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

Abstract

The application provides a positioning method, device, system, equipment, storage medium and program product. In addition to determining the differential correction number of the target grid point position corresponding to the terminal, the method server additionally determines the second model parameter of the atmospheric correction model in the 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, the effect of equivalent 0-distance grid is realized, and the positioning effect of the terminal is effectively improved.

Description

TECHNICAL FIELD

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

[0002] The grid network RTK technology divides the area covered by the reference station into regular grid points. The terminals within the same grid point coverage range all use the differential correction number generated by the grid point coordinates. However, within the same grid point coverage range, there are terminals with different distances from the grid point coordinates. Since the similarity of atmospheric errors changes with distance, the positioning performance of the terminal also changes with distance. Even in an active atmosphere, the near-distance terminal within the same grid point coverage range can be positioned, while the far-distance terminal cannot be positioned. SUMMARY

[0003] The embodiments of the present application provide a positioning method, device, system, equipment, storage medium and program product to improve the positioning performance of the terminal far from the grid point position.

[0004] In a first aspect, the embodiments of the present application provide a positioning method, which comprises:

[0005] Modeling according to the observation data and position information of each base station in the base station network to obtain an atmospheric error model; and calculating the atmospheric error interpolation value of a plurality of grid point positions and the differential correction number of the plurality of grid point positions according to the first model parameter of the atmospheric error model;

[0006] For each grid point position in the plurality of grid point positions, sampling in the coverage area corresponding to the grid point position to obtain a plurality of sampling points; calculating the atmospheric error interpolation value of the plurality of sampling points based on the first model parameter, and modeling the atmospheric error interpolation value of the plurality of sampling points and the atmospheric error interpolation value of the grid point position to obtain an atmospheric correction model;

[0007] Determining the target grid point position closest to the rough position of the terminal from the plurality of grid point positions according to the rough 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 self-positioning information of the terminal, 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] determining an atmospheric error compensation value of the terminal based on the second model parameter and the approximate position information, compensating the differential correction value of the target grid point position based on the atmospheric error compensation value, and sending the compensated differential correction value to the terminal, so that the terminal performs positioning based on the compensated differential correction value 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 to a terminal and includes the following steps:

[0011] sending approximate position information of the terminal to a server, so that the server determines a target grid point position closest to the approximate position of the terminal from a plurality of grid point positions;

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

[0013] receiving a compensated differential correction value of the target grid point position sent by the server, and performing positioning based on the compensated differential correction value to obtain high-precision position information of the terminal.

[0014] The differential correction value of the target grid point position is calculated by the server based on a first model parameter of an atmospheric error model, the atmospheric error model is obtained by the server based on observation data and position information of each base station in a base station network, the atmospheric correction model of the target grid point position is obtained by the server based on atmospheric error interpolation values of a plurality of sampling points and an atmospheric error interpolation value of the target grid point position, the atmospheric error interpolation values of the plurality of sampling points are calculated based on the first model parameter, and the plurality of sampling points are obtained by sampling in a 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 the following steps:

[0016] a first modeling module, which models based on observation data and position information of each base station in a base station network to obtain an atmospheric error model, and calculates atmospheric error interpolation values of a plurality of grid point positions and differential correction values of the plurality of grid point positions in the base station network based on a first model parameter of the atmospheric error model;

[0017] The second modeling module, for each grid point position in the plurality of grid point positions, samples in a coverage area corresponding to the grid point position to obtain a plurality of sampling points; calculates an atmospheric error interpolation value of the plurality of sampling points based on the first model parameter, and models the atmospheric error interpolation value of the plurality of sampling points and the atmospheric error interpolation value of the grid point position based on the atmospheric error interpolation value of the plurality of sampling points to obtain an atmospheric correction model;

[0018] The determining module determines a target grid point position closest to the terminal rough position from the plurality of grid point positions according to the terminal rough position information;

[0019] The first sending module sends the second model parameter of the atmospheric correction model of the target grid point position and the differential correction number of the target grid point position to the terminal, so that the terminal determines an atmospheric error compensation value of the terminal according to the second model parameter and self-positioning information of the terminal, 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 an atmospheric error compensation value of the terminal based on the second model parameter and the rough 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 performs positioning 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 to a terminal and includes:

[0022] The sending module sends terminal rough position information to a server, so that the server determines a target grid point position closest to the terminal rough position from a plurality of grid point positions;

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

[0025] The differential correction number of the target grid point position is calculated by the server according to a first model parameter of an atmospheric error model, the atmospheric error model is modeled by the server according to observation data and position information of each base station in a base station network, and the atmospheric correction model of the target grid point position is modeled by the server according to atmospheric error interpolation values of a plurality of sampling points and an atmospheric error interpolation value of the target grid point position, the atmospheric error interpolation values of the plurality of sampling points are calculated according to the first model parameter, and the plurality of sampling points are obtained by sampling in a 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 comprises a server and a terminal; the server is configured to execute the positioning method in the first aspect, and the terminal is configured to execute the positioning method in the second aspect.

[0027] In a sixth aspect, an embodiment of the present application provides an electronic device, which comprises a processor and a memory storing computer program instructions; the processor executes the computer program instructions to implement the positioning method in the first aspect or the second aspect.

[0028] In a seventh aspect, an embodiment of the present application provides a computer readable storage medium, which stores computer program instructions; the computer program instructions are executed by a processor to implement the positioning method in the first aspect or the second aspect.

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

[0030] The positioning method, device, system, equipment, storage medium and program product provided in the embodiments of the present application can additionally determine the second model parameter of the atmospheric correction model in the coverage range of the target grid point position when determining the differential correction number of the target grid point position corresponding to the terminal, 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, the effect of the equivalent 0-distance grid is achieved, and the positioning effect of the terminal is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without any creative effort.

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

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

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

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

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

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

[0038] Figure 7 is a structural 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 purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0041] High-precision GNSS positioning technology must use carrier phase observations. RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations. Its standard mode involves setting up a base station in a certain area. The base station sends the observed carrier and pseudorange observations, as well as differential correction data such as base station coordinates and antenna information encoding, to the rover user terminal via a data link. The user terminal receives the differential correction data from the base station and combines it with its own observation data to construct inter-station and inter-satellite double-difference observations. This eliminates factors such as receiver carrier pseudorange bias, receiver clock bias, and satellite clock bias, and significantly reduces the impact of satellite orbit errors and atmospheric errors on integer ambiguity search, enabling rapid fixation of integer ambiguity and obtaining real-time centimeter-level positioning results.

[0042] The basic principle of network RTK is to sparsely and relatively evenly deploy multiple base stations over a large area, forming a base station network. This network provides high-precision differential correction data to rover stations (terminals) within its coverage area, thereby achieving high-precision positioning of the rover stations – this is network RTK technology. Traditional network RTK algorithms directly respond to user terminal positioning requests, providing corresponding differential data to each user terminal based on its approximate location. In scenarios with a large number of users and high concurrency, this method results in the repeated use of data center computing resources and a heavy computational load. Therefore, gridded network RTK technology has emerged. This technology grids the base station network, dividing it into grid points at equal intervals (e.g., 5km). It generates corresponding differential correction data based on the coordinates of each grid point and stores it in a grid database. When a user terminal needs positioning, it uploads its approximate location information (e.g., latitude, longitude, and elevation) in real time. The server retrieves the differential correction values ​​of the grid points closest to the user terminal from the grid database based on the approximate location information, and broadcasts them to the user terminal. High-precision positioning of the user terminal can be achieved using RTK technology.

[0043] As described in the background section, currently, within the coverage area of ​​the same grid point, there are terminals at different distances from the grid point coordinates. Due to the variation in the similarity of atmospheric errors with distance, the positioning performance of the terminals deteriorates as the distance to the grid point increases. In fact, during periods of atmospheric activity, there is a technical problem where terminals at close range within the coverage area of ​​the same grid point can be located, while terminals at greater distances cannot.

[0044] To address the problems of the prior art, embodiments of this application provide a positioning method, apparatus, device, computer storage medium, and computer program product. The positioning method provided in this application embodiment will be described first below.

[0045] Figure 1 A flowchart illustrating a first positioning method according to an embodiment of this application is shown. Figure 1 As shown, this method is applied to a server and includes the following steps:

[0046] S101, Model an atmospheric error model based on the observation data and location information of each base station in the base station network; and calculate the atmospheric error interpolation value of multiple grid point locations and the differential correction number of multiple grid point locations based on the first model parameter of the atmospheric error model.

[0047] In practical implementation, the base station network is formed by networking multiple base stations, connecting them to form a baseline, and then using the base station network composed of multiple base stations and the baseline. After obtaining the base station network, the server can model it based on the observation data and location information of each base station in the network to obtain an atmospheric error model. This atmospheric error model can be used to calculate the interpolated atmospheric error values ​​for each grid point location within the area covered by the base station network, and based on these interpolated atmospheric error values, the differential correction for each grid point location can be calculated. In some embodiments, the aforementioned atmospheric error interpolation values ​​include ionospheric error and tropospheric error.

[0048] To accurately obtain an atmospheric error model through modeling, in some embodiments, 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, including:

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

[0050] The atmospheric error model described above is obtained by modeling based on the ionospheric and tropospheric errors of multiple baselines and the location information of each base station.

[0051] In practical implementation, during modeling, the server can first calculate the double-difference ambiguity of the baselines based on the observation data and location information of each base station in the base station network. Then, based on the baselines with fixed ambiguities, it can back-calculate the atmospheric error values ​​of each baseline, thus obtaining the ionospheric and tropospheric errors of each baseline. After obtaining the ionospheric and tropospheric errors of each baseline, modeling can be performed based on the ionospheric and tropospheric errors of each baseline and the location information of each base station to obtain the aforementioned atmospheric error model. In one example, a preset model including unknown parameters can be pre-defined. Then, the unknown parameters of the preset model can be calculated using the ionospheric and tropospheric errors of each baseline and the location information of each base station, ultimately obtaining an atmospheric correction model that transforms the unknown parameters into the parameters of the first model. In one example, when calculating the unknown parameters, inverse distance weighting, linear interpolation, polynomial modeling, least squares collocation, etc., can be used, without limitation.

[0052] S102, for each grid point location among multiple grid point locations, sample within the coverage area corresponding to the grid point location to obtain multiple sampling points; calculate the atmospheric error interpolation value of the multiple sampling points based on the first model parameters, and model based on the atmospheric error interpolation value of the multiple sampling points and the atmospheric error interpolation value of the grid point location to obtain the atmospheric correction model.

[0053] It should be noted that in some embodiments, when the differential correction value of each grid point in the base station network is calculated using an atmospheric error model, RIK positioning can be achieved using the differential correction values ​​of each grid point. However, in this positioning method, because the distance between adjacent grid points is relatively large, RTK positioning is performed using the differential correction value of a single grid point within a large grid point coverage area. Since terminals at different distances exist within the same grid point coverage area, the use of the same differential correction value by terminals at different locations inevitably leads to inaccurate positioning. Therefore, to avoid this technical problem, this embodiment further establishes an atmospheric correction model for each grid point. This atmospheric correction model can accurately calculate the atmospheric error compensation value for any point within the coverage area of ​​each grid point. This atmospheric error compensation value can then be used to accurately obtain the differential correction value for that arbitrary point, thereby improving the positioning accuracy of the terminal.

[0054] In some embodiments, when building an atmospheric correction model for each grid point location, sampling is first performed within the coverage area corresponding to each grid point location to obtain multiple sampling points. The number and location of these sampling points can be determined as needed or randomly; there is no limitation on this. Generally, the more sampling points there are and the more uniform their distribution, the higher the accuracy of the final atmospheric correction model. (Reference) Figure 2 Where 100 represents the grid point location, 200 represents the sampling point, and the dashed box corresponding to each grid point location (100) represents the coverage area for that grid point location. Figure 2 As can be seen, a total of 4 sampling points were sampled within 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 using the first model parameter of the atmospheric error model. Then, it models the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the grid point location to obtain the atmospheric correction model.

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

[0056] ΔL correction = f(A,ΔW);

[0057] Where, ΔL correction ΔW represents the difference between the atmospheric error interpolation values ​​of each sampling point and the current grid point location, and ΔW represents the difference between the location information of each sampling point and the current grid point location. A represents the second model parameter of the atmospheric error interpolation, which is an unknown quantity when building the model. f() represents the model function of the atmospheric correction model. The specific model function can be set as needed and is not limited. For example, it can be set as a multi-segment function or a quadratic function. After obtaining the atmospheric error interpolation values ​​of each sampling point and the atmospheric error interpolation value of the current grid point location, as well as the location information of each sampling point and the location information of the current grid point location, the second model parameter A can be solved using this information to obtain the final atmospheric correction model for the grid point location.

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

[0059] Obtain the user requirements corresponding to the aforementioned terminals;

[0060] Based on the above user requirements, the target number of the second model parameters for the above atmospheric correction model is determined.

[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 locations, a model is formed to obtain the atmospheric correction model.

[0062] In practice, when establishing an atmospheric correction model, generally, the more parameters of the pre-set model function, the more accurate the final positioning result. However, this also increases bandwidth consumption when transmitting the second model parameters of the atmospheric correction model to the user terminal. Therefore, to meet different user needs, when establishing an atmospheric correction model, the user requirements corresponding to the current terminal can be obtained first. Then, based on these user requirements, the target number of the second model parameters of the atmospheric correction model can be determined. This target number, along with the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point locations, is then used to model the atmospheric correction model. In one example, the user requirements include user bandwidth sensitivity and user positioning accuracy requirements.

[0063] S103, determine the target grid point location closest to the terminal's approximate location from multiple grid point locations based on the approximate location information sent by the terminal.

[0064] In practice, after obtaining the atmospheric correction model for each grid point location, to accurately obtain the precise differential correction number for the current terminal, it is necessary to first determine the target grid point location closest to the current terminal's approximate location from multiple grid point locations based on the approximate location information sent by the terminal. It should be noted that the approximate location information sent by the terminal is a preliminary location information obtained before the terminal performs positioning using the differential correction number. After determining the target grid point location, the server can choose to execute step S104 or step S105 as needed.

[0065] S104, send the differential correction value of the target grid point position and the second model parameters of the atmospheric correction model of the target grid point position to the terminal, so that the terminal can determine the atmospheric error compensation value of the terminal based on the second model parameters and the terminal's own positioning information, and perform positioning based on the atmospheric error compensation value and the differential correction value of the target grid point position to obtain the high-precision position information of the terminal.

[0066] In specific implementation, in this step, the server directly sends the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model for the target grid point location to the terminal. After receiving the differential correction value and the second model parameters of the atmospheric correction model for the target grid point location, the terminal can determine its atmospheric error compensation value based on the second model parameters and its own positioning information. The terminal's own positioning information can be directly obtained locally and is preliminary positioning information without differential correction. In some embodiments, to determine the terminal's atmospheric error compensation value, the atmospheric correction model can be reconstructed using the second model parameters, and then the terminal's own positioning information can be input into the atmospheric correction model to obtain the terminal's atmospheric error compensation value. In one example, the atmospheric error compensation value includes ionospheric compensation and tropospheric compensation values, and the differential correction values ​​include carrier wave and pseudorange.

[0067] After obtaining the atmospheric error compensation value from the terminal, the terminal can further perform positioning based on the differential correction between the atmospheric error compensation value and the target grid point position, thus obtaining the terminal's high-precision position information. During positioning, the terminal can obtain the compensated differential correction value from the atmospheric error compensation value and the differential correction value of the target grid point position, and then perform RTK positioning based on this compensated differential correction value. In one example, the terminal can determine the compensated differential correction value using 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 values ​​for the target grid point positions, respectively, and ΔI and ΔT represent the ionospheric compensation value and tropospheric compensation value in the atmospheric error compensation value, respectively. r and P r These represent the carrier and pseudorange in the differential correction after terminal compensation, respectively.

[0071] S105: Determine the atmospheric error compensation value of the terminal based on the second model parameters and the approximate location information; compensate the differential correction number of the target grid point position based on the atmospheric error compensation value; and send the compensated differential correction number to the terminal so that the terminal can perform positioning based on the compensated differential correction number to obtain the high-precision location information of the terminal.

[0072] In specific implementation, in this step, the server can determine the atmospheric error compensation value of the terminal based on the second model parameters of the target grid point location and the approximate location information sent by the terminal. That is, the server completes the calculation of the atmospheric error compensation value. The specific implementation process can refer to the process described above for calculating the atmospheric error compensation value on the terminal, and will not be elaborated further. Then, the server compensates for the differential correction of the target grid point location based on this atmospheric error compensation value and sends the compensated differential correction to the terminal. After receiving the compensated differential correction, the terminal can perform positioning based on it to obtain the terminal's high-precision location information. In one example, the above positioning can be achieved using RTK technology. It should be noted that the main difference between steps S104 and S105 lies in whether some of the execution actions in this application are performed on the server or the terminal, while the principles of each specific execution action are not fundamentally different.

[0073] It should be noted that, considering that personal location information is a sensitive matter of privacy for some end users, in order to better protect the privacy of end users, in this embodiment of the application, the atmospheric error compensation value can be determined at the terminal by executing step S104. This way, when the user sends their approximate location information, it can maintain a certain deviation from their actual location information, preventing the server from obtaining the more accurate location information of the end user from the approximate location information sent by the terminal. However, if the end user does not have such high privacy requirements, step S105 can be executed to save the terminal's computing power. In summary, in some embodiments, when the server sends the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model for the target grid point location to the terminal, the accuracy of the approximate location information is less than the accuracy of the actual location information; that is, the deviation between the approximate location information and the terminal's actual location information is greater than the deviation between the actual location information and the terminal's actual location information. Furthermore, when the server sends the compensated differential correction to the terminal, the approximate location information is the same as the self-location information, that is, the deviation between the approximate location information and the terminal's actual location information is equal to the deviation between the self-location information and the terminal's actual location information.

[0074] It should be noted that, in some embodiments, references Figure 3 In one application scenario, the complete process of the positioning method in this application embodiment is mainly achieved through information interaction between server 01 and terminal 02. Users can appropriately adjust the steps executed by the server and terminal as needed, and this is not limited.

[0075] In the positioning method of this application embodiment, in addition to determining the differential correction value of the target grid point location corresponding to the terminal, the server will additionally determine the second model parameters of the atmospheric correction model within the coverage area of ​​the target grid point location. The atmospheric correction model can determine the atmospheric error compensation value of any point within the coverage area of ​​the target grid point location, so that the atmospheric error compensation value corresponding to the terminal can be determined. The atmospheric error introduced by the distance between the terminal and the target grid point location can be eliminated through the atmospheric error compensation value, achieving the effect of an equivalent 0-distance grid, effectively improving the positioning effect of the terminal.

[0076] Figure 4 A flowchart illustrating a first positioning method according to an embodiment of this application is shown. Figure 4 As shown, this method is applied to a terminal and includes the following steps:

[0077] S201, send the approximate location information of the terminal to the server so that the server can determine the target grid point location that is closest to the approximate location of the terminal from multiple grid point locations.

[0078] In this specific implementation, the terminal device sends its approximate location information to the server. Upon receiving this approximate location information, the server determines the target grid point location closest to the terminal's approximate location from multiple grid point locations. Simultaneously, the server also models an atmospheric error model based on the observation data and location information of each base station in the base station network. It then calculates the atmospheric error interpolation value and differential correction number for the target grid point location in the base station network based on the first model parameters of the atmospheric error model. Furthermore, it samples within the coverage area corresponding to the target grid point location to obtain multiple sampling points. Based on the first model parameters, it calculates the atmospheric error interpolation value for these multiple sampling points and models the atmospheric error interpolation value for the target grid point location using this interpolation value and the atmospheric error interpolation value for the target grid point location, thus obtaining the atmospheric correction model for the target grid point location. It should be noted that when determining the atmospheric correction model for the target grid point location, the server can pre-determine the atmospheric correction model for each grid point location among multiple grid point locations, and then determine the atmospheric correction model for the target grid point location from among them, or directly determine the atmospheric correction model for the target grid point location; there is no limitation in this regard. After the terminal sends its approximate location information to the server, the terminal can choose to execute step S202 or step S203 as needed; there is no limitation in this regard either.

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

[0080] In specific implementation, in this step, the terminal receives the differential correction value 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. Then, based on the second model parameter and the terminal's own positioning information, the terminal's atmospheric error compensation value is determined, and RTK positioning is performed based on the atmospheric error compensation value and the differential correction value of the target grid point position to obtain the terminal's high-precision position information.

[0081] S203: Receive the differential correction value after target grid point location compensation sent by the server; perform positioning based on the compensated differential correction value to obtain the high-precision location information of the terminal.

[0082] In practice, this step involves the terminal receiving the differential correction value for the target grid point location after compensation from the server. The terminal then uses this compensation value for positioning to obtain its high-precision location information. Specifically, the differential correction value for the target grid point location is calculated by the server based on the first model parameters of the atmospheric error model, which is derived by the server using observation data and location information from various base stations in the base station network. The atmospheric correction model for the target grid point location is obtained by the server using interpolated atmospheric errors from multiple sampling points. These interpolated atmospheric errors are calculated based on the first model parameters, and the multiple sampling points are obtained by sampling within the coverage area corresponding to the target grid point location.

[0083] In some embodiments, the atmospheric error compensation value includes an ionospheric compensation value and a tropospheric compensation value; the differential correction value includes a carrier wave and a pseudorange.

[0084] To further meet the positioning needs of different end users, in some embodiments, the above-mentioned Figure 4 The positioning method shown also includes:

[0085] The terminal sends its corresponding user requirements to the server, enabling the server to determine the target number of the second model parameters for the atmospheric correction model based on these requirements. The server then performs modeling based on the target number, the interpolated atmospheric errors of the multiple sampling points, and the interpolated atmospheric errors of the target grid point locations to obtain the atmospheric correction model. In one example, the user requirements include user traffic sensitivity and user positioning accuracy requirements.

[0086] To further protect the location privacy of end users, in some embodiments, when the terminal device receives the differential correction number of the target grid point location and the second model parameters of the atmospheric correction model of the target grid point location sent by the server, the accuracy of the approximate location information is less than the accuracy of the self-location information; when the terminal receives the differential correction number of the target grid point location after compensation sent by the server, the approximate location information is the same as the self-location information of the terminal.

[0087] The positioning method in this application proposes a network RTK service method with an equivalent zero-distance grid. In addition to traditional differential corrections, the server broadcasts parameters of an atmospheric correction model near the grid point location. After receiving these model parameters, the terminal user performs regional atmospheric correction model compensation on the differential corrections based on their distance from the grid point location. This eliminates atmospheric errors introduced by the distance between the terminal user and the grid, achieving the effect of an equivalent zero-distance grid and effectively improving the terminal's positioning performance. Furthermore, in some embodiments, this scheme does not require adjusting the grid density and can even reduce the grid density to improve the concurrency capability of network RTK. In some embodiments, this scheme can also implement grid distance model compensation at the terminal side, eliminating the need for the terminal to upload accurate location information to the server, thus better protecting user privacy and being more friendly to users sensitive to their location.

[0088] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a positioning device.

[0089] refer to Figure 5 The device is used in a server, and the positioning device includes:

[0090] The first modeling module 501 models the atmospheric error model based on the observation data and location information of each base station in the base station network; and calculates the atmospheric error interpolation value and the differential correction number of multiple grid point locations in the base station network based on the first model parameters of the atmospheric error model.

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

[0092] The determination module 503 determines the target grid point location closest to the terminal's approximate location from multiple grid point locations based on the approximate location information sent by the terminal;

[0093] The first transmitting module 504 sends the differential correction value of the target grid point position and the second model parameters of the atmospheric correction model of the target grid point position to the terminal, so that the terminal can determine the atmospheric error compensation value of the terminal based on the second model parameters and the terminal's own positioning information, and perform positioning based on the atmospheric error compensation value and the differential correction value of the target grid point position to obtain the 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 location 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 perform positioning based on the compensated differential correction number and obtain the high-precision location information of the terminal.

[0095] In some embodiments, the second modeling module is specifically used for:

[0096] Obtain the user requirements corresponding to the aforementioned terminals;

[0097] Based on the above user requirements, the target number of the second model parameters for the above atmospheric correction model is determined.

[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 locations, a model is formed to obtain the atmospheric correction model.

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

[0100] In some embodiments, the atmospheric error compensation value includes an ionospheric compensation value and a tropospheric compensation value; the differential correction value includes a carrier wave and a pseudorange.

[0101] In some embodiments, the first modeling module is specifically used for:

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

[0103] The atmospheric error model described above is obtained by modeling based on the ionospheric and tropospheric errors of multiple baselines and the location information of each base station.

[0104] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

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

[0106] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides another positioning device.

[0107] refer to Figure 6 The device is used in a terminal, and the positioning device includes:

[0108] The sending module 601 sends the approximate location information of the terminal to the server, so that the server can determine 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 value of the target grid point position and the second model parameters of the atmospheric correction model of the target grid point position sent by the server; based on the second model parameters and the terminal's own positioning information, it determines the atmospheric error compensation value of the terminal, and performs positioning based on the atmospheric error compensation value and the differential correction value of the target grid point position to obtain the high-precision position information of the terminal; or,

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

[0111] The differential correction for the target grid point location is calculated by the server based on the first model parameter of the atmospheric error model. The atmospheric error model is modeled by the server based on the observation data and location information of each base station in the base station network. The atmospheric correction model for the target grid point location is modeled by the server based on the atmospheric error interpolation values ​​of multiple sampling points and the atmospheric error interpolation value of the target grid point location. The atmospheric error interpolation values ​​of multiple sampling points are calculated based on the first model parameter. The multiple sampling points are obtained by sampling within the coverage area corresponding to the target grid point location.

[0112] In some embodiments, Figure 6 The positioning device also includes a demand module for:

[0113] The user requirements corresponding to the terminal are sent to the server so that the server can determine the target number of the second model parameters of the atmospheric correction model based on the user requirements, and perform modeling based on the target number, the atmospheric error interpolation of the multiple sampling points and the atmospheric error interpolation 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 location and the second model parameters of the atmospheric correction model of the target grid point location sent by the server, the accuracy of the approximate location information is less than the accuracy of the self-positioning information; when the terminal receives the differential correction number of the target grid point location after compensation sent by the server, the approximate location information is the same as the self-positioning information of the terminal.

[0115] In some embodiments, the atmospheric error compensation value includes an ionospheric compensation value and a tropospheric compensation value; the differential correction value includes a carrier wave and a pseudorange.

[0116] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

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

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

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

[0120] Figure 7 A schematic diagram of the hardware structure of the electronic device provided in an embodiment of this 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0123] Memory 702 may include mass storage for data or instructions. For example, and not limitingly, memory 702 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 702 may include removable or non-removable (or fixed) media. Where appropriate, memory 702 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 702 is non-volatile solid-state memory.

[0124] In a particular embodiment, memory 702 includes read-only memory (ROM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0125] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, 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 methods according to one aspect of this disclosure.

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

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

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

[0129] Bus 710 includes hardware, software, or both, that couples components of an online data traffic metering device together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 710 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0130] The electronic devices described above are used to implement the corresponding positioning methods in any of the foregoing embodiments and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0131] Furthermore, in conjunction with the positioning methods described in the above embodiments, this application embodiment can provide a computer storage medium for implementation. This computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the positioning methods described in the above embodiments.

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

[0133] This application also provides a computer program product, including a computer program, which, when executed, implements any of the positioning methods described in the above embodiments.

[0134] In some embodiments, the computer program instructions can be executed by one or more processors of a computer to cause the computer and / or the processors to perform the positioning method described in the above embodiments. Corresponding to the execution entity for each step in each embodiment of the positioning method, the processor performing the corresponding step may belong to the corresponding execution entity.

[0135] The computer program products of the above embodiments are used to cause the computer and / or the processor to execute the positioning method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0136] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0137] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0138] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0139] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in 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, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0140] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A positioning method, characterized in that, The method is applied in a server, and the method includes: An atmospheric error model is obtained by modeling based on the observation data and location information of each base station in the base station network; and atmospheric error interpolation values ​​and differential corrections of multiple grid point locations in the base station network are calculated based on the first model parameters of the atmospheric error model. For each grid point location among multiple grid point locations, samples are taken within the coverage area corresponding to the grid point location to obtain multiple sampling points; atmospheric error interpolation values ​​of the multiple sampling points are calculated based on the first model parameters, and an atmospheric correction model is obtained based on the atmospheric error interpolation values ​​of the multiple sampling points and the atmospheric error interpolation values ​​of the grid point locations; Based on the approximate location information sent by the terminal, determine the target grid point location that is closest to the approximate location of the terminal from multiple grid point locations; The differential correction value of the target grid point location and the second model parameters of the atmospheric correction model for the target grid point location are sent to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal based on the second model parameters and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction value of the target grid point location to obtain the high-precision position information of the terminal; or, Based on the second model parameters and the approximate location 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 can perform positioning based on the compensated differential correction number to obtain the high-precision location information of the terminal.

2. The method according to claim 1, characterized in that, An atmospheric correction model is obtained by modeling the atmospheric error interpolation values ​​at multiple sampling points and the atmospheric error interpolation values ​​at the grid point locations, including: Obtain the user requirements corresponding to the terminal; The target number of the second model parameters of the atmospheric correction model is determined based on the user requirements; An atmospheric correction model is obtained by modeling based on the target quantity, the atmospheric error interpolation values ​​of the multiple sampling points, and the atmospheric error interpolation values ​​of the grid point positions.

3. The method according to claim 1, characterized in that, When the server sends the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model of the target grid point location to the terminal, the accuracy of the approximate location information is less than the accuracy of the self-positioning information; when the server sends the compensated differential correction value to the terminal, the approximate location 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 the ionospheric compensation value and the tropospheric compensation value; the differential correction value includes the carrier wave and the pseudorange.

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

6. A positioning method, characterized in that, The method is applied in a terminal, and the method includes: Send the approximate location information of the terminal to the server so that the server can determine the target grid point location closest to the approximate location of the terminal from multiple grid point locations; The system receives the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model for the target grid point location sent by the server; determines the atmospheric error compensation value of the terminal based on the second model parameters and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction value of the target grid point location to obtain the high-precision position information of the terminal; or, The server receives the differential correction value for the target grid point location after compensation, wherein the differential correction value is obtained by the server determining the atmospheric error compensation value of the terminal based on the second model parameters and the approximate location information, and compensating the differential correction value of the target grid point location based on the atmospheric error compensation value; positioning is performed based on the differential correction value to obtain the high-precision location information of the terminal; Specifically, the differential correction value of the target grid point location is obtained by the server calculating the atmospheric error interpolation value of multiple grid point locations in the base station network and the differential correction value of multiple grid point locations based on the first model parameters of the atmospheric error model. The atmospheric error model is obtained by the server based on the observation data and location information of each base station in the base station network. The atmospheric correction model of the target grid point location is obtained by the server based on the atmospheric error interpolation value of multiple sampling points and the atmospheric error interpolation value of the target grid point location. The atmospheric error interpolation value of the multiple sampling points is calculated based on the first model parameters. The multiple sampling points are obtained by sampling within the coverage area corresponding to the target grid point location.

7. The method according to claim 6, characterized in that, The method further includes: The user requirements corresponding to the terminal are sent to the server so that the server can determine the target number of the second model parameters of the atmospheric correction model based on the user requirements, and perform modeling based on the target number, the atmospheric error interpolation of the multiple sampling points and the atmospheric error interpolation 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 value of the target grid point location and the second model parameters of the atmospheric correction model of the target grid point location sent by the server, the accuracy of the approximate location information is less than the accuracy of the self-positioning information; when the terminal receives the differential correction value of the target grid point location after compensation sent by the server, the approximate location 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 the ionospheric compensation value and the tropospheric compensation value; the differential correction value includes the carrier wave and the pseudorange.

10. A positioning device, characterized in that, The device is used in a server, and the device includes: 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 ​​and differential corrections of multiple grid point locations in the base station network based on the first model parameters of the atmospheric error model. The second modeling module samples the area corresponding to each grid point location in the multiple grid point locations to obtain multiple sampling points; calculates the atmospheric error interpolation value of the multiple sampling points based on the first model parameters, and performs modeling based on the atmospheric error interpolation value of the multiple sampling points and the atmospheric error interpolation value of the grid point location to obtain an atmospheric correction model; The determination module determines the target grid point location closest to the approximate location of the terminal from multiple grid point locations based on the approximate location information sent by the terminal; The first sending module sends the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model for the target grid point location to the terminal, so that the terminal determines the atmospheric error compensation value of the terminal based on the second model parameters and the terminal's own positioning information, and performs positioning based on the atmospheric error compensation value and the differential correction value of the target grid point location to obtain the 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 parameters and the approximate location 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 perform positioning based on the compensated differential correction number and obtain the high-precision location information of the terminal.

11. A positioning device, characterized in that, The device is used in a terminal, and the device includes: The sending module sends the approximate location information of the terminal to the server, so that the server can determine the target grid point location closest to the approximate location of the terminal from multiple grid point locations; The first receiving module receives the differential correction value of the target grid point location and the second model parameters of the atmospheric correction model of the target grid point location sent by the server; based on the second model parameters and the terminal's own positioning information, it determines the atmospheric error compensation value of the terminal, and performs positioning based on the atmospheric error compensation value and the differential correction value of the target grid point location to obtain the high-precision position information of the terminal; or, The second receiving module receives the differential correction value of the target grid point position after compensation sent by the server. The differential correction value is obtained by the server determining the atmospheric error compensation value of the terminal based on the second model parameters and the approximate location information, and compensating the differential correction value of the target grid point position based on the atmospheric error compensation value. The module performs positioning based on the differential correction value to obtain the high-precision location information of the terminal. Specifically, the differential correction value of the target grid point location is obtained by the server calculating the atmospheric error interpolation value of multiple grid point locations in the base station network and the differential correction value of multiple grid point locations based on the first model parameters of the atmospheric error model. The atmospheric error model is obtained by the server based on the observation data and location information of each base station in the base station network. The atmospheric correction model of the target grid point location is obtained by the server based on the atmospheric error interpolation value of multiple sampling points and the atmospheric error interpolation value of the target grid point location. The atmospheric error interpolation value of the multiple sampling points is calculated based on the first model parameters. The multiple sampling points are obtained by sampling within the coverage area corresponding to the target grid point location.

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 includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the positioning method as described in any one of claims 1-9.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the positioning method as described in any one of claims 1-9.

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

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