A method of fusing enhanced positioning

Abstract

The application relates to the technical field of positioning, and discloses a method for fusing enhanced positioning, which is realized based on Beidou positioning satellites, ground base stations, 5G base stations and user receiving ends; specifically comprising the following implementation steps: S1, searching for all 5G base stations capable of 5G communication with the ground base stations and the user receiving ends, and determining the 5G base station capable of the fastest communication with the ground base stations and the user receiving ends. In the process of 5G+Beidou fusion positioning, the 5G base station capable of the fastest communication with the user receiving end and the ground base station can be determined in real time, so that the information transmission in the process of positioning can be carried out at the fastest speed, thereby reducing the case that a large deviation exists between the final positioning information and the real position due to a long information transmission interval.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning, and more particularly to a method for fusing enhanced positioning. BACKGROUND

[0002] With the rapid development of China's space technology and communication technology, navigation and positioning services are gradually developing towards autonomy and high precision. It can bring users more accurate positioning and navigation services, thereby greatly facilitating people's daily life and travel, and to a certain extent, protecting people's life and property safety. At present, in the process of providing navigation and positioning services to users, in order to make the positioning more accurate, the 5G+Beidou fusion method is usually used for positioning, which utilizes the high-precision characteristics of Beidou positioning, the high-speed and large-capacity of 5G transmission, so as to realize the meter-level or sub-meter-level positioning service. However, the role of 5G in the current 5G+Beidou fusion positioning method is only to transmit the information generated in the Beidou positioning process to assist Beidou to achieve accurate positioning. It is impossible to realize the effect of enhanced positioning according to the combination of Beidou signal and 5G signal. Based on this, the present application provides a method for realizing the effect of enhanced positioning by using 5G+Beidou fusion, which can still provide positioning services in the scene where the satellite signal is weak, and can also provide more accurate positioning services. SUMMARY

[0003] The present application mainly provides a method for fusing enhanced positioning, which can solve the problem that the current 5G+Beidou fusion positioning method cannot realize the effect of enhanced positioning according to the combination of Beidou signal and 5G signal.

[0004] To solve the above technical problems, according to one aspect of the present application, more specifically, a method for fusing enhanced positioning, which is realized based on Beidou positioning satellite, ground base station, 5G base station and user receiving end; specifically comprising the following implementation steps:

[0005] S1, find all 5G base stations that can communicate with the ground base station and the user receiving end, and determine the 5G base station that can communicate with the ground base station and the user receiving end fastest;

[0006] S2, the user receiving end receives the Beidou satellite signal participating in positioning in real time, and transmits the time information of receiving the Beidou satellite signal to the ground base station through the 5G base station determined in step S1, and after analysis and calculation by the ground base station, the position of the Beidou satellite positioning to the user receiving end can be obtained, and then the position information of the Beidou satellite positioning to the user receiving end is transmitted to the positioning server through the 5G base station determined in step S1;

[0007] S3, after all 5G base stations capable of 5G communication with the ground base station are found in step S1, the comprehensive error between the 5G base station and the ground base station is determined;

[0008] S4, the position of the user is determined through a plurality of 5G base stations capable of 5G communication with the user receiving end, and the comprehensive error obtained in step S3 is considered, so that the position of the user receiving end obtained through the 5G base station can be obtained, and then the position of the user receiving end obtained through the 5G base station is transmitted to the positioning server through the 5G base station determined in step S1;

[0009] S5, 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 are comprehensively processed in the positioning server, so that more accurate position information of the user can be obtained.

[0010] Further, in S1, in the process of determining the 5G base station that can communicate with the ground base station and the user receiving end fastest, all 5G base stations capable of 5G communication with the ground base station and the user receiving end respectively send detection signals to the ground base station and the user receiving end at the same time, and the distance between the ground base station and the user receiving end and each 5G base station is determined according to the time of sending the detection signal, the time of receiving the detection signal by the ground base station and the time of receiving the detection signal by the user receiving end:

[0011]

[0012] Wherein, D i is the distance from the 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 the user receiving end j to each 5G base station, Δt j is the time difference between the user receiving end 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 distance between the 5G base station and the ground base station and the distance between the 5G base station and the user receiving end satisfy:

[0013]

[0014] The 5G base station is determined as the 5G base station capable of communicating with the ground base station and the user receiving end fastest.

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

[0016] Further, in the 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, and through the time difference between the detection signal received by the ground base station and the time when the detection signal is sent, and 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; the coordinates of the ground base station are set as (x g ,y g ), so the following formula can be obtained:

[0017]

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

[0019]

[0020] Where x c , y c are the x error and y error 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, (x g ) n , (y g ) n are the values of each x g , y g , and Z is the total number of x g , y g values.

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

[0022] ①, first, multiple 5G base stations simultaneously send positioning signals to the user receiving end, and record the time when each positioning signal is sent;

[0023] ②, when the user receiving end receives the positioning signal, the result of receiving the positioning signal is fed back to the 5G base station, and the time when the positioning signal is received is fed back to the 5G base station;

[0024] ③ The 5G base station determines the time difference of the location signal transmission based on the time of sending the location signal and the time of receiving the location signal from the user receiver. Combined with the speed of light, the distance between each 5G base station and the user receiver can be obtained.

[0025] ④ After determining the distance between each 5G base station and the user receiver, draw a circle with each 5G base station as the center and the distance between each 5G base station and the user receiver as the radius. The intersection of multiple circles is the location of the user receiver.

[0026] ⑤ Then, based on the geometric relationship between the user receiver and each 5G base station, the location coordinates of the user receiver can be determined.

[0027] Furthermore, in step ⑤, during the process of determining the location coordinates of the user receiver, the coordinates of the user receiver are set as (x... u ,y u ), and the coordinates (x, y) of each 5G base station k. k ,y k Since ) is known and definite, we can obtain:

[0028]

[0029] Among them, D j The distance between each 5G base station and the user receiver j; the specific value of x can be calculated. u and y u The value of is then taken into account, and the comprehensive error obtained in step 3 is taken into account. Finally, the coordinate information of the user receiver can be obtained as follows:

[0030]

[0031] in, These are the final x and y coordinates of the user's receiving end, respectively.

[0032] Furthermore, in step S5, when comprehensively processing the location of the user receiver from the BeiDou satellite positioning and the location of the user receiver from the 5G base station positioning, the coordinates of the location of the user receiver from the BeiDou satellite positioning are (x... B ,y B ,z B The location coordinates of the user receiver obtained by the 5G base station are: After combining the two, the precise coordinates of the user's receiving end can be obtained as follows:

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

[0034] The method for fusing enhanced positioning has the beneficial effects that in the process of 5G+Beidou fusion positioning, the 5G base station with the fastest communication between 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, thereby reducing the case that the deviation between the final positioning information and the real position is large due to the long information transmission interval. In addition, in the process of enhancing positioning by 5G signals, the comprehensive error of all 5G base stations capable of 5G communication with the ground base station and the user receiving end in the process of 5G signal positioning is first determined in real time; then the comprehensive error determined before is considered when the user receiving end is positioned by the 5G signal, so that the accurate position of the user receiving end positioned by the 5G signal can be obtained. Finally, the position positioned by the Beidou satellite and the position positioned by the 5G base station are comprehensively processed, so that more accurate user position information can be obtained. Compared with the current 5G+Beidou fusion positioning method, this method not only makes 5G bear the role of high-speed transmission of information, but also uses 5G signals for positioning and fuses the positioning information with Beidou positioning information, so that more accurate position information can be obtained. And in the scene where the satellite signal is weak, effective positioning service can still be provided. BRIEF DESCRIPTION OF DRAWINGS

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

[0036] Fig. 1 is a method flow diagram;

[0037] Fig. 2 is a positioning flow diagram. DETAILED DESCRIPTION

[0038] The application will be described in further detail below with reference to the drawings and specific implementation methods.

[0039] According to one aspect of the application, as shown in Figs. 1-2 a method for fusing enhanced positioning is provided, which is realized based on Beidou positioning satellites, ground base stations, 5G base stations and user receiving ends; and specifically includes the following implementation steps:

[0040] The first step, according to whether it can connect to the 5G signal as the basis for judgment, find all 5G base stations that can communicate with the ground base station and the user receiving end, and determine the fastest 5G base station that can communicate with the ground base station and the user receiving end from them, in this process, all 5G base stations that can communicate with the ground base station and the user receiving end send detection signals (including 5G base station ID code and detection signal sending time information) to the ground base station and the user receiving end at the same time, according to the detection signal sending time, the ground base station receiving the detection signal time and the user receiving end receiving the detection signal time, the distance between the ground base station and the user receiving end and each 5G base station is determined:

[0041]

[0042] Wherein, D i is the distance from the 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 the user receiving end j to each 5G base station, Δt j is the time difference between the user receiving end j receiving the detection signal sent by each 5G base station and the 5G base station sending the detection signal, c is the speed of light; If the distance between the 5G base station and the ground base station and the distance between the 5G base station and the user receiving end satisfy:

[0043]

[0044] The 5G base station is determined as the fastest 5G base station that can communicate with the ground base station and the user receiving end.

[0045] The second step, the user receiving end receives the Beidou satellite signal in real time, and transmits the time information of receiving the Beidou satellite signal to the ground base station through the 5G base station determined in the first step, and after the analysis and calculation of the ground base station, the position of the user receiving end positioned by the Beidou satellite can be obtained (the position of the user receiving end determined by the Beidou satellite is the common technical means in the current Beidou satellite positioning technology, which belongs to the prior art, so it is not described in detail here). Then the position information of the user receiving end positioned by the Beidou satellite is transmitted to the positioning server through the 5G base station determined in the first step.

[0046] The third step, after finding all 5G base stations that can communicate with the ground base station in the first step, the comprehensive error between the 5G base station and the ground base station is determined, first, the distance D iAt 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; the coordinates of the ground base station are set as (x g ,y g ), so the following formula can be obtained:

[0047]

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

[0049]

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

[0051] The fourth step is to draw a circle with each 5G base station as the center and the distance D j from the user receiving end j to each 5G base station as the radius according to the distance D j from the user receiving end j to each 5G base station obtained in the first step, and the common intersection point of multiple circles is the position of the located user receiving end, and then the position coordinate information of the user receiving end can be determined according to the geometric relationship between the user receiving end and each 5G base station. In the process of determining the position coordinate information of the user receiving end, the coordinate information of the user receiving end is set as (x u ,y u ), and the coordinates (x k ,y k ) of each 5G base station k are known and determined, so the following formula can be obtained:

[0052]

[0053] wherein D jThe distance between each 5G base station and the user receiver j; the specific value of x can be calculated. u and y u The value of is then taken into account, and the comprehensive error obtained in step 3 is taken into account. Finally, the coordinate information of the user receiver can be obtained as follows:

[0054]

[0055] in, These are the final x and y coordinates of the user's receiving end, respectively.

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

[0057] Step 5: In the positioning server, the location coordinates of the user's receiver determined by the BeiDou satellite in step 2 are (x... B ,y B ,z B In the fourth step, the location coordinates of the user receiver obtained by the 5G base station are: Combining the two, due to the z-axis in the user coordinates... B The user's altitude or location can be accurately obtained via satellite; therefore, the z-coordinate from the BeiDou satellite positioning to the user's receiver coordinates in the second step is directly used. B The precise coordinates of the user's receiving end can then be obtained as follows: Then, the precise location information of the user's receiving end is transmitted to the user's terminal device through the 5G base station 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 examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention are also within the protection scope of the present invention.

Claims

1. A method of fusing enhanced positioning, characterized by, The method is realized based on Beidou positioning satellites, ground base stations, 5G base stations and user receiving ends; specifically comprising the following implementation steps: S1, all 5G base stations capable of 5G communication with the ground base station and the user receiving end are searched, and the 5G base station capable of the fastest communication with the ground base station and the user receiving end is determined; in the process of determining the 5G base station capable of the fastest communication with the ground base station and the user receiving end, all 5G base stations capable of 5G communication with the ground base station and the user receiving end send detection signals to the ground base station and the user receiving end at the same time respectively, and the distances between the ground base station and the user receiving end and each 5G base station are determined according to the time of sending the detection signals, the time of receiving the detection signals by the ground base station and the time of receiving the detection signals by the user receiving end: . wherein, is the distance from the ground base station i to each 5G base station, is the time difference between the time when the detection signal sent by each 5G base station is received by the ground base station i and the time when the detection signal is sent by the 5G base station, is the distance from the user receiving end j to each 5G base station, is the time difference between the time when the detection signal sent by each 5G base station is received by the user receiving end j and the time when the detection signal is sent by the 5G base station, c is the speed of light; if the distance from the 5G base station to the ground base station and the distance between the 5G base station and the user receiving end satisfy: . Then it is judged that the 5G base station is the 5G base station capable of the fastest communication with the ground base station and the user receiving end; S2, the user receiving end receives the Beidou satellite signal participating in positioning in real time, and transmits the time information of receiving the Beidou satellite signal to the ground base station through the 5G base station determined in step S1, and after analysis and calculation by the ground base station, the position of the Beidou satellite positioning to the user receiving end is obtained, and then the position information of the Beidou satellite positioning to the user receiving end is transmitted to the positioning server through the 5G base station determined in step S1; S3, after all the 5G base stations capable of 5G communication with the ground base station are found in step S1, the integrated error between the 5G base station and the ground base station is determined; in the process of determining the integrated 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, and through the time difference between the detection signal received by the ground base station and the time when the detection signal is sent and the speed of light, the distance between each 5G base station and the ground base station i can be obtained 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; the coordinates of the ground base station are set as Thus the following formula can be obtained: . According to the calculation, a plurality of , , , are obtained, where x and y are the x and y values of each 5G base station k coordinate; then according to the x and y coordinates determined by the ground base station and the plurality of , values obtained, the comprehensive error between the 5G base station and the ground base station is determined: . wherein, , are the x and y errors 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, , are the values of each of the , , and Z is the total number of values of , . S4, the position of the user is determined through multiple 5G base stations capable of 5G communication with the user receiving end, and the comprehensive error obtained in step S3 is considered, so that the position of the user receiving end obtained through the 5G base station can be obtained, and then the position of the user receiving end obtained through the 5G base station is transmitted to the positioning server through the 5G base station determined in step S1; S5, the position of the Beidou satellite positioning to the user receiving end and the position of the 5G base station positioning to the user receiving end are comprehensively processed in the positioning server, so that more accurate position information of the user can be obtained.

2. The method of claim 1, wherein: The detection signal includes the ID number of the 5G base station and the time information of sending the detection signal.

3. The method of claim 1, wherein: In S4, in the process of determining the position of the user through the 5G base station: ①, first, multiple 5G base stations send positioning signals to the user receiving end at the same time, and record the time of sending each positioning signal; ②, when the user receiving end receives the positioning signal, the result of receiving the positioning signal is fed back to the 5G base station, and the time of receiving the positioning signal is fed back to the 5G base station at the same time; ③, the 5G base station determines the time difference of positioning signal transmission according to the time of sending the positioning signal and the time of receiving the positioning signal fed back by the user receiving end, and combines the speed of light, so that the distance between each 5G base station and the user receiving end can be obtained; ④, after determining the distance between each 5G base station and the user receiving end, a circle is drawn with each 5G base station as the center and the distance between each 5G base station and the user receiving end as the radius, and the common intersection point of multiple circles is the position of the user receiving end to be positioned; ⑤, then, according to the geometric relationship between the user receiving end and each 5G base station, the position coordinate information of the user receiving end can be determined.

4. The method of claim 3, wherein: In the fifth step, in the process of determining the position coordinate information of the user receiving end, the coordinate information of the user receiving end is set as , and the coordinates of each 5G base station k are known and determined, so that the following can be obtained: . Wherein, is the distance between each 5G base station and the user receiving end j; through calculation, the determined and values are obtained, and then the comprehensive error obtained in step 3 is considered, and finally the coordinate information of the user receiving end can be obtained as: . wherein , are the final x, y coordinates of the user receiving end, respectively.

5. The method of claim 1, wherein: In the S5, when the position of the user receiving end positioned by the Beidou satellite and the position of the user receiving end positioned by the 5G base station are comprehensively processed, the position coordinates of the user receiving end positioned by the Beidou satellite are , the position coordinates of the user receiving end obtained by the 5G base station are , and after the two are comprehensively processed, the accurate coordinates of the user receiving end are .

6. The method of claim 5, wherein: The positioning server transmits the accurate position information of the user receiving end to the terminal device of the user through the 5G base station determined in step S1 after obtaining the accurate position coordinate information of the user receiving end.

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