Positioning method, device, system, equipment, storage medium and program product

Abstract

The invention provides a positioning method, device, system and equipment, a storage medium and a program product, and the method comprises the steps: a server determines a differential correction number of a target grid point position corresponding to a terminal, and additionally determines a second model parameter of an atmospheric correction model in a coverage range of the target grid point position; the atmospheric correction model can determine the atmospheric error compensation value of any point in the coverage range of the target grid point position, so that the atmospheric error compensation value corresponding to the terminal is determined, the atmospheric error introduced by the distance between the terminal and the target grid point position can be eliminated through the atmospheric error compensation value, and the effect of an equivalent zero-distance grid is achieved. And the positioning effect of the terminal is effectively improved.

Description

Technical Field

[0001] The present application belongs to the field of positioning, and in particular, relates to a positioning method, device, system, equipment, storage medium and program product. Background Art

[0002] The grid network RTK technology divides the area covered by the base station into regular grid points. All terminals within the coverage of the same grid point use the differential correction numbers generated by the grid point coordinates. However, within the coverage of the same grid point, there are terminals at different distances from the grid point coordinates. Since the similarity of atmospheric errors changes with distance, the positioning performance of the terminal also deteriorates as the distance changes and the grid becomes farther away. Even when the atmosphere is active, there is a technical problem that short-distance terminals within the coverage of the same grid point can be positioned, but long-distance terminals cannot be positioned. Summary of the invention

[0003] Embodiments of the present application provide a positioning method, apparatus, system, device, storage medium, and program product to improve the positioning performance of a terminal that is far away from a grid point.

[0004] In a first aspect, an embodiment of the present application provides a positioning method, the method comprising:

[0005] Modeling is performed based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and atmospheric error interpolation values ​​of multiple grid point locations in the base station network and differential correction numbers of multiple grid point locations are calculated based on a first model parameter of the atmospheric error model;

[0006] For each grid point position among the multiple grid point positions, sampling is performed within the coverage area corresponding to the grid point position to obtain multiple sampling points; atmospheric error interpolation values ​​of the multiple sampling points are calculated based on the first model parameters, and modeling is performed based on the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model;

[0007] Determining, from a plurality of grid point positions, a target grid point position closest to the approximate position of the terminal according to the approximate position information sent by the terminal;

[0008] Sending the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or

[0009] Based on the second model parameter and the approximate position information, the atmospheric error compensation value of the terminal is determined, the differential correction number of the target grid point position is compensated based on the atmospheric error compensation value, and the compensated differential correction number is sent to the terminal, so that the terminal is positioned according to the compensated differential correction number to obtain high-precision position information of the terminal.

[0010] In a second aspect, an embodiment of the present application provides another positioning method, which is applied in a terminal, and the method includes:

[0011] Sending the approximate location information of the terminal to a server, so that the server determines a target grid point location closest to the approximate location of the terminal from a plurality of grid point locations;

[0012] Receiving the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determining the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performing positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or,

[0013] Receiving the differential correction number of the target grid point position after compensation sent by the server; performing positioning based on the compensated differential correction number to obtain high-precision position information of the terminal;

[0014] Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and location information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the target grid point position, and the atmospheric error interpolation values ​​of the multiple sampling points are calculated according to the first model parameter, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

[0015] In a third aspect, an embodiment of the present application provides a positioning device, which is applied to a server, and includes:

[0016] The first modeling module performs modeling based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and calculates the atmospheric error interpolation values ​​of multiple grid point positions in the base station network and the differential correction numbers of multiple grid point positions based on the first model parameters of the atmospheric error model;

[0017] The second modeling module is configured to sample, for each grid point position among the plurality of grid point positions, a coverage area corresponding to the grid point position to obtain a plurality of sampling points; calculate atmospheric error interpolation values ​​of the plurality of sampling points based on the first model parameters, and perform modeling based on the atmospheric error interpolation values ​​of the plurality of sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model;

[0018] A determination module, which determines a target grid point position closest to the approximate position of the terminal from a plurality of grid point positions according to the approximate position information sent by the terminal;

[0019] a first sending module, sending the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or

[0020] The second sending module determines the atmospheric error compensation value of the terminal based on the second model parameter and the approximate position information, compensates the differential correction number of the target grid point position based on the atmospheric error compensation value, and sends the compensated differential correction number to the terminal, so that the terminal is positioned according to the compensated differential correction number to obtain high-precision position information of the terminal.

[0021] In a fourth aspect, an embodiment of the present application provides another positioning device, which is applied in a terminal, and includes:

[0022] A sending module, which sends the approximate location information of the terminal to a server, so that the server determines a target grid point location closest to the approximate location of the terminal from a plurality of grid point locations;

[0023] A first receiving module receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determines the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or

[0024] A second receiving module receives the differential correction number of the target grid point position after compensation sent by the server; performs positioning based on the differential correction number after compensation to obtain high-precision position information of the terminal;

[0025] Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and location information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the target grid point position, and the atmospheric error interpolation values ​​of the multiple sampling points are calculated according to the first model parameter, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

[0026] In a fifth aspect, an embodiment of the present application provides a positioning system, which includes a server and a terminal; the server is used to execute the positioning method as described in the first aspect, and the terminal is used to execute the positioning method as described in the second aspect.

[0027] In a sixth aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the positioning method as described in the first aspect or the second aspect is implemented.

[0028] In a seventh aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored. When the computer program instructions are executed by a processor, the positioning method as described in the first aspect or the second aspect is implemented.

[0029] In an eighth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning method as described in the first aspect or the second aspect.

[0030] In the positioning method, apparatus, system, equipment, storage medium and program product of the embodiments of the present application, the server, in addition to determining the differential correction number of the target grid point position corresponding to the terminal, will additionally determine the second model parameter of the atmospheric correction model within the coverage range of the target grid point position. The atmospheric correction model can determine the atmospheric error compensation value of any point within the coverage range of the target grid point position, so that the atmospheric error compensation value corresponding to the terminal can be determined. The atmospheric error compensation value can be used to eliminate the atmospheric error introduced by the distance between the terminal and the target grid point position, achieve the effect of an equivalent zero-distance grid, and effectively improve the positioning effect of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] Figure 1 It is a flowchart of a positioning method provided by an embodiment of the present application;

[0033] Figure 2 is a schematic diagram of the structure of a base station network provided by an embodiment of the present application;

[0034] Figure 3 It is a schematic diagram of a usage scenario provided by an embodiment of the present application;

[0035] Figure 4 is a flowchart of another positioning method provided by an embodiment of the present application;

[0036] Figure 5 is a structural schematic diagram of a positioning device provided by an embodiment of the present application;

[0037] Figure 6 is a schematic structural diagram of another positioning device provided by an embodiment of the present application;

[0038] Figure 7 It is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0039] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0040] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0041] High-precision GNSS positioning technology must use carrier phase observations, and RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations. Its standard mode is to set up a base station in a certain area. The base station sends the observed carrier, pseudo-range observations, base station coordinates, antenna information coding and other differential correction data to the mobile station user terminal through the data link; the user terminal receives the differential correction data from the base station, combines its own observation data, and constructs inter-station and inter-satellite double difference observations, eliminating receiver carrier pseudo-range bias, receiver clock error, satellite clock error, and greatly weakening the influence of satellite orbit error, atmospheric error, etc. on the whole cycle ambiguity search, so that the whole cycle ambiguity can be quickly fixed and real-time centimeter-level positioning results can be obtained.

[0042] The basic principle of network RTK is to sparsely and evenly deploy multiple base stations in a larger area to form a base station network, which provides high-precision differential correction data for mobile stations (terminals) within the coverage of the station network, thereby achieving high-precision positioning of mobile stations, which is the network RTK technology. The traditional network RTK algorithm directly responds to the positioning request of the user terminal, and provides corresponding differential data for each user terminal based on the approximate position of the user terminal. In the scenario of a large number of users with high concurrency, this method reuses the computing resources of the data center and has a large computing load. Therefore, the grid network RTK technology came into being. This technology grids the base station network, and generates corresponding differential correction numbers according to the coordinates of each grid point according to the grid points divided at equal distances (such as 5km) and stores them in the grid database. When the user terminal needs to be positioned, the user terminal uploads the approximate location information of the user terminal (such as latitude, longitude, and elevation) in real time. Based on the approximate location information, the server obtains the differential correction number of the grid point closest to the user terminal from the grid database and broadcasts it to the user terminal. The user terminal can be positioned with high precision using RTK technology.

[0043] As described in the background technology, currently within the coverage of the same grid point, there are terminals at different distances from the grid point coordinates. Since the similarity of atmospheric errors changes with distance, the positioning performance of the terminal also deteriorates as the distance changes and the grid becomes farther away. Even when the atmosphere is active, there is a technical problem that short-distance terminals within the coverage of the same grid point can be positioned, but long-distance terminals cannot be positioned.

[0044] In order to solve the problems of the prior art, the embodiments of the present application provide a positioning method, device, equipment, computer storage medium and computer program product. The positioning method provided by the embodiments of the present application is first introduced below.

[0045] Figure 1 FIG. 1 is a flow chart of a first positioning method provided by an embodiment of the present application. Figure 1 As shown, the method is applied in a server, and the method comprises the following steps:

[0046] S101, modeling is performed based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and the atmospheric error interpolation values ​​of multiple grid point locations in the base station network and the differential correction numbers of multiple grid point locations are calculated based on the first model parameter of the atmospheric error model.

[0047] In specific implementation, the base station network is formed by networking multiple base stations, connecting the base stations to form a baseline, and then forming a base station network through multiple base stations and the baseline. After obtaining the base station network, the server can model the atmospheric error model based on the observation data and location information of each base station in the base station network. The atmospheric error model can be used to calculate the atmospheric error interpolation value of each grid point position in the area covered by the base station network, and the differential correction number of each grid point position can be calculated based on the atmospheric error interpolation value. In some embodiments, the above-mentioned atmospheric error interpolation value includes ionospheric error and tropospheric error.

[0048] In order to accurately obtain an atmospheric error model through modeling, in some embodiments, modeling is performed based on observation data and location information of each base station in the base station network to obtain an atmospheric error model, including:

[0049] Based on the observation data and position information of each base station in the base station network, ionospheric errors and tropospheric errors of multiple baselines are generated; the above baselines are formed by connecting two base stations;

[0050] The atmospheric error model mentioned above is obtained by modeling the ionospheric error and tropospheric error of multiple baselines and the position information of each base station.

[0051] In specific implementation, when modeling, the server can first solve the double difference ambiguity of the baseline according to the observation data and location information of each base station in the base station network, and then generate the atmospheric error value of each baseline according to the baseline after the ambiguity is fixed, that is, the ionospheric error and tropospheric error of each baseline are obtained. After obtaining the ionospheric error and tropospheric error of each baseline, modeling can be performed according to the ionospheric error and tropospheric error of each baseline and the location information of each base station to obtain the above-mentioned atmospheric error model. In one example, a preset model including unknown parameters can be preset first, and then the unknown parameters of the preset model can be calculated by the ionospheric error and tropospheric error of each baseline and the location information of each base station, and finally an atmospheric correction model that converts the unknown parameters into the first model parameters is obtained. In one example, when calculating the unknown parameters, the inverse distance weighted method, linear interpolation method, polynomial model method, least squares configuration method, etc. can be used, and there is no limitation on this.

[0052] S102, for each grid point position among the multiple grid point positions, sampling is performed within the coverage area corresponding to the grid point position to obtain multiple sampling points; atmospheric error interpolation values ​​of the multiple sampling points are calculated based on the first model parameters, and modeling is performed based on the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model.

[0053] It should be noted that, in some embodiments, when the differential correction numbers of each grid point position in the base station network are calculated by the atmospheric error model, RIK positioning can be achieved through the differential correction numbers of each grid point position. However, in this positioning method, since the distance between adjacent grid point positions is relatively far, RTK positioning is performed through the differential correction number of one grid point position within a larger grid point position coverage range. However, since there are terminals at different distances from the grid point position within the coverage range of the same grid point position, the problem of inaccurate positioning of terminals at different positions when using the same differential correction number is inevitably caused. Therefore, in order to avoid this technical problem, in this embodiment, an atmospheric correction model is further established for each grid point position. Through the atmospheric correction model, the atmospheric error compensation value of any position point within the coverage range of each grid point position can be accurately calculated, and the differential correction number of the arbitrary position point can be accurately obtained through the atmospheric error compensation value, thereby improving the positioning accuracy of the terminal.

[0054] In some embodiments, when establishing an atmospheric correction model for each grid point, sampling is first performed in the coverage area corresponding to each grid point to obtain multiple sampling points. The number and location of the sampling points can be determined as needed or randomly, and there is no limitation on this. In general, the more sampling points there are and the more uniform the distribution of the sampling points, the higher the accuracy of the atmospheric correction model obtained in the end. Figure 2 , where 100 represents the grid point location, 200 represents the sampling point, and the dotted box corresponding to each grid point location 100 represents the coverage area corresponding to each grid point location. Figure 2 It can be seen that a total of 4 sampling points are sampled in the coverage area of ​​the current grid point location. After obtaining multiple sampling points, the server first calculates the atmospheric error interpolation value of each sampling point through the first model parameter of the atmospheric error model, and then models the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation values ​​of the grid point location to obtain the atmospheric correction model.

[0055] In one example, when the atmospheric correction model is obtained through modeling, it can be achieved through the following formula:

[0056] ΔL correction =f(A,ΔW);

[0057] Where, ΔL correction Represents the difference between the atmospheric error interpolation value of each sampling point and the current grid point position, and ΔW represents the difference between the position information of each sampling point and the current grid point position. A represents the second model parameter of the atmospheric error interpolation value. When the model is established, the second model parameter is an unknown quantity. f() represents the model function of the atmospheric correction model. The specific model function can be set as needed, and there is no limitation on this. For example, it can be set to a multi-segment function or a quadratic function. After obtaining the atmospheric error interpolation value of each sampling point and the atmospheric error interpolation value of the current grid point position, as well as the position information of each sampling point and the position information of the current grid point position, the above-mentioned second model parameter A can be solved through this information to obtain the final atmospheric correction model of the grid point position.

[0058] Considering the different needs of different end users, in some embodiments, modeling is performed based on the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation values ​​of the above grid point positions to obtain an atmospheric correction model, including:

[0059] Obtaining user requirements corresponding to the above terminals;

[0060] Determining a target number of a second model parameter of the atmospheric correction model based on the user requirements;

[0061] Based on the above target quantity, the atmospheric error interpolation values ​​of the above multiple sampling points and the atmospheric error interpolation values ​​of the above grid point positions, modeling is performed to obtain an atmospheric correction model.

[0062] In specific implementation, when establishing the atmospheric correction model, generally, the more parameters of the preset model function are pre-set, the more accurate the corresponding final positioning result will be. However, correspondingly, when the second model parameters of the atmospheric correction model need to be transmitted to the user terminal, the traffic consumption will also be greater. Therefore, in order to meet different user needs, when establishing the atmospheric correction model, the user needs corresponding to the current terminal can be obtained from the user terminal first, and then the target number of the second model parameters of the atmospheric correction model can be determined according to the user needs. The target number is used together with the atmospheric error interpolation values ​​of the above-mentioned multiple sampling points and the atmospheric error interpolation values ​​of the above-mentioned grid point positions to perform modeling to obtain the atmospheric correction model. In one example, the above-mentioned user needs include user traffic sensitivity, user positioning accuracy requirements, etc.

[0063] S103, determining a target grid point position closest to the approximate position of the terminal from a plurality of grid point positions according to the approximate position information sent by the terminal.

[0064] In specific implementation, after obtaining the atmospheric correction model of each grid point position, in order to accurately obtain the precise differential correction number of the current terminal, it is necessary to first determine the target grid point position closest to the current terminal's approximate position from multiple grid point positions according to the approximate position information sent by the terminal. It should be noted that the approximate position information sent by the terminal is a preliminary position information obtained before the terminal is positioned by differential correction numbers. After determining the target grid point position, the server can choose to execute step S104 or step S105 as needed.

[0065] S104, sending the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position, thereby obtaining high-precision position information of the terminal.

[0066] During specific implementation, in this step, the server directly sends the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal. After the terminal receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position, the atmospheric error compensation value of the terminal can be determined according to the second model parameter and the terminal's own positioning information, wherein the terminal's own positioning information can be directly obtained locally at the terminal, and the self-positioning information is preliminary positioning information that has not been corrected by the differential correction number. In some embodiments, when determining the atmospheric error compensation value of the terminal, the atmospheric correction model can be restored by the second model parameter, and then the self-positioning information is input into the atmospheric correction model to obtain the atmospheric error compensation value of the terminal. In one example, the atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value, and the differential correction number includes a carrier and a pseudorange.

[0067] After obtaining the atmospheric error compensation value of the terminal, the terminal can further perform positioning based on the differential correction number between the atmospheric error compensation value and the target grid point position to obtain the high-precision position information of the terminal. When performing positioning, the terminal can obtain the compensated differential correction number through the differential correction number between the atmospheric error compensation value and the target grid point position, and then perform RTK positioning based on the compensated differential correction number. In an example, the terminal can determine the compensated differential correction number through the following formula:

[0068] L r =L+ΔI-ΔT;

[0069] P r =P-ΔI-ΔT;

[0070] Where L and P represent the carrier and pseudorange of the differential correction of the target grid point position, respectively, and ΔI and ΔT represent the ionosphere compensation value and troposphere compensation value in the atmospheric error compensation value, respectively. r and P r They respectively represent the carrier and pseudorange in the differential correction after terminal compensation.

[0071] S105, determining the atmospheric error compensation value of the terminal based on the second model parameter and the approximate position information, compensating the differential correction number of the target grid point position based on the atmospheric error compensation value, and sending the compensated differential correction number to the terminal, so that the terminal can be positioned according to the compensated differential correction number to obtain high-precision position information of the terminal.

[0072] During specific implementation, in this step, the server can determine the atmospheric error compensation value of the terminal based on the second model parameter of the target grid point position and the approximate position information sent by the terminal, that is, the calculation of the atmospheric error compensation value is completed on the server. The specific implementation process can refer to the above-mentioned process of calculating the atmospheric error compensation value at the terminal, which will not be described in detail. Then the server compensates the differential correction number of the target grid point position according to the atmospheric error compensation value, and sends the compensated differential correction number to the terminal. After receiving the compensated differential correction number, the terminal can perform positioning according to the compensated differential correction number to obtain high-precision position information of the terminal. In one example, the above positioning can be achieved through RTK technology. It should be noted that the main difference between the above-mentioned step S104 and step S105 is whether some of the execution actions of this application are executed on the server or the terminal, and there is no essential difference in the principles of each specific execution action.

[0073] It should be noted that, considering that for some terminal users, personal location information belongs to sensitive personal privacy, in order to better protect the privacy of terminal users, in the embodiment of the present application, it is possible to choose to complete the determination of the atmospheric error compensation value at the terminal by executing step S104, so that when the user sends its approximate location information, it can maintain a certain deviation from its own positioning information, so that the server cannot obtain more accurate location information of the terminal user through the approximate location information sent by the terminal. And when considering that the terminal user itself does not have such a high privacy requirement, in order to save the computing power of the terminal, it is possible to choose to execute step S105. In summary, in some embodiments, when the above-mentioned server sends the differential correction number of the above-mentioned target grid point position and the second model parameter of the atmospheric correction model of the above-mentioned target grid point position to the above-mentioned terminal, the accuracy of the above-mentioned approximate location information is less than the accuracy of the above-mentioned self-positioning information, that is, the deviation between the above-mentioned approximate location information and the actual location information of the terminal is greater than the deviation between the above-mentioned self-positioning information and the actual location information of the terminal. Moreover, when the server sends the compensated differential correction number to the terminal, the approximate location information is the same as the self-positioning information, that is, the deviation between the approximate location information and the actual location information of the terminal is equal to the deviation between the self-positioning information and the actual location information of the terminal.

[0074] It should be noted that, in some embodiments, reference Figure 3 In one usage scenario of the present application, the complete process of the positioning method of the present application embodiment is realized mainly through information interaction between the server 01 and the terminal 02. Among them, the user can appropriately adjust the steps that the server and the terminal are responsible for executing respectively as needed, and there is no limitation on this.

[0075] In the positioning method of the embodiment of the present application, the server, in addition to determining the differential correction number of the target grid point position corresponding to the terminal, will additionally determine the second model parameter of the atmospheric correction model within the coverage range of the target grid point position. The atmospheric correction model can determine the atmospheric error compensation value of any point within the coverage range of the target grid point position, so that the atmospheric error compensation value corresponding to the terminal can be determined. The atmospheric error compensation value can be used to eliminate the atmospheric error introduced by the distance between the terminal and the target grid point position, thereby achieving the effect of an equivalent zero-distance grid, thereby effectively improving the positioning effect of the terminal.

[0076] Figure 4 FIG. 1 is a flow chart of a first positioning method provided by an embodiment of the present application. Figure 4 As shown, the method is applied in a terminal, and the method comprises the following steps:

[0077] S201, sending the approximate location information of the terminal to the server, so that the server determines the target grid point location closest to the approximate location of the terminal from a plurality of grid point locations.

[0078] In the specific implementation, in this implementation, the terminal device will send the approximate location information of the terminal to the server. After receiving the approximate location information, the server can determine the target grid point location closest to the approximate location of the terminal from multiple grid point locations. At the same time, the server will also build a model based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and calculate the atmospheric error interpolation value and differential correction number of the target grid point location in the base station network according to the first model parameter of the atmospheric error model, and sample in the coverage area corresponding to the target grid point location to obtain multiple sampling points; calculate the atmospheric error interpolation value of multiple sampling points based on the first model parameter, and build a model based on the atmospheric error interpolation value of multiple sampling points and the atmospheric error interpolation value of the target grid point location to obtain the atmospheric correction model of the target grid point location. It should be noted that when determining the atmospheric correction model of the target grid point position, the server may determine the atmospheric correction model of each grid point position in the plurality of grid point positions in advance, and then determine the atmospheric correction model of the target grid point position therefrom, or directly determine the atmospheric correction model of the target grid point position, and there is no limitation on this. After the terminal sends the approximate location information of the terminal to the server, the terminal may choose to execute step S202 or step S203 as needed, and there is no limitation on this.

[0079] S202, receiving the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determining the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performing positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal.

[0080] During specific implementation, in this step, the terminal will receive the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server, and then determine the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and perform RTK positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal.

[0081] S203, receiving the differential correction number of the target grid point position after compensation sent by the server; performing positioning based on the compensated differential correction number to obtain high-precision position information of the terminal.

[0082] In specific implementation, in this step, the terminal receives the differential correction number of the target grid point position after compensation sent by the server, and then performs positioning according to the compensated differential correction number to obtain the high-precision position information of the terminal. Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and position information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation values ​​of the target grid point position, and the atmospheric error interpolation values ​​of multiple sampling points are calculated according to the first model parameters, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

[0083] In some embodiments, the atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value; the differential correction number includes a carrier and a pseudorange.

[0084] In order to further meet the positioning requirements of different terminal users, in some embodiments, the above Figure 4 The positioning method shown also includes:

[0085] The terminal sends the user demand corresponding to the terminal to the server, so that the server determines the target number of the second model parameter of the atmospheric correction model according to the user demand, and performs modeling according to the target number, the atmospheric error interpolation values ​​of the plurality of sampling points and the atmospheric error interpolation values ​​of the target grid point positions to obtain the atmospheric correction model. In one example, the user demand includes user traffic sensitivity, user positioning accuracy requirements, etc.

[0086] In order to further protect the location privacy of the end user, in some embodiments, when the above-mentioned terminal device receives the differential correction number of the above-mentioned target grid point position and the second model parameter of the atmospheric correction model of the above-mentioned target grid point position sent by the above-mentioned server, the accuracy of the above-mentioned approximate location information is less than the accuracy of the above-mentioned self-positioning information; when the above-mentioned terminal receives the differential correction number after compensation of the above-mentioned target grid point position sent by the above-mentioned server, the above-mentioned approximate location information is the same as the above-mentioned terminal's self-positioning information.

[0087] The positioning method of the embodiment of the present application proposes a network RTK service method equivalent to a zero-distance grid. In addition to the traditional differential correction number, the server additionally broadcasts the parameters of the atmospheric correction model near the grid point location. After the terminal user receives the model parameters, the differential correction number is compensated by the regional atmospheric correction model in combination with the distance between the user and the grid point location to eliminate the atmospheric error introduced by the distance between the terminal user and the grid, achieve the effect of an equivalent zero-distance grid, and effectively improve the positioning effect of the terminal. At the same time, in some embodiments, the scheme does not need to adjust the density of the grid, and can even reduce the grid density to improve the concurrency capability of the network RTK. At the same time, in some embodiments, the scheme can implement model compensation for grid distance on the terminal side, without the terminal uploading accurate location information to the server, which can better protect the user's privacy and is more friendly to user types that are sensitive to their own location.

[0088] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a positioning device.

[0089] refer to Figure 5 , the device is applied in a server, and the positioning device comprises:

[0090] The first modeling module 501 performs modeling based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and calculates the atmospheric error interpolation values ​​of multiple grid point locations in the base station network and the differential correction numbers of multiple grid point locations based on the first model parameters of the atmospheric error model;

[0091] The second modeling module 502 samples each grid point position in the coverage area corresponding to the grid point position to obtain multiple sampling points; calculates atmospheric error interpolation values ​​of the multiple sampling points based on the first model parameters, and performs modeling based on the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point position to obtain an atmospheric correction model;

[0092] A determination module 503, which determines a target grid point position closest to the approximate position of the terminal from a plurality of grid point positions according to the approximate position information sent by the terminal;

[0093] The first sending module 504 sends the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or

[0094] The second sending module 505 determines the atmospheric error compensation value of the terminal based on the second model parameters and the approximate position information, compensates the differential correction number of the target grid point position based on the atmospheric error compensation value, and sends the compensated differential correction number to the terminal, so that the terminal can be positioned according to the compensated differential correction number to obtain the high-precision position information of the terminal.

[0095] In some embodiments, the second modeling module is specifically configured to:

[0096] Obtaining user requirements corresponding to the above terminals;

[0097] Determining a target number of a second model parameter of the atmospheric correction model based on the user requirements;

[0098] Based on the above target quantity, the atmospheric error interpolation values ​​of the above multiple sampling points and the atmospheric error interpolation values ​​of the above grid point positions, modeling is performed to obtain an atmospheric correction model.

[0099] In some embodiments, when the server sends the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, the accuracy of the approximate position information is less than the accuracy of the self-positioning information; when the server sends the compensated differential correction number to the terminal, the approximate position information is the same as the self-positioning information of the terminal.

[0100] In some embodiments, the atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value; the differential correction number includes a carrier and a pseudorange.

[0101] In some embodiments, the first modeling module is specifically configured to:

[0102] Based on the observation data and position information of each base station in the base station network, ionospheric errors and tropospheric errors of multiple baselines are generated; the above baselines are formed by connecting two base stations;

[0103] The atmospheric error model mentioned above is obtained by modeling the ionospheric error and tropospheric error of multiple baselines and the position information of each base station.

[0104] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0105] The positioning device of the above embodiment is used to implement the corresponding positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0106] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides another positioning device.

[0107] refer to Figure 6 , the device is applied in a terminal, and the positioning device comprises:

[0108] A sending module 601 sends the approximate location information of the terminal to the server, so that the server determines the target grid point location closest to the approximate location of the terminal from multiple grid point locations;

[0109] The first receiving module 602 receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determines the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or,

[0110] The second receiving module 603 receives the differential correction number of the target grid point position after compensation sent by the server; performs positioning based on the differential correction number after compensation to obtain high-precision position information of the terminal;

[0111] Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and location information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation values ​​of the target grid point position, the atmospheric error interpolation values ​​of multiple sampling points are calculated according to the first model parameters, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

[0112] In some embodiments, Figure 6 The positioning device in the embodiment further comprises a demand module, which is used to:

[0113] The user demand corresponding to the terminal is sent to the server, so that the server determines the target number of the second model parameter of the atmospheric correction model according to the user demand, and performs modeling according to the target number, the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the target grid point position to obtain the atmospheric correction model.

[0114] In some embodiments, when the terminal device receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server, the accuracy of the approximate position information is less than the accuracy of the self-positioning information; when the terminal receives the differential correction number after compensation of the target grid point position sent by the server, the approximate position information is the same as the self-positioning information of the terminal.

[0115] In some embodiments, the atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value; the differential correction number includes a carrier and a pseudorange.

[0116] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0117] The positioning device of the above embodiment is used to implement the corresponding positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0118] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a positioning system, which includes a server and a terminal; the server is used to execute the positioning method completed in the server in any of the above-mentioned embodiments; the terminal is used to execute the positioning method completed in the terminal in any of the above-mentioned embodiments.

[0119] The positioning system in the above embodiment is used to implement the corresponding positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0120] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0121] In some embodiments the electronic device may include a processor 701 and a memory 702 storing computer program instructions.

[0122] Specifically, the processor 701 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0123] The memory 702 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 702 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 702 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 702 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 702 is a non-volatile solid-state memory.

[0124] In certain embodiments, memory 702 includes a read-only memory (ROM). The ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically alterable ROM (EAROM), or flash memory, or a combination of two or more of the above, where appropriate.

[0125] The memory may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, typically, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0126] The processor 701 implements any one of the positioning methods in the above embodiments by reading and executing computer program instructions stored in the memory 702 .

[0127] In one example, the electronic device may further include a communication interface 703 and a bus 710. Figure 7 As shown, the processor 701, the memory 702, and the communication interface 703 are connected via a bus 710 and communicate with each other.

[0128] The communication interface 703 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0129] Bus 710 includes hardware, software or both, and the parts of online data flow billing equipment are coupled to each other. For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front-end bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 710 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the present application considers any suitable bus or interconnection.

[0130] The electronic device in the above embodiment is used to implement the corresponding positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0131] In addition, in combination with the positioning method in the above embodiments, the present application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any one of the positioning methods in the above embodiments is implemented.

[0132] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the positioning method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0133] An embodiment of the present application also provides a computer program product, including a computer program, which implements any one of the positioning methods in the above embodiments when the computer program is processed and executed.

[0134] In some embodiments, the computer program instructions may be executed by one or more processors of a computer so that the computer and / or the processor execute the positioning method described in the above embodiments. Corresponding to the execution subject corresponding to each step in each embodiment of the positioning method, the processor executing the corresponding step may belong to the corresponding execution subject.

[0135] The computer program product of the above embodiment is used to enable the computer and / or the processor to execute the positioning method described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0136] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0137] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0139] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0140] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A positioning method, characterized in that: The method is applied in a server, and the method comprises: Modeling is performed based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and atmospheric error interpolation values ​​of multiple grid point locations in the base station network and differential correction numbers of multiple grid point locations are calculated based on a first model parameter of the atmospheric error model; For each grid point position among the multiple grid point positions, sampling is performed within the coverage area corresponding to the grid point position to obtain multiple sampling points; atmospheric error interpolation values ​​of the multiple sampling points are calculated based on the first model parameters, and modeling is performed based on the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model; Determining, from a plurality of grid point positions, a target grid point position closest to the approximate position of the terminal according to the approximate position information sent by the terminal; Sending the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or Based on the second model parameter and the approximate position information, the atmospheric error compensation value of the terminal is determined, the differential correction number of the target grid point position is compensated based on the atmospheric error compensation value, and the compensated differential correction number is sent to the terminal, so that the terminal is positioned according to the compensated differential correction number to obtain high-precision position information of the terminal.

2. The method according to claim 1, characterized in that Modeling is performed based on the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model, including: Acquire user requirements corresponding to the terminal; determining a target number of a second model parameter of the atmosphere correction model based on the user requirement; Modeling is performed based on the target quantity, the atmospheric error interpolation values ​​of the plurality of sampling points, and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model.

3. The method according to claim 1, characterized in that When the server sends the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, the accuracy of the approximate position information is less than the accuracy of the self-positioning information; when the server sends the compensated differential correction number to the terminal, the approximate position information is the same as the self-positioning information of the terminal.

4. The method according to claim 1, characterized in that: The atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value; the differential correction number includes a carrier and a pseudorange.

5. The method according to claim 1, characterized in that Based on the observation data and location information of each base station in the base station network, the atmospheric error model is obtained, including: Generate ionospheric errors and tropospheric errors of multiple baselines based on observation data and location information of each base station in the base station network; the baseline is formed by connecting two base stations; The atmospheric error model is obtained by modeling the ionospheric errors and tropospheric errors of multiple baselines and the position information of each base station.

6. A positioning method, characterized in that: The method is applied in a terminal, and the method includes: Sending the approximate location information of the terminal to a server, so that the server determines a target grid point location closest to the approximate location of the terminal from a plurality of grid point locations; Receiving the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determining the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performing positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or, Receiving the differential correction number of the target grid point position after compensation sent by the server; performing positioning based on the compensated differential correction number to obtain high-precision position information of the terminal; Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and location information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the target grid point position, and the atmospheric error interpolation values ​​of the multiple sampling points are calculated according to the first model parameter, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

7. The method according to claim 6, characterized in that The method further comprises: The user demand corresponding to the terminal is sent to the server, so that the server determines the target number of the second model parameter of the atmospheric correction model according to the user demand, and performs modeling according to the target number, the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the target grid point position to obtain the atmospheric correction model.

8. The method according to claim 6, characterized in that When the terminal device receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server, the accuracy of the approximate position information is less than the accuracy of the self-positioning information; when the terminal receives the differential correction number of the target grid point position after compensation sent by the server, the approximate position information is the same as the self-positioning information of the terminal.

9. The method according to claim 6, characterized in that The atmospheric error compensation value includes an ionosphere compensation value and a troposphere compensation value; the differential correction number includes a carrier and a pseudorange.

10. A positioning device, characterized in that: The device is applied in a server, and comprises: The first modeling module performs modeling based on the observation data and location information of each base station in the base station network to obtain an atmospheric error model; and calculates the atmospheric error interpolation values ​​of multiple grid point positions in the base station network and the differential correction numbers of multiple grid point positions based on the first model parameters of the atmospheric error model; The second modeling module is configured to sample, for each grid point position among the plurality of grid point positions, a coverage area corresponding to the grid point position to obtain a plurality of sampling points; calculate atmospheric error interpolation values ​​of the plurality of sampling points based on the first model parameters, and perform modeling based on the atmospheric error interpolation values ​​of the plurality of sampling points and the atmospheric error interpolation values ​​of the grid point positions to obtain an atmospheric correction model; A determination module, which determines a target grid point position closest to the approximate position of the terminal from a plurality of grid point positions according to the approximate position information sent by the terminal; a first sending module, sending the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal according to the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or The second sending module determines the atmospheric error compensation value of the terminal based on the second model parameter and the approximate position information, compensates the differential correction number of the target grid point position based on the atmospheric error compensation value, and sends the compensated differential correction number to the terminal, so that the terminal is positioned according to the compensated differential correction number to obtain high-precision position information of the terminal.

11. A positioning device, characterized in that: The device is applied in a terminal, and comprises: A sending module, which sends the approximate location information of the terminal to a server, so that the server determines a target grid point location closest to the approximate location of the terminal from a plurality of grid point locations; A first receiving module receives the differential correction number of the target grid point position and the second model parameter of the atmospheric correction model of the target grid point position sent by the server; determines the atmospheric error compensation value of the terminal based on the second model parameter and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction number of the target grid point position to obtain high-precision position information of the terminal; or A second receiving module receives the differential correction number of the target grid point position after compensation sent by the server; performs positioning based on the differential correction number after compensation to obtain high-precision position information of the terminal; Among them, the differential correction number of the target grid point position is calculated by the server according to the first model parameter of the atmospheric error model, and the atmospheric error model is modeled by the server according to the observation data and location information of each base station in the base station network; the atmospheric correction model of the target grid point position is modeled by the server according to the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the target grid point position, and the atmospheric error interpolation values ​​of the multiple sampling points are calculated according to the first model parameter, and the multiple sampling points are obtained by sampling in the coverage area corresponding to the target grid point position.

12. A positioning system, characterized in that: The system includes a server and a terminal; the server is used to execute the positioning method as described in any one of claims 1-5; the terminal is used to execute the positioning method as described in any one of claims 6-9.

13. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the positioning method according to any one of claims 1 to 9 is implemented.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the positioning method according to any one of claims 1 to 9 is implemented.

15. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the positioning method as described in any one of claims 1 to 9.

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