Position precision processing method, related device, equipment and storage medium

Abstract

The embodiment of the invention discloses a position precision processing method, a related device, equipment and a storage medium, which can be applied to scenes such as maps, Internet of Vehicles and the like. The method comprises the following steps: acquiring a satellite navigation signal; calculating first information based on the satellite navigation signal, wherein the first information is used for indicating the positioning condition of the navigation terminal when the position precision of the navigation terminal is evaluated based on the first evaluation index; acquiring a plurality of pieces of second information, wherein the plurality of pieces of second information are respectively used for indicating the positioning condition of the navigation terminal when the position precision of the navigation terminal is evaluated based on the second evaluation index; calculating a plurality of positional accuracies based on one or more of the plurality of second information and the first information; and determining the target position precision of the navigation terminal based on the plurality of position precision. On one hand, accuracy and reliability of position precision can be improved, positioning errors of the navigation terminal are reduced, the problem of positioning deviation is avoided, and on the other hand, user positioning experience can be improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of computer, in particular to a position accuracy processing method, related device, equipment and storage medium. BACKGROUND

[0002] In modern society, positioning systems have become an indispensable part of our lives. Whether it is with the help of mobile phone navigation, map software, or the use of unmanned aerial vehicles, global positioning systems (GPS), Beidou satellite navigation systems (BDS), etc., accurate positioning information is indispensable. As a relatively important parameter in the positioning system, position accuracy will directly affect the accuracy and reliability of the position information obtained.

[0003] However, in the traditional process of determining position accuracy, it is usually only relied on the information output by the positioning system itself, such as GPS or RTK, to complete the evaluation of the position accuracy of the navigation terminal. This evaluation method has a single evaluation dimension, resulting in poor position accuracy and low reliability. SUMMARY

[0004] Embodiments of the present application provide a position accuracy processing method, related device, equipment and storage medium, which can improve the accuracy and reliability of position accuracy, and also reduce the positioning error of the navigation terminal, avoid positioning deviation problems, and improve user positioning experience.

[0005] In a first aspect, embodiments of the present application provide a position accuracy processing method. The method comprises:

[0006] Obtaining a satellite navigation signal;

[0007] Calculating first information based on the satellite navigation signal, the first information being used to indicate the positioning situation of the navigation terminal when evaluating the position accuracy of the navigation terminal based on a first evaluation index;

[0008] Obtaining a plurality of second information, the plurality of second information being respectively used to indicate the positioning situation of the navigation terminal when evaluating the position accuracy of the navigation terminal based on a second evaluation index, the second evaluation index being different from the first evaluation index;

[0009] Calculating a plurality of position accuracies based on one or more of the plurality of second information and the first information;

[0010] Determining a target position accuracy of the navigation terminal based on the plurality of position accuracies.

[0011] In a second aspect, an embodiment of the present application provides a precision processing apparatus. The precision processing apparatus comprises an obtaining unit, a calculating unit and a determining unit.

[0012] The obtaining unit is configured to obtain a satellite navigation signal.

[0013] The calculating unit is configured to calculate first information based on the satellite navigation signal, the first information being used to indicate a positioning condition of the navigation terminal when the positioning condition of the navigation terminal is evaluated based on a first evaluation index.

[0014] The obtaining unit is configured to obtain a plurality of second information, the plurality of second information being respectively used to indicate the positioning condition of the navigation terminal when the positioning condition of the navigation terminal is evaluated based on a second evaluation index, the second evaluation index being different from the first evaluation index.

[0015] The calculating unit is configured to calculate a plurality of position precisions based on one or more of the plurality of second information and the first information.

[0016] The determining unit is configured to determine a target position precision of the navigation terminal based on the plurality of position precisions.

[0017] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application,

[0018] The first information comprises one or more of first position information, first speed information and first heading information; and the second information comprises one or more of second position information, second speed information, second heading information, road adhesion information and satellite information.

[0019] The first position information is used to indicate a position condition of the navigation terminal at a first time, the first speed information is used to indicate a speed condition of the navigation terminal at the first time, the first heading information is used to indicate a driving direction condition of the navigation terminal at the first time, the second position information is used to indicate a position condition of the navigation terminal at a second time, the second speed information is used to indicate a speed condition of the navigation terminal at the second time, the second heading information is used to indicate a driving direction condition of the navigation terminal at the second time, the road adhesion information is used to indicate a road condition of a road adhered by the navigation terminal at the first time, the satellite information is used to indicate a satellite condition when the satellite navigation signal is transmitted, and the second time is earlier than the first time and is separated from the first time by a first time length.

[0020] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculating unit is specifically configured to:

[0021] calculate a first position precision based on the first position information, the second position information, the second speed information and the second heading information.

[0022] calculate the second position accuracy based on the first heading information and the second heading information;

[0023] calculate the third position accuracy based on the first position information, the second position information and the second speed information;

[0024] calculate the fourth position accuracy based on the first position information and the road adsorption information;

[0025] calculate the fifth position accuracy based on the satellite information;

[0026] determine the target position accuracy of the navigation terminal based on at least two of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy and the fifth position accuracy.

[0027] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the determining unit is specifically configured to:

[0028] determine a target scene in which the navigation terminal is currently located;

[0029] determine a weight of each of the at least two position accuracies based on the target scene, and the sum of the weights of the at least two position accuracies is 1;

[0030] perform weighted sum processing on the corresponding position accuracy based on the weight of each position accuracy, to obtain the target position accuracy of the navigation terminal.

[0031] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculating unit is specifically configured to:

[0032] calculate predicted position information of the navigation terminal at the first time based on the second position information, the second speed information and the second heading information;

[0033] calculate a position error between the first position information and the predicted position information;

[0034] determine the first position accuracy based on the position error.

[0035] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculating unit is specifically configured to:

[0036] calculate a first displacement increment and a second displacement increment based on the second heading information, the first time length and the second speed information, the first displacement increment being used to indicate a displacement change in a first direction when the navigation terminal moves along the second heading information, the second displacement increment being used to indicate a displacement change in a second direction when the navigation terminal moves along the second heading information, the first direction being different from the second direction;

[0037] The navigation terminal's predicted position information at the first time is calculated based on the second position information, the first displacement increment and the second displacement increment.

[0038] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculation unit is specifically configured to:

[0039] The first heading change information is calculated based on the first heading information and the second heading information.

[0040] The first equivalent gyroscopic heading information and the second equivalent gyroscopic heading information are obtained by performing angular velocity transformation processing on the first heading information and the second heading information respectively based on the equivalent gyroscopic sensor.

[0041] The second heading change information is calculated based on the first equivalent gyroscopic heading information and the second equivalent gyroscopic heading information.

[0042] The first correlation coefficient between the first heading change information and the second heading change information is calculated, and the first correlation coefficient is used to indicate the correlation degree between the first heading change information and the second heading change information.

[0043] The second position accuracy is determined based on the first correlation coefficient.

[0044] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculation unit is specifically configured to:

[0045] The first position change information is calculated based on the first position information and the second position information.

[0046] The target position information is determined based on the first time length and the second speed information.

[0047] The second position change information is calculated based on the target position information and the second position information.

[0048] The second correlation coefficient between the first position change information and the second position change information is calculated, and the second correlation coefficient is used to indicate the correlation degree between the first position change information and the second position change information.

[0049] The third position accuracy is determined based on the second correlation coefficient.

[0050] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the road adsorption information includes road position information, road direction and road width of the road.

[0051] The calculation unit is specifically configured to:

[0052] The lateral distance between the navigation terminal and the road is calculated based on the first position information, the road position information and the road direction.

[0053] determine the fourth position accuracy based on the lateral distance and the road width.

[0054] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculation unit is specifically configured to:

[0055] calculate a first relative distance and a second relative distance based on the first position information and the road position information, the first relative distance representing a distance of the navigation terminal relative to the road in a third direction, the second relative distance representing a distance of the navigation terminal relative to the road in a fourth direction, the third direction being different from the fourth direction;

[0056] calculate the lateral distance between the navigation terminal and the road based on the first relative distance, the second relative distance, and a road direction.

[0057] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculation unit is specifically configured to:

[0058] obtain a first value by solving a product of a sine value of the road direction and the second relative distance, and obtain a second value by solving a product of a cosine value of the road direction and the first relative distance;

[0059] obtain the lateral distance between the navigation terminal and the road based on the first value and the second value.

[0060] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the first position information includes a first longitude, a first latitude, and a first altitude, the road position information includes a second longitude, a second latitude, and a second altitude of the road, and the calculation unit is specifically configured to:

[0061] calculate a longitude difference value between the first longitude and the second longitude, and a latitude difference value between the first latitude and the second latitude;

[0062] obtain the first relative distance based on the longitude difference value, the first latitude, and the first altitude;

[0063] obtain the second relative distance based on the latitude difference value and the first latitude.

[0064] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the calculation unit is specifically configured to:

[0065] determine the fourth position accuracy as a first threshold value when the lateral distance is less than a first condition value, the first condition value being obtained based on the road width, and the first condition value and the first threshold value have a mapping relationship; or,

[0066] When the lateral distance is greater than the second condition value, the fourth position accuracy is determined as a second threshold value, the second condition value is obtained based on a road width, the second condition value is greater than the first condition value, and the second condition value and the second threshold value have a mapping relationship; or

[0067] When the lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value, a difference value between the lateral distance and the first condition value is calculated, and the fourth position accuracy is determined based on the difference value.

[0068] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the satellite information includes a first satellite number, a second satellite number, and a total satellite number, the first satellite number is a number of satellites with a signal-to-noise ratio greater than a third threshold value in the total satellite number, and the second satellite number is a number of satellites with a signal-to-noise ratio less than or equal to the third threshold value in the total satellite number; and the calculation unit is specifically configured to:

[0069] determine the fifth position accuracy based on the first satellite number, the second satellite number, and the total satellite number.

[0070] In a possible design, in another implementation manner of the second aspect of the embodiment of the present application, the first satellite number includes a first number and a second number, the second satellite number includes a third number, the first number is used to indicate the total satellite number with a signal-to-noise ratio greater than a third threshold value at a first elevation angle, the second number is used to indicate the total satellite number with a signal-to-noise ratio greater than the third threshold value at a second elevation angle, and the third number is used to indicate the total satellite number with a signal-to-noise ratio less than or equal to the third threshold value at the second elevation angle; and the calculation unit is specifically configured to:

[0071] perform exponential solving processing on the second number and the third number to obtain a first value;

[0072] obtain the fifth position accuracy based on the first number and the first value.

[0073] The third aspect of the present application provides a computer device, including a memory and a processor, the memory stores a computer program, and the processor implements the method of each aspect described above when executing the computer program.

[0074] The fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method of each aspect described above.

[0075] The fifth aspect of the present application provides a computer program product, including a computer program, and the computer program is executed by a processor to implement the method of each aspect described above.

[0076] From the above technical solutions, the embodiments of the present application have the following advantages:

[0077] In the embodiments of the present application, after the navigation terminal acquires the satellite navigation signal, the satellite navigation information is used to calculate the first information. The described first information can indicate the positioning condition of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on the first evaluation index. In addition, a plurality of second information is also required to be acquired in the present application, and the positioning condition of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on the second evaluation index can be indicated by the plurality of second information. The first evaluation index and the second evaluation index are the same. After obtaining the plurality of second information and calculating the first information, one or more information of the plurality of second information and the first information is used to calculate a plurality of position accuracies, and then the plurality of position accuracies is used to determine the target position accuracy of the navigation terminal. That is, compared with the conventional method of determining the position accuracy by using single-dimensional information, the plurality of information obtained by using different evaluation dimensions is used to calculate the position accuracy in the present application, and then the final target position accuracy of the navigation terminal is determined by comprehensively determining the position accuracy in a plurality of different dimensions. Through the above-mentioned method, not only the accuracy and reliability of the position accuracy are improved, but also the positioning error of the navigation terminal is reduced, the positioning deviation problem is avoided, and the user positioning experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0078] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings required to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0079] Figure 1 An optional schematic diagram of an application scenario provided by the embodiments of the present application is shown;

[0080] Figure 2 An implementation environment schematic diagram of the method for processing position accuracy provided by the embodiments of the present application is shown;

[0081] Figure 3 A flowchart schematic diagram of the method for processing position accuracy provided by the embodiments of the present application is shown;

[0082] Figure 4 A schematic diagram of the satellite navigation signal provided by the present application with a fixed lateral deviation is shown;

[0083] Figure 5 An optional schematic diagram of the shielding scenario provided by the present application is shown;

[0084] Figure 6 Another flowchart schematic diagram of the method for processing position accuracy provided by the embodiments of the present application is shown;

[0085] Figure 7 Fig. 1 shows a schematic diagram of a precision processing device provided in an embodiment of the present application;

[0086] Figure 8 Fig. 2 shows a structural schematic diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0087] The embodiments of the present application provide a position precision processing method, related device, equipment and storage medium, which can improve the accuracy and reliability of position precision, reduce positioning error of a navigation terminal, avoid positioning deviation, and improve user positioning experience.

[0088] It is understood that, in the specific embodiments of the present application, data related to user information is involved, and when the above embodiments of the present application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards of countries and regions.

[0089] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0090] The terms "first", "second", "third", "fourth" and the like (if any) in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0091] With the rapid development of computer technology, positioning and navigation services have become a basic service demand for people's daily work and life. Positioning and navigation services are gradually used by more and more people to meet the positioning needs of different objects.

[0092] For example, in large and complex indoor environments such as museums, airports, supermarkets, and hospitals, objects can use navigation terminals with positioning functions, such as smartphones and smartwatches, to locate their destination and then move to the destination by following the target trajectory displayed by the navigation terminal.

[0093] Alternatively, in outdoor environments such as amusement parks, zoos, or complex road networks, the target can also use the aforementioned navigation terminals to query and locate outdoor destinations, and navigate to the corresponding destination.

[0094] However, whether using mobile phone navigation, map software, drones, or GPS to achieve precise destination positioning, accurate location accuracy of the navigation terminal is indispensable. Location accuracy refers to the degree of proximity between the spatial location information of the navigation terminal and its actual location. Higher location accuracy means a smaller location discrepancy, resulting in more accurate positioning of the true destination. Conversely, lower location accuracy indicates a larger location discrepancy, failing to accurately reflect the true destination's location. Therefore, location accuracy, as a crucial parameter in a positioning system, directly impacts the accuracy and reliability of the location information we obtain.

[0095] However, in the traditional process of determining position accuracy, navigation terminals typically rely solely on information output by positioning systems such as GPS or RTK. This approach has a limited evaluation dimension, resulting in poor position accuracy and low reliability.

[0096] To address the aforementioned technical problems, embodiments of this application provide a method for position accuracy processing. This method can determine the final target position accuracy from multiple evaluation dimensions, thereby improving the accuracy and reliability of position accuracy, reducing positioning errors in navigation terminals, and enhancing the user's positioning experience when using navigation terminals. The position accuracy processing method provided in this application can be applied in at least one of the following scenarios.

[0097] I. Air navigation and sea navigation

[0098] In the fields of air navigation, marine navigation, etc., aircraft, ships, etc. are installed with navigation terminals, such as GPS receivers, Beidou satellite navigation systems, etc. In the air navigation scenario, the pilot uses a navigation terminal with relatively accurate position accuracy to obtain map information and flight position in real time during flight, and the air navigation company operator determines the fastest and safest route to the destination by means of positioning and navigation services, and also locates the flight position of the aircraft in real time according to the navigation terminal. In the marine navigation scenario, the pilot uses a navigation terminal with relatively accurate position accuracy to realize positioning of the ship to avoid obstacles such as reefs in navigation and reach the destination.

[0099] II. Ground traffic

[0100] In the field of ground traffic, for example, taxi services, emergency vehicle positioning, logistics transportation monitoring, public transportation management, vehicle position monitoring, etc. are realized by means of navigation terminals with accurate position accuracy to complete the destination positioning in the corresponding navigation demand. For example, in the public transportation management, by deploying the navigation terminal in the vehicle, the vehicle can be positioned in real time by the navigation terminal to provide accurate vehicle position data for the traffic system in real time to monitor and control vehicle congestion.

[0101] III. Social activities

[0102] For example, in outdoor social activities such as off-road cycling, skiing, hiking, geotagged photos, geocaching, geographic survey, amusement parks, zoos, etc., or in indoor activities such as museums, airports, supermarkets, hospitals, etc., the position of the destination or target object is also positioned by means of a navigation terminal with high position accuracy. For example, in the geocaching scenario, the player finds the target treasure accurately by means of a navigation terminal with high position accuracy guided by the treasure mark in the geocaching map.

[0103] It should be noted that the method for processing position accuracy provided in the present application is not only applied to the three scenarios mentioned above, but also applied to other scenarios. For example, in practical applications, it is also applied to the positioning of special groups (such as the elderly, children, etc.), or it is also applied to the fields of agriculture, financial services, etc., which are not limited in the present application.

[0104] For example, in the vehicle positioning scenario, the method provided in the present application can be applied to Figure 1 The optional application scenario diagram is shown. As Figure 1As shown, user A wants to go to destination C from starting point B by means of mobile phone navigation. Between starting point B and destination C, there are at least two routes, for example, route 1: X1 Road->Y2 Road, and route 2: M1 Avenue->Southeast Street. In order to quickly reach the destination C, user A can pass through X1 Road and Y2 Road in sequence to reach the destination C through the route (such as route 1) planned by the map software in the mobile phone.

[0105] It should be noted that the above Figure 1 Only the mobile phone positioning scenario is taken as an example for description. In actual applications, other positioning scenarios, such as vehicle positioning scenarios, are not specifically limited in the present application.

[0106] The method provided by the present application can be applied to Figure 2 The implementation environment shown includes a navigation terminal 110 and a global positioning satellite 120. The navigation terminal 110 communicates with the global positioning satellite 120 through a communication network 130. The communication network 130 includes but is not limited to a satellite communication network, a mobile network, a dedicated network, or a virtual private network, etc. In some embodiments, custom or dedicated data communication technology can be used to replace or supplement the above data communication technology.

[0107] The navigation terminal 110 involved in the present application is understood as a terminal device with positioning function or navigation function. For example, the navigation terminal 110 includes but is not limited to a mobile phone, a tablet computer, a notebook computer, a desktop computer, a smart voice interaction device, a virtual reality device, a smart home appliance, a vehicle-mounted terminal, an aircraft, a drone, etc. For example, a client such as a navigation software or a map software is deployed on the navigation terminal 110, and the client can run on the navigation terminal 110 in the form of an independent application (APP) or a mini program, etc.

[0108] In addition, the global positioning satellite involved in the present application includes but is not limited to a GPS and a BDS, which are not specifically limited in the present application.

[0109] In combination with the above-mentioned implementation environment, in step S1, the navigation terminal 110 sends a positioning request to the global positioning satellite 120 through the communication network 130. In step S2, the global positioning satellite 120 acquires satellite navigation signals according to the positioning request, and sends the satellite navigation signals to the navigation terminal 110. In step S3, the navigation terminal 110 calculates first information according to the satellite navigation signals, where the first information is used to describe the positioning situation of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on a first evaluation index. In step S4, the navigation terminal 110 also needs to acquire a plurality of second information. The plurality of second information described can reflect the positioning situation of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on a second evaluation index. The first evaluation index and the second evaluation index are the same. In step S5, the navigation terminal 110 calculates a plurality of position accuracies by using one or more of the plurality of second information and the first information, and determines the target position accuracy of the navigation terminal through the plurality of position accuracies.

[0110] Exemplarily, the method for processing position accuracy provided in the application can also be applied to the fields of maps, traffic, autonomous driving, vehicle-mounted scenarios, etc. In addition, in the scenario of application to the field of traffic, it can be implemented by means of an intelligent traffic system or an intelligent vehicle-road cooperative system. Specifically, the intelligent traffic system (Intelligent Traffic System, ITS) is also called an intelligent transportation system (Intelligent Transportation System), which is a comprehensive transportation system that guarantees safety, improves efficiency, improves the environment, and saves energy by effectively integrating advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, and strengthening the connection between vehicles, roads, and users. Or;

[0111] The intelligent vehicle-road cooperative system (Intelligent Vehicle Infrastructure Cooperative Systems, IVICS), referred to as the vehicle-road cooperative system, is a development direction of the intelligent traffic system (ITS). The vehicle-road cooperative system is a safe, efficient, and environmentally friendly road traffic system that guarantees traffic safety, improves traffic efficiency, and realizes effective coordination between people, vehicles, and roads by using advanced wireless communication and new-generation Internet technologies to implement dynamic real-time information interaction between vehicles and roads, and by developing vehicle active safety control and road cooperative management based on dynamic traffic information collection and fusion in all space and time.

[0112] In combination with the above-mentioned introduction, the method for processing position accuracy in the application will be introduced below in combination with the accompanying drawings. Please refer toFigure 3 The present application can be completed by a navigation terminal as an execution subject. As shown in the figure, the method for position accuracy processing at least includes the following steps: Figure 3

[0113] 301, acquiring a satellite navigation signal.

[0114] In one or more embodiments, when the object has a navigation demand or other positioning demand, the object can send the navigation demand or the positioning demand to a global positioning satellite through the navigation terminal. After receiving the navigation demand or the positioning demand, the global positioning satellite transmits a corresponding satellite navigation signal to the navigation terminal. Thus, the navigation terminal can obtain the satellite navigation signal.

[0115] Optionally, after obtaining the satellite navigation signal, the navigation terminal further judges the effective state of the satellite navigation signal to determine whether the satellite navigation signal is an effective signal frame in combination with the judgment result. As an illustrative description, the navigation terminal determines whether the satellite navigation signal is an effective signal frame by extracting the value of the flag bit field in the satellite navigation signal. For example, if the extracted value of the flag bit field is a target value, it can be determined that the satellite navigation signal is an effective signal frame; otherwise, if it is determined that the value of the flag bit field is not the target value, it can be explicitly determined that the satellite navigation signal is not an effective signal frame, and at this time, the acquisition operation of the satellite navigation signal can be re-executed. It should be noted that the described target value can be used to identify that the signal frame is effective.

[0116] It should be noted that other ways for judging whether the satellite navigation signal is an effective signal frame can also be included in actual applications, such as but not limited to detecting the signal strength of the satellite navigation signal, signal integrity checking, etc., and the specific judgment method is not limited in the present application.

[0117] By the above-mentioned method, judging whether the satellite navigation signal is effective not only can avoid unnecessary interference of invalid satellite navigation signal on the position accuracy determination process, but also can accurately calculate the positioning-related information using the satellite navigation signal in the effective state, so as to complete the accurate determination of the position accuracy and improve the positioning effect.

[0118] 302, calculating first information based on the satellite navigation signal, the first information being used to indicate the positioning situation of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on a first evaluation index.

[0119] ​In one or more embodiments, after obtaining the satellite navigation signal, the navigation terminal can calculate the first information using the satellite navigation signal. It is to be noted that the first information described can indicate the positioning of the navigation terminal when evaluating the position accuracy of the navigation terminal based on the first evaluation index. The first evaluation index described can be understood as the index when evaluating the position accuracy based on the first quality evaluation module, such as evaluating the position, velocity, and heading of the navigation terminal under the satellite navigation signal using the first quality evaluation module.

[0120] In one or more embodiments, the first information described above includes one or more of the first position information, the first velocity information, and the first heading information. The first position information described can be used to indicate the position of the navigation terminal at the first time. In addition, the first velocity information can indicate the velocity of the navigation terminal at the first time. In addition, the first heading information can be used to indicate the direction of travel of the navigation terminal at the first time.

[0121] As an illustrative description, in the process of calculating the first information using the satellite navigation signal, the navigation terminal can receive the satellite navigation signal from at least four different global positioning satellites and measure the propagation time of the satellite navigation signal, and then based on the product between the propagation time and the speed of light, the pseudo-range measurement value of the navigation terminal to each satellite positioning system can be obtained. Moreover, the satellite navigation signal includes the position information of the satellite itself. Thus, after calculating the pseudo-range measurement value, the navigation terminal can calculate the first position information based on the pseudo-range measurement value and the position information of the satellite itself.

[0122] In addition, the navigation terminal measures the frequency change value of the received satellite navigation signal, such as the Doppler shift value, and then calculates the first velocity information based on the frequency change value.

[0123] In addition, the navigation terminal obtains the satellite navigation signal within a period of time, and then determines at least two consecutive position points based on the satellite navigation signal within the period of time. After determining the at least two consecutive position points, the navigation terminal determines the first heading information using the vector direction between the at least two consecutive position points.

[0124] It is to be noted that in actual applications, other ways to calculate the first position information, the first velocity information, and the first heading information can also be included, which are not specifically limited here.

[0125] 303、obtaining a plurality of second information, the plurality of second information respectively indicating the positioning of the navigation terminal when evaluating the position accuracy of the navigation terminal based on a second evaluation index, the second evaluation index being different from the first evaluation index.

[0126] In one or more embodiments, the navigation terminal needs to obtain a plurality of second information in addition to the first information. It should be noted that each of the second information can be used to indicate the positioning condition of the navigation terminal based on a second evaluation index for evaluating the positioning condition of the navigation terminal. The second evaluation index can be understood as an index for evaluating the positioning condition of the navigation terminal based on a second quality evaluation module, for example, evaluating the position, speed, heading, etc. of the navigation terminal at the second time by using the second quality evaluation module; or evaluating the road information absorbed by the navigation terminal; or evaluating the satellite information, etc.

[0127] In one or more embodiments, the plurality of second information includes one or more of second position information, second speed information, second heading information, road absorption information, and satellite information. For example, the second information includes the second position information, the second speed information, and the second heading information; or the second information includes the second position information and the second speed information; or the second information can also be the road absorption information; or the second information can also be the satellite information, etc. The second information is not specifically limited in the present application.

[0128] The second position information related to the present application can be used to indicate the position condition of the navigation terminal at the second time. The second time is earlier than the first time, and the first time and the second time are separated by a first time interval. For example, assuming that the second time is 8:00, the navigation terminal requests the satellite navigation system to perform positioning at the position point A, and after 5 minutes (i.e. 8:05), the navigation terminal moves to the position point B. At this time, the second position information is understood as the position condition of the navigation terminal at 8:00, i.e. the position point A. Similarly, the first position information is understood as the position condition of the navigation terminal at 8:05, i.e. the position point B.

[0129] In addition, the second speed information related to the present application can be used to indicate the speed condition of the navigation terminal at the second time. For example, assuming that the second time is 8:00, and the position of the navigation terminal at this time is the position point A, the driving speed of the navigation terminal at the position point A is taken as the corresponding second speed information.

[0130] The second heading information related to the present application is used to indicate the driving direction condition of the navigation terminal at the second time. For example, assuming that the second time is 8:00, and the position of the navigation terminal at this time is the position point A, the driving direction of the navigation terminal at the position point A is taken as the corresponding second heading information.

[0131] The described road absorption information can be used to indicate the road condition of the road to which the navigation terminal is attached at the first time. For example, assuming that the second time is 8:00 and the navigation terminal is located at position point A, the road condition of the road near the navigation terminal at the position point A is regarded as the road absorption information. As an illustrative description, the road absorption information includes the road width, the road direction, and the road position information of the road. For example, assuming that the road near the navigation terminal at the position point A is road M, the road width of the road M is 6 meters, the road direction is from east to west, and the road position information can be represented by longitude and latitude, for example, (n, m). Wherein, n represents the longitude and m represents the latitude.

[0132] In addition, the satellite information involved in the present application can be used to indicate the satellite condition when the satellite navigation signal is transmitted. For example, through the satellite information, it is known that the total number of satellites when providing positioning service for the navigation terminal, the number of satellites when the signal-to-noise ratio is less than a certain threshold, or the number of satellites when the signal-to-noise ratio is greater than a certain threshold, and the like are not limited in the present application.

[0133] It should be noted that in actual application, the second information can also be other positioning information capable of achieving positioning effect, such as positioning time, moving track, and the like, which are not specifically limited in the present application.

[0134] 304. Calculate a plurality of position precisions based on one or more of the plurality of second information and the first information.

[0135] In one or more embodiments, the position precision can represent the position error between the actual position of the navigation terminal and the position estimated by the navigation terminal using the satellite navigation signal. There is a corresponding relationship between the position precision and the position error. Specifically, the higher the position precision, the smaller the position error, the better the positioning effect, and the closer to the actual position of the navigation terminal. Conversely, the lower the position precision, the greater the position error, the worse the positioning effect, and the farther away from the actual position of the navigation terminal.

[0136] According to the relationship between the position precision and the position error described above, the more accurate the position precision, the easier it is to avoid a large position error. Based on this, after the navigation terminal calculates the first information and obtains a plurality of second information, the navigation terminal can use one or more of the plurality of second information and the first information to calculate a plurality of position precisions.

[0137] That is, in the present application, the information dimension obtained from a plurality of different evaluation angles is used to determine a plurality of different dimension position precisions, so as to comprehensively consider the influence of positioning factors in different aspects on the final position precision, thereby improving the calculation accuracy of the position precision.

[0138] 305. determining a target position accuracy of the navigation terminal based on the plurality of position accuracies.

[0139] In one or more embodiments, since the plurality of position accuracies take into account the influence of different aspects of positioning factors, the navigation terminal can determine the target position accuracy of the navigation terminal after calculating the plurality of position accuracies.

[0140] As an illustrative description, since the navigation terminal is in different environmental scenarios, the corresponding positioning factors will also have different degrees of influence. Therefore, in the process of determining the target position accuracy, the environmental information can be determined based on the first position information of the navigation terminal at present, and then the target scenario in which the navigation terminal is currently located is determined based on the environmental information. After determining the target scenario in which the navigation terminal is currently located, the weight of each position accuracy in the plurality of position accuracies is determined based on the target scenario. In this way, the weighted sum calculation of the corresponding position accuracy is completed by using the weight of each position accuracy, so as to calculate the target position accuracy of the navigation terminal. It should be noted that the sum of the weights of the plurality of position accuracies is 1.

[0141] By the above-mentioned manner, compared with the conventional method of determining the position accuracy by using single-dimensional information, the present application can calculate a plurality of position accuracies by using a plurality of information obtained from different evaluation dimensions after calculating the corresponding information from different evaluation indicators. Moreover, the present application also determines the final target position accuracy of the navigation terminal by comprehensively determining the position accuracy from a plurality of different dimensions. Therefore, on the one hand, the accuracy and reliability of the position accuracy can be improved, and the positioning error of the navigation terminal can be reduced; on the other hand, the problem of positioning deviation can also be avoided, and the user positioning experience can be improved.

[0142] Optionally, in the above-mentioned Figure 3 Based on one or more embodiments corresponding thereto, the plurality of position accuracies mentioned in the above-mentioned step 304 will be different due to the influence of different positioning factors. For example, the position factor, the heading change factor, the position change factor, the road adsorption factor, the satellite quantity factor and other positioning factors will have different degrees of influence on the finally determined target position accuracy. In order to facilitate understanding, the following will describe how to determine the position accuracy in different aspects by combining the above-mentioned five positioning factors. Optionally, another optional embodiment provided by the present application embodiment can comprise the following steps:

[0143] ① Position factor

[0144] As can be known from the foregoing embodiments, the first information comprises one or more of the first position information, the first speed information, and the first heading information. The second information comprises one or more of the second position information, the second speed information, the second heading information, the road absorption information, and the satellite information. Moreover, the position accuracy is usually affected by the current position condition of the navigation terminal. Then, after obtaining the first position information from the first information, and obtaining the second position information, the second speed information, and the second heading information from the second information, the first position accuracy is calculated based on the first position information, the second position information, the second speed information, and the second heading information.

[0145] Optionally, in one or more embodiments, the first position accuracy is calculated by using the first position information, the second position information, the second speed information, and the second heading information, which can be understood in particular with reference to the following manner:

[0146] First, the predicted position information of the navigation terminal at the first time is calculated based on the second position information, the second speed information, and the second heading information.

[0147] As an illustrative description, the navigation terminal first calculates a first displacement increment based on the second heading information, the first time length, and the second speed information. The described first displacement increment can reflect the displacement change of the navigation terminal in the first direction when moving along the second heading information. Similarly, the navigation terminal also calculates a second displacement increment based on the second heading information, the first time length, and the second speed information. The described second displacement increment can reflect the displacement change of the navigation terminal in the second direction when moving along the second heading information. In this way, after calculating the first displacement increment and the second displacement increment, the navigation terminal can calculate the predicted position information of the navigation terminal at the first time by using the second position information, the first displacement increment, and the second displacement increment. That is, the present application first uses the position condition such as the second position information, the second speed information, and the second heading information at the second time to pre-calculate the estimated position at the first time which is subsequent to the first time length.

[0148] It should be noted that the first direction mentioned above is the east direction of the navigation terminal, and the second direction is the north direction of the navigation terminal; or the first direction is the north direction of the navigation terminal, and the second direction is the east direction of the navigation terminal, which is not specifically limited in the present application.

[0149] For example, taking the first direction as east and the second direction as north, the first displacement increment can satisfy the following formula: deltaE = spd * cos(course) * t; the second displacement increment can satisfy the following formula: deltaN = spd * sin(course) * t. Where course is the second heading information, spd is the second velocity information, t is the first duration, deltaE is the first displacement increment, and deltaN is the second displacement increment. Then, using the second position information (e.g., P...) t-1 The predicted location information can be calculated using deltaE and deltaN.

[0150] After calculating the predicted position information, the position error between the first position information and the predicted position information is calculated. As an illustrative description, the first position information can be represented using position coordinates, azimuth, and distance; there is no specific limitation. Similarly, the second position information can be reflected using position coordinates, azimuth, and distance; there is no specific limitation. For example, taking position coordinates as an example, after calculating the predicted position information, the position error can be determined using the position coordinates corresponding to the first position information and the position coordinates corresponding to the predicted position information. For example, the absolute value of the coordinate difference between the position coordinates corresponding to the first position information and the position coordinates corresponding to the predicted position information is calculated, and this absolute value of the coordinate difference is used as the position error, for example, P'=|PP c | Where P represents the position coordinates corresponding to the first position information, P c P' represents the position coordinates corresponding to the predicted position information, and P' represents the position error.

[0151] Thus, after determining the position error, a first position accuracy is determined based on this position error. Optionally, the first position accuracy can be determined in ways including, but not limited to, the following:

[0152] The position error can be directly used as the first position accuracy. For example, if the position error is 2 meters (m), then the first position accuracy can be directly determined as 2m.

[0153] Alternatively, a candidate error set can be obtained from a data source such as a database. This set includes one or more candidate error ranges. Each candidate error range corresponds to a different positional accuracy threshold. The calculated position error is then compared with each candidate error range in the set to determine the target candidate error range into which the position error falls. Once the target candidate error range is determined, the positional accuracy threshold corresponding to that range can be set as the first positional accuracy.

[0154] For example, it is assumed that three candidate error ranges are included in the candidate error set, such as [0, 3), [3, 6), [6, 9), wherein the position accuracy threshold corresponding to each of [0, 3), [3, 6), [6, 9) is 1 m, 3 m, and 6 m. If the calculated position error is 2 m, it can be known through comparison that the position error 2 m falls within [0, 3). Thus, the position accuracy threshold corresponding to [0, 3) (that is, 1 m) can be taken as the first position accuracy.

[0155] It should be noted that the position accuracy threshold corresponding to each of the candidate error ranges mentioned above is merely an example described in the present application. In actual application, the candidate error ranges and the corresponding position accuracy thresholds can be customized based on experience values or other positioning requirements, and are not specifically limited in the embodiments of the present application.

[0156] In the foregoing manner, the influence of the position of the navigation terminal at different times on the position accuracy is considered from the perspective of the position factor, which can avoid the problem of calculation deviation of the position accuracy when the position has a large error, and provides data support for subsequent calculation of the target position accuracy of the navigation terminal, which is beneficial to improving the calculation accuracy of the target position accuracy.

[0157] ②Heading change factor

[0158] As can be known from the foregoing embodiments, the first information includes one or more of the first position information, the first speed information, and the first heading information. The second information includes one or more of the second position information, the second speed information, the second heading information, the road adhesion information, and the satellite information. Moreover, the position accuracy is usually affected by the heading change of the navigation terminal. Then, after the navigation terminal obtains the first heading information from the first information and the second heading information from the second information, the second position accuracy is calculated based on the first heading information and the second heading information.

[0159] Optionally, in one or more embodiments, the first heading information and the second heading information are used to calculate the second position accuracy, which can be understood with reference to the following manner, that is:

[0160] Based on the first heading information and the second heading information, the first heading change information is calculated. Through the first heading change information, the heading change of the navigation terminal within the first time length based on the satellite navigation signal emitted by the global positioning satellite such as GPS can be known. It should be noted that the first time length mentioned here can be understood with reference to the first time length described in the foregoing step 303, which is not described herein.

[0161] In addition, in addition to calculating the first heading change information, the first heading information and the second heading information are respectively subjected to angular velocity transformation processing based on the equivalent skyward gyro sensor to obtain first equivalent skyward gyro heading information and second equivalent skyward gyro heading information. In this way, the second heading change information is calculated based on the first equivalent skyward gyro heading information and the second equivalent skyward gyro heading information. Through the second heading change information, the heading change calculated by the equivalent skyward gyro sensor within the first time length can be understood.

[0162] If the heading change determined based on the satellite navigation signal transmitted by the global positioning satellite such as GPS is more similar to the heading change calculated by the equivalent skyward gyro sensor, it means that the correlation between the two is greater, and the error of the heading change is smaller. On the contrary, the heading change is more distant, which means that the correlation between the two is smaller, and the error of the heading change is larger. Based on this, after the first heading change information and the second heading change information are calculated, the navigation terminal also needs to calculate the first correlation coefficient between the first heading change information and the second heading change information. The first correlation coefficient described can indicate the correlation between the first heading change information and the second heading change information. For example, in the process of calculating the first correlation coefficient, algorithms including but not limited to Pearson correlation coefficient, Spearman correlation coefficient, etc. can be used for calculation, which are not limited in the present application.

[0163] In this way, after the first correlation coefficient is obtained, the second position accuracy can be determined based on the first correlation coefficient. Alternatively, the second position accuracy can be determined in the following manner, including but not limited to:

[0164] The first correlation coefficient is directly used as the second position accuracy. For example, if the first correlation coefficient is 0.5, the second position accuracy can be directly determined as 0.5.

[0165] Alternatively, a candidate coefficient set including one or more candidate coefficient ranges can be obtained from a database or other data source. Each candidate coefficient range corresponds to a position accuracy threshold with a different value. In this way, the calculated first correlation coefficient is compared with each candidate coefficient range in the candidate coefficient set to determine the target candidate coefficient range to which the first correlation coefficient falls. In this way, after the target candidate coefficient range is determined, the position accuracy threshold corresponding to the target candidate coefficient range is determined as the second position accuracy.

[0166] For example, it is assumed that the candidate coefficient set includes four candidate coefficient ranges, such as [0, 0.3), [0.3, 0.6), [0.6, 0.9) and [0.9, 1], and each candidate coefficient range corresponds to a position accuracy threshold with a different value, such as 0.5, 0.3, 0.1 and 0.05.

[0167] [0, 0.3), [0.3, 0.6), [0.6, 0.8), [0.8, 1], wherein, the position accuracy threshold corresponding to each of [0, 0.3), [0.3, 0.6), [0.6, 0.8), [0.8, 1] is 8m, 6m, 4m, 2m respectively. If the calculated first correlation coefficient is 0.7, it can be known through comparison that 0.7 falls in [0.6, 0.8). Thus, the position accuracy threshold corresponding to [0.6, 0.8) (i.e. 4m) can be taken as the second position accuracy.

[0168] It should be noted that each of the candidate coefficient ranges and the corresponding position accuracy thresholds mentioned above is only an example described in the present application. In actual application, the candidate coefficient ranges and the corresponding position accuracy thresholds can be customized based on experience or other positioning requirements, and are not specifically limited in the embodiments of the present application.

[0169] In the above manner, the present application considers the influence of the heading change of the navigation terminal at different times on the position accuracy from the perspective of the heading change factor, avoiding the problem that a large error in the heading causes a calculation deviation in the position accuracy. That is, the present application provides data support for subsequent calculation of the target position accuracy of the navigation terminal by focusing on the influence of the heading change on the position accuracy, which is beneficial to improving the calculation accuracy of the target position accuracy.

[0170] ③Position change factor

[0171] As can be known from the foregoing embodiments, the first information includes one or more of the first position information, the first speed information and the first heading information. The second information includes one or more of the second position information, the second speed information, the second heading information, the road adhesion information and the satellite information. Moreover, the position accuracy is usually affected by the position change of the navigation terminal. Therefore, after the navigation terminal obtains the first position information from the first information and obtains the second position information and the second speed information from the second information, the third position accuracy is calculated based on the first position information, the second position information and the second speed information.

[0172] Optionally, in one or more embodiments, the third position accuracy is calculated based on the first position information, the second position information and the second speed information, which can be understood with reference to the following manner, i.e.:

[0173] Based on the first position information and the second position information, the first position change information is calculated. Through the first position change information, the position change of the navigation terminal within the first time length based on the satellite navigation signal transmitted by the global positioning satellite mentioned above can be known. It should be noted that the first time length mentioned here can be understood with reference to the first time length described in the foregoing step 303, which will not be described here.

[0174] In addition, in addition to calculating the first position change information, the target position information is determined based on the first time length and the second speed information in the present application, and then the second position change information is calculated by using the target position information and the second position information.

[0175] If the first position change information and the second position change information are more similar, it means that the correlation between the two is greater, and the error of the position change is smaller. On the contrary, the more the position change deviates, the smaller the correlation between the two is, and the error of the position change is larger. Based on this, after the first position change information and the second position change information are calculated, a second correlation coefficient between the first position change information and the second position change information can be calculated. The second correlation coefficient described can indicate the correlation between the first position change information and the second position change information. For example, in the process of calculating the second correlation coefficient, algorithms including but not limited to Pearson correlation coefficient, Spearman correlation coefficient, etc. can be used for calculation, which are not specifically limited in the present application.

[0176] In this way, after the second correlation coefficient is calculated, the third position accuracy can be determined based on the second correlation coefficient.

[0177] For example, how to determine the third position accuracy based on the second correlation coefficient can also be understood by referring to the way of determining the second position accuracy by using the first correlation coefficient in the aforementioned case ②, which will not be described in detail here.

[0178] In the above manner, the present application considers the influence of the position change of the navigation terminal at different times on the position accuracy from the perspective of the position change factor, avoids the problem that the position change produces a large error and causes the position accuracy to deviate in calculation. That is, the present application pays attention to the influence of the position change on the position accuracy, provides data support for subsequent calculation of the target position accuracy of the navigation terminal, and is beneficial to improving the calculation accuracy of the target position accuracy.

[0179] ④ Road adsorption factor

[0180] As can be known from the foregoing embodiments, the first information includes one or more of the first position information, the first speed information, and the first heading information. The second information includes one or more of the second position information, the second speed information, the second heading information, the road adsorption information, and the satellite information. Moreover, the position accuracy will also be affected by the road conditions of the road near the position of the navigation terminal. Therefore, after the navigation terminal obtains the first position information from the first information and obtains the road adsorption information from the second information, a fourth position accuracy can be calculated based on the first position information and the road adsorption information.

[0181] It should be noted that the road adsorption information involved in the present application includes road position information, road direction and road width of the road.

[0182] For example, Figure 4 A schematic diagram showing that the satellite navigation signal provided by the present application has a fixed lateral deviation is shown. As Figure 4 shown, the deviation diagram includes a navigation track and a road track, wherein the navigation terminal travels along the navigation track under the indication of the satellite navigation signal. From Figure 4 it can be seen that there is a lateral deviation between the navigation track traveled by the navigation terminal and the road track.

[0183] The larger the lateral deviation, the more the navigation terminal deviates from the road, and thus the worse the positioning result. Based on this, in one or more optional embodiments, the fourth position accuracy is calculated using the first position information and the road adsorption information, which can be understood in the following manner, that is:

[0184] First, based on the first position information, the road position information and the road direction, the lateral distance between the navigation terminal and the road is calculated. It should be noted that the described lateral distance can reflect the distance difference between the position corresponding to the first position information at which the navigation terminal is currently located and the road. For example, taking the position point of the navigation terminal as P point and the road as MM point, the lateral distance is understood as how far the P point is from the MM point.

[0185] After calculating the lateral distance, the navigation terminal determines the fourth position accuracy using the lateral distance and the road width.

[0186] Optionally, in one or more embodiments, the fourth position accuracy is determined based on the lateral distance and the road width, which can be determined by judging whether the lateral distance meets a condition value, and then determining the corresponding fourth position accuracy. As an illustrative description, the condition value includes but is not limited to a first condition value and a second condition value. The second condition value is greater than the first condition value. Specifically, the relationship between the lateral distance and the first condition value and the second condition value has the following three cases, that is: case ①: the lateral distance is less than the first condition value; case ②: the lateral distance is greater than the second condition value; case ③: the lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value. For the above-mentioned cases ① to ③, the following is described respectively.

[0187] Case ①: the lateral distance is less than the first condition value

[0188] Optionally, in the case where the lateral distance is less than the first condition value, the fourth position accuracy can be determined as a first threshold value. The described first condition value is obtained based on the road width, and the first condition value and the first threshold value have a mapping relationship.

[0189] It should be noted that the first condition value includes but is not limited to K x road width, 0 < K < 1. For example, the first threshold corresponding to the first condition value is 1 m. In actual application, the first condition value can also be other values, which are not specifically limited in the present application. In addition, the first threshold corresponding to the first condition value is 1 m, which is only a schematic description in the present application. In actual application, the corresponding first threshold can also be customized according to requirements, for example, 2 m, 1.5 m, 3 m, etc., which are not specifically limited in the present application.

[0190] For example, if the road width is 6 m and K = 0.5, the first condition value is 0.5 x 6 m = 3 m, and the corresponding first threshold is 1 m. Assuming that the calculated lateral distance dis_G2M is 2 m, it can be known through comparison that 2 m < 3 m. Based on this, the fourth position accuracy is 1 m.

[0191] Case 2: Lateral distance is greater than the second condition value

[0192] Optionally, in the case where the lateral distance is greater than the second condition value, the second threshold corresponding to the second condition value can be determined as the fourth position accuracy. That is, in this case 2, the fourth position accuracy is determined as the second threshold. The described second condition value is obtained based on the road width, and the second condition value is greater than the first condition value. The described second condition value and the second threshold have a mapping relationship.

[0193] It should be noted that the second condition value includes but is not limited to K x road width + Q, 0 < K < 1, Q > 1. For example, the second threshold corresponding to the second condition value is 0. In actual application, the second condition value can also be other values, which are not specifically limited in the present application. In addition, the second threshold corresponding to the second condition value is 0, which is only a schematic description in the present application. In actual application, the corresponding second threshold can also be customized according to requirements, for example, 0.1, 0.2, etc., which are not specifically limited in the present application.

[0194] For example, if the road width is 6 m, K = 0.5, and Q = 20 m, the second condition value is 0.5 x 6 m + 20 m = 23 m, and the corresponding second threshold is 0. Assuming that the calculated lateral distance dis_G2M is 25 m, it can be known through comparison that 25 m > 23 m. Based on this, the fourth position accuracy is 0.

[0195] Case 3: Lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value

[0196] Optionally, in the case where the lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value, the difference between the lateral distance and the first condition value can be calculated first. After calculating the difference, the fourth position accuracy is determined by using the difference.

[0197] As an illustrative description, the fourth position accuracy determined by the difference satisfies the following formula: GMM = 1 - (dis_G2M - K x road width) / Q. Wherein, GMM is the fourth position accuracy.

[0198] For example, if the road width is 6m, K = 0.5, Q = 20m, and the calculated lateral distance dis_G2M is 10m. These values are input into the above formula, the fourth position accuracy GMM = 1 - (10 - 0.5 x 6) / 20 = 0.65 can be calculated.

[0199] Optionally, in one or more embodiments, for the above how to calculate the lateral distance (i.e. the above mentioned dis_G2M), the calculation process can be understood as follows:

[0200] First, based on the first position information and the road position information, the first relative distance and the second relative distance are calculated. It should be noted that the described first position information includes the first longitude, the first latitude and the first height. The road position information includes the second longitude, the second latitude and the second height of the road.

[0201] As an illustrative description, the navigation terminal can extract the first longitude, the first latitude and the first height from the first position information, and extract the second longitude, the second latitude and the second height of the road from the road position information, and then calculate the longitude difference value between the first longitude and the second longitude, and calculate the latitude difference value between the first latitude and the second latitude. Based on this, the navigation terminal further obtains the first relative distance based on the longitude difference value, the first latitude and the first height. Similarly, the navigation terminal further obtains the second relative distance based on the latitude difference value and the first latitude.

[0202] It should be noted that the above-mentioned first relative distance represents the distance of the navigation terminal relative to the road in the third direction, and the second relative distance represents the distance of the navigation terminal relative to the road in the fourth direction, the third direction and the fourth direction are not the same. In addition, the third direction can be the same as the first direction mentioned above, and the fourth direction can be the same as the second direction mentioned above. For example, the third direction can be the east direction of the navigation terminal, and the fourth direction can be the north direction of the navigation terminal; or the third direction can be the north direction of the navigation terminal, and the fourth direction can be the east direction of the navigation terminal, etc., which are not limited in the present application.

[0203] For example, if the third direction is east and the fourth direction is north, the first relative distance satisfies the following formula: deltaEast = (GPS. Ion - MM. Ion) / RAD2DEG * (RN + GPS. alt) * cos(degree2Radian(GPS. lat)); similarly, the second relative distance satisfies the following formula: deltaNorth = (GPS. lat - MM. lat) / RAD2DEG * (RM + GPS. alt).

[0204] wherein RAD2DEG is used to convert degrees to radians, and degree2Radian is used to convert radians to degrees. In addition,.lon represents longitude,.lat represents latitude, and.alt represents altitude. Sometimes, altitude is also referred to as elevation. deltaEast represents the first relative distance, and deltaNorth represents the second relative distance.

[0205] Thus, after the first relative distance and the second relative distance are calculated, the lateral distance between the navigation terminal and the road is calculated using the first relative distance, the second relative distance, and the road direction.

[0206] As an illustrative description, a first value is obtained by multiplying the sine of the road direction by the second relative distance, and a second value is obtained by multiplying the cosine of the road direction by the first relative distance. After the first value and the second value are calculated, the lateral distance between the navigation terminal and the road is obtained based on the first value and the second value.

[0207] For example, the lateral distance satisfies the following formula: dis_G2M = -deltaNorth * sin(bearing) + deltaEast * cos(bearing), wherein dis_G2M represents the lateral distance, and bearing represents the road direction.

[0208] Alternatively, in one or more embodiments, in addition to using the above-mentioned ways of using cases ① to ③ to determine the fourth position accuracy. In actual applications, there can also be other ways to determine the fourth position accuracy based on the lateral distance. For example, a candidate distance set is obtained from a data source such as a database, and the candidate distance set includes one or more candidate distance ranges. For each candidate distance range, it corresponds to a distance threshold with a different value. Thus, the lateral distance is compared with each candidate distance range in the candidate distance set to determine the target candidate distance range to which the lateral distance falls. Thus, after the target candidate distance range is determined, the distance threshold corresponding to the target candidate distance range is determined as the fourth position accuracy.

[0209] It should be noted that the distance threshold corresponding to each candidate distance range mentioned above is set based on experience or other positioning requirements, and is not limited in the embodiment of the present application.

[0210] By the above manner, the influence of the road condition adsorbed by the navigation terminal on the position accuracy is considered from the perspective of the road adsorption factor, which can avoid the problem that the lateral distance between the navigation terminal and the road appears a large error, and the position accuracy is calculated to be deviated. That is, the influence of the road factor on the position accuracy is concerned in the embodiment of the present application, which can provide data support for subsequent calculation of the target position accuracy of the navigation terminal, and improve the calculation accuracy of the target position accuracy from the perspective of the road factor.

[0211] ⑤Satellite number factor

[0212] From the foregoing embodiments, it can be seen that the second information includes one or more of the second position information, the second speed information, the second heading information, the road adsorption information, and the satellite information. Moreover, the position accuracy is also affected by the number of satellites. Therefore, after obtaining the satellite information from the second information, the fifth position accuracy can be calculated based on the satellite information.

[0213] It should be noted that the satellite information includes the first number of satellites, the second number of satellites, and the total number of satellites. The first number of satellites mentioned in the present application is the number of satellites with a signal-to-noise ratio greater than a third threshold in the total number of satellites, and the second number of satellites is the number of satellites with a signal-to-noise ratio less than or equal to the third threshold in the total number of satellites.

[0214] As an illustrative description, the fifth position accuracy can be determined based on the first number of satellites, the second number of satellites, and the total number of satellites. It should be noted that the first number of satellites includes the first number and the second number, and the second number of satellites includes the third number.

[0215] More specifically, in the process of determining the fifth position accuracy based on the first number of satellites, the second number of satellites, and the total number of satellites, the second number and the third number are specifically processed by exponential solution to obtain a first value. After obtaining the first value, the fifth position accuracy is calculated based on the first number and the first value.

[0216] It should be noted that the first number mentioned above can be understood as the total number of satellites with a signal-to-noise ratio greater than a third threshold at a first elevation angle. The second number can be understood as the total number of satellites with a signal-to-noise ratio greater than the third threshold at a second elevation angle. The third number can be understood as the total number of satellites with a signal-to-noise ratio less than or equal to the third threshold at the second elevation angle.

[0217] As an illustrative description, the fifth position accuracy mentioned above can satisfy the following formula, i.e. P GSV= SniHigh / svThresh * LowSn. Wherein, LowSn = exp-2 / 3 * EleSnrLow / cntElel.

[0218] Wherein, P GSV The fifth position accuracy, SniHigh represents the first number, EleSnrLow represents the third number, and cntElel represents the second number. In addition, svThresh is an empirical value, which includes but is not limited to being set to 30, 40, etc., or can also be adaptively adjusted, which is not specifically limited in this application.

[0219] In addition, the first elevation angle described includes but is not limited to being greater than 10 degrees, and the second elevation angle includes but is not limited to being greater than 10 degrees and less than 45 degrees, etc., which is not specifically limited in this application. In addition, the third threshold mentioned can also be determined as appropriate, which is not limited in this application.

[0220] Alternatively, in some examples, if the first number is less than a certain value, for example, 3, the corresponding fifth position accuracy can be determined as the accuracy value corresponding to the value, for example, 0. Or, if the signal-to-noise ratio at the first elevation angle is less than the third threshold, the total number of satellites (i.e., the fourth number) is greater than 2 / 3*the first total number, then the corresponding fifth position accuracy can be determined as the accuracy value corresponding to the value, for example, 0, etc. The first total number described is the sum of the first number and the fourth number, that is, it is understood as the total number of all satellites at the first elevation angle.

[0221] It should be noted that in addition to calculating the position accuracy from the above-mentioned five positioning factors, in actual application, the corresponding position accuracy can also be calculated from the perspective of other factors. For example, when the navigation terminal is in a stationary or low-speed state, its position accuracy is usually poor, at this time, the corresponding position accuracy can be set according to the empirical value, for example, 0.2, etc., which is not specifically limited in this application. The low-speed state described can be understood as a moving speed less than a certain threshold.

[0222] In the above manner, considering the influence of different numbers of satellites on position accuracy from the perspective of satellite number factors, the problem of calculation deviation of position accuracy caused by large errors can be avoided, which provides data support for subsequent calculation of target position accuracy of the navigation terminal, and helps to improve the calculation accuracy of the target position accuracy.

[0223] Alternatively, in one or more embodiments, based on the determination of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy, the application determines the target position accuracy of the navigation terminal based on multiple position accuracies, specifically including:

[0224] The target position accuracy of the navigation terminal is determined based on at least two of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy. For example, the target position accuracy is calculated by weighting.

[0225] Since the navigation terminal is in different scenes, the scenes will have different degrees of influence on the position accuracy. For example, as shown in FIG. 1, in the occlusion scene, the navigation terminal will be occluded by the occlusion object, causing problems such as reception delay of satellite navigation signals, and resulting in position drift and other conditions, thereby causing different degrees of deviation in position accuracy. Figure 5

[0226] Therefore, in the process of determining the target position accuracy, the target scene in which the navigation terminal is currently located can be determined first. Then, the weight of each position accuracy in the at least two position accuracies is determined based on the target scene, and the sum of the weights of the at least two position accuracies is 1. In this way, after obtaining the weight of each position accuracy, the corresponding position accuracy is weighted and summed based on the weight of each position accuracy, and the target position accuracy of the navigation terminal is obtained.

[0227] It should be noted that the above-mentioned determination of the target position accuracy of the navigation terminal based on at least two of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy includes but is not limited to the following ways, i.e., the target position accuracy is determined based on the first position accuracy and the second position accuracy; or the target position accuracy is determined based on the first position accuracy, the second position accuracy, and the third position accuracy; or the target position accuracy is determined based on the second position accuracy, the third position accuracy, and the fourth position accuracy; or the target position accuracy is determined based on the first position accuracy, the third position accuracy, and the fourth position accuracy; or the target position accuracy is determined based on the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy. Other arrangement and combination ways to determine the target position accuracy are also included in the present application, which are not limited.

[0228] In addition, the target scene described includes but is not limited to the elevated scene, the no-map-data scene, the turning scene, or other ordinary navigation scenes, etc., which are not limited in the present application.

[0229] It should be noted that in the occlusion scene such as elevated, urban, canyon, underground, etc., the navigation terminal will be occluded by the occlusion object, causing problems such as reception delay of satellite navigation signals, and resulting in position drift and other conditions, thereby causing deviation in positioning. Therefore, in the occlusion scene, the weight of the fifth position accuracy can be appropriately increased to adapt to the occlusion application scene and improve the applicability of the position accuracy evaluation.

[0230] ​For example, in the occlusion scene, the weights of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy can be 0.2, 0.15, 0.1, 0.1, and 0.45 respectively. In actual applications, other values can also be used, which are not limited in the present application.

[0231] Similarly, in the turning scene such as left turn, right turn, and the like, the navigation terminal will also cause the change of the position accuracy due to the change of the heading. Therefore, in the turning scene, the weight of the second position accuracy can also be adaptively increased to adapt to the position positioning in the turning scene and improve the applicability of the position accuracy evaluation.

[0232] For example, in the turning scene, the weights of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy can be 0.2, 0.35, 0.1, 0.1, and 0.25 respectively. In actual applications, other values can also be used, which are not limited in the present application.

[0233] In the above manner, different weights are allocated to the corresponding position accuracies when the navigation terminal is in different target scenes, which can better adapt to different use environments and application scenes to improve the adaptability of the evaluation of the position accuracy.

[0234] Optionally, in the above Figure 3 Based on one or more embodiments corresponding thereto, in order to facilitate understanding, Figure 6 A second flowchart of the method for processing the position accuracy provided by the embodiments of the present application is shown. As Figure 6 shown, the method for processing the position accuracy includes the following steps:

[0235] 601. The navigation terminal acquires a satellite navigation signal.

[0236] 602. The navigation terminal calculates first information based on the satellite navigation signal, the first information being used to indicate the positioning condition of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on a first evaluation index, the first information including one or more of first position information, first speed information, and first heading information.

[0237] 603. A plurality of second information is acquired, the plurality of second information being respectively used to indicate the positioning condition of the navigation terminal when the position accuracy of the navigation terminal is evaluated based on a second evaluation index, the second evaluation index being different from the first evaluation index, and the second information including one or more of second position information, second speed information, second heading information, road adsorption information, and satellite information.

[0238] It is to be noted that the above-mentioned steps 601 to 603 are described with reference to the aforementioned steps 301 to 303, and thus will not be described herein.

[0239] 604、calculating the first position accuracy based on the first position information, the second position information, the second speed information and the second heading information.

[0240] In this example, the first position information is used to indicate the position of the navigation terminal at the first time. The second position information is used to indicate the position of the navigation terminal at the second time. The second speed information is used to indicate the speed of the navigation terminal at the second time. The second heading information is used to indicate the heading of the navigation terminal at the second time. The calculation of the first position accuracy based on the first position information, the second position information, the second speed information and the second heading information can be understood with reference to the aforementioned ① position factor, and thus will not be described herein.

[0241] 605、calculating the second position accuracy based on the first heading information and the second heading information.

[0242] In this example, the first heading information is used to indicate the heading of the navigation terminal at the first time. The calculation of the second position accuracy based on the first heading information and the second heading information can be understood with reference to the aforementioned ② heading change factor, and thus will not be described herein.

[0243] 606、calculating the third position accuracy based on the first position information, the second position information and the second speed information.

[0244] In this example, the calculation of the third position accuracy based on the first position information, the second position information and the second speed information can be understood with reference to the aforementioned ③ position change factor, and thus will not be described herein.

[0245] 607、calculating the fourth position accuracy based on the first position information and the road absorption information.

[0246] In this example, the calculation of the fourth position accuracy based on the first position information and the road absorption information can be understood with reference to the aforementioned ④ road absorption factor, and thus will not be described herein.

[0247] 608、calculating the fifth position accuracy based on the satellite information.

[0248] In this example, the calculation of the fifth position accuracy based on the satellite information can be understood with reference to the aforementioned ⑤ satellite number factor, and thus will not be described herein.

[0249] 609、determine a target scene in which the navigation terminal is currently located.

[0250] 610、determine a weight of each of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy and the fifth position accuracy based on the target scene, and perform a weighted summation of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy and the fifth position accuracy based on the weight, to obtain a target position accuracy of the navigation terminal.

[0251] In this example, after determining the weight of each position accuracy based on the target scene, the weight of each position accuracy can be used to weight the corresponding position accuracy. For example, the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy and the fifth position accuracy are weighted and summed using the weight of the first position accuracy, the weight of the second position accuracy, the weight of the third position accuracy, the weight of the fourth position accuracy and the weight of the fifth position accuracy, to obtain the final target position accuracy.

[0252] As an illustrative description, the above target position accuracy satisfies the formula:

[0253] where w i represents the weight of the i-th position accuracy, R i represents the i-th position accuracy, i is an integer, M=5, and R' represents the target position accuracy.

[0254] For example, taking the occlusion scene as an example, it is assumed that the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy and the fifth position accuracy are 1, 0.5, 1, 0.65 and 0.8 respectively, and the respective weights can be 0.2, 0.15, 0.1, 0.1 and 0.45. After calculation, R' = 1 x 0.2 + 0.5 x 0.15 + 1 x 0.1 + 0.65 x 0.1 + 0.8 x 0.45 = 0.8.

[0255] It should be noted that the values of the above position accuracies and the values of the weights are only an illustrative description. In actual applications, other values can also be used, which are not specifically limited in the present application.

[0256] Optionally, in the above Figure 3 Alternatively Figure 6 Based on one or more embodiments corresponding thereto, after calculating the target position accuracy, the target position accuracy can also be compared with a target threshold in the present application. After obtaining the comparison result, it is determined whether to perform a measurement update operation using the comparison result. The described measurement update operation can be understood as a fusion positioning process using position information.

[0257] For example, in the case that the target position accuracy is greater than the target threshold, the current position information can be used for the measurement update processing. Conversely, in the case that the target position accuracy is less than or equal to the target threshold, a new round of calculation processing of the target position accuracy is required.

[0258] It should be noted that the above-mentioned target threshold can be adaptively set, for example, 0.65, 0.7, etc., which is not specifically limited in the present application.

[0259] Optionally, in the above Figure 3 Or Figure 6 Based on one or more embodiments corresponding thereto, after the target position accuracy is calculated, the target position accuracy can also be compared with the target threshold in the present application. After obtaining the comparison result, it is determined whether to update the noise matrix in the measurement update operation according to the comparison result.

[0260] For example, in the case that the target position accuracy is greater than the target threshold, the target position accuracy can be used to update the noise matrix. For example, the noise matrix R = A * (1.0-R'). Wherein A is the position error, which can be set according to the actual situation, for example, 0.8, 1, 2, etc., which is not specifically limited in the present application.

[0261] In the above manner, compared with the traditional use of single dimension information to determine the position accuracy, the present application can obtain multiple information by calculating the corresponding information from different evaluation indicators, and then calculate multiple position accuracies by using multiple information obtained from different evaluation dimensions. Moreover, the present application determines the weight of the position accuracy of different dimensions through the target scene, and then determines the final target position accuracy of the navigation terminal by using the weighted manner. Thus, on the one hand, the accuracy and reliability of the position accuracy can be improved, and the positioning error of the navigation terminal can be reduced; on the other hand, the positioning deviation problem can be avoided, and more accurate, reliable and applicable navigation services can be brought to the fields such as mobile phones, vehicle-mounted devices, etc., and the user positioning experience and life quality can be improved.

[0262] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of method. It is understood that in order to realize the above functions, the corresponding hardware structure and / or software module for executing each function is included. Those skilled in the art should easily realize that the modules and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized in the form of hardware or combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians use different methods to realize the described functions for each specific application, but this implementation should not be considered beyond the scope of the present application.

[0263] The precision processing apparatus in the present application will be described in detail from the perspective of functional modules. Please refer to Figure 7 , Figure 7 FIG. 1 is a schematic diagram of an embodiment of the precision processing apparatus in the present application. The precision processing apparatus comprises:

[0264] The acquisition unit 701 is configured to acquire a satellite navigation signal.

[0265] The calculation unit 702 is configured to calculate first information based on the satellite navigation signal, the first information being used to indicate a positioning condition of the navigation terminal when the positioning condition of the navigation terminal is evaluated based on a first evaluation index.

[0266] The acquisition unit 701 is configured to acquire a plurality of second information, the plurality of second information being respectively used to indicate the positioning condition of the navigation terminal when the positioning condition of the navigation terminal is evaluated based on a second evaluation index, the second evaluation index being different from the first evaluation index.

[0267] The calculation unit 702 is configured to calculate a plurality of position precisions based on one or more of the plurality of second information and the first information.

[0268] The determination unit 703 is configured to determine a target position precision of the navigation terminal based on the plurality of position precisions.

[0269] In the embodiments of the present application, a precision processing apparatus is provided. By using the apparatus, the accuracy and reliability of the position precision are improved, the positioning error of the navigation terminal is reduced, the positioning deviation problem is avoided, and the positioning experience of the user is improved.

[0270] Optionally, in the embodiments corresponding to the above Figure 7 In another embodiment of the precision processing apparatus provided by the present application, the first information comprises one or more of first position information, first speed information, and first heading information; the second information comprises one or more of second position information, second speed information, second heading information, road adhesion information, and satellite information; the first position information is used to indicate the position condition of the navigation terminal at a first time, the first speed information is used to indicate the speed condition of the navigation terminal at the first time, the first heading information is used to indicate the driving direction condition of the navigation terminal at the first time, the second position information is used to indicate the position condition of the navigation terminal at a second time, the second speed information is used to indicate the speed condition of the navigation terminal at the second time, the second heading information is used to indicate the driving direction condition of the navigation terminal at the second time, the road adhesion information is used to indicate the road condition of the road adhered by the navigation terminal at the first time, the satellite information is used to indicate the satellite condition when the satellite navigation signal is transmitted, the second time is earlier than the first time, and the second time is separated from the first time by a first time length.

[0271] Optionally, in the above Figure 7 Based on the corresponding embodiments, another embodiment of the precision processing device provided by the present embodiment is that the calculation unit 702 is specifically used for:

[0272] calculating the first position accuracy based on the first position information, the second position information, the second speed information, and the second heading information;

[0273] calculating the second position accuracy based on the first heading information and the second heading information;

[0274] calculating the third position accuracy based on the first position information, the second position information, and the second speed information;

[0275] calculating the fourth position accuracy based on the first position information and the road adsorption information;

[0276] calculating the fifth position accuracy based on the satellite information;

[0277] The determination unit 703 is specifically used for determining the target position accuracy of the navigation terminal based on at least two position accuracies among the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy.

[0278] In the present embodiment, a precision processing device is provided. By using the above device, the corresponding position accuracy can be considered from at least two dimensions to improve the accuracy of the position accuracy and reduce the navigation deviation.

[0279] Optionally, in the above Figure 7 Based on the corresponding embodiments, another embodiment of the precision processing device provided by the present embodiment is that the determination unit 703 is specifically used for:

[0280] determining a target scene in which the navigation terminal is currently located;

[0281] determining a weight of each position accuracy among the at least two position accuracies based on the target scene, and the sum of the weights of the at least two position accuracies is 1;

[0282] performing weighted sum processing on the corresponding position accuracy based on the weight of each position accuracy to obtain the target position accuracy of the navigation terminal.

[0283] In the present embodiment, a precision processing device is provided. By using the above device, different weights can be assigned to the corresponding position accuracy when the navigation terminal is in different target scenes, which can better adapt to different use environments and application scenarios to improve the adaptability of evaluating the position accuracy.

[0284] Optionally, in the above Figure 7On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the calculation unit 702 is specifically used for:

[0285] Based on the second position information, the second speed information and the second heading information, the predicted position information of the navigation terminal at the first time is calculated.

[0286] The position error between the first position information and the predicted position information is calculated.

[0287] The first position precision is determined based on the position error.

[0288] In the embodiment of the application, the influence of the position of the navigation terminal at different times on the position precision is considered from the position factor, which can avoid the problem of calculation deviation of the position precision caused by the large error of the position, and provides data support for subsequent calculation of the target position precision of the navigation terminal, thereby facilitating improvement of the calculation accuracy of the target position precision.

[0289] Optionally, in the above Figure 7 On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the calculation unit 702 is specifically used for:

[0290] Based on the second heading information, the first time length and the second speed information, the first displacement increment and the second displacement increment are calculated, the first displacement increment is used to indicate the displacement change in the first direction when the navigation terminal moves along the second heading information, the second displacement increment is used to indicate the displacement change in the second direction when the navigation terminal moves along the second heading information, and the first direction is different from the second direction.

[0291] Based on the second position information, the first displacement increment and the second displacement increment, the predicted position information of the navigation terminal at the first time is calculated.

[0292] In the embodiment of the application, the estimated position at the first time is determined based on the second position information and the displacement change, and multiple feasibilities of determining the estimated position information are provided.

[0293] Optionally, in the above Figure 7 On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the calculation unit 702 is specifically used for:

[0294] Based on the first heading information and the second heading information, the first heading change information is calculated.

[0295] Based on the equivalent skyward gyro sensor, the angular velocity transformation processing is performed on the first heading information and the second heading information respectively, and the first equivalent skyward gyro heading information and the second equivalent skyward gyro heading information are obtained.

[0296] based on the first equivalent heading gyro heading information and the second equivalent heading gyro heading information, calculate second heading change information;

[0297] calculate a first correlation coefficient between the first heading change information and the second heading change information, the first correlation coefficient being used to indicate a correlation degree between the first heading change information and the second heading change information;

[0298] determine the second position precision based on the first correlation coefficient.

[0299] In the embodiments of the present application, the influence of the heading change of the navigation terminal at different times on the position precision is considered from the perspective of the heading change factor, so as to avoid the problem that the position precision is deviated in calculation due to a large error of the heading. That is, the present application provides data support for subsequent calculation of the target position precision of the navigation terminal by focusing on the influence of the heading change on the position precision, which is beneficial to improving the calculation accuracy of the target position precision.

[0300] Optionally, in the above Figure 7 based on the first position information and the second position information, calculate first position change information;

[0301] based on the first position information and the second position information, calculate first position change information;

[0302] determine target position information based on the first time length and the second speed information;

[0303] calculate second position change information based on the target position information and the second position information;

[0304] calculate a second correlation coefficient between the first position change information and the second position change information, the second correlation coefficient being used to indicate a correlation degree between the first position change information and the second position change information;

[0305] determine third position precision based on the second correlation coefficient.

[0306] In the embodiments of the present application, the influence of the position change of the navigation terminal at different times on the position precision is considered from the perspective of the position change factor, so as to avoid the problem that the position precision is deviated in calculation due to a large error of the position change. That is, the present application provides data support for subsequent calculation of the target position precision of the navigation terminal by focusing on the influence of the position change on the position precision, which is beneficial to improving the calculation accuracy of the target position precision.

[0307] Optionally, in the above Figure 7On the basis of the corresponding embodiment, the precision processing device provided by the embodiment of the application comprises a road adsorption information obtaining unit, a first position information obtaining unit, a road position information obtaining unit and a road direction obtaining unit.

[0308] The computing unit 702 is specifically configured to:

[0309] Calculate a lateral distance between the navigation terminal and the road based on the first position information, the road position information and the road direction.

[0310] Determine a fourth position precision based on the lateral distance and the road width.

[0311] Optionally, in the above Figure 7 On the basis of the corresponding embodiment, the precision processing device provided by the embodiment of the application comprises a computing unit 702, which is specifically configured to:

[0312] Calculate a first relative distance and a second relative distance based on the first position information and the road position information, the first relative distance representing a distance of the navigation terminal relative to the road in a third direction, and the second relative distance representing a distance of the navigation terminal relative to the road in a fourth direction, the third direction being different from the fourth direction.

[0313] Calculate a lateral distance between the navigation terminal and the road based on the first relative distance, the second relative distance and the road direction.

[0314] Optionally, in the above Figure 7 On the basis of the corresponding embodiment, the precision processing device provided by the embodiment of the application comprises a computing unit 702, which is specifically configured to:

[0315] Obtain a first value by solving a product of a sine value of the road direction and the second relative distance, and obtain a second value by solving a product of a cosine value of the road direction and the first relative distance;

[0316] Obtain the lateral distance between the navigation terminal and the road based on the first value and the second value.

[0317] Optionally, in the above Figure 7 On the basis of the corresponding embodiment, the precision processing device provided by the embodiment of the application comprises a first position information obtaining unit, a road position information obtaining unit and a road direction obtaining unit, wherein the first position information comprises a first longitude, a first latitude and a first height; the road position information comprises a second longitude, a second latitude and a second height of the road; and the computing unit 702 is specifically configured to:

[0318] Calculate a longitude difference value between the first longitude and the second longitude, and a latitude difference value between the first latitude and the second latitude;

[0319] Obtain the first relative distance based on the longitude difference value, the first latitude and the first height.

[0320] obtain the second relative distance based on the latitude difference value and the first latitude.

[0321] Optionally, based on the above-mentioned Figure 7 On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the calculation unit 702 is specifically used for:

[0322] When the lateral distance is less than a first condition value, the fourth position precision is determined as a first threshold value, the first condition value is obtained based on the road width, the first condition value and the first threshold value have a mapping relationship; or,

[0323] When the lateral distance is greater than a second condition value, the fourth position precision is determined as a second threshold value, the second condition value is obtained based on the road width and is greater than the first condition value, the second condition value and the second threshold value have a mapping relationship; or,

[0324] When the lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value, a difference value between the lateral distance and the first condition value is calculated, and the fourth position precision is determined based on the difference value.

[0325] Optionally, based on the above-mentioned Figure 7 On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the satellite information includes a first satellite number, a second satellite number and a total satellite number, the first satellite number is the number of satellites with a signal-to-noise ratio greater than a third threshold value in the total satellite number, and the second satellite number is the number of satellites with a signal-to-noise ratio less than or equal to the third threshold value in the total satellite number; the calculation unit 702 is specifically used for:

[0326] Based on the first satellite number, the second satellite number and the total satellite number, the fifth position precision is determined.

[0327] Optionally, based on the above-mentioned Figure 8 On the basis of the corresponding embodiment, another embodiment of the precision processing device provided by the embodiment of the application is provided, and the first satellite number includes a first number and a second number, the second satellite number includes a third number, the first number is used to indicate the total number of satellites with a signal-to-noise ratio greater than a third threshold value at a first elevation angle, the second number is used to indicate the total number of satellites with a signal-to-noise ratio greater than the third threshold value at a second elevation angle, and the third number is used to indicate the total number of satellites with a signal-to-noise ratio less than or equal to the third threshold value at the second elevation angle; the calculation unit 702 is specifically used for:

[0328] The second number and the third number are processed by exponential solution to obtain a first value;

[0329] Based on the first number and the first value, the fifth position precision is calculated.

[0330] The embodiment of the present application considers the influence of different numbers of satellites on position accuracy from the perspective of the number of satellites, which can avoid the problem of calculation deviation of position accuracy caused by large errors, provides data support for subsequent calculation of target position accuracy of the navigation terminal, and is beneficial to improving the calculation accuracy of target position accuracy.

[0331] Figure 7 is an optional structure schematic diagram of a computer device provided by the embodiment of the present application. The computer device 400 can have great differences due to different configurations or performances, for example, but not limited to, the navigation terminal shown in the foregoing Figure 8 , or the foregoing mentioned global positioning satellite, etc. For example, the computer device 400 can include one or more central processing units (CPU) 422 (for example, one or more processors) and a memory 432, one or more storage media 430 (for example, one or more mass storage devices) storing application programs 442 or data 444. The memory 432 and the storage media 430 can be temporary storage or persistent storage. The programs stored in the storage media 430 can include one or more modules (not shown in the figure), each of which can include a series of instruction operations in the navigation terminal. Further, the central processing unit 422 can be configured to communicate with the storage media 430 and execute a series of instruction operations in the storage media 430 on the computer device 400.

[0332] The computer device 400 can also include one or more power supplies 426, one or more wired or wireless network interfaces 450, one or more input and output interfaces 458, and / or one or more operating systems 441, such as Windows Server TM , Mac OS X TM , Unix TM , Linux TM , FreeBSD TM , etc.

[0333] The steps performed by the computer device 400 in the above embodiments can be based on the computer device structure shown in the ​ .

[0334] The embodiment of the present application also provides a computer device including a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the steps of the method described in each of the foregoing embodiments are implemented.

[0335] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of the method described in the foregoing embodiments.

[0336] The embodiment of the present application further provides a computer program product, which comprises a computer program. The computer program is executed by a processor to implement the steps of the method described in the foregoing embodiments.

[0337] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the system, device and unit described above can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0338] In the embodiment of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined target, and can be implemented entirely or partially by using software, hardware (such as a processing circuit or a memory) or a combination thereof. Similarly, one processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be a part of an overall module or unit that includes the functions of the module or unit.

[0339] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0340] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0341] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0342] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application or the entire or part of the technical solutions that essentially contribute to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a navigation terminal or a terminal device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various computer program storage media.

[0343] The above-described embodiments are merely used to illustrate the technical solutions of the present application, rather than limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features thereof can be replaced by equivalents; and such modifications or replacements do not cause the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for position accuracy processing, characterized in that, Applied to a navigation terminal, the method includes: Acquire satellite navigation signals; First information is calculated based on the satellite navigation signal. The first information is used to indicate the positioning status of the navigation terminal when the positioning accuracy of the navigation terminal is evaluated based on the first evaluation index. Multiple pieces of second information are obtained, and the multiple pieces of second information are used to indicate the positioning status of the navigation terminal when the positioning accuracy of the navigation terminal is evaluated based on the second evaluation index. The second evaluation index is different from the first evaluation index. Based on one or more of the second information and the first information, multiple positional accuracies are calculated; The target position accuracy of the navigation terminal is determined based on multiple position accuracies.

2. The method according to claim 1, characterized in that, The first information includes one or more of first location information, first speed information, and first heading information; the second information includes one or more of second location information, second speed information, second heading information, road adhesion information, and satellite information. Wherein, the first position information is used to indicate the position of the navigation terminal at a first moment, the first speed information is used to indicate the speed of the navigation terminal at the first moment, the first heading information is used to indicate the direction of travel of the navigation terminal at the first moment, the second position information is used to indicate the position of the navigation terminal at a second moment, the second speed information is used to indicate the speed of the navigation terminal at the second moment, the second heading information is used to indicate the direction of travel of the navigation terminal at the second moment, the road attachment information is used to indicate the road conditions of the road to which the navigation terminal is attached at the first moment, and the satellite information is used to indicate the satellite conditions when the satellite navigation signal is transmitted. The second moment is earlier than the first moment, and the second moment is spaced apart from the first moment by a first duration.

3. The method according to claim 2, characterized in that, Based on one or more of the second information and the first information, multiple positional accuracies are calculated, including: Based on the first position information, the second position information, the second speed information, and the second heading information, the first position accuracy is calculated; Based on the first heading information and the second heading information, calculate the second position accuracy; Based on the first position information, the second position information, and the second velocity information, the third position accuracy is calculated; Based on the first location information and the road adsorption information, calculate the fourth location accuracy; Calculate the fifth position accuracy based on the satellite information; Determining the target position accuracy of the navigation terminal based on multiple position accuracies includes: The target position accuracy of the navigation terminal is determined based on at least two of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy.

4. The method according to claim 3, characterized in that, Determining the target position accuracy of the navigation terminal based on at least two of the first position accuracy, the second position accuracy, the third position accuracy, the fourth position accuracy, and the fifth position accuracy includes: Determine the target scene currently in which the navigation terminal is located; The weight of each of the at least two positional accuracies is determined based on the target scene, and the sum of the weights of the at least two positional accuracies is 1. The target position accuracy of the navigation terminal is obtained by performing a weighted summation process on the corresponding position accuracy based on the weight of each position accuracy.

5. The method according to any one of claims 3 to 4, characterized in that, Based on the first position information, the second position information, the second velocity information, and the second heading information, the first position accuracy is calculated, including: Based on the second location information, the second speed information, and the second heading information, the predicted location information of the navigation terminal at the first moment is calculated; Calculate the position error between the first position information and the predicted position information; The first position accuracy is determined based on the position error.

6. The method according to claim 5, characterized in that, Based on the second location information, the second speed information, and the second heading information, the predicted location information of the navigation terminal at the first moment is calculated, including: Based on the second heading information, the first duration, and the second speed information, a first displacement increment and a second position increment are calculated. The first displacement increment is used to indicate the displacement change in the first direction when the navigation terminal moves along the second heading information, and the second displacement increment is used to indicate the displacement change in the second direction when the navigation terminal moves along the second heading information. The first direction and the second direction are different. Based on the second location information, the first displacement increment, and the second displacement increment, the predicted location information of the navigation terminal at the first moment is calculated.

7. The method according to any one of claims 3 to 4, characterized in that, Based on the first heading information and the second heading information, the second position accuracy is calculated, including: Based on the first heading information and the second heading information, calculate the first heading change information; Based on the equivalent astrogyroscope sensor, the first heading information and the second heading information are processed by angular velocity transformation to obtain the first equivalent astrogyroscope heading information and the second equivalent astrogyroscope heading information. Based on the first equivalent astrogyroscope heading information and the second equivalent astrogyroscope heading information, the second heading change information is calculated; Calculate a first correlation coefficient between the first heading change information and the second heading change information, wherein the first correlation coefficient is used to indicate the degree of correlation between the first heading change information and the second heading change information; The second position accuracy is determined based on the first correlation coefficient.

8. The method according to any one of claims 3 to 4, characterized in that, Based on the first position information, the second position information, and the second velocity information, the third position accuracy is calculated, including: Based on the first location information and the second location information, calculate the first location change information; Based on the first duration and the second speed information, the target location information is determined; Calculate the target location information and the second location information, and calculate the second location change information; Calculate a second correlation coefficient between the first position change information and the second position change information, wherein the second correlation coefficient is used to indicate the degree of correlation between the first position change information and the second position change information; The third positional accuracy is determined based on the second correlation coefficient.

9. The method according to any one of claims 3 to 4, characterized in that, The road adsorption information includes the road location information, road direction, and road width; based on the first location information and the road adsorption information, a fourth location accuracy is calculated, including: Based on the first location information, the road location information, and the road direction, calculate the lateral distance between the navigation terminal and the road; The fourth position accuracy is determined based on the lateral distance and the road width.

10. The method according to claim 9, characterized in that, Based on the first location information, the road location information, and the road direction, the lateral distance between the navigation terminal and the road is calculated, including: Based on the first location information and the road location information, a first relative distance and a second relative distance are calculated. The first relative distance represents the distance of the navigation terminal relative to the road in a third direction, and the second relative distance represents the distance of the navigation terminal relative to the road in a fourth direction. The third direction is different from the fourth direction. Based on the first relative distance, the second relative distance, and the road direction, the lateral distance between the navigation terminal and the road is calculated.

11. The method according to claim 10, characterized in that, Based on the first relative distance, the second relative distance, and the road direction, the lateral distance between the navigation terminal and the road is calculated, including: The product of the sine value of the road direction and the second relative distance is calculated to obtain a first value, and the product of the cosine value of the road direction and the first relative distance is calculated to obtain a second value; Based on the first value and the second value, the lateral distance between the navigation terminal and the road is obtained.

12. The method according to any one of claims 10 to 11, characterized in that, The first location information includes a first longitude, a first latitude, and a first altitude; the road location information includes the second longitude, a second latitude, and a second altitude of the road. Based on the first location information and the road location information, the first relative distance and the second relative distance are calculated, including: Calculate the longitude difference between the first longitude and the second longitude, and the latitude difference between the first latitude and the second latitude; Based on the longitude difference value, the first latitude, and the first altitude, the first relative distance is obtained; The second relative distance is obtained based on the latitude difference value and the first latitude.

13. The method according to any one of claims 9 to 11, characterized in that, Determining the fourth position accuracy based on the lateral distance and the road width includes: When the lateral distance is less than a first condition value, the fourth position accuracy is determined to be a first threshold value, where the first condition value is obtained based on the road width, and there is a mapping relationship between the first condition value and the first threshold value; or, When the lateral distance is greater than the second condition value, the fourth position accuracy is determined as the second threshold. The second condition value is obtained based on the road width and is greater than the first condition value. There is a mapping relationship between the second condition value and the second threshold. Alternatively... When the lateral distance is greater than or equal to the first condition value and less than or equal to the second condition value, the difference between the lateral distance and the first condition value is calculated, and the fourth position accuracy is determined based on the difference.

14. The method according to any one of claims 3 to 4, characterized in that, The satellite information includes a first number of satellites, a second number of satellites, and a total number of satellites. The first number of satellites is the number of satellites in the total number of satellites whose signal-to-noise ratio is greater than a third threshold. The second number of satellites is the number of satellites in the total number of satellites whose signal-to-noise ratio is less than or equal to the third threshold. Calculating the fifth position accuracy based on the satellite information includes: The fifth position accuracy is determined based on the number of the first satellite, the number of the second satellite, and the total number of satellites.

15. The method according to claim 14, characterized in that, The first number of satellites includes a first number and a second number, the second number of satellites includes a third number, the first number is used to indicate the total number of satellites when the signal-to-noise ratio at the first elevation angle is greater than the third threshold, the second number is used to indicate the total number of satellites when the signal-to-noise ratio at the second elevation angle is greater than the third threshold, and the third number is used to indicate the total number of satellites when the signal-to-noise ratio at the second elevation angle is less than or equal to the third threshold. The fifth position accuracy is determined based on the first number of satellites, the second number of satellites, and the total number of satellites, including: The second number and the third number are subjected to exponential calculation to obtain the first value; Based on the first number and the first value, the fifth positional accuracy is calculated.

16. A precision processing device, characterized in that, include: Acquisition unit, used to acquire satellite navigation signals; A calculation unit is configured to calculate first information based on the satellite navigation signal, wherein the first information is used to indicate the positioning status of the navigation terminal when the positioning accuracy of the navigation terminal is evaluated based on a first evaluation index; The acquisition unit is used to acquire multiple pieces of second information, each piece of second information being used to indicate the positioning status of the navigation terminal when the positioning accuracy of the navigation terminal is evaluated based on a second evaluation index, wherein the second evaluation index is different from the first evaluation index. The calculation unit is used to calculate multiple positional accuracies based on one or more of the second information and the first information; The determining unit is used to determine the target position accuracy of the navigation terminal based on multiple position accuracies.

17. 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 15.

18. 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 15.

19. 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 15.

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