Fixed-point parking method and device based on double-frequency positioning and storage medium

Abstract

The invention relates to the field of parking positioning, and discloses a fixed-point parking method and device based on double-frequency positioning and a storage medium. The method comprises the steps that a G-MOUSE correction system monitors NMEA format positioning data; judging whether to be connected with a service interface of the RTK service system; when connection is carried out, GGA data are extracted from the NMEA format positioning data, and the GGA data are sent to the RTK service system based on a service interface of the RTK service system; the RTK service system receives the GGA data, performs error calibration processing on the GGA data, generates RTCM data, and transmits the RTCM data to the G-MOUSE correction system; the G-MOUSE correction system receives the RTCM data and performs differential correction processing on the GGA data based on the RTCM data to generate correction positioning data; and according to the correction positioning data, parking inspection processing is performed on the preset shared bicycle, and an inspection result is generated. According to the embodiment of the invention, ultrahigh-precision positioning of the shared bicycle is realized, and the positioning of the shared bicycle has resistance to external interference.

Description

Technical Field

[0001] The present invention relates to the field of parking positioning, and in particular to a fixed-point parking method, device and storage medium based on dual-frequency positioning. Background Art

[0002] Currently, most two-wheeled vehicles use standard GPS positioning, such as Taidou positioning modules and Zhongke micro-positioning modules. These standard positioning modules, with their wide compatibility and relatively affordable cost, have become the preferred choice for many two-wheeled vehicle manufacturers and users. However, it is worth noting that while these standard GPS positioning modules excel in basic navigation and location tracking, their limitations in positioning accuracy and stability are becoming increasingly apparent when faced with complex and changing urban environments and precise parking requirements.

[0003] Conventional GPS positioning technology is limited by factors such as satellite signal quality and atmospheric interference, resulting in positioning accuracy typically limited to a few meters to tens of meters. Conventional GPS receivers rely on a clear view of the sky to receive satellite signals. In urban environments, obstacles such as tall buildings and trees can block satellite signals, resulting in reduced positioning accuracy or even loss of positioning. Furthermore, GPS signals can be subject to electromagnetic interference, such as from buildings, power lines, and radar systems, which can affect signal integrity and further reduce positioning accuracy. For parking scenarios requiring centimeter-level accuracy, such as shared bike parking spots and smart parking areas, conventional GPS positioning technology clearly cannot meet the required accuracy.

[0004] Therefore, with the accelerated development of the intelligent and precise trend of two-wheeled vehicles, a new technology is needed to solve the current technical problems of shared bicycles, such as insufficient GPS positioning accuracy and susceptibility to external environment and signal interference. Summary of the Invention

[0005] The main purpose of this invention is to solve the technical problems of current shared bicycle GPS positioning, which is insufficient in accuracy and easily affected by external environment and signal interference.

[0006] A first aspect of the present invention provides a fixed-point parking method based on dual-frequency positioning, wherein the fixed-point parking method based on dual-frequency positioning is applied to a fixed-point parking system based on dual-frequency positioning, wherein the fixed-point parking system based on dual-frequency positioning includes: a G-MOUSE correction system and an RTK service system. The fixed-point parking method based on dual-frequency positioning includes:

[0007] The G-MOUSE correction system monitors NMEA format positioning data;

[0008] When receiving NMEA format positioning data, determining whether it is connected to the service interface of the RTK service system;

[0009] When connected to the service interface of the RTK service system, GGA data is extracted from the NMEA format positioning data, and the GGA data is sent to the RTK service system based on the service interface of the RTK service system;

[0010] The RTK service system receives the GGA data, performs error calibration on the GGA data, generates RTCM data, and transmits the RTCM data to the G-MOUSE correction system;

[0011] The G-MOUSE correction system receives the RTCM data, and performs differential correction processing on the GGA data based on the RTCM data to generate corrected positioning data;

[0012] Based on the corrected positioning data, a parking inspection process is performed on the preset shared bicycle to generate an inspection result.

[0013] Optionally, in a first implementation of the first aspect of the present invention, determining whether the connection is established with the service interface of the RTK service system includes:

[0014] Sending a test request to the service interface of the RTK service system;

[0015] Trigger a timer to monitor feedback data from the service interface;

[0016] When the feedback data is received and the timing duration of the timer is less than a preset duration threshold, it is determined that the service interface of the RTK service system is connected.

[0017] Optionally, in a second implementation of the first aspect of the present invention, extracting GGA data from the NMEA format positioning data includes:

[0018] Read the data starting with $GPGGA line by line from the NMEA format positioning data and separate them to obtain a GGA field set;

[0019] Performing format conversion processing on the GGA field set to obtain GGA data.

[0020] Optionally, in a third implementation of the first aspect of the present invention, performing parking inspection on the preset shared bicycle based on the corrected positioning data and generating an inspection result includes:

[0021] Determining whether the corrected positioning data is within a preset electronic fence;

[0022] When the shared bicycle is within the preset electronic fence, a verification result is generated indicating that the shared bicycle is qualified for parking;

[0023] When the preset electronic fence is not processed, a verification result of unqualified parking of the shared bicycle is generated.

[0024] Optionally, in a fourth implementation of the first aspect of the present invention, performing error calibration on the GGA data to generate RTCM data includes:

[0025] Based on the precise positioning data of the preset GNSS receiver, the GGA data is subjected to error correction processing to generate RTCM data.

[0026] Optionally, in a fifth implementation of the first aspect of the present invention, the G-MOUSE correction system monitoring NMEA format positioning data includes:

[0027] The G-MOUSE correction system is based on a pre-installed GPS receiver and monitors NMEA format positioning data.

[0028] Optionally, in a sixth implementation of the first aspect of the present invention, sending the GGA data to the RTK service system based on the service interface of the RTK service system includes:

[0029] Based on the 4G communication protocol and the service interface of the RTK service system, the GGA data is sent to the RTK service system.

[0030] Optionally, in a seventh implementation of the first aspect of the present invention, after performing parking inspection on the preset shared bicycle based on the corrected positioning data and generating an inspection result, the method further includes:

[0031] If the verification result is qualified, the shared bicycle is locked and parked;

[0032] When the verification result is unqualified, the parking position abnormality information is sent to the preset management address.

[0033] The second aspect of the present invention provides a fixed-point parking device based on dual-frequency positioning, comprising: a memory and at least one processor, wherein instructions are stored in the memory, and the memory and the at least one processor are interconnected through a line; the at least one processor calls the instructions in the memory so that the fixed-point parking device based on dual-frequency positioning executes the above-mentioned fixed-point parking method based on dual-frequency positioning.

[0034] A third aspect of the present invention provides a computer-readable storage medium having instructions stored therein, which, when executed on a computer, enables the computer to execute the above-mentioned fixed-point parking method based on dual-frequency positioning.

[0035] In an embodiment of the present invention, based on the integration of RTK (real-time dynamic carrier phase differential) technology, G-MOUSE high-precision positioning module, etc., it is possible to process data from multiple positioning sources in real time, perform differential calculations, error correction and data fusion, and ultimately output stable and reliable high-precision positioning information, thereby achieving ultra-high-precision positioning of the two-wheeled vehicle. This solution overcomes the technical problems of the current shared bicycle GPS positioning accuracy being insufficient and being susceptible to external environment and signal interference, and achieves ultra-high-precision positioning of shared bicycles, and the positioning can be resistant to external interference. The present invention is not limited to applications in a single field, but can be widely used in multiple fields such as shared bicycles, smart cities, precision agriculture, logistics and warehousing, etc. This cross-field application capability reflects the wide applicability and market potential of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of an embodiment of a fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention;

[0037] Figure 2 1 is a schematic diagram of a specific embodiment of step 102 of the fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention;

[0038] Figure 3 1 is a schematic diagram of a specific embodiment of step 103 of the fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention;

[0039] Figure 4 106 is a schematic diagram of a specific embodiment of the method for fixed-point parking based on dual-frequency positioning in an embodiment of the present invention;

[0040] Figure 5 Schematic diagram of an embodiment of a fixed-point parking device based on dual-frequency positioning in an embodiment of the present invention. DETAILED DESCRIPTION

[0041] Embodiments of the present invention provide a fixed-point parking method, device, and storage medium based on dual-frequency positioning.

[0042] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0043] In the description of the embodiments disclosed herein, the term "including" and similar terms should be understood as open inclusion, i.e., "including but not limited to." The term "based on" should be understood as "based, at least in part, on." The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0044] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 In one embodiment of the present invention, a method for fixed-point parking based on dual-frequency positioning is provided. The method is applied to a fixed-point parking system based on dual-frequency positioning. The fixed-point parking system based on dual-frequency positioning includes: a G-MOUSE correction system and an RTK service system. The method includes:

[0045] 101. The G-MOUSE correction system monitors NMEA format positioning data;

[0046] In this embodiment, the G-MOUSE correction system is a module that integrates satellite reception, positioning, navigation and other functions. It is widely used in agriculture, engineering machinery, vehicle positioning, drones and other fields. It has the characteristics of high-precision positioning, multi-system support, and strong anti-interference ability. It can include an overall system with the following hardware: Beiyun Technology Gmouse-M2 series, Tiangong Measurement and Control SKM2505NR, UP668D pure Beidou positioning G-MOUSE module. NEMA data is a data format defined by the NMEA-0183 protocol, which is a unified standard protocol for GPS / Beidou navigation equipment. The protocol uses ASCII code to transmit GPS positioning information, and the information is in frames. The G-MOUSE correction system can have a built-in GNSS receiver, and use the GNSS receiver to monitor whether the NMEA format positioning data is received. The G-MOUSE correction system of this solution can be integrated on a shared bicycle to ensure that the positioning data analyzed by the G-MOUSE correction system is consistent with the shared bicycle.

[0047] 102. When receiving NMEA format positioning data, determine whether it is connected to the service interface of the RTK service system;

[0048] In this embodiment, RTK (Real-Time Kinematic) service is a high-precision satellite positioning service. A base station is set up at a stable position with known coordinates. Its GPS / Beidou receiver continuously receives satellite signals. The base station uses the satellite signals and known coordinates to calculate differential correction data including pseudorange error, ionospheric delay, etc.

[0049] An if statement can be used. When it is determined that NMEA format positioning data has been received, the G-MOUSE correction system analyzes and determines whether it is connected to the service interface of the RTK service system.

[0050] For details, please refer to Figure 2 , Figure 2 This is a specific implementation of step 102 of the fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention. Step 102 includes the following specific implementations:

[0051] 1021. Send a test request to the service interface of the RTK service system;

[0052] 1022. Trigger a timer to monitor feedback data from the service interface;

[0053] 1023. When the feedback data is received and the timing duration of the timer is less than a preset duration threshold, determine to connect to the service interface of the RTK service system.

[0054] In steps 1021-1023, the G-MOUSE calibration system first sends a detection test request to the RTK service system's service interface. The internally integrated communication link executes the connection command along the configured path. After the request is sent, a timer is set and the system monitors whether the service interface has responded. Using a conditional if statement, the system determines that a connection has been established with the RTK service interface if feedback has been received and the timer has expired within a preset threshold. Otherwise, the else statement determines that the connection has not been established with the RTK service interface, terminating subsequent data processing.

[0055] 103. When connected to the service interface of the RTK service system, extracting GGA data from the NMEA format positioning data, and sending the GGA data to the RTK service system based on the service interface of the RTK service system;

[0056] In this embodiment, when confirming the connection to the service interface of the RTK service system, GGA data is extracted from the NMEA format positioning data. GGA data is a data type in the NMEA-0183 protocol and is primarily used to provide positioning information for GNSS (Global Navigation Satellite System) receivers. The following is an example of a GGA data frame: $GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47.

[0057] Then, the GGA data is sent to the RTK service system through the TCP / IP protocol based on the service interface of the RTK service system.

[0058] For details, please refer to Figure 3 , Figure 3 This is a specific implementation of step 103 of the fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention. In step 103, "extracting GGA data from the NMEA format positioning data" includes the following specific implementations:

[0059] 1031. Read the data starting with $GPGGA line by line from the NMEA format positioning data and separate them to obtain a GGA field set.

[0060] 1032. Perform format conversion on the GGA field set to obtain GGA data.

[0061] In steps 1031-1032, read the data in NMEA format. In each line of data read, find the sentence starting with $GPGGA, separate the GGA sentences by commas, extract the required fields (such as time, latitude, longitude, etc.), convert the latitude and longitude from minute format to degree format, and check the positioning status field to ensure that the data is valid.

[0062] In one embodiment, in step 103, “sending the GGA data to the RTK service system based on the service interface of the RTK service system includes” includes the following specific implementations:

[0063] 1033. Send the GGA data to the RTK service system based on the 4G communication protocol and the service interface of the RTK service system.

[0064] In step 1033, a 4G communication module is integrated into the G-MOUSE correction system. When communicating with the RTK service system, the packaged GGA data is sent to the RTK service system based on the 4G communication protocol.

[0065] 104. The RTK service system receives the GGA data, performs error calibration on the GGA data, generates RTCM data, and transmits the RTCM data to the G-MOUSE correction system.

[0066] In this embodiment, the RTK service system receives GGA data and calculates pseudorange errors and carrier phase errors based on its known position and received satellite signals. These errors include satellite orbit error, satellite clock error, ionospheric delay, tropospheric delay, etc. The system calculates pseudorange and carrier phase errors, determines a differential correction model, generates RTCM data, and then transmits the RTCM data to the G-MOUSE correction system.

[0067] Specifically, in step 104, “performing error calibration on the GGA data to generate RTCM data” includes the following specific implementations:

[0068] 1041. Based on the precise positioning data of a preset GNSS receiver, perform error calibration on the GGA data to generate RTCM data.

[0069] In step 1041, the RTK service system performs error calibration processing on the GGA data based on the known position of the precise positioning data of the implemented GNSS receiver and the received satellite signals to generate RTCM data.

[0070] 105. The G-MOUSE correction system receives the RTCM data and performs differential correction processing on the GGA data based on the RTCM data to generate corrected positioning data.

[0071] In this embodiment, the G-MOUSE correction system receives RTCM data and uses it to perform differential correction on its stored GGA data, generating corrected positioning data. Assuming the base station calculates a pseudorange error of Δρ for a particular satellite, the generated RTCM data will include this error information. Upon receiving this RTCM data, the rover subtracts Δρ from its stored pseudorange measurement to obtain a pseudorange closer to the true value, thereby improving positioning accuracy.

[0072] 106. Perform parking inspection on the preset shared bicycle based on the corrected positioning data and generate an inspection result.

[0073] In this embodiment, based on the corrected positioning data, the current parking position of the shared bicycle is verified to determine whether it meets the pre-set parking point, and a position verification result is obtained.

[0074] For details, please refer to Figure 4 , Figure 4 This is a specific implementation of step 106 of the fixed-point parking method based on dual-frequency positioning in an embodiment of the present invention. Step 106 includes the following specific implementations:

[0075] 1061. Determine whether the corrected positioning data is within a preset electronic fence;

[0076] 1062. When the shared bicycle is within the preset electronic fence, a verification result indicating that the shared bicycle is parked properly is generated;

[0077] 1063. When the preset electronic fence is not processed, a verification result indicating that the shared bicycle parking is unqualified is generated.

[0078] In steps 1061-1062, it is determined whether the latitude and longitude data of the corrected positioning data are within the preset electronic fence. If it is within the preset electronic fence, the shared bicycle is considered to be parked properly and a qualified verification result is generated. If it is not within the preset electronic fence, the shared bicycle is considered to be parked unqualified and a failed verification result is generated.

[0079] Specifically, after step 106, the following specific implementation methods are also included:

[0080] 107. When the verification result is qualified, the shared bicycle is locked and parked;

[0081] 108. When the verification result is unqualified, the parking position abnormality information is sent to the preset management address.

[0082] In steps 107-108, the G-MOUSE calibration system obtains the shared bicycle's position verification results. If the verification result is qualified, the shared bicycle is locked and parked, completing the shared bicycle's fixed-point parking task. If the verification result is unqualified, a parking position abnormality message is sent to the management server and the user app, and the parking and locking process is not executed. The user is required to move the shared bicycle to a pre-set electronic fence to complete the parking task.

[0083] In an embodiment of the present invention, based on the integration of RTK (real-time dynamic carrier phase differential) technology, G-MOUSE high-precision positioning module, etc., it is possible to process data from multiple positioning sources in real time, perform differential calculations, error correction and data fusion, and ultimately output stable and reliable high-precision positioning information, thereby achieving ultra-high-precision positioning of the two-wheeled vehicle. This solution overcomes the technical problems of the current shared bicycle GPS positioning accuracy being insufficient and being susceptible to external environment and signal interference, and achieves ultra-high-precision positioning of shared bicycles, and the positioning can be resistant to external interference. The present invention is not limited to applications in a single field, but can be widely used in multiple fields such as shared bicycles, smart cities, precision agriculture, logistics and warehousing, etc. This cross-field application capability reflects the wide applicability and market potential of the present invention.

[0084] Figure 5FIG2 is a schematic diagram of the structure of a dual-frequency positioning-based fixed-point parking system provided by an embodiment of the present invention. The dual-frequency positioning-based fixed-point parking system 500 may vary significantly due to different configurations or performance. The system may include one or more central processing units (CPUs) 510 (e.g., one or more processors), a memory 520, and one or more storage media 530 (e.g., one or more mass storage devices) storing application programs 533 or data 532. The memory 520 and storage medium 530 may be either transient or persistent storage. The program stored in the storage medium 530 may include one or more modules (not shown), each of which may include a series of instruction operations for the dual-frequency positioning-based fixed-point parking system 500. Furthermore, the processor 510 may be configured to communicate with the storage medium 530 to execute the series of instruction operations stored in the storage medium 530 on the dual-frequency positioning-based fixed-point parking system 500.

[0085] The dual-frequency positioning-based fixed-point parking device 500 may further include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input and output interfaces 560, and / or one or more operating systems 531, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be understood by those skilled in the art that Figure 5 The structure of the fixed-point parking device based on dual-frequency positioning shown does not constitute a limitation to the fixed-point parking device based on dual-frequency positioning, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0086] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. The computer-readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the steps of the fixed-point parking method based on dual-frequency positioning.

[0087] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0088] In addition, although adopting specific order to describe each operation, this should be understood as requiring such operation to be carried out in the specific order shown or in sequential order, or requiring that all illustrated operations should be carried out to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although comprising some specific implementation details in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation also can be implemented in a plurality of implementations individually or in the mode of any suitable subcombination.

[0089] Although the subject matter has been described in language specific to structural features and / or methodological logical acts, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A fixed-point parking method based on dual-frequency positioning, characterized in that: The fixed-point parking method based on dual-frequency positioning is applied to a fixed-point parking system based on dual-frequency positioning. The fixed-point parking system based on dual-frequency positioning includes: a G-MOUSE correction system and an RTK service system. The fixed-point parking method based on dual-frequency positioning includes: The G-MOUSE correction system monitors NMEA format positioning data; When receiving NMEA format positioning data, determining whether it is connected to the service interface of the RTK service system; When connected to the service interface of the RTK service system, GGA data is extracted from the NMEA format positioning data, and the GGA data is sent to the RTK service system based on the service interface of the RTK service system; The RTK service system receives the GGA data, performs error calibration on the GGA data, generates RTCM data, and transmits the RTCM data to the G-MOUSE correction system; The G-MOUSE correction system receives the RTCM data, and performs differential correction processing on the GGA data based on the RTCM data to generate corrected positioning data; Based on the corrected positioning data, a parking inspection process is performed on the preset shared bicycle to generate an inspection result.

2. The fixed-point parking method based on dual-frequency positioning according to claim 1, characterized in that: The determining whether the service interface of the RTK service system is connected includes: Sending a test request to the service interface of the RTK service system; Trigger a timer to monitor feedback data from the service interface; When the feedback data is received and the timing duration of the timer is less than a preset duration threshold, it is determined that the service interface of the RTK service system is connected.

3. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: The extracting GGA data from the NMEA format positioning data comprises: Read the data starting with $GPGGA line by line from the NMEA format positioning data and separate them to obtain a GGA field set; Performing format conversion processing on the GGA field set to obtain GGA data.

4. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: The performing parking inspection on the preset shared bicycle based on the corrected positioning data and generating an inspection result includes: Determining whether the corrected positioning data is within a preset electronic fence; When the shared bicycle is within the preset electronic fence, a verification result is generated indicating that the shared bicycle is qualified for parking; When the preset electronic fence is not processed, a verification result of unqualified parking of the shared bicycle is generated.

5. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: The performing error calibration on the GGA data to generate RTCM data includes: Based on the precise positioning data of the preset GNSS receiver, the GGA data is subjected to error correction processing to generate RTCM data.

6. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: The G-MOUSE correction system monitors NMEA format positioning data including: The G-MOUSE correction system is based on a pre-installed GPS receiver and monitors NMEA format positioning data.

7. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: The sending of the GGA data to the RTK service system based on the service interface of the RTK service system comprises: Based on the 4G communication protocol and the service interface of the RTK service system, the GGA data is sent to the RTK service system.

8. The method for fixed-point parking based on dual-frequency positioning according to claim 1, characterized in that: After performing parking inspection on the preset shared bicycle according to the corrected positioning data and generating an inspection result, the method further includes: If the verification result is qualified, the shared bicycle is locked and parked; When the verification result is unqualified, the parking position abnormality information is sent to the preset management address.

9. A fixed-point parking device based on dual-frequency positioning, characterized in that: The dual-frequency positioning-based fixed-point parking device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the fixed-point parking device based on dual-frequency positioning to execute the fixed-point parking method based on dual-frequency positioning according to any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the fixed-point parking method based on dual-frequency positioning as described in any one of claims 1 to 8 is implemented.

Images