RTK positioning method, device and system, computer equipment and storage medium

Abstract

The invention relates to an RTK positioning method, device and system, computer equipment and a storage medium. The method comprises the following steps: a vehicle-mounted terminal initiates a 5G positioning request to a space-time service platform, receives a 5G positioning result of the vehicle-mounted terminal returned by the space-time service platform based on the positioning request, constructs a GGA message of the vehicle-mounted terminal based on the 5G positioning result, and sends the GGA message to a fusion positioning platform, and receiving differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtaining an RTK positioning result of the vehicle-mounted terminal based on the satellite observation data, the 5G positioning result, the differential data and the ephemeris data. Through introducing the 5G positioning result, RTK calculation of differential data, ephemeris data and satellite observation data is assisted, so that the convergence speed of RTK first point convergence of the vehicle-mounted terminal is improved, the positioning speed of RTK positioning is accelerated, and the positioning efficiency of RTK positioning is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wireless communication technology and terminals, and in particular to an RTK positioning method, device, system, computer equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] In recent years, the global navigation satellite system (GNSS) is widely used in various fields, and the real-time carrier phase difference (RTK) positioning technology plays an important role in lane-level navigation, automatic auxiliary driving and pedestrian navigation. The core working mechanism of RTK positioning is to realize high-precision positioning by relying on GNSS difference data, and the positioning process needs to go through the convergence phase from floating point solution to fixed solution. The first convergence speed directly determines the response performance of the entire RTK positioning system.

[0003] However, in actual application, when the vehicle re-establishes RTK positioning in a shielding or semi-shielding environment such as a tunnel entrance and exit, an overpass, an underground parking lot, etc., the system often needs 15-20 seconds or even longer re-convergence time. This delay seriously restricts the application effect of RTK technology in intelligent driving scenarios with extremely high real-time requirements, and there is a problem of low RTK positioning efficiency. SUMMARY

[0004] Therefore, it is necessary to provide an RTK positioning method, device, system, computer equipment, computer readable storage medium and computer program product capable of improving the RTK positioning efficiency in view of the above technical problems.

[0005] In a first aspect, the present application provides an RTK positioning method applied to a vehicle terminal, comprising:

[0006] initiating a 5G positioning request to a space-time service platform, and receiving a 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request;

[0007] based on the 5G positioning result, constructing a GGA message of the vehicle terminal, and sending the GGA message to a fusion positioning platform;

[0008] receiving difference data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtaining an RTK positioning result of the vehicle terminal according to the satellite observation data, the 5G positioning result, the difference data and the ephemeris data.

[0009] In combination with the first aspect, in one embodiment, the number of 5G positioning results is multiple, and different 5G positioning results correspond to different positioning modes.

[0010] Based on the 5G positioning result, the GGA message of the vehicle terminal is constructed, including:

[0011] The 5G positioning result with the highest positioning accuracy is taken as the current terminal position of the vehicle terminal;

[0012] The current terminal position is data-encapsulated to obtain a 5G position transparent data structure of the vehicle terminal;

[0013] According to the 5G position transparent data structure, the GGA message of the vehicle terminal is obtained.

[0014] In combination with the first aspect, in one of the embodiments, according to the 5G position transparent data structure, the GGA message of the vehicle terminal is obtained, including:

[0015] The 5G position transparent data structure is subjected to structure parameter extraction to obtain structure parameters of the vehicle terminal;

[0016] The structure parameters are subjected to message encapsulation according to the NAME message format to obtain the GGA message of the vehicle terminal.

[0017] In combination with the first aspect, in one of the embodiments, according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data, the RTK positioning result of the vehicle terminal is obtained, including:

[0018] According to the satellite observation data, the initial distance from the vehicle terminal to each satellite is obtained;

[0019] The initial distance is subjected to distance correction by using the current terminal position of the vehicle terminal to obtain the distance from the vehicle terminal to each satellite;

[0020] Based on the distance from the vehicle terminal to each satellite, the ephemeris data and the differential data, the RTK positioning result of the vehicle terminal is obtained.

[0021] In combination with the first aspect, in one of the embodiments, based on the distance from the vehicle terminal to each satellite, the ephemeris data and the differential data, the RTK positioning result of the vehicle terminal is obtained, including:

[0022] The satellite position information of each satellite is obtained by using the ephemeris data;

[0023] According to the satellite position information of each satellite and the distance from the vehicle terminal to each satellite, the initial RTK positioning result of the vehicle terminal is obtained;

[0024] The initial RTK positioning result of the vehicle terminal is corrected by using the differential data to obtain the RTK positioning result of the vehicle terminal.

[0025] In combination with the first aspect, in an embodiment, the current terminal position is data-encapsulated to obtain a 5G position transparent data structure of the vehicle-mounted terminal, which comprises:

[0026] A pre-defined field rule is obtained, and corresponding field data is obtained from the current terminal position according to the field rule; the field rule comprises a field name, a field data type, a field description, a field unit and a field example corresponding to the field data;

[0027] The field rule and the field data corresponding to the field rule are encapsulated to obtain the 5G position transparent data structure of the vehicle-mounted terminal.

[0028] In a second aspect, the application further provides an RTK positioning system, which comprises a vehicle-mounted terminal;

[0029] The vehicle-mounted terminal is configured to initiate a 5G positioning request to a space-time service platform, receive a 5G positioning result of the vehicle-mounted terminal returned by the space-time service platform based on the positioning request, construct a GGA message of the vehicle-mounted terminal based on the 5G positioning result, and send the GGA message to a fusion positioning platform; the vehicle-mounted terminal is further configured to receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtain an RTK positioning result of the vehicle-mounted terminal according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0030] In a third aspect, the application further provides an RTK positioning device applied to a vehicle-mounted terminal, which comprises:

[0031] A 5G positioning result receiving module is configured to initiate a 5G positioning request to a space-time service platform, and receive a 5G positioning result of the vehicle-mounted terminal returned by the space-time service platform based on the positioning request;

[0032] A GGA message sending module is configured to construct a GGA message of the vehicle-mounted terminal based on the 5G positioning result, and send the GGA message to a fusion positioning platform;

[0033] An RTK positioning module is configured to receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtain an RTK positioning result of the vehicle-mounted terminal according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0034] In a fourth aspect, the application further provides a computer device comprising a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0035] A 5G positioning request is initiated to a space-time service platform, and a 5G positioning result of a vehicle-mounted terminal returned by the space-time service platform based on the positioning request is received;

[0036] Based on the 5G positioning result, a GGA message of the vehicle terminal is constructed, and the GGA message is sent to the fusion positioning platform;

[0037] The differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message are received, and the RTK positioning result of the vehicle terminal is obtained according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0038] In a fifth aspect, the present application also provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0039] A 5G positioning request is initiated to the space-time service platform, and the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request is received;

[0040] Based on the 5G positioning result, a GGA message of the vehicle terminal is constructed, and the GGA message is sent to the fusion positioning platform;

[0041] The differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message are received, and the RTK positioning result of the vehicle terminal is obtained according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0042] In a sixth aspect, the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the following steps:

[0043] A 5G positioning request is initiated to the space-time service platform, and the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request is received;

[0044] Based on the 5G positioning result, a GGA message of the vehicle terminal is constructed, and the GGA message is sent to the fusion positioning platform;

[0045] The differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message are received, and the RTK positioning result of the vehicle terminal is obtained according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0046] The RTK positioning method, device, system, computer device, computer readable storage medium and computer program product, the vehicle terminal initiates a 5G positioning request to the space-time service platform, receives the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request, constructs the GGA message of the vehicle terminal based on the 5G positioning result, and sends the GGA message to the fusion positioning platform, receives the differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtains the RTK positioning result of the vehicle terminal based on the satellite observation data, 5G positioning result, differential data and ephemeris data. By introducing the 5G positioning result, the corresponding differential data, ephemeris data and satellite observation data are obtained, and finally the 5G positioning result is used as an auxiliary to realize the RTK calculation of the differential data, ephemeris data and satellite observation data, so as to improve the convergence speed of the RTK first point convergence of the vehicle terminal, and then speed up the positioning speed of the RTK positioning, and realize the improvement of the positioning efficiency of the RTK positioning. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor.

[0048] Figure 1 An application environment diagram of the RTK positioning method in an embodiment;

[0049] Figure 2 A flowchart of the RTK positioning method in an embodiment;

[0050] Figure 3 A system block diagram of the RTK positioning system in an embodiment;

[0051] Figure 4 A flowchart of the RTK positioning method in another embodiment;

[0052] Figure 5 A structural block diagram of the RTK positioning device in an embodiment;

[0053] Figure 6 An internal structure diagram of the computer device in an embodiment. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0055] The RTK positioning method provided by the embodiments of the present application can be applied to the application environment as shown in Figure 1 The car can be positioned through the 5G base station and the satellite, the car is equipped with a vehicle terminal, the satellite can upload the collected data to the fusion positioning platform, the 5G base station can upload the positioning data to the space-time service platform, and the vehicle terminal 102 is in communication connection with the space-time service platform 104 and the fusion positioning platform 106 respectively. When the car passes through the tunnel and other environments where the satellite signal may be blocked, the vehicle terminal 102 initiates a 5G positioning request to the space-time service platform 104, the space-time service platform 104 initiates 5G positioning of the vehicle based on the positioning request, and returns the corresponding 5G positioning result to the vehicle terminal 102, the vehicle terminal 102 constructs the GGA message of the vehicle terminal 102 based on the 5G positioning result, and sends the GGA message to the fusion positioning platform 106, the fusion positioning platform 106 obtains the corresponding differential data, ephemeris data and satellite observation data from the satellite based on the GGA message, and returns the aforementioned data to the vehicle terminal 102, and the vehicle terminal performs RTK calculation according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data, and obtains the RTK positioning result of the vehicle terminal 102. The vehicle terminal 102 generally refers to an electronic device installed on a vehicle, which is used to realize navigation positioning, vehicle monitoring, information interaction and other functions. It is the interface and core hardware / software platform of the vehicle and the external information system.

[0056] In an exemplary embodiment, as shown in Figure 2 An RTK positioning method is provided, which is taken as an example of the vehicle terminal 102 in Figure 1 The steps S201 to S203 are as follows. Wherein:

[0057] Step S201, a 5G positioning request is initiated to the space-time service platform, and the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request is received.

[0058] The space-time service platform can be understood as a platform that integrates time information and space information by using big data technology, and provides various service support for users; the 5G positioning result can be understood as the positioning information obtained by performing 5G positioning on the vehicle terminal by using the 5G base station.

[0059] Exemplarily, when passing through an environment with semi-shading or full shading, the vehicle terminal 102 initiates a 5G positioning request to the space-time service platform 104, the space-time service platform 104 locates the current position of the terminal by using 5G UTDOA (Uplink Time Difference of Arrival) positioning, ECID (E-UTRAN Cell Identity) positioning and CELLID (Cell Identity) positioning technologies, obtains multiple 5G positioning results, and returns the 5G positioning results to the vehicle terminal 102, and the vehicle terminal 102 receives the returned multiple 5G positioning results.

[0060] In step S202, based on the 5G positioning result, the GGA message of the vehicle terminal is constructed, and the GGA message is sent to the fusion positioning platform.

[0061] Wherein, the GGA (Global Positioning System Fix Data) message can be understood as one of the specific data formats of the global positioning system (GPS) standard, which can include real-time longitude, latitude, altitude, time, positioning quality and other key information; the fusion positioning platform can be understood as a platform for controlling multiple satellites, which supports providing multiple services to the vehicle terminal.

[0062] In an exemplary embodiment, due to the positioning accuracy of the UTDOA positioning result, the UTDOA positioning result is the highest among the UTDOA positioning result, the ECID positioning result and the CELLID positioning result, therefore, the vehicle terminal 102 takes the UTDOA positioning result as the current terminal position of the vehicle terminal 102, and constructs the GGA message of the vehicle terminal 102 according to the current terminal position, and sends the GGA message to the fusion positioning platform 106 through Ntrip or Openapi.

[0063] In step S203, the differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message are received, and the RTK positioning result of the vehicle terminal is obtained according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0064] Wherein, the differential data can be understood as the difference information between the reference station (fixed station with known accurate position) and the mobile station (receiving equipment), the ephemeris data can be understood as the real-time position map of the satellite, which can include the accurate orbit, running speed and clock error of each satellite, and the satellite observation data can be understood as the observation information obtained by the GPS receiver from each satellite, which can include gamma time, signal strength, carrier phase and pseudo range.

[0065] Exemplarily, the fusion positioning platform 106 performs data matching with the GGA message as the request parameter, which is equivalent to querying data with the current terminal position description information of the vehicle terminal 102 contained in the GGA message, obtaining the differential data, ephemeris data and satellite observation data matched with the GGA message, and returning the aforementioned data to the vehicle terminal 102. The vehicle terminal 102 receives the differential data, ephemeris data and satellite observation data, and performs RTK positioning calculation according to the satellite observation data, the current terminal position, the differential data and the ephemeris data, to calculate the RTK positioning result of the vehicle terminal 102.

[0066] In the above RTK positioning method, the vehicle terminal initiates a 5G positioning request to the space-time service platform, receives the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request, constructs the GGA message of the vehicle terminal based on the 5G positioning result, and sends the GGA message to the fusion positioning platform. The differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message are received, and the RTK positioning result of the vehicle terminal is obtained based on the satellite observation data, the 5G positioning result, the differential data and the ephemeris data. By introducing the 5G positioning result, the corresponding differential data, ephemeris data and satellite observation data are obtained faster, and finally the 5G positioning result is used as assistance to realize the RTK calculation of the differential data, ephemeris data and satellite observation data, thereby improving the convergence speed of the RTK first point convergence of the vehicle terminal, and further accelerating the positioning speed of the RTK positioning, and realizing the improvement of the positioning efficiency of the RTK positioning.

[0067] In one embodiment, the number of 5G positioning results is multiple, and different 5G positioning results correspond to different positioning modes; based on the 5G positioning result, the GGA message of the vehicle terminal is constructed, including: taking the 5G positioning result with the highest positioning accuracy as the current terminal position of the vehicle terminal; data encapsulation is performed on the current terminal position to obtain a 5G position transparent data structure of the vehicle terminal; and the GGA message of the vehicle terminal is obtained according to the 5G position transparent data structure.

[0068] The 5G position transparent data structure can be understood as a data format in which the base station, terminal or other device transmits the position related information to the receiver directly through the 5G network in the 5G communication, which can include spatial position, time, positioning state and the like.

[0069] In an exemplary embodiment, the vehicle terminal 102 receives the 5G positioning results returned by the space-time service platform 104 through different 5G positioning methods, which can include UTDOA positioning results, ECID positioning results, and CELLID positioning results. The vehicle terminal 102 compares the positioning accuracy of the UTDOA positioning results, the ECID positioning results, and the CELLID positioning results, selects the UTDOA positioning result with the highest positioning accuracy as the current terminal position of the vehicle terminal 102 according to the accuracy from high to low (UTDOA > ECID > CELLID), encapsulates the current terminal position into a 5G location transparent data structure, and finally obtains the GGA message of the vehicle terminal 102 according to the 5G location transparent data structure.

[0070] Based on the foregoing embodiments, by selecting the 5G positioning result with the highest positioning accuracy in multiple 5G positioning results as the current terminal position of the vehicle terminal, the positioning accuracy is optimized, and the positioning accuracy of the constructed GGA message is improved, thereby accelerating the acquisition accuracy of differential data and achieving the improvement of RTK positioning accuracy.

[0071] In one embodiment, the GGA message of the vehicle terminal is obtained according to the 5G location transparent data structure, including: extracting the structure parameters of the 5G location transparent data structure to obtain the structure parameters of the vehicle terminal; and encapsulating the structure parameters into a GGA message according to a NAME message format to obtain the GGA message of the vehicle terminal.

[0072] The structure parameters can be understood as the current position and state information of the receiving device, and the NAME message format can be understood as a protocol or standard format for expressing "name information" with structured data.

[0073] For example, the vehicle terminal 102 extracts the structure parameters of the 5G location transparent data structure to obtain the structure parameters of the vehicle terminal 102, including latitude and longitude data, and then encapsulates the structure parameters of the vehicle terminal 102 into a GGA message according to the NAME message format to obtain the GGA message of the vehicle terminal 102.

[0074] According to the above embodiments, the structure parameters of the 5G location transparent data structure are extracted to determine information that better represents the current state and current position of the vehicle terminal, and the extracted information is encapsulated into a GGA message according to the NAME message format, thereby obtaining a more accurate GGA message. The information is transmitted using the message, ensuring the integrity and security of the information, thereby accelerating the speed of the fusion positioning platform to obtain differential data, ephemeris data, and satellite observation data, and improving the accuracy of the obtained data.

[0075] In one embodiment, the RTK positioning result of the vehicle terminal is obtained according to satellite observation data, a 5G positioning result, differential data and ephemeris data, including: obtaining initial distances from the vehicle terminal to the satellites according to the satellite observation data; performing distance correction on the initial distances by using the current terminal position of the vehicle terminal to obtain distances from the vehicle terminal to the satellites; and obtaining the RTK positioning result of the vehicle terminal based on the distances from the vehicle terminal to the satellites, the ephemeris data and the differential data.

[0076] The initial distance can be understood as an approximate distance from the receiving device to the base station, and can be referred to as pseudo-range; and the distance correction can be understood as adjusting and correcting the measured scale value of the initial distance.

[0077] In one exemplary embodiment, the vehicle terminal 102 extracts the initial distances (pseudo-ranges) from the vehicle terminal to the satellites and the carrier phases corresponding to the initial distances (i.e., the measured scales corresponding to the initial distances) from the satellite observation data, determines the integer ambiguity of the carrier phases corresponding to the initial distances according to the current terminal position of the vehicle terminal 102, obtains the accurate values of the carrier phases, thereby performing distance correction on the initial distances to obtain the distances from the vehicle terminal 102 to the satellites, and finally performs RTK calculation based on the distances from the vehicle terminal 102 to the satellites, the ephemeris data and the differential data to obtain the RTK positioning result of the vehicle terminal 102.

[0078] Based on the foregoing embodiments, the integer ambiguity is determined based on the current terminal position of the vehicle terminal, thereby accelerating the determination speed of the distances from the vehicle terminal to the satellites, and finally the RTK positioning result of the vehicle terminal is obtained by using the corrected distances, the ephemeris data and the differential data for RTK calculation, thereby improving the positioning accuracy of the RTK positioning result.

[0079] In one embodiment, the RTK positioning result of the vehicle terminal is obtained based on the distances from the vehicle terminal to the satellites, the ephemeris data and the differential data, including: obtaining satellite position information of the satellites by using the ephemeris data; obtaining an initial RTK positioning result of the vehicle terminal according to the satellite position information of the satellites and the distances from the vehicle terminal to the satellites; and correcting the initial RTK positioning result of the vehicle terminal by using the differential data to obtain the RTK positioning result of the vehicle terminal.

[0080] Exemplarily, the vehicle terminal 102 calculates satellite position information of each satellite (i.e., accurate coordinates (such as longitude, latitude, height, etc.) of the satellite in the universe) by using ephemeris data, and reversely deduces the position information of the vehicle terminal 102 according to the satellite position information of each satellite and the distance from the vehicle terminal 102 to each satellite to obtain an initial RTK positioning result of the vehicle terminal 102, and finally corrects the initial RTK positioning result of the vehicle terminal 102 by using the differential data to obtain the RTK positioning result of the vehicle terminal 102.

[0081] According to the above embodiment, by combining the accurate calculation of satellite ephemeris data and the differential correction technology, the vehicle terminal can realize continuous and reliable centimeter-level high-precision positioning, greatly improving the accuracy, reliability and environmental adaptability of vehicle navigation.

[0082] In one embodiment, the current terminal position is encapsulated to obtain a 5G position transparent data structure of the vehicle terminal, including:

[0083] The pre-defined field rule is obtained, and the corresponding field data is obtained from the current terminal position according to the field rule; the field rule includes the field name, the field data type, the field description, the field unit and the field example corresponding to the field data; the field rule and the field data corresponding to the field rule are encapsulated to obtain the 5G position transparent data structure of the vehicle terminal.

[0084] The field rule can be understood as the connotation definition of the field data, and can include the field name, the field data type, the field description, the field unit and the field example; the field example can be understood as the field data itself.

[0085] In one exemplary embodiment, the vehicle terminal 102 obtains the field name, the field data type, the field description, the field unit and the field example corresponding to the field data, and obtains the field data corresponding to the field name, the field data type corresponding to the field data, the field description corresponding to the field data, the field unit corresponding to the field data and the field data from the current terminal position, and encapsulates the field name, the field data type, the field description, the field unit and the field unit of the field data into a table to obtain the 5G position transparent data structure of the vehicle terminal 102.

[0086] Based on the foregoing embodiment, by defining standardized field information and encapsulating the actually collected data into a structured data table according to the field name, type, description and unit, the accuracy, consistency and application efficiency of the position data are greatly improved, the difficulty of obtaining the required structure parameters is reduced, the encapsulation speed of the GGA message is accelerated, and the matching speed of the differential data, ephemeris data and satellite observation data is further accelerated, so that the positioning speed of the RTK positioning of the vehicle terminal is realized.

[0087] In one embodiment, as shown in Figure 3 A RTK positioning system is provided, which includes a vehicle terminal configured to initiate a 5G positioning request to a space-time service platform, receive 5G positioning results of the vehicle terminal returned by the space-time service platform based on the positioning request, construct a GGA message of the vehicle terminal based on the 5G positioning results, and send the GGA message to a fusion positioning platform, receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtain RTK positioning results of the vehicle terminal based on the satellite observation data, the 5G positioning results, the differential data and the ephemeris data.

[0088] Exemplarily, the vehicle terminal initiates a 5G positioning request to the space-time service platform, receives 5G positioning results of the vehicle terminal returned by the space-time service platform based on the positioning request, constructs a GGA message of the vehicle terminal based on the 5G positioning results, and sends the GGA message to the fusion positioning platform, receives differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtains RTK positioning results of the vehicle terminal based on the satellite observation data, the 5G positioning results, the differential data and the ephemeris data. By introducing the 5G positioning results, the corresponding differential data, ephemeris data and satellite observation data are obtained, and finally the 5G positioning results are used as assistance to realize RTK calculation of the differential data, ephemeris data and satellite observation data, thereby improving the convergence speed of RTK first point convergence of the vehicle terminal, and further accelerating the positioning speed of RTK positioning, and realizing the improvement of the positioning efficiency of RTK positioning.

[0089] In one exemplary embodiment, the positioning terminal inserts a 5G SIM card, and the terminal is installed or integrated with an APP (Application) or SDK (Software Development Kit) software package with 5G positioning capability, and the current position information of the terminal is obtained in real time by initiating 5G positioning through the APP or SDK (all the following data are specific examples, and the technical solutions of the present application can be realized only in this case).

[0090] The positioning terminal itself needs to have RTK calculation capability, which can be RTK soft calculation or RTK chip hard calculation capability. The RTK calculation module needs to add the RTK differential data and ephemeris data transmission parameter capability, and support the fusion calculation capability of the RTK differential data and ephemeris data transmitted by the upper APP.

[0091] The upper APP and the terminal RTK calculation service or the terminal RTK chip calculation module define a parameter passing data structure. The parameters mainly include: UTC (Coordinated Universal, global coordination or standard) time, longitude, latitude, positioning method, vertical precision (optional) and the current floor information.

[0092] The positioning terminal requests the current 5G positioning result of the terminal from the fusion positioning platform in real time, the fusion positioning platform returns the positioning result corresponding to one or more positioning technologies, the terminal selects the positioning result with the highest positioning accuracy as the position data of the current terminal, and then encapsulates the positioning result according to the RTK module parameter passing data structure.

[0093] The upper APP transmits the encapsulated 5G position data structure to the RTK soft solution module or the RTK chip hard solution module. The RTK calculation module obtains the 5G auxiliary positioning data through the parameter passing module, extracts the longitude and latitude information according to the parameter passing data structure, and encapsulates the longitude and latitude data into a GGA request message in the NMEA data message format. The GGA request message is sent to the fusion positioning platform in the Ntrip mode or the Openapi mode, the fusion positioning platform responds and returns the RTK differential data and ephemeris data.

[0094] The terminal RTK calculation module fuses the 5G position information, the RTK differential data, the ephemeris data and the like to calculate the RTK position result in real time, and synchronously updates the terminal GNSS NMEA data message using the positioning result.

[0095] The 5G position transmission data structure of the upper APP, the SDK and the RTK calculation module is defined:

[0096]

[0097] As shown in Figure 4 , a specific implementation of an RTK positioning method is provided, wherein:

[0098] 1) Initialize the terminal APP and the SDK;

[0099] 2) The terminal APP or the SDK initiates a 5G positioning request to the space-time service platform;

[0100] 3) The space-time service platform positions the current position of the terminal by using the 5G UTDOA positioning, the ECID positioning and the CELLID positioning technology;

[0101] 4) The space-time service platform returns the 5G positioning result to the client (app or SDK);

[0102] 5) The terminal selects the 5G position with the highest positioning accuracy as the current terminal position according to the positioning result returned by the space-time service platform from high to low in terms of accuracy (5G UTDOA>ECID>CELLID);

[0103] 6) The current terminal position is encapsulated into a 5G position transparent data structure, and the data structure is transparently transmitted to the RTK positioning module;

[0104] 7) The RTK positioning module extracts parameters in the 5G transparent data structure, and encapsulates latitude and longitude data into GGA messages in NMEA message format;

[0105] 8) The RTK positioning module requests the fusion positioning platform to obtain the differential data and ephemeris data of the current terminal by taking GGA as a request parameter through Ntrip or Openapi;

[0106] 9) The fusion positioning platform requests third-party differential services to obtain differential data and ephemeris data;

[0107] 10) The fusion positioning platform returns the differential data and ephemeris data to the client;

[0108] 11) The RTK positioning module (terminal RTK soft solution module or RTK chip should solve module) fuses 5G position, differential data, ephemeris data, etc. to perform RTK positioning solution and calculate the RTK positioning result.

[0109] 12) The RTK module can report the RTK positioning solution result to the APP or SDK through the callback interface.

[0110] Compared with the prior art, the application has the following technical advantages:

[0111] 1. A method for accelerating RTK first point convergence time by 5G positioning is designed. In the in-out shielding or semi-shielding scene, it is not simply switching between 5G positioning technology and RTK positioning technology according to different scenes, but to solve the problems of long initialization time, poor accuracy and slow convergence of RTK positioning, and to improve the RTK first point convergence speed.

[0112] 2. Intelligent fusion of multi-level 5G positioning technology, through the accuracy sorting and automatic selection of UTDOA, ECID and CELLID three technologies, the optimization of positioning accuracy is realized.

[0113] 3. The establishment of 5G assisted RTK fast convergence mechanism, which uses 5G positioning result to accelerate the acquisition of differential correction data and precise ephemeris data, significantly shortens the RTK first point convergence time.

[0114] 4. The design of data structure transparent transmission technology, which realizes efficient data interaction between 5G positioning system and RTK module through special data structure.

[0115] 5. The innovative fusion positioning and calculation algorithm unifies the processing and calculation of multi-source heterogeneous data. This technical solution pioneers a new technological path for "communication + navigation" fusion positioning, breaking through the limitations of traditional RTK relying on a single GNSS signal source at the system architecture level.

[0116] 6. Modify the terminal RTK positioning module. The parameter transmission module needs to support receiving and parsing 5G transparent data structure. The Android side can be adapted by modifying the AIDL interface.

[0117] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0118] Based on the same inventive concept, this application also provides an RTK positioning device for implementing the RTK positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more RTK positioning device embodiments provided below can be found in the limitations of the RTK positioning method described above, and will not be repeated here.

[0119] In one exemplary embodiment, such as Figure 5 As shown, an RTK positioning device is provided for use in a vehicle-mounted terminal, including: a 5G positioning result receiving module 501, a GGA message sending module 502, and an RTK positioning module 503, wherein:

[0120] The 5G positioning result receiving module 501 is used to initiate a 5G positioning request to the spatiotemporal service platform and receive the 5G positioning result of the vehicle terminal returned by the spatiotemporal service platform based on the positioning request.

[0121] The GGA message sending module 502 is used to construct the GGA message of the vehicle terminal based on the 5G positioning result and send the GGA message to the fusion positioning platform.

[0122] The RTK positioning module 503 is configured to receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtain the RTK positioning result of the vehicle terminal according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

[0123] In one of the embodiments, based on the aforementioned RTK device, the 5G positioning result receiving module initiates a 5G positioning request to the space-time service platform, receives the 5G positioning result of the vehicle terminal returned by the space-time service platform based on the positioning request, sends the 5G positioning result to the GGA message sending module and the RTK positioning module, the GGA message sending module constructs the GGA message of the vehicle terminal based on the 5G positioning result, and sends the GGA message to the fusion positioning platform, and the RTK positioning module receives the differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtains the RTK positioning result of the vehicle terminal according to the 5G positioning result, the satellite observation data, the differential data and the ephemeris data received in advance. By introducing the 5G positioning result, the corresponding differential data, ephemeris data and satellite observation data are obtained faster, and finally the 5G positioning result is used as an auxiliary to realize the RTK calculation of the differential data, ephemeris data and satellite observation data, so as to improve the convergence speed of the RTK first point convergence of the vehicle terminal, and further speed up the positioning speed of the RTK positioning, and realize the improvement of the positioning efficiency of the RTK positioning.

[0124] In one of the embodiments, the number of 5G positioning results is multiple, and different 5G positioning results correspond to different positioning modes; the GGA message sending module 502 further comprises a position determination sub-module, a data packaging sub-module and a GGA message obtaining sub-module, wherein:

[0125] The position determination sub-module is configured to take the 5G positioning result with the highest positioning accuracy as the current terminal position of the vehicle terminal.

[0126] The data packaging sub-module is configured to package the current terminal position to obtain the 5G position transparent data structure of the vehicle terminal.

[0127] The GGA message obtaining sub-module is configured to obtain the GGA message of the vehicle terminal according to the 5G position transparent data structure.

[0128] In one of the embodiments, the GGA message obtaining sub-module is further configured to extract the structure parameters of the 5G position transparent data structure to obtain the structure parameters of the vehicle terminal, and package the structure parameters into a message according to the NAME message format to obtain the GGA message of the vehicle terminal.

[0129] In one embodiment, the RTK positioning module 503 further comprises an initial distance obtaining sub-module, a distance correcting sub-module, and an RTK positioning sub-module, wherein:

[0130] The initial distance obtaining sub-module is configured to obtain initial distances from the vehicle terminal to the satellites according to the satellite observation data.

[0131] The distance correcting sub-module is configured to correct the initial distances to obtain distances from the vehicle terminal to the satellites by using the current terminal position of the vehicle terminal.

[0132] The RTK positioning sub-module is configured to obtain an RTK positioning result of the vehicle terminal based on the distances from the vehicle terminal to the satellites, the ephemeris data, and the difference data.

[0133] In one embodiment, the RTK positioning sub-module is further configured to obtain satellite position information of the satellites by using the ephemeris data, obtain an initial RTK positioning result of the vehicle terminal according to the satellite position information of the satellites and the distances from the vehicle terminal to the satellites, and correct the initial RTK positioning result of the vehicle terminal by using the difference data to obtain the RTK positioning result of the vehicle terminal.

[0134] In one embodiment, the data encapsulating sub-module is further configured to obtain a predefined field rule, and obtain corresponding field data from the current terminal position according to the field rule; the field rule comprises a field name corresponding to the field data, a field data type, a field description, a field unit, and a field example; and encapsulate the field rule and the field data corresponding to the field rule to obtain the 5G location transparent transmission data structure of the vehicle terminal.

[0135] The above modules in the RTK positioning device can be realized by software, hardware, or a combination thereof. The above modules can be embedded in or independent of a processor in a computer device in a hardware form, or stored in a memory in the computer device in a software form, so as to be called and executed by a processor to perform operations corresponding to the above modules.

[0136] In one exemplary embodiment, a computer device is provided, which can be a terminal, and an internal structure diagram of the computer device can be as shown in Figure 6The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals, and the wireless communication can be achieved through WIFI, mobile cellular network, near field communication (NFC) or other technologies. The computer program is executed by the processor to implement an RTK positioning method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or can be a key, trackball or touchpad arranged on the shell of the computer device, or can be an external keyboard, touchpad or mouse, etc.

[0137] Those skilled in the art can understand that, Figure 6 The skilled in the art can understand that,

[0138] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the RTK positioning method of the above-mentioned embodiments.

[0139] In one embodiment, a computer readable storage medium is provided, storing a computer program, and the computer program is executed by a processor to implement the RTK positioning method of the above-mentioned embodiments.

[0140] In one embodiment, a computer program product is provided, including a computer program, and the computer program is executed by a processor to implement the RTK positioning method of the above-mentioned embodiments.

[0141] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0142] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. In the embodiments provided in the present application, any reference to memory, database or other medium can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., without being limited thereto.

[0143] Any technical features in the above embodiments can be combined, and for the sake of brevity, not all possible combinations are described above, however, any combination of these technical features is deemed to be within the scope of the present application.

[0144] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. An RTK positioning method, characterized in that, Applied to vehicle-mounted terminals, the method includes: Initiate a 5G positioning request to the spatiotemporal service platform and receive the 5G positioning result of the vehicle terminal returned by the spatiotemporal service platform based on the positioning request; Based on the 5G positioning results, the GGA message of the vehicle terminal is constructed and sent to the fusion positioning platform; The system receives differential data, ephemeris data, and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtains the RTK positioning result of the vehicle terminal based on the satellite observation data, the 5G positioning result, the differential data, and the ephemeris data.

2. The method according to claim 1, characterized in that, There are multiple 5G positioning results, and different 5G positioning results correspond to different positioning methods; The construction of the GGA message for the vehicle terminal based on the 5G positioning result includes: The 5G positioning result with the highest positioning accuracy is taken as the current terminal location of the vehicle terminal. The current terminal location is encapsulated to obtain the 5G location transparent data structure of the vehicle terminal; Based on the 5G location transparent transmission data structure, the GGA message of the vehicle terminal is obtained.

3. The method according to claim 2, characterized in that, The step of obtaining the GGA message of the vehicle terminal based on the 5G location transparent transmission data structure includes: Structural parameters are extracted from the 5G location transparent data structure to obtain the structural parameters of the vehicle terminal. The structural parameters are encapsulated according to the NAME message format to obtain the GGA message of the vehicle terminal.

4. The method according to claim 2, characterized in that, The step of obtaining the RTK positioning result of the vehicle terminal based on the satellite observation data, the 5G positioning result, the differential data, and the ephemeris data includes: Based on the satellite observation data, the initial distance from the vehicle-mounted terminal to each satellite is obtained; Using the current terminal position of the vehicle-mounted terminal, the initial distance is corrected to obtain the distance from the vehicle-mounted terminal to each of the satellites; The RTK positioning result of the vehicle terminal is obtained based on the distance from the vehicle terminal to each of the satellites, the ephemeris data, and the differential data.

5. The method according to claim 4, characterized in that, The step of obtaining the RTK positioning result of the vehicle terminal based on the distance from the vehicle terminal to each of the satellites, the ephemeris data, and the differential data includes: Using the ephemeris data, the satellite position information of each of the satellites is obtained; Based on the satellite position information of each satellite and the distance from the vehicle terminal to each satellite, the initial RTK positioning result of the vehicle terminal is obtained; The initial RTK positioning result of the vehicle terminal is corrected by the differential data to obtain the RTK positioning result of the vehicle terminal.

6. The method according to claim 2, characterized in that, The step of encapsulating the current terminal location data to obtain the 5G location transparent transmission data structure of the vehicle terminal includes: Obtain predefined field rules, and retrieve corresponding field data from the current terminal location according to the field rules; the field rules include the field name, field data type, field description, field unit, and field example corresponding to the field data; The field rules and the corresponding field data are encapsulated to obtain the 5G location transparent transmission data structure of the vehicle terminal.

7. An RTK positioning system, characterized in that, The system includes an in-vehicle terminal; The vehicle-mounted terminal is configured to initiate a 5G positioning request to the spatiotemporal service platform, receive the 5G positioning result of the vehicle-mounted terminal returned by the spatiotemporal service platform based on the positioning request, construct a GGA message of the vehicle-mounted terminal based on the 5G positioning result, send the GGA message to the fusion positioning platform, receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and obtain the RTK positioning result of the vehicle-mounted terminal according to the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

8. An RTK positioning device, characterized in that, The device, applied to an in-vehicle terminal, includes: The 5G positioning result receiving module is used to initiate a 5G positioning request to the spatiotemporal service platform and receive the 5G positioning result of the vehicle terminal returned by the spatiotemporal service platform based on the positioning request. The GGA message sending module is used to construct the GGA message of the vehicle terminal based on the 5G positioning result and send the GGA message to the fusion positioning platform. The RTK positioning module is used to receive differential data, ephemeris data and satellite observation data returned by the fusion positioning platform based on the GGA message, and to obtain the RTK positioning result of the vehicle terminal based on the satellite observation data, the 5G positioning result, the differential data and the ephemeris data.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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