Terminal positioning method and device, equipment and storage medium

Abstract

The invention relates to the technical field of computers, and provides a terminal positioning method and device, equipment and a storage medium. The method comprises the following steps: acquiring an estimated physical position of a target terminal and respective satellite data of a plurality of reference satellites for positioning the target terminal; based on the satellite data and the estimated physical position of each reference satellite, determining a plurality of target LOS (Line Of Sight) signal satellites of which the signals are not shielded in the plurality of reference satellites, and based on the satellite signal of each target LOS satellite, determining a reference physical position of the target terminal; sending the satellite data of the plurality of target LOS satellites to a base station, and receiving respective base station observation data and base station physical positions for the plurality of target LOS satellites fed back by the base station; and correcting the reference physical position based on the received reference station observation data and reference station physical positions of the plurality of target LOS satellites to obtain a target physical position of the target terminal. The embodiment of the invention can be applied to the map field.

Description

Background Art

[0002] With the rapid development of integrated circuit technology, mobile terminals can integrate global satellite navigation system positioning chips to provide positioning services for corresponding objects by processing satellite signals. However, in an urban environment, there is the "canyon effect", that is, the surfaces of tall buildings in the city, as well as objects such as green plants and vehicles on the streets, will cause certain phenomena such as shielding, reflection, and refraction of satellite signals, resulting in an offset of the satellite positioning result, thereby affecting the accuracy of terminal positioning.

[0003] In related technologies, to improve the accuracy of terminal positioning, a method is proposed to construct corresponding virtual elevation observables according to different characteristics of elevation changes in an urban environment, and fuse the constructed virtual elevation observables with the original observables from a satellite navigation receiver, thereby improving the terminal positioning accuracy. This method requires using an elevation database pre-downloaded to the receiver of the mobile terminal to construct a virtual elevation model.

[0004] However, since the downloaded elevation database is not real-time, it may occur that due to the untimely update of elevation data, the constructed virtual elevation model cannot accurately reflect the elevation data in the real scenario, that is, there will be a problem that the virtual elevation model is inaccurate. And through the inaccurate virtual elevation model for terminal positioning, an accurate terminal positioning result cannot be obtained. Therefore, there is still a problem of low accuracy of terminal positioning when using this method for terminal positioning. Summary of the Invention

[0005] Embodiments of the present application provide a terminal positioning method, device, equipment, and storage medium to solve the problem of low accuracy of terminal positioning.

[0006] In a first aspect, embodiments of the present application provide a terminal positioning method, including:

[0007] Obtain the estimated physical position of a target terminal and the satellite data of each of a plurality of reference satellites used to locate the target terminal; based on the satellite data of each reference satellite and the estimated physical position, determine a plurality of target line-of-sight (LOS) satellites among the plurality of reference satellites whose signals are not blocked, and based on the satellite signals of each target LOS satellite, determine the reference physical position of the target terminal; send the satellite data of the plurality of target LOS satellites to a reference station, and receive the reference station observation data and the reference station physical position for each of the plurality of target LOS satellites fed back by the reference station; correct the reference physical position based on the received reference station observation data and the reference station physical position for each of the plurality of target LOS satellites to obtain the target physical position of the target terminal.

[0008] In a second aspect, an embodiment of the present application further provides a terminal positioning device, including:

[0009] A communication unit, configured to obtain an estimated physical position of a target terminal, and satellite data of multiple reference satellites for positioning the target terminal;

[0010] A satellite quality evaluation unit, configured to determine multiple target line-of-sight (LOS) satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the estimated physical position;

[0011] A positioning calculation unit, configured to determine a reference physical position of the target terminal based on the satellite signals of each target LOS satellite;

[0012] The communication unit is further configured to send the satellite data of the multiple target LOS satellites to a reference station, and receive the reference station observation data and the reference station physical position for each of the multiple target LOS satellites fed back by the reference station;

[0013] A position correction unit, configured to correct the reference physical position based on the received reference station observation data and the reference station physical position for each of the multiple target LOS satellites, and obtain the target physical position of the target terminal.

[0014] In a possible implementation, when the satellite quality evaluation unit determines multiple target line-of-sight (LOS) satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the estimated physical position, the communication unit is configured to: obtain reference elevation information corresponding to the estimated physical position of the target terminal based on the mapping relationship between the position information and the elevation information; the reference elevation information at least includes: the vertical distance of the building at the estimated physical position relative to a preset reference plane;

[0015] A positioning calculation unit, configured to perform positioning calculation based on the estimated physical position to determine the estimated elevation information of the target terminal;

[0016] An elevation verification unit, configured to verify the estimated elevation information through the reference elevation information. When the difference between the reference elevation information and the estimated elevation information is greater than a preset elevation threshold, the positioning calculation unit repeatedly performs the following operations until a preset condition is met, and then determines the a posteriori physical position of the target terminal based on the physical position included in the last calculation result: use the reference elevation information as a constraint condition, perform positioning calculation in combination with the estimated physical position, and update the estimated elevation information of the target terminal based on the elevation information included in the calculation result;

[0017] The satellite quality assessment unit is configured to determine multiple target LOS satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the post-experimental physical position.

[0018] In a possible implementation manner, when the positioning and solution unit uses the reference elevation information as a constraint condition and combines it with the estimated physical position for positioning and solution, it is configured to: determine the estimated spatial coordinates of the target terminal based on the estimated physical position and the reference elevation information; determine an elevation constraint equation based on the vector pointing from the earth's center to the estimated spatial coordinates; perform positioning and solution based on the elevation constraint equation and the estimated physical position to obtain a solution result; the solution result includes the elevation information of the target terminal and the physical position of the target terminal.

[0019] In a possible implementation manner, when determining multiple target LOS satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the post-experimental physical position, the communication unit is configured to: obtain the target building data corresponding to the post-experimental physical position based on the mapping relationship between the position information and the building data; the target building data at least includes the elevation angles and heights of each target building within a preset range of the post-experimental physical position.

[0020] The satellite quality assessment unit is configured to determine multiple candidate LOS satellites with unobstructed signals among the multiple reference satellites based on the elevation angles of each target building, the heights of each target building, and the elevation angles of each reference satellite included in the satellite data of each reference satellite; perform post-experimental residual tests on the multiple candidate LOS satellites to determine multiple target LOS satellites among the multiple candidate LOS satellites.

[0021] In a possible implementation manner, when the satellite quality assessment unit performs post-experimental residual tests on the multiple candidate LOS satellites to determine multiple target LOS satellites among the multiple candidate LOS satellites, it is configured to: calculate the post-experimental residuals of each candidate LOS satellite respectively based on the satellite data and satellite signals of each candidate LOS satellite; when the post-experimental residuals of each candidate LOS satellite do not meet the preset residual test rules, delete a preset number of satellites with post-experimental residuals greater than the preset residual threshold among the multiple candidate LOS satellites, and perform the operation of calculating the post-experimental residuals on the remaining candidate LOS satellites respectively until the post-experimental residuals of each candidate LOS satellite meet the preset residual test rules, and then determine the remaining candidate LOS satellites as the target LOS satellites.

[0022] In a possible implementation, when the satellite quality assessment unit calculates the a posteriori residuals of each candidate LOS satellite based on the satellite data and satellite signals of each candidate LOS satellite, it is used for: determining the satellite positions and pseudorange observations of each candidate LOS satellite based on the satellite data and satellite signals of each candidate LOS satellite; the pseudorange observation represents the estimated distance between the satellite and the target terminal; determining the reference distance between the target terminal and each candidate LOS satellite based on the satellite positions and pseudorange observations of each candidate LOS satellite; and determining the a posteriori residuals of each candidate LOS satellite based on the difference between the reference distance and the pseudorange observations of each candidate LOS satellite.

[0023] In a possible implementation, when the position correction unit corrects the reference physical position based on the reference station observation data and the reference station physical position of each of the received multiple target LOS satellites to obtain the target physical position of the target terminal, it is used for: performing position calculation based on the reference station observation data of each of the received multiple target LOS satellites to obtain the reference satellite positions of each of the multiple target LOS satellites; performing position difference on the reference station physical position and the reference satellite positions of each of the multiple target LOS satellites to obtain a position correction value; and correcting the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

[0024] In a third aspect, an embodiment of the present application further provides a computer device, including a processor and a memory. Among them, the memory stores program code, and when the program code is executed by the processor, the processor is caused to execute the steps of any of the above terminal positioning methods.

[0025] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which includes program code. When the program product runs on a computer device, the program code is used to cause the computer device to execute the steps of any of the above terminal positioning methods.

[0026] In a fifth aspect, an embodiment of the present application further provides a computer program product, including computer instructions, and the computer instructions are executed to perform the steps of any of the above terminal positioning methods.

[0027] The beneficial effects of the present application are as follows:

[0028] An embodiment of the present application provides a terminal positioning method, device, equipment and storage medium. The method includes: determining multiple target line-of-sight (LOS) satellites with unobstructed signals among multiple reference satellites based on the satellite data of each of the multiple reference satellites and the estimated physical position of the target terminal, which can evaluate the quality of the reference satellites used for positioning the target terminal, thereby improving the positioning performance of the target terminal.

[0029] Then, after sending the satellite data of the determined multiple target LOS satellites to the reference station, the reference station observation data and the physical location of the reference station for each of the multiple target LOS satellites are obtained. Then, the reference physical location of the target terminal is corrected based on the reference station observation data and the physical location of the reference station. Since the satellite data observed by the target terminal is easily interfered by the atmospheric environment, etc., and the abnormal fluctuations of such interference often bring a large deviation to the terminal positioning. And the physical location of the reference station is a known high-precision coordinate, and the reference station observation data is also more accurate than the satellite data observed by the target terminal. Therefore, after correcting the reference physical location of the target terminal through the reference station observation data and the physical location of the reference station, the positioning of the target terminal can be made more accurate.

[0030] Other features and advantages of the present application will be described in the following specification, and partly will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification, claims, and drawings. Description of the Drawings

[0031] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0032] Figure 1 is an optional schematic diagram of an application scenario in an embodiment of the present application;

[0033] Figure 2 is an optional schematic diagram of another application scenario in an embodiment of the present application;

[0034] Figure 3 is a schematic flowchart of a terminal positioning method provided by an embodiment of the present application;

[0035] Figure 4 is a schematic diagram of a position correction process provided by an embodiment of the present application;

[0036] Figure 5 is a schematic diagram of another position correction process provided by an embodiment of the present application;

[0037] Figure 6 is a schematic flowchart of a process for verifying an estimated physical location provided by an embodiment of the present application;

[0038] Figure 7 is a schematic diagram of a process for verifying an estimated physical location provided by an embodiment of the present application;

[0039] Figure 8 Exemplary flowchart of the target LOS satellite determination method provided by the embodiment of this application;

[0040] Figure 9 Schematic diagram of the target LOS satellite determination process provided by the embodiment of this application;

[0041] Figure 10 Schematic diagram of the overall process of terminal positioning provided by the embodiment of this application;

[0042] Figure 11 Schematic diagram of the structure of a terminal positioning device provided by the embodiment of this application;

[0043] Figure 12 Schematic diagram of a hardware composition structure of a computer device applying the embodiment of this application;

[0044] Figure 13 Schematic diagram of a hardware composition structure of another computer device applying the embodiment of this application. Detailed implementation manners

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of the technical solutions of this application. Based on the embodiments recorded in this application document, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of the technical solutions of this application.

[0046] The following explains some terms in the embodiments of this application to facilitate the understanding of those skilled in the art.

[0047] (1) Urban 3D model: A digital representation obtained by performing three-dimensional modeling and storage on data such as buildings, roads, and greenery within a city through modeling tools or means such as satellite imagery and laser scanning. It uses computer software and technologies to transform the actual geographical environment of the city into a virtual three-dimensional space and can be used to obtain information such as the location and elevation of the terminal device.

[0048] (2) Non-line-of-sight (NLOS) signal: Refers to a direct signal that is received by the terminal device after being reflected or diffracted. In contrast, a line-of-sight (LOS) signal refers to a signal transmitted when there is a direct optical line of sight between two communication devices.

[0049] The following briefly introduces the design concept of the embodiments of this application:

[0050] In the related art, to avoid the urban canyon effect and improve the accuracy of terminal positioning, corresponding virtual elevation observables can be constructed according to the different characteristics of elevation changes in the urban environment, and the constructed virtual elevation observables are fused with the original observables from the satellite navigation receiver, thereby improving the terminal positioning accuracy.

[0051] This method needs to use the elevation database pre-downloaded into the receiver of the mobile terminal to construct the virtual elevation model. Among them, the elevation database can include the vertical distance of the ground surface at each location relative to a certain reference ellipsoid or geoid, and the vertical distance of the buildings at each location relative to a certain reference ellipsoid or geoid. However, since the downloaded elevation database is not real-time, there may be a problem that the constructed virtual elevation model is inaccurate due to the untimely update of the elevation data.

[0052] In addition, this method needs to make assumptions about the elevation model currently passed by the mobile terminal. However, the terrain in the actual application scenario is usually complex, and there may be a large model error between the constructed virtual elevation model and the actual application scenario, and there will also be a problem that the constructed virtual elevation model is inaccurate. Also, since terminal positioning is performed through an inaccurate virtual elevation model, an accurate terminal positioning result cannot be obtained. Therefore, there is still a problem of low accuracy of terminal positioning when positioning the terminal through this method.

[0053] In view of this, the embodiments of the present application provide a terminal positioning method, device, equipment and storage medium. The method includes: determining a plurality of target LOS satellites based on the satellite data of each reference satellite obtained and the estimated physical position of the target terminal, and determining the reference physical position of the target terminal based on the satellite signals of each target LOS satellite. Sending the satellite data of the plurality of target LOS satellites to a reference station, and correcting the reference physical position based on the reference station observation data and the reference station physical position feedback by the reference station for each of the plurality of target LOS satellites to obtain the target physical position of the target terminal.

[0054] Based on the above method, by determining a plurality of target line-of-sight (LOS) satellites with unobstructed signals among the plurality of reference satellites, the quality of the reference satellites used to locate the target terminal can be evaluated, thereby improving the positioning performance of the target terminal. In addition, since the satellite data observed by the target terminal is easily interfered by the atmospheric environment, etc., and this abnormal fluctuation of the interference often brings a large deviation to the terminal positioning. And the reference station physical position is a known high-precision coordinate, and the reference station observation data is also more accurate than the satellite data observed by the target terminal. Therefore, after correcting the reference physical position of the target terminal with the reference station observation data and the reference station physical position, the positioning of the target terminal can be made more accurate.

[0055] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0056] Figure 1 One application scenario is shown, including a terminal device 110 and a reference station 120. The terminal device 110 establishes a communication connection with the reference station 120 through a wired network or a wireless network.

[0057] The terminal device 110 can determine multiple target LOS satellites among the multiple reference satellites whose signals are not blocked based on the obtained satellite data of each satellite and the estimated physical position, and determine the reference physical position of the terminal device 110 based on the satellite signals of each target LOS satellite. Then, the satellite data of the multiple target LOS satellites are sent to the reference station 120, and the reference station observation data and the reference station physical position for each of the multiple target LOS satellites feedback by the reference station 120 are received. Then, the terminal device 110 can correct the reference physical position based on the received reference station observation data and the reference station physical position for each of the multiple target LOS satellites to obtain the target physical position of the terminal device 110.

[0058] Among them, the reference station 120 can be determined according to the physical position of the terminal device 110. For example, it can be the one closest to the terminal device 110 among the multiple reference stations near the terminal device 110.

[0059] Figure 2 Another application scenario is shown, including a terminal device 110, a reference station 120, and a server 130. On the Figure 1 basis, the terminal device 110 can also establish a communication connection with the server 130 through a wired network or a wireless network. The terminal device 110 can obtain the estimated physical position of the terminal device 110 from the server 130, the satellite data of each of the multiple reference satellites used to locate the terminal device 110, and the mapping relationship between the position information and the elevation information. The terminal device 110 can determine multiple target LOS satellites among the multiple reference satellites whose signals are not blocked based on the obtained satellite data of each satellite, the estimated physical position, and the mapping relationship between the position information and the elevation information in the server 130, and determine the reference physical position of the terminal device 110 based on the satellite signals of each target LOS satellite. Then, based on the reference station observation data and the reference station physical position for each of the multiple target LOS satellites feedback by the reference station 120, the target physical position of the terminal device 110 is obtained.

[0060] In server 130, 3D models of cities for assisting in the positioning of terminal device 110 can be stored, such as urban elevation databases, building databases, etc. Among them, the urban elevation database can include the mapping relationship between location information and elevation information, and the building database can include the mapping relationship between physical locations and building data.

[0061] Among them, the terminal device 110 in the embodiments of the present application can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc., but is not limited thereto.

[0062] The server 130 in the embodiments of the present application can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers. It can also be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms. The present application does not make any restrictions here.

[0063] See Figure 3 An exemplary flowchart of a terminal positioning method provided by the embodiments of the present application. This method can be applied to Figure 1 or Figure 2 The terminal device 110 shown in the figure, including the following processes:

[0064] S301, obtain the estimated physical location of the target terminal, and the satellite data of each of the multiple reference satellites used to locate the target terminal.

[0065] Among them, the estimated physical location of the target terminal can be the approximate location information of the target terminal. The multiple reference satellites refer to the multiple satellites currently observed by the target terminal. The satellite data of each of the multiple reference satellites can include the ephemeris information of each of the multiple reference satellites, such as information on the orbital parameters, position, speed, and time of the reference satellites.

[0066] It should be noted that the estimated physical location of the target terminal can be obtained from the server or calculated by its own sensors. The present application does not limit the acquisition method of the estimated physical location of the target terminal.

[0067] S302, based on the satellite data of each reference satellite and the estimated physical location, determine multiple target LOS satellites among the multiple reference satellites whose signals are not blocked, and based on the satellite signals of each target LOS satellite, determine the reference physical location of the target terminal.

[0068] Since the signals of NLOS satellites may be blocked by obstacles such as buildings, trees, and mountains, resulting in incomplete signal propagation paths or the occurrence of multipath effects, in order to improve positioning accuracy, multiple target LOS satellites among multiple reference satellites can be first determined, and then positioning solutions can be performed based on the satellite signals of each target LOS satellite, and the reference physical position of the target terminal can be determined based on the solution results.

[0069] In a possible implementation, the target terminal can obtain building data corresponding to the estimated physical location based on the mapping relationship between the location information and the building data. Based on the pitch angle and height of each building within a preset range of the estimated physical location included in the building data and the pitch angle of each reference satellite, multiple target LOS satellites whose signals are not blocked among multiple reference satellites are determined.

[0070] Optionally, the target terminal may perform LOS / NLOS determination on each reference satellite by using a skyplot method.

[0071] Specifically, the satellite's elevation angle information and position information can be displayed through skyplot, and then LOS / NLOS judgment can be made for each reference satellite based on the elevation angle of each building, the height of each building, and the elevation angle of each reference satellite. In general, if there is no obstruction between the satellite signal and the building, and the signal strength is strong enough, then the satellite can be classified as a LOS satellite. If the signal is significantly attenuated or affected by multipath effects, it may be an NLOS satellite. For example, if the elevation angle of the building is high, it means that the building may have less obstruction to the target terminal's observation of the satellite; conversely, if the elevation angle is low, it means that the building may have caused greater obstruction to the satellite signal. If the satellite elevation angle is high, it means that the satellite signal is transmitted to the target terminal from a higher angle and may not be blocked by obstructions such as buildings; conversely, if the satellite elevation angle is low, it means that the satellite signal may be blocked by obstructions such as buildings. Therefore, the reference satellite can be compared with the pitch angle of the corresponding building to determine whether it is the target LOS satellite.

[0072] In addition, the possible NLOS situation can be inferred based on the signal strength of the satellite signal and other information, and the LOS probability of each reference satellite can be corrected.

[0073] In a possible implementation, the target terminal can calculate the LOS probability or NLOS probability of the reference satellite by skyplot or other methods, and then determine multiple target LOS satellites whose signals are not blocked among the multiple reference satellites based on the LOS probability or NLOS probability of each of the multiple reference satellites. The LOS probability represents the probability that the signal of the corresponding reference satellite is not blocked. The NLOS probability represents the probability that the signal of the corresponding reference satellite is blocked.

[0074] Optionally, when determining the target LOS satellite, the target terminal may compare the obtained LOS probability with a preset probability threshold, and determine the reference satellite with a LOS probability greater than the preset probability threshold as the target LOS satellite.

[0075] It should be noted that the target terminal may also determine LOS / NLOS for each reference satellite through other methods in related technologies, and this application does not limit the methods used.

[0076] S303, Send the satellite data of multiple target LOS satellites to the reference station, and receive the reference station observation data and the reference station physical position for each of the multiple target LOS satellites feedback by the reference station.

[0077] In addition to the error caused by the reflection from buildings, the satellite data observed by the target terminal is also vulnerable to interference from the atmospheric environment such as ionospheric anomalies. Such abnormal fluctuations often bring a large deviation to the terminal positioning. At this time, the high-precision reference station services distributed across the country can be used. The target terminal sends the satellite data of multiple target LOS satellites, obtains the high-precision physical position of the reference station, and the reference station observation data for each of the multiple target LOS satellites, so as to correct the reference physical position of the target terminal.

[0078] S304, Correct the reference physical position based on the reference station observation data and the reference station physical position for each of the multiple target LOS satellites received, and obtain the target physical position of the target terminal.

[0079] In a possible implementation manner, S304 may be specifically executed as follows: Perform position calculation based on the reference station observation data for each of the multiple target LOS satellites received to obtain the reference satellite positions for each of the multiple target LOS satellites. Perform position difference between the reference station physical position and the reference satellite positions for each of the multiple target LOS satellites to obtain a position correction value. Correct the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

[0080] Among them, to make the obtained position correction value more accurate, the same positioning calculation method may be used when performing positioning calculation based on the reference station observation data for each of the multiple target LOS satellites received as when determining the reference physical position. For example, if satellite pseudorange is used for positioning calculation when determining the reference physical position, satellite pseudorange is also used for positioning calculation when performing positioning calculation based on the reference station observation data for each of the multiple target LOS satellites received.

[0081] See Figure 4A schematic diagram of the process of position correction provided by an embodiment of this application. The target terminal reports satellite data of multiple target LOS satellites to the reference station. The reference station obtains the reference station observation data and the physical position of the reference station for each of the multiple target LOS satellites and returns them to the target terminal. The target terminal uses the same calculation method to perform positioning calculations on the reference station observation data of each of the multiple target LOS satellites to obtain the reference satellite positions of each of the multiple target LOS satellites, and then uses the reference satellite positions of each of the multiple target LOS satellites and the physical position of the reference station to perform position difference to obtain a position correction value, and corrects the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

[0082] In a possible implementation, refer to Figure 5 Another schematic diagram of the process of position correction provided by an embodiment of this application. That is, S303 and S304 can also be executed as follows: The target terminal uploads satellite data of multiple target LOS satellites to an RTK (Real-Time Kinematic) server, so that the RTK server uses high-precision reference stations in the vicinity to calculate the positions of the same satellite combination, and then combines the known coordinates of the high-precision reference stations to perform position difference to obtain a position correction value. Then the RTK server can return the basic position correction value to the target terminal, so that the target terminal can correct the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

[0083] In a possible implementation, when the target terminal determines multiple target line-of-sight (LOS) satellites with unobstructed signals among multiple reference satellites based on the obtained satellite data and the estimated physical position in S302, it can first verify the estimated physical position, and then determine multiple target LOS satellites with unobstructed signals among the multiple reference satellites according to the satellite data of each reference satellite and the a posteriori physical position of the target terminal obtained after verification.

[0084] Specifically, refer to Figure 6 A schematic diagram of the process for verifying the estimated physical position provided by an embodiment of this application. The target terminal can use the Figure 6 shown process to verify the estimated physical position, and this process includes S601 - S603:

[0085] S601, based on the mapping relationship between the position information and the elevation information, obtain the reference elevation information corresponding to the estimated physical position of the target terminal.

[0086] Among them, the reference elevation information may include: the vertical distance between the ground surface at the estimated physical location and the preset reference plane, the vertical distance between the ground objects at the estimated physical location and the preset reference plane, the height of the ground objects at the estimated physical location, and other information. The ground objects may include immovable objects on the ground such as trees, bridges, and buildings.

[0087] In some embodiments, the mapping relationship between the position information and the elevation information may be stored in the urban elevation database. The target terminal may send the estimated physical location to the server so that the server can obtain the reference elevation information corresponding to the estimated physical location in the urban elevation database based on the estimated physical location and feedback it to the target terminal. Among them, the urban elevation database may be generated by mining a large amount of user data.

[0088] It should be noted that the preset reference plane may be the sea level or the surface of a certain reference ellipsoid, and the present application does not limit this.

[0089] S602. Perform positioning calculation based on the estimated physical location to determine the estimated elevation information of the target terminal.

[0090] Among them, in the calculation result obtained by the positioning calculation, it may include the geographical coordinates (φ, λ) of the physical location where the target terminal is located, where φ represents the latitude and λ represents the longitude, and the estimated elevation information of the target terminal. The estimated elevation information may represent the vertical distance between the physical location where the calculated target terminal is located and the preset reference plane.

[0091] It should be noted that any positioning calculation method in the related technologies may be used for the positioning calculation. For example, the positioning calculation may be performed using information such as the pseudorange or carrier phase of the satellite. The present application does not limit this. The same applies to the subsequent positioning calculation steps and will not be elaborated later.

[0092] S603. Verify the estimated elevation information through the reference elevation information. When the difference between the reference elevation information and the estimated elevation information is greater than the preset elevation threshold, repeat the following operations until the preset conditions are met, and then determine the post-verification physical location of the target terminal based on the physical location included in the last calculation result: Use the reference elevation information as a constraint condition, combine it with the estimated physical location for positioning calculation, and update the estimated elevation information of the target terminal based on the elevation information included in the calculation result.

[0093] When the difference between the reference elevation information and the estimated elevation information is less than or equal to the preset elevation threshold, it is determined that the verification of the estimated elevation information passes, and the geographical coordinates of the physical location where the target terminal is located calculated in S602 are used as the post-verification physical location of the target terminal.

[0094] Specifically, taking the reference elevation information as a constraint condition and combining it with the estimated physical position for positioning calculation can be performed as follows: Based on the estimated physical position and the reference elevation information, determine the estimated spatial coordinates of the target terminal. Based on the vector pointing from the geocenter to the estimated spatial coordinates, determine the elevation constraint equation. Perform positioning calculation based on the elevation constraint equation and the estimated physical position to obtain the calculation result. Among them, the calculation result includes the calculated elevation information of the target terminal and the physical position of the target terminal.

[0095] In one example, taking the surface of the reference ellipsoid as the reference datum plane, assuming the estimated physical position is ( λ), and the vertical distance of the ground object at the estimated physical position included in the reference elevation information relative to the surface of the reference ellipsoid is h, then the coordinates of the target terminal can be obtained as ( λ, h). Then, according to formulas (1)-(5), this coordinate can be converted into the estimated spatial coordinates (x, y, z) in the space rectangular coordinate system.

[0096] e 2 = f(2 - f) Formula (1)

[0097] In the formula, e is the first eccentricity of the reference ellipsoid, and f is the flattening of the reference ellipsoid.

[0098]

[0099] In the formula, v is the radius of curvature of the prime vertical of the reference ellipsoid, and a is the semi-major axis of the reference ellipsoid.

[0100]

[0101] In the formula, where represents latitude, and λ represents longitude.

[0102]

[0103]

[0104] The estimated spatial coordinates (x, y, z) can be regarded as a vector pointing from the geocenter to the position point where the target terminal is located, that is, the vector x pointing from the geocenter to the estimated spatial coordinates (x, y, z) h . Based on the geometric distance of this vector, the elevation constraint equation can be determined, and then the elevation constraint equation is used as an additional measurement to perform positioning calculation with the estimated physical position to obtain the calculation result. The elevation constraint equation is shown in Formula (6).

[0105] P = ‖x r ‖ Formula (6)

[0106] In the formula, x rThe physical location of the target terminal included in the solution result, and P is the vector x h The geometric distance of

[0107] Based on the above solution, by verifying the estimated elevation information and using the reference elevation information as an additional measurement for positioning solution, the elevation constraint can be achieved, and the distribution of satellites in the elevation direction during positioning solution can be improved, thereby improving the accuracy of the positioning solution.

[0108] In some embodiments, the preset condition may be that the difference between the reference elevation information and the estimated elevation information is less than or equal to a preset elevation threshold. For example, assume that after two iterations, the difference between the updated estimated elevation information and the reference elevation information is greater than the preset elevation threshold, and after three iterations, the difference between the updated estimated elevation information and the reference elevation information is less than the preset elevation threshold. Then, the iteration is terminated, and the physical location included in the solution result obtained in the third iteration is used as the a posteriori physical location of the target terminal.

[0109] In other embodiments, the preset condition may also be that the number of iterations reaches a preset iteration threshold. For example, assume that the preset iteration threshold is 10. Then, when the number of times of repeating the operation of performing positioning solution with the reference elevation information as a constraint condition reaches 10 times, the iteration is terminated, and the physical location included in the solution result obtained after the 10th time of performing positioning solution with the reference elevation information as a constraint condition is used as the a posteriori physical location of the target terminal.

[0110] In some embodiments, refer to Figure 7 For the process schematic diagram of verifying the estimated physical location provided in the embodiments of the present application. Using the estimated physical location of the target terminal, request the reference elevation information corresponding to the estimated physical location from the urban elevation database. At the same time, perform positioning solution on the estimated physical location to determine the estimated elevation information of the target terminal. Verify the estimated elevation information according to the reference elevation information. If the difference between the reference elevation information and the estimated elevation information is greater than the preset elevation threshold, it is determined that the estimated elevation information is abnormal; otherwise, it is determined that the estimated elevation information is normal. After determining that the estimated elevation information is abnormal, use the reference elevation information as an elevation constraint, re-perform positioning solution and update the estimated elevation information, and then return to perform the operation of verifying the estimated elevation information according to the reference elevation information until the elevation is normal, and determine the a posteriori physical location of the target terminal. Among them, the specific method of using the reference elevation information as an elevation constraint can refer to Figure 6 The relevant descriptions in the method embodiments shown, which will not be elaborated here.

[0111] In a possible implementation manner, refer to Figure 8Exemplary flowchart of the target LOS satellite determination method provided by the embodiments of this application. When the target terminal determines multiple target LOS satellites with unobstructed signals among multiple reference satellites according to the satellite data and the post-verification physical position of each reference satellite, it can follow the Figure 8 process shown below, which specifically includes:

[0112] S801: Based on the mapping relationship between the position information and the building data, obtain the target building data corresponding to the post-verification physical position.

[0113] Among them, the target building data at least includes the elevation angle and height of each target building within the preset range of the post-verification physical position.

[0114] The mapping relationship between the position information and the building data can be stored in the building database. The target terminal can send the post-verification physical position to the server including the building database, so as to receive the target building data corresponding to the post-verification physical position returned by the server.

[0115] Optionally, the target terminal can also first obtain the height of the target building included in the building database, and then determine the elevation angle of the target building based on the height of the target building and the post-verification physical position of the target terminal.

[0116] S802: Based on the elevation angle of each target building, the height of each target building, and the elevation angle of each reference satellite included in the satellite data of each reference satellite, determine multiple candidate LOS satellites with unobstructed signals among the multiple reference satellites.

[0117] The method for performing LOS / NLOS determination on each reference satellite can refer to the relevant description in S302, which will not be elaborated here.

[0118] S803: Perform post-verification residual test on the multiple candidate LOS satellites to determine multiple target LOS satellites among the multiple candidate LOS satellites.

[0119] Specifically, S803 can be executed as follows: Based on the satellite data and satellite signals of each candidate LOS satellite, calculate the post-verification residual of each candidate LOS satellite respectively. When the post-verification residuals of each candidate LOS satellite do not meet the preset residual test rule, delete a preset number of satellites with post-verification residuals greater than the preset residual threshold among the multiple candidate LOS satellites, and perform the operation of calculating the post-verification residual on the remaining candidate LOS satellites until the post-verification residuals of each candidate LOS satellite meet the preset residual test rule, and then determine the remaining candidate LOS satellites as the target LOS satellites.

[0120] Optionally, the preset residual test rule may be whether the a posteriori residuals of each candidate LOS satellite are stable. For example, it can be determined whether the a posteriori residuals of each candidate LOS satellite are stable based on whether there are satellites with excessively large a posteriori residuals among each candidate LOS satellite. If there are satellites with excessively large a posteriori residuals among each candidate LOS satellite, it can be determined that the a posteriori residuals of each candidate LOS satellite are unstable. Conversely, if there are no satellites with excessively large a posteriori residuals among each candidate LOS satellite, it can be determined that the a posteriori residuals of each candidate LOS satellite are stable. For another example, it can be determined whether the a posteriori residuals of each candidate LOS satellite are stable based on whether the number of satellites with a posteriori residuals greater than the preset residual threshold among each candidate LOS satellite exceeds a certain number. If the number of satellites with a posteriori residuals greater than the preset residual threshold among each candidate LOS satellite exceeds a certain number, it can be determined that the a posteriori residuals of each candidate LOS satellite are unstable. Conversely, if the number of satellites with a posteriori residuals greater than the preset residual threshold among each candidate LOS satellite does not exceed a certain number, it can be determined that the a posteriori residuals of each candidate LOS satellite are stable.

[0121] Optionally, since it is usually impossible to perform positioning and calculation through the satellite data of a single satellite, and the satellite data of multiple satellites need to be combined to achieve the positioning of the terminal device, the preset residual test rule may also be whether the a posteriori residuals of each candidate LOS satellite are stable, combined with whether the remaining candidate LOS satellites reach the preset minimum number of LOS satellites. For example, when the a posteriori residuals of each candidate LOS satellite are unstable, a preset number of satellites with a posteriori residuals greater than the preset residual threshold among the multiple candidate LOS satellites are deleted, and the operation of calculating the a posteriori residuals is performed on the remaining candidate LOS satellites, and then it is determined whether the a posteriori residuals of each candidate LOS satellite are stable. If the a posteriori residuals are stable, it is determined that the preset residual test rule is satisfied. In addition, when the a posteriori residuals are unstable but the remaining candidate LOS satellites reach the preset minimum number of LOS satellites, it can also be determined that the preset residual test rule is satisfied, and the remaining candidate LOS satellites are determined as the target LOS satellites.

[0122] It should be understood that the preset residual test rule can also be set according to the actual situation or experience, and the present application does not limit this.

[0123] In a possible implementation manner, the above preset minimum number of LOS satellites may be based on the number of multiple candidate LOS satellites. For example, the minimum number of LOS satellites can be set to 30% of the number of multiple candidate LOS satellites, and the present application does not limit this.

[0124] It should be noted that when deleting a preset number of satellites with post - verification residuals greater than a preset residual threshold among multiple candidate LOS satellites, the preset number can be set according to the actual situation or experience. For example, it can be 1, 2, etc. In addition, the preset number for each execution can be unequal and can be determined according to the number of satellites with post - verification residuals greater than the preset residual threshold. For example, it can be determined according to 40% of the number of satellites with post - verification residuals greater than the preset residual threshold. For instance, when the number of satellites with post - verification residuals greater than the preset residual threshold is 10, the preset number can be determined to be 4. The present application does not make any limitations in this regard.

[0125] In some embodiments, taking the positioning solution using the pseudorange of satellites as an example, the post - verification residuals of each candidate LOS satellite can be calculated as follows: Based on the satellite data and satellite signals of each candidate LOS satellite, determine the satellite positions and pseudorange observations of each candidate LOS satellite. Based on the satellite positions and pseudorange observations of each candidate LOS satellite, determine the reference distances between the target terminal and each candidate LOS satellite. Based on the difference between the reference distance and the pseudorange observation of each candidate LOS satellite, determine the post - verification residuals of each candidate LOS satellite. Among them, the pseudorange observation represents the estimated distance between the satellite and the target terminal.

[0126] It should be noted that since the post - verification residual is the difference between the measured value and the estimated value, when using carrier phase for positioning solution, the method for calculating the post - verification residual is similar to that using the pseudorange of satellites. It can be calculated based on the difference between the carrier phase observation and the calculated carrier phase. The specific method will not be elaborated here.

[0127] In a possible implementation manner, after determining each target LOS satellite, the weights of the remaining NLOS satellites can also be reduced, and the satellite signals of each target LOS satellite and the satellite signals of the NLOS satellites with reduced weights are used for positioning solution to determine the reference physical position of the target terminal.

[0128] Based on the above method, refer to Figure 9 This is a schematic diagram of the target LOS satellite determination process provided by the embodiments of the present application. As Figure 9As shown, the target terminal uses the post-verification physical location to request the target building data corresponding to the post-verification physical location from the building database. Then, the target terminal calculates the LOS probability of each reference satellite using the target building data and the satellite data of each reference satellite, thereby performing LOS satellite determination, eliminating the NLOS satellites among the reference satellites, and obtaining multiple candidate LOS satellites. Then, after re-performing positioning calculation on the multiple candidate LOS satellites, post-verification error checking can be performed. If the post-verification residual check passes, the target LOS satellite can be determined. When the post-verification residual check fails, it indicates that the eliminated NLOS satellites are incorrect. Continue to eliminate the satellites with low LOS probability among the candidate LOS satellites, and re-perform positioning calculation using the remaining candidate LOS satellites until the post-verification residual is stable, determine that the post-verification residual check passes, and output the target LOS satellite.

[0129] Based on the above solution, based on the building database, the building information at the location of the target terminal can be obtained, and combined with the ephemeris information of the satellite, the LOS probability of each reference satellite can be calculated, thereby judging the quality of the satellite. Eliminating these NLOS satellites or downweighting these NLOS satellites can effectively improve the positioning performance.

[0130] It should be noted that the above building database and urban elevation database can be in the same server or distributed in different servers, and this application does not make any limitations in this regard.

[0131] Next, in order to more clearly understand the solution proposed in the embodiments of the present application, a terminal positioning method provided by the present application will be introduced in combination with specific embodiments.

[0132] See Figure 10 which is the overall flow diagram of the terminal positioning provided by the embodiments of the present application. As Figure 10 shown, the process may include:

[0133] S1001, obtain the estimated physical location.

[0134] The target terminal can obtain the estimated physical location, and then use the estimated physical location to request the reference elevation information corresponding to the estimated physical location from the urban elevation database.

[0135] S1002, perform positioning calculation.

[0136] The target terminal can perform positioning calculation using the estimated physical location to obtain the estimated elevation information.

[0137] S1003, determine whether the estimated elevation information is abnormal.

[0138] The estimated elevation information is judged for abnormality by comparing it with the reference elevation information. If the estimated elevation information is normal, perform S1004 to output the a posteriori physical position obtained by the positioning solution. If the estimated elevation information is abnormal, return to S1002 to perform the positioning solution again using the reference elevation information as the elevation constraint until it is determined that the estimated elevation information is normal, and then output the a posteriori physical position obtained by the positioning solution.

[0139] S1004, obtain the a posteriori physical position.

[0140] After obtaining the a posteriori physical position, the target terminal can request the target building data from the building database using the a posteriori physical position.

[0141] S1005, calculate the LOS probability of the reference satellites.

[0142] The target terminal can determine the LOS probability of each reference satellite based on the target building data and the satellite data currently observed by the target terminal, and eliminate the NLOS satellites based on the LOS probability.

[0143] S1006, positioning solution.

[0144] The target terminal can use the remaining candidate LOS satellites after eliminating the NLOS satellites to perform the positioning solution again.

[0145] S1007, check whether the a posteriori residual test passes.

[0146] Based on the positioning solution result obtained in S1006, perform the a posteriori residual test. If it passes, execute S1009 to output the reference physical position of the target terminal and the target LOS satellites. If the test fails, execute S1008 to eliminate the satellites with low LOS probability based on the a posteriori residual, and perform the positioning solution again until the a posteriori residual test passes, and then output the reference physical position of the target terminal and the target LOS satellites.

[0147] S1008, eliminate the satellites with low LOS probability.

[0148] The target terminal can eliminate the satellites with low LOS probability based on the a posteriori residuals of each candidate LOS satellite.

[0149] S1009, obtain the reference physical position and the target LOS satellites.

[0150] After obtaining the reference physical position and the target LOS satellites, the target terminal can report the satellite data of the target LOS satellites to the reference station and receive the reference station observation data and the reference station physical position returned by the reference station.

[0151] S1010, positioning solution.

[0152] The target terminal can use the same solution method as S1006 for positioning calculation to determine the reference satellite position of the target LOS satellite.

[0153] S1011. Determine the position correction value in combination with the physical position of the reference station.

[0154] The target terminal can determine the position correction value in combination with the physical position of the high-precision reference station.

[0155] S1012. Determine the target physical position

[0156] The target terminal can use the position correction value to correct the reference physical position to obtain the target physical position.

[0157] It should be noted that Figure 10 For the specific implementation methods of the respective processes in, reference can be made to the relevant descriptions in the above method embodiments, which will not be elaborated here.

[0158] Based on the same inventive concept as the above method embodiment, the embodiment of the present application also provides a terminal positioning device. As Figure 11 shown, the terminal positioning device 1100 may include: a communication unit 1101, a satellite quality assessment unit 1102, a positioning calculation unit 1103, a position correction unit 1104, and an elevation verification unit 1105.

[0159] The communication unit 1101 is configured to obtain the estimated physical position of the target terminal, and is also configured to obtain the satellite data of each of the multiple reference satellites for positioning the target terminal;

[0160] The satellite quality assessment unit 1102 is configured to determine multiple target line-of-sight (LOS) satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the estimated physical position;

[0161] The positioning calculation unit 1103 is configured to determine the reference physical position of the target terminal based on the satellite signals of each target LOS satellite;

[0162] The communication unit 1101 is further configured to send the satellite data of the multiple target LOS satellites to the reference station, and receive the reference station observation data and the reference station physical position feedback by the reference station for each of the multiple target LOS satellites;

[0163] The position correction unit 1104 is configured to correct the reference physical position based on the received reference station observation data and the reference station physical position of each of the multiple target LOS satellites to obtain the target physical position of the target terminal.

[0164] In a possible implementation, when the satellite quality assessment unit 1102 determines multiple target line-of-sight (LOS) satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the predicted physical position, the communication unit 1101 is configured to: obtain the reference elevation information corresponding to the predicted physical position of the target terminal based on the mapping relationship between the position information and the elevation information; the reference elevation information at least includes: the vertical distance of the building at the predicted physical position relative to the preset reference plane;

[0165] The positioning and calculation unit 1103 is configured to perform positioning and calculation based on the predicted physical position to determine the predicted elevation information of the target terminal;

[0166] The elevation verification unit is configured to verify the predicted elevation information through the reference elevation information. When the difference between the reference elevation information and the predicted elevation information is greater than the preset elevation threshold, the positioning and calculation unit 1103 repeatedly performs the following operations until the preset condition is met, and then determines the post-verification physical position of the target terminal based on the physical position included in the last calculation result: use the reference elevation information as a constraint condition, combine it with the predicted physical position to perform positioning and calculation, and update the predicted elevation information of the target terminal based on the elevation information included in the calculation result;

[0167] The satellite quality assessment unit 1102 is configured to determine multiple target LOS satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the post-verification physical position.

[0168] In a possible implementation, when the positioning and calculation unit 1103 uses the reference elevation information as a constraint condition and combines it with the predicted physical position to perform positioning and calculation, it is configured to: determine the predicted spatial coordinates of the target terminal based on the predicted physical position and the reference elevation information; determine the elevation constraint equation based on the vector pointing from the earth's center to the predicted spatial coordinates; perform positioning and calculation based on the elevation constraint equation and the predicted physical position to obtain the calculation result; the calculation result includes the elevation information of the target terminal and the physical position of the target terminal.

[0169] In a possible implementation, when determining multiple target LOS satellites with unobstructed signals among the multiple reference satellites based on the satellite data of each reference satellite and the post-verification physical position, the communication unit 1101 is configured to: obtain the target building data corresponding to the post-verification physical position based on the mapping relationship between the position information and the building data; the target building data at least includes the elevation angles and heights of each target building within the preset range of the post-verification physical position;

[0170] The satellite quality assessment unit 1102 is configured to determine a plurality of candidate LOS satellites with unobstructed signals among the plurality of reference satellites based on the elevation angles of the respective target buildings, the heights of the respective target buildings, and the elevation angles of the respective reference satellites included in the satellite data of the respective reference satellites; and perform a post-fit residual test on the plurality of candidate LOS satellites to determine a plurality of target LOS satellites among the plurality of candidate LOS satellites.

[0171] In a possible implementation, when the satellite quality assessment unit 1102 performs a post-fit residual test on the plurality of candidate LOS satellites to determine a plurality of target LOS satellites among the plurality of candidate LOS satellites, it is configured to: calculate the post-fit residuals of the respective candidate LOS satellites based on the satellite data and satellite signals of the respective candidate LOS satellites; when the post-fit residuals of the respective candidate LOS satellites do not meet the preset residual test rule, delete a preset number of satellites among the plurality of candidate LOS satellites with post-fit residuals greater than the preset residual threshold, and perform the operation of calculating the post-fit residuals on the remaining respective candidate LOS satellites until the post-fit residuals of the respective candidate LOS satellites meet the preset residual test rule, and determine the remaining candidate LOS satellites as the target LOS satellites.

[0172] In a possible implementation, when the satellite quality assessment unit 1102 calculates the post-fit residuals of the respective candidate LOS satellites based on the satellite data and satellite signals of the respective candidate LOS satellites, it is configured to: determine the satellite positions and pseudorange observations of the respective candidate LOS satellites based on the satellite data and satellite signals of the respective candidate LOS satellites; the pseudorange observation represents the estimated distance between the satellite and the target terminal; determine the reference distances between the target terminal and the respective candidate LOS satellites based on the satellite positions and pseudorange observations of the respective candidate LOS satellites; and determine the post-fit residuals of the respective candidate LOS satellites based on the difference between the reference distances and the pseudorange observations of the respective candidate LOS satellites.

[0173] In a possible implementation, when the position correction unit 1104 corrects the reference physical position based on the received reference station observation data and reference station physical positions of the respective plurality of target LOS satellites to obtain the target physical position of the target terminal, it is configured to: perform position solution based on the received reference station observation data of the respective plurality of target LOS satellites to obtain the reference satellite positions of the respective plurality of target LOS satellites; perform position differencing on the reference station physical position and the reference satellite positions of the respective plurality of target LOS satellites to obtain a position correction value; and correct the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

[0174] For the convenience of description, the above parts are divided into various modules (or units) according to their functions and described separately. In the embodiments of the present application, the term "module" or "unit" refers to a computer program with a predetermined function or a part of a computer program, which works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as a processing circuit or a memory), or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the functions of that module or unit.

[0175] After introducing the terminal positioning method and device of the exemplary embodiment of the present application, next, a computer device according to another exemplary embodiment of the present application will be introduced.

[0176] Those skilled in the art can understand that various aspects of the present application can be implemented as a system, a method, or a program product. Therefore, various aspects of the present application can be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or an implementation combining hardware and software aspects, which can be collectively referred to as "circuit", "module", or "system" here.

[0177] Based on the same inventive concept as the above method embodiment, a computer device is also provided in the embodiments of the present application. In one embodiment, the computer device can be a server, such as Figure 2 the server terminal device 130 shown. In this embodiment, the structure of the computer device is as Figure 12 shown, and can at least include a memory 1201, a communication module 1203, and at least one processor 1202.

[0178] The memory 1201 is used to store the computer program executed by the processor 1202. The memory 1201 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system and programs required to run the instant messaging function, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0179] The memory 1201 can be a volatile memory, such as a random-access memory (RAM); the memory 1201 can also be a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD), or a solid-state drive (SSD); or the memory 1201 is any other medium that can be used to carry or store a desired computer program in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1201 can be a combination of the above memories.

[0180] The processor 1202 can include one or more central processing units (CPUs) or be a digital processing unit, etc. The processor 1202 is used to implement the above terminal positioning method when calling the computer program stored in the memory 1201.

[0181] The communication module 1203 is used to communicate with terminal devices and other servers.

[0182] In the embodiments of the present application, the specific connection medium between the above memory 1201, communication module 1203, and processor 1202 is not limited. In the embodiments of the present application Figure 12 it is described that the memory 1201 and the processor 1202 are connected through a bus 1204, and the bus 1204 is depicted in Figure 12 with a thick line. The connection manners between other components are only for illustrative purposes and are not to be construed as limiting. The bus 1204 can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of description, Figure 12 only a thick line is used to describe it in

[0183] The memory 1201 stores a computer storage medium, and the computer storage medium stores computer-executable instructions for implementing the terminal positioning method of the embodiments of the present application. The processor 1202 is used to execute the above terminal positioning method, as Figure 3 shown.

[0184] In another embodiment, the computer device can also be other computer devices, such as Figure 1 or Figure 2 the terminal device 110 shown. In this embodiment, the structure of the computer device can be as Figure 13As shown, it includes components such as a communication component 1310, a memory 1320, a display unit 1330, a camera 1340, a sensor 1350, an audio circuit 1360, a Bluetooth module 1370, and a processor 1380.

[0185] The communication component 1310 is used to communicate with the server. In some embodiments, it may include a Wireless Fidelity (WiFi) module. The WiFi module belongs to short-range wireless transmission technology, and through the WiFi module, the electronic device can help the user send and receive information.

[0186] The memory 1320 can be used to store software programs and data. The processor 1380 executes various functions and data processing of the terminal device 110 by running the software programs or data stored in the memory 1320. The memory 1320 may include high-speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. The memory 1320 stores an operating system that enables the terminal device 110 to run. In this application, the memory 1320 can store the operating system and various application programs, and can also store a computer program for implementing the terminal positioning method of the embodiments of this application.

[0187] The display unit 1330 can also be used to display information input by the user or information provided to the user, as well as the graphical user interface (GUI) of various menus of the terminal device 110. Specifically, the display unit 1330 may include a display screen 1332 disposed on the front of the terminal device 110. Among them, the display screen 1332 can be configured in the form of a liquid crystal display, a light-emitting diode, etc.

[0188] The display unit 1330 can also be used to receive input numerical or character information and generate signal inputs related to the user settings and function controls of the terminal device 210. Specifically, the display unit 1330 may include a touch screen 1331 disposed on the front of the terminal device 110, which can collect touch operations of the user on or near it, such as clicking buttons, dragging scroll bars, etc.

[0189] Among them, the touch screen 1331 can cover the display screen 1332, or the touch screen 1331 and the display screen 1332 can be integrated to implement the input and output functions of the terminal device 210. After integration, it can be simply called a touch display screen. In this application, the display unit 1330 can display application programs and corresponding operation steps.

[0190] The camera 1340 can be used to capture static images, and the object can publish the images captured by the camera 1340 through an application. There can be one or more cameras 1340. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the processor 1380 to convert it into a digital image signal.

[0191] The terminal device may further include at least one sensor 1350, such as an acceleration sensor 1351, a distance sensor 1352, a fingerprint sensor 1353, and a temperature sensor 1354. The terminal device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, a light sensor, and a motion sensor.

[0192] The audio circuit 1360, the speaker 1361, and the microphone 1362 can provide an audio interface between the object and the terminal device 110. The audio circuit 1360 can transmit the electrical signal converted from the received audio data to the speaker 1361, and the speaker 1361 converts it into a sound signal for output. The terminal device 210 may also be configured with a volume button for adjusting the volume of the sound signal. On the other hand, the microphone 1362 converts the collected sound signal into an electrical signal, which is received by the audio circuit 1360 and converted into audio data, and then the audio data is output to the communication component 1310 to be sent to, for example, another terminal device 210, or the audio data is output to the memory 1320 for further processing.

[0193] The Bluetooth module 1370 is used to interact with other Bluetooth devices with Bluetooth modules through the Bluetooth protocol. For example, the terminal device can establish a Bluetooth connection with a wearable electronic device (such as a smart watch) that also has a Bluetooth module through the Bluetooth module 1370 to perform data interaction.

[0194] The processor 1380 is the control center of the terminal device, connecting various parts of the entire terminal using various interfaces and lines. By running or executing software programs stored in the memory 1320 and invoking data stored in the memory 1320, it performs various functions of the terminal device and processes data. In some embodiments, the processor 1380 may include one or more processing units; the processor 1380 may also integrate an application processor and a baseband processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the baseband processor mainly processes wireless communication. It can be understood that the above baseband processor may not be integrated into the processor 1380. In this application, the processor 1380 can run the operating system, application programs, user interface display, and touch response, as well as the terminal positioning method of the embodiments of this application. In addition, the processor 1380 is coupled to the display unit 1330.

[0195] In addition, it should be noted that in the specific implementation of this application, when it comes to object data related to terminal positioning and the like, when the above embodiments of this application are applied to specific products or technologies, object permission or consent needs to be obtained, and the collection, use, and processing of relevant data need to comply with relevant laws, regulations, and standards in relevant countries and regions.

[0196] In some possible implementation manners, various aspects of the terminal positioning method provided in this application can also be implemented in the form of a program product, which includes a computer program. When the program product runs on a computer device, the computer program is used to cause the computer device to execute the steps in the terminal positioning method according to various exemplary embodiments of this application described above in this specification. For example, the computer device can execute the steps as shown in Figure 3 shown in.

[0197] The program product can adopt any combination of one or more readable media. The readable media can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0198] The program product of an embodiment of the present application may be a portable compact disc read-only memory (CD-ROM) and include a computer program, and may be run on an electronic device. However, the program product of the present application is not limited thereto. In this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with a command execution system, apparatus, or device.

[0199] A readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a readable computer program. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium other than a readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with a command execution system, apparatus, or device.

[0200] The computer program contained on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0201] The computer program for performing the operations of the present application may be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The computer program may be executed entirely on the user's computer device, partially on the user's computer device, executed as a stand-alone software package, partially on the user's computer device and partially on a remote computer device, or entirely on the remote computer device. In the case of a remote computer device, the remote computer device may be connected to the user's computer device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer device (e.g., through the Internet using an Internet service provider).

[0202] It should be noted that although several units or subunits of the apparatus are mentioned in the above detailed description, such a division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more units described above may be embodied in one unit. Conversely, the features and functions of one unit described above may be further divided and embodied by multiple units.

[0203] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all of the shown operations must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0204] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable computer programs.

[0205] The present application is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0206] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including instruction means that implement the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0207] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0208] Although the preferred embodiments of the present application have been described, additional changes and modifications can be made to these embodiments by those skilled in the art once they learn of the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications that fall within the scope of the present application.

[0209] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A terminal positioning method, characterized in that Including: Obtaining the estimated physical position of a target terminal and satellite data of multiple reference satellites for positioning the target terminal respectively; Based on the satellite data of each reference satellite and the estimated physical position, determining multiple target line-of-sight (LOS) satellites among the multiple reference satellites whose signals are not blocked, and determining the reference physical position of the target terminal based on the satellite signals of each target LOS satellite; Sending the satellite data of the multiple target LOS satellites to a reference station, and receiving the reference station observation data and the reference station physical position feedback by the reference station for each of the multiple target LOS satellites; Correcting the reference physical position based on the received reference station observation data and the reference station physical position of each of the multiple target LOS satellites to obtain the target physical position of the target terminal.

2. The method according to claim 1, wherein The determining, based on the satellite data of each reference satellite and the estimated physical position, multiple target LOS satellites among the multiple reference satellites whose signals are not blocked includes: Obtaining the reference elevation information corresponding to the estimated physical position of the target terminal based on the mapping relationship between position information and elevation information; the reference elevation information at least includes: the vertical distance of the building at the estimated physical position relative to a preset reference plane; Performing positioning calculation based on the estimated physical position to determine the estimated elevation information of the target terminal; Verifying the estimated elevation information through the reference elevation information. When the difference between the reference elevation information and the estimated elevation information is greater than a preset elevation threshold, repeatedly execute the following operations until a preset condition is met, and based on the physical position included in the last calculation result, determining the a posteriori physical position of the target terminal: using the reference elevation information as a constraint condition, combining with the estimated physical position to perform positioning calculation, and updating the estimated elevation information of the target terminal based on the elevation information included in the calculation result; Based on the satellite data of each reference satellite and the a posteriori physical position, determining multiple target LOS satellites among the multiple reference satellites whose signals are not blocked.

3. The method according to claim 2, wherein The using the reference elevation information as a constraint condition and combining with the estimated physical position to perform positioning calculation includes: Based on the estimated physical position and the reference elevation information, determining the estimated space coordinates of the target terminal; Based on the vector pointing from the earth center to the estimated space coordinates, determining an elevation constraint equation; Performing positioning calculation based on the elevation constraint equation and the estimated physical position to obtain a calculation result; the calculation result includes the elevation information of the target terminal and the physical position of the target terminal.

4. The method according to claim 2, wherein The determining, based on the satellite data of each reference satellite and the a posteriori physical position, multiple target LOS satellites among the multiple reference satellites whose signals are not blocked includes: Obtaining the target building data corresponding to the a posteriori physical position based on the mapping relationship between position information and building data; the target building data at least includes the elevation angles and heights of each target building within a preset range of the a posteriori physical position. Determine a plurality of candidate LOS satellites with unobstructed signals among the plurality of reference satellites based on the elevation angles of the respective target buildings, the heights of the respective target buildings, and the elevation angles of the respective reference satellites included in the satellite data of the respective reference satellites; Perform a posteriori residual test on the plurality of candidate LOS satellites to determine a plurality of target LOS satellites among the plurality of candidate LOS satellites.

5. The method according to claim 4, wherein The performing a posteriori residual test on the plurality of candidate LOS satellites to determine a plurality of target LOS satellites among the plurality of candidate LOS satellites includes: Calculate the a posteriori residuals of the respective candidate LOS satellites based on the satellite data and satellite signals of the respective candidate LOS satellites; When the a posteriori residuals of the respective candidate LOS satellites do not satisfy the preset residual test rule, delete a preset number of satellites among the plurality of candidate LOS satellites with a posteriori residuals greater than the preset residual threshold, and perform the operation of calculating the a posteriori residuals on the remaining respective candidate LOS satellites until the a posteriori residuals of the respective candidate LOS satellites satisfy the preset residual test rule, and determine the remaining candidate LOS satellites as the target LOS satellites.

6. The method according to claim 5, characterized in that, The calculating the a posteriori residuals of the respective candidate LOS satellites based on the satellite data and satellite signals of the respective candidate LOS satellites includes: Based on the satellite data and satellite signals of the respective candidate LOS satellites, determine the satellite positions and pseudorange observations of the respective candidate LOS satellites; the pseudorange observation represents the estimated distance between the satellite and the target terminal; Based on the satellite positions and pseudorange observations of the respective candidate LOS satellites, determine the reference distances between the target terminal and the respective candidate LOS satellites; Based on the difference between the reference distance and the pseudorange observation of the respective candidate LOS satellites, determine the a posteriori residuals of the respective candidate LOS satellites.

7. The method according to any one of claims 1-6, characterized in that, The correcting the reference physical position based on the respective base station observation data and base station physical positions of the plurality of target LOS satellites received to obtain the target physical position of the target terminal includes: Perform position solution based on the respective base station observation data of the plurality of target LOS satellites received to obtain the reference satellite positions of the respective target LOS satellites; Perform position difference on the base station physical position and the reference satellite positions of the respective target LOS satellites to obtain a position correction value; Correct the reference physical position based on the position correction value to obtain the target physical position of the target terminal.

8. A terminal positioning device, characterized in that, Includes: A communication unit, configured to obtain the estimated physical position of the target terminal and the satellite data of the plurality of reference satellites for positioning the target terminal; A satellite quality evaluation unit, configured to determine a plurality of target line-of-sight signal LOS satellites with unobstructed signals among the plurality of reference satellites based on the satellite data of the respective reference satellites and the estimated physical position; A positioning solution unit, configured to determine the reference physical position of the target terminal based on the satellite signals of the respective target LOS satellites; The communication unit is further configured to send the satellite data of the multiple target LOS satellites to a reference station, and receive the reference station observation data and the physical position of the reference station for each of the multiple target LOS satellites fed back by the reference station; A position correction unit is configured to correct the reference physical position based on the reference station observation data and the physical position of the reference station for each of the multiple target LOS satellites received, so as to obtain the target physical position of the target terminal.

9. A computer device, characterized in that, It includes a processor and a memory. The memory stores program code, and when the program code is executed by the processor, the processor is caused to execute the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It includes program code, and when the program code runs on a computer device, the program code is used to cause the computer device to execute the steps of the method according to any one of claims 1 to 7.

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