used to realize the communication connection between the processor and the memory; The processor is used to execute an information determination program in memory to implement the steps of the information determination method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores one or more programs, which can be executed by one or more processors to implement the steps of the information determination method as described in any one of claims 1 to 4.

8. A computer program product, the computer program product comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the information determination method according to any one of claims 1 to 4.

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