Fusion enhanced positioning method

Abstract

The invention relates to the technical field of positioning, and discloses a fusion enhanced positioning method, which is realized based on a Beidou positioning satellite, a ground base station, a 5G base station and a user receiving end. The method specifically comprises the following implementation steps: S1, searching all 5G base stations capable of performing 5G communication with a ground base station and a user receiving end, and determining the 5G base station capable of performing the fastest communication with the ground base station and the user receiving end; in the 5G + Beidou fusion positioning process, the 5G base station which is fastest in communication with the user receiving end and the ground base station can be determined in real time, so that the information can be sent and transmitted at the fastest speed when the positioning information is transmitted, and the situation that the information transmission time is short due to the long information transmission interval is reduced. And a large deviation between the final positioning information and the real position is caused.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and more specifically discloses a method for integrated enhanced positioning. Background Art

[0002] With the rapid development of China's aerospace technology and communication technology, navigation and positioning services are gradually moving towards autonomy and high precision. It can bring more convenient and accurate positioning and navigation services to users, thus greatly facilitating people's daily lives and travels, and at the same time ensuring people's life and property safety to a certain extent. Currently, in the process of providing navigation and positioning services to users, in order to make the positioning more accurate, a 5G + Beidou integration method is usually used for positioning. It utilizes the high-precision characteristics of Beidou positioning, the high-speed and large-capacity nature of 5G transmission, so as to achieve centimeter-level or even sub-centimeter-level positioning services. However, in the current 5G + Beidou integrated positioning method, the role of 5G is only to transmit the information generated during the Beidou positioning process to assist Beidou in achieving accurate positioning. It is impossible to achieve the role of enhanced positioning by combining Beidou signals with 5G signals. Based on this, the present application provides a method using 5G + Beidou integration to achieve the role of enhanced positioning, which can not only still provide positioning services in scenarios with weak satellite signals, but also provide more accurate positioning services. Summary of the Invention

[0003] The present invention mainly provides a method for integrated enhanced positioning, which can solve the problem that the current 5G + Beidou integrated positioning method cannot achieve the role of enhanced positioning by combining Beidou signals with 5G signals.

[0004] To solve the above technical problems, according to one aspect of the present invention, more specifically, it is a method for integrated enhanced positioning, which is implemented based on Beidou positioning satellites, ground base stations, 5G base stations, and user receivers; specifically includes the following implementation steps:

[0005] S1. Search for all 5G base stations that can communicate with the ground base station and the user receiver via 5G, and determine the 5G base station that can communicate with the ground base station and the user receiver fastest;

[0006] S2. The user receiver receives the Beidou satellite signals participating in the positioning in real time, and transmits the time information of the received Beidou satellite signals to the ground base station through the 5G base station determined in step S1. After analysis and calculation by the ground base station, the position of the user receiver located by the Beidou satellite can be obtained, and then the position information of the user receiver located by the Beidou satellite is transmitted to the positioning server through the 5G base station determined in step S1;

[0007] S3. After finding all 5G base stations capable of 5G communication with the ground base station in step S1, determine the comprehensive error between the 5G base station and the ground base station;

[0008] S4. Determine the user's location through multiple 5G base stations capable of 5G communication with the user receiver, and consider the comprehensive error obtained in step S3, so as to obtain the location of the user receiver obtained through the 5G base station. Then, transmit the location of the user receiver obtained through the 5G base station to the positioning server through the 5G base station determined in step S1;

[0009] S5. Perform comprehensive processing on the location of the user receiver located by the Beidou satellite and the location of the user receiver located by the 5G base station in the positioning server, so as to obtain more accurate location information of the user.

[0010] Furthermore, in step S1, during the process of determining the 5G base station that can communicate with the ground base station and the user receiver fastest, all 5G base stations capable of 5G communication with the ground base station and the user receiver respectively send detection signals to the ground base station and the user receiver at the same time. According to the emission time of the detection signal, the time when the ground base station receives the detection signal, and the time when the user receiver receives the detection signal, determine the distances between the ground base station and the user receiver and each 5G base station:

[0011]

[0012] where D i is the distance from ground base station i to each 5G base station, Δt i is the time difference between the ground base station i receiving the detection signal sent by each 5G base station and the 5G base station sending the detection signal, D j is the distance from user receiver j to each 5G base station, Δt j is the time difference between the user receiver j receiving the detection signal sent by each 5G base station and the 5G base station sending the detection signal, and c is the speed of light; if the distances from the 5G base station to the ground base station and to the user receiver satisfy:

[0013]

[0014] then determine that this 5G base station is the 5G base station that can communicate with the ground base station and the user receiver fastest.

[0015] Furthermore, the detection signal includes the ID number of the 5G base station and the time information of the detection signal emission.

[0016] Further, in step S3, in the process of determining the comprehensive error between the 5G base station and the ground base station, first, each 5G base station simultaneously sends a detection signal to the ground base station. By using the time difference between the detection signal received by the ground base station and the time when the detection signal is sent, as well as the speed of light, the distance D between each 5G base station and the ground base station i can be obtained. i , at this time, since the positions of the ground base station and each 5G base station are determined, the coordinates of the ground base station and each 5G base station are also determined. Set the coordinates of the ground base station as (x g , y g ), and the following formula can be obtained:

[0017]

[0018] According to the calculation, multiple values of x g and y g can be obtained, where x k and y k are the x and y values of the coordinates of each 5G base station k respectively. Then, according to the x and y coordinates determined by the ground base station and the obtained multiple values of x g and y g , the comprehensive error between the 5G base station and the ground base station is determined:

[0019]

[0020] Among them, x c and y c are the x error and y error between the 5G base station and the ground base station respectively, x and y are the known x and y values of the coordinates of the ground base station, (x g ) n and (y g ) n are the values of each x g and y g respectively, and Z is the total number of the values of x g and y g .

[0021] Further, in step S4, in the process of determining the position of the user by the 5G base station:

[0022] ①. First, multiple 5G base stations simultaneously send positioning signals to the user receiver and record the moment when each positioning signal is sent.

[0023] ②. When the user receiver receives the positioning signal, it feeds back the result of receiving the positioning signal to the 5G base station, and at the same time feeds back the moment when the positioning signal is received to the 5G base station.

[0024] ③. The 5G base station determines the time difference of the positioning signal transmission based on the time when the positioning signal is sent and the time when the user receiving end feeds back the received positioning signal, and combines the speed of light, so that the distance between each 5G base station and the user receiving end can be obtained;

[0025] ④. After determining the distance between each 5G base station and the user receiving end, draw a circle with each 5G base station as the center and the distance between each 5G base station and the user receiving end as the radius. The common intersection of multiple circles is the position of the user receiving end to be located;

[0026] ⑤. Then, based on the geometric relationship between the user receiving unit and each 5G base station, the position coordinate information of the user receiving end can be determined.

[0027] Furthermore, in the fifth step, during the process of determining the position coordinate information of the user receiving end, set the coordinate information of the user receiving end as (x u , y u ). At the same time, the coordinates (x k , y k ) of each 5G base station k are known and determined. Therefore, it can be obtained that:

[0028]

[0029] where D j is the distance between each 5G base station and the user receiving end j; by calculation, the determined values of x u and y u can be obtained, and then taking the comprehensive error obtained in step 3 into account, the coordinate information of the user receiving end can finally be obtained as:

[0030]

[0031] where are the final x and y coordinates of the user receiving end respectively.

[0032] Furthermore, in S5, when comprehensively processing the position of the user receiving end located by the Beidou satellite and the position of the user receiving end located by the 5G base station, the position coordinates of the user receiving end located by the Beidou satellite are (x B , y B , z B ), and the position coordinates of the user receiving end obtained by the 5G base station are After comprehensively processing the two, the accurate coordinates of the user receiving end can be obtained as:

[0033] Further, after obtaining the accurate position coordinate information of the user receiver, the positioning server transmits the accurate position information of the user receiver to the user's terminal device through the 5G base station determined in step S1.

[0034] The beneficial effects of a method for integrated enhanced positioning according to the present invention are as follows: During the process of 5G + Beidou integrated positioning, it can determine in real time the 5G base station with the fastest communication with the user receiver and the ground base station, which can ensure that when transmitting positioning information, the information can be sent and transmitted at the fastest speed, thereby reducing the large deviation between the finally positioned information and the real position due to the long information transmission interval. In addition, during the process of enhancing positioning through 5G signals, it will first dynamically determine in real time the comprehensive error of all 5G base stations capable of 5G communication with the ground base station and the user receiver during the 5G signal positioning process; then, when positioning the user receiver through 5G signals, the previously determined comprehensive error will be taken into account, so as to obtain the accurate position of the user receiver located by 5G signals. Finally, by comprehensively processing the position located by Beidou satellites and the position located by 5G base stations, more accurate user position information can be obtained. Compared with the current 5G + Beidou integrated positioning method, this method not only enables 5G to play the role of high-speed information transmission, but also uses 5G signals for positioning and integrates it with Beidou positioning information, so as to obtain more accurate position information. Moreover, in scenarios where satellite signals are weak, effective positioning services can still be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described in detail below with reference to the drawings and specific implementation methods.

[0036] Figure 1 is a schematic flow chart of the method;

[0037] Figure 2 is a simplified positioning flow chart. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] The present invention will be described in detail below with reference to the drawings and embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0039] According to one aspect of the present invention, as Figure 1-2 shown, a method for integrated enhanced positioning is provided, which is implemented based on Beidou positioning satellites, ground base stations, 5G base stations, and user receivers; specifically includes the following implementation steps:

[0040] Step 1: Based on the ability to connect to the 5G signal, search for all 5G base stations that can communicate with the ground base station and the user receiver via 5G, and determine the 5G base station that can communicate with the ground base station and the user receiver fastest. During this process, all 5G base stations that can communicate with the ground base station and the user receiver via 5G simultaneously send detection signals (including the 5G base station ID code and the emission time information of the detection signal) to the ground base station and the user receiver respectively. According to the emission time of the detection signal, the time when the ground base station receives the detection signal, and the time when the user receiver receives the detection signal, determine the distances between the ground base station and the user receiver and each 5G base station:

[0041]

[0042] Among them, D i is the distance from ground base station i to each 5G base station, and Δt i is the time difference between the time when ground base station i receives the detection signal sent by each 5G base station and the time when the 5G base station sends the detection signal. D j is the distance from user receiver j to each 5G base station, and Δt j is the time difference between the time when user receiver j receives the detection signal sent by each 5G base station and the time when the 5G base station sends the detection signal. c is the speed of light. If the distances between the 5G base station and the ground base station and between the 5G base station and the user receiver satisfy:

[0043]

[0044] Then determine that this 5G base station is the 5G base station that can communicate with the ground base station and the user receiver fastest.

[0045] Step 2: The user receiver receives the Beidou satellite signals participating in positioning in real time, and transmits the time information of the received Beidou satellite signals to the ground base station through the 5G base station determined in Step 1. After analysis and calculation by the ground base station, the position of the user receiver located by the Beidou satellite can be obtained (determining the position of the user receiver by the Beidou satellite is a common technical means in the current Beidou satellite positioning technology and belongs to the prior art, so it will not be elaborated here). Then transmit the position information of the user receiver located by the Beidou satellite to the positioning server through the 5G base station determined in Step 1.

[0046] Step 3: After searching for all 5G base stations that can communicate with the ground base station via 5G in Step 1, determine the comprehensive error between the 5G base station and the ground base station. First, obtain the distance D i, at this time, since the positions of the ground base station and each 5G base station are determined, the coordinates of the ground base station and each 5G base station are also determined; set the coordinates of the ground base station as (x g , y g ), thus the following formula can be obtained:

[0047]

[0048] According to the calculation, multiple values of x g and y g can be obtained, where x k and y k are the x and y values of the coordinates of each 5G base station k respectively; then, based on the x and y coordinates determined by the ground base station and the multiple values of x g and y g obtained, the comprehensive error between the 5G base station and the ground base station is determined:

[0049]

[0050] Among them, x c and y c are the x error and y error between the 5G base station and the ground base station respectively, x and y are the known coordinate x and y values of the ground base station, (x g ) n and (y g ) n are the values of each x g and y g respectively, and Z is the total number of the values of x g and y g .

[0051] Step 4: According to the distances D j from the user receiver j to each 5G base station obtained in the first step, draw circles with each 5G base station as the center and the distance D j from the user receiver j to each 5G base station as the radius. The common intersection point of the multiple circles is the position of the located user receiver. Then, based on the geometric relationship between the user receiver and each 5G base station, the position coordinate information of the user receiver can be determined. During the process of determining the position coordinate information of the user receiver, set the coordinate information of the user receiver as (x u , y u ), and at the same time, the coordinates (x k , y k ) of each 5G base station k are known and determined, so the following can be obtained:

[0052]

[0053] Among them, D jis the distance between each 5G base station and the user receiver end j; the determined x can be obtained through calculation u and y u values, and then taking into account the comprehensive error obtained in step 3, the coordinate information of the user receiver end can finally be obtained as:

[0054]

[0055] wherein, are respectively the final x and y coordinates of the user receiver end.

[0056] Then the position information of the user receiver end obtained above is transmitted to the positioning server through the 5G base stations determined in the first step.

[0057] Step 5, in the positioning server, the position coordinates of the user receiver end located by the Beidou satellite in the second step are (x B , y B , z B ), and the position coordinates of the user receiver end obtained by the 5G base stations in the fourth step are Combining the two for comprehensive processing, since z in the user coordinates B is the altitude of the user or the height where the user is located, which can be accurately obtained by the satellite, so directly use z in the position coordinates of the user receiver end located by the Beidou satellite in the second step B , and the accurate coordinates of the user receiver end can be obtained as: Then the accurate position information of the user receiver end is transmitted to the user's terminal device through the 5G base stations determined in the first step.

[0058] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples either. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essence of the present invention also fall within the protection scope of the present invention.

Claims

1. A method for integrated enhanced positioning, characterized in that This method is implemented based on Beidou positioning satellites, ground base stations, 5G base stations, and user receivers; specifically, it includes the following implementation steps: S1. Search for all 5G base stations that can communicate with the ground base station and the user receiver via 5G, and determine the 5G base station that can communicate with the ground base station and the user receiver fastest; S2. The user receiver receives Beidou satellite signals participating in positioning in real time, and transmits the time information of the received Beidou satellite signals to the ground base station through the 5G base station determined in step S1. After analysis and calculation by the ground base station, the position of the user receiver located by the Beidou satellite can be obtained, and then the position information of the user receiver located by the Beidou satellite is transmitted to the positioning server through the 5G base station determined in step S1; S3. After searching for all 5G base stations that can communicate with the ground base station via 5G in step S1, determine the comprehensive error between the 5G base station and the ground base station; S4. Determine the user's position through multiple 5G base stations that can communicate with the user receiver, and consider the comprehensive error obtained in step S3, so as to obtain the position of the user receiver obtained through the 5G base station. Then, the position of the user receiver obtained through the 5G base station is transmitted to the positioning server through the 5G base station determined in step S1; S5. In the positioning server, comprehensively process the position of the user receiver located by the Beidou satellite and the position of the user receiver located by the 5G base station, so as to obtain more accurate position information of the user.

2. The method for fusion enhanced positioning according to claim 1, wherein: In step S1, during the process of determining the 5G base station that can communicate with the ground base station and the user receiver fastest, all 5G base stations that can communicate with the ground base station and the user receiver via 5G respectively send detection signals to the ground base station and the user receiver at the same time. According to the emission time of the detection signal, the time when the ground base station receives the detection signal, and the time when the user receiver receives the detection signal, determine the distances between the ground base station and the user receiver and each 5G base station: Among them, D i is the distance from ground base station i to each 5G base station, and Δt i is the time difference between the detection signal received by ground base station i from each 5G base station and the detection signal sent by the 5G base station. D j is the distance from user receiver j to each 5G base station, and Δt j is the time difference between the detection signal received by user receiver j from each 5G base station and the detection signal sent by the 5G base station. c is the speed of light; if the distances from the 5G base station to the ground base station and to the user receiver satisfy: Then, it is determined that this 5G base station is the 5G base station that can communicate with the ground base station and the user receiver fastest.

3. The method for integrated enhanced positioning according to claim 2, characterized in that: The detection signal includes the ID number of the 5G base station and the moment information when the detection signal is emitted.

4. A method for fusion enhanced positioning according to claim 1, characterized in that: In S3, in the process of determining the comprehensive error between the 5G base station and the ground base station, first, each 5G base station simultaneously sends a detection signal to the ground base station. By the time difference between the detection signal received by the ground base station and the time when the detection signal is sent, as well as the speed of light, the distance D from each 5G base station to the ground base station i can be obtained. i , at this time, since the positions of the ground base station and each 5G base station are determined, the coordinates of the ground base station and each 5G base station are also determined; set the coordinates of the ground base station as (x g , y g ), and the following formula can be obtained: According to the calculation, multiple values of x can be obtained g , y g . Among them, x k , y k are the x and y values of the k coordinates of each 5G base station respectively; then, based on the x and y coordinates determined by the ground base station and the obtained multiple values of x g , y g , the comprehensive error between the 5G base station and the ground base station is determined: Among them, x c and y c are the x error and y error respectively between the 5G base station and the ground base station. x and y are the known coordinate x and y values of the ground base station respectively. (x g ) n and (y g ) n are the values of each x g and y g respectively. Z is the total number of the x g and y g values.

5. The method for integrated enhanced positioning according to claim 1, wherein: In step S4, during the process of determining the user's position through the 5G base station: ①. First, multiple 5G base stations send positioning signals to the user receiver at the same time, and record the moment when each positioning signal is sent; ②. When the user receiver receives the positioning signal, it feeds back the result of receiving the positioning signal to the 5G base station, and at the same time feeds back the moment when it receives the positioning signal to the 5G base station; ③. The 5G base station determines the time difference of the positioning signal transmission according to the moment when the positioning signal is sent and the moment when the user receiver feeds back the received positioning signal, and combines the speed of light, so as to obtain the distance between each 5G base station and the user receiver; ④. After determining the distance between each 5G base station and the user receiver, draw circles with each 5G base station as the center and the distance between each 5G base station and the user receiver as the radius. The common intersection of multiple circles is the position of the located user receiver; ⑤. Then, based on the geometric relationship between the user receiving form and each 5G base station, the position coordinate information of the user receiving end can be determined.

6. The method of integrated enhanced positioning according to claim 5, wherein: In the fifth step, during the process of determining the position coordinate information of the user receiving end, set the coordinate information of the user receiving end as (x u , y u ). At the same time, the coordinates (x k , y k ) of each 5G base station k are known and determined. Therefore, it can be obtained that: Among them, D j is the distance between each 5G base station and the user receiver j; the determined x u and y u values can be obtained through calculation. Then, taking the comprehensive error obtained in step 3 into consideration, the coordinate information of the user receiver can finally be obtained as follows: Among them, are the final x and y coordinates of the user receiving end respectively.

7. A method for integrated enhanced positioning according to claim 1, characterized in that: In S5, when comprehensively processing the position of the user receiving end located by the Beidou satellite and the position of the user receiving end located by the 5G base station, the position coordinates of the user receiving end located by the Beidou satellite are (x B , y B , z B ), and the position coordinates of the user receiving end obtained by the 5G base station are After comprehensively processing the two, the accurate coordinates of the user receiving end can be obtained as:

8. A method for fusion enhanced positioning according to claim 7, characterized in that: After obtaining the accurate position coordinate information of the user receiving end, the positioning server transmits the accurate position information of the user receiving end to the user's terminal device through the 5G base station determined in step S1.

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