Combined positioning method and device based on 5g communication technology and RTK technology

Abstract

The application relates to the technical field of intelligent positioning, and discloses a combined positioning method and device based on 5G communication technology and RTK technology. According to the application, the initial terminal position and a two-dimensional confidence area are determined based on 5G communication technology in response to the positioning demand, and then a three-dimensional confidence area integrating elevation information is constructed, so that the positioning dimension is expanded. The application can also accurately screen satellites, effectively constrain and optimize the RTK ambiguity search space through the screened satellites, improve the calculation efficiency and calculation accuracy of subsequent execution operation based on the optimized ambiguity search space, and finally perform high-precision ambiguity resolution by using the RTK technology to obtain a high-precision target terminal position, thereby effectively improving the real-time performance, accuracy and efficiency of positioning and improving the applicability and practicability of the method to various application scenarios.

Description

Technical Field

[0001] This invention relates to the field of intelligent positioning technology, and in particular to a combined positioning method and apparatus based on 5G communication technology and RTK technology. Background Technology

[0002] In the field of satellite navigation and positioning technology, RTK (Real-time Motion Positioning) is a mature and widely used high-precision positioning technology. With its advantage of providing centimeter-level positioning accuracy, it plays a key role in many industries such as surveying and mapping, intelligent transportation, precision agriculture, and drone navigation.

[0003] However, traditional RTK technology suffers from a significant technical bottleneck in practical applications: slow convergence speed during cold starts. A cold start refers to the initial power-on of a positioning device or its restart after a prolonged shutdown. During this time, the device needs to re-search and determine the ambiguity parameters of the satellite signal to achieve high-precision positioning. This problem is particularly pronounced in complex environments. For example, in urban canyons, towering buildings severely obstruct and reflect satellite signals, leading to a decrease in both the quality and quantity of received signals. In mountainous areas, the undulating terrain and mountains also obstruct satellite signals, making the signal propagation path complex and variable. In these scenarios, traditional RTK technology requires a long time to search for ambiguity solutions, significantly increasing initialization time and severely impacting the real-time performance and efficiency of positioning. This, in turn, reduces user experience and limits its promotion and use in applications with high real-time requirements.

[0004] To address the slow cold-start convergence speed of traditional RTK technology, existing technologies have proposed several improvement schemes, attempting to leverage other positioning methods to assist RTK positioning and accelerate convergence. Among these, using Wi-Fi fingerprint positioning results as initial values ​​to assist RTK convergence is a common approach. Wi-Fi fingerprint positioning constructs a fingerprint database based on information such as the strength and characteristics of Wi-Fi signals received at different locations. Location is determined by matching real-time collected Wi-Fi signals with the fingerprints in the database. However, in practical applications, Wi-Fi fingerprint positioning suffers from significant applicability issues. On one hand, Wi-Fi signal coverage is limited and easily affected by environmental factors, such as differences in indoor and outdoor signal strength and signal fluctuations caused by population movement, making it difficult to guarantee the accuracy and stability of the fingerprint database. On the other hand, Wi-Fi deployment varies significantly across different areas, making it difficult to construct a unified and comprehensive fingerprint database. This results in limited versatility of the method across different scenarios and an inability to effectively solve the common problem of slow cold-start convergence speed in traditional RTK technology. Summary of the Invention

[0005] This invention provides a combined positioning method and device based on 5G communication technology and RTK technology, which can improve the convergence speed and positioning accuracy of RTK in complex environments.

[0006] The first aspect of this invention discloses a combined positioning method based on 5G communication technology and RTK technology, the method comprising: When a positioning request for a target terminal is detected, the communication base station responding to the positioning request and its corresponding base station identifier are determined, and the terminal location information of the target terminal is determined based on the base station identifier. The terminal location information includes the initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range. Based on the pre-acquired target altitude information and the terminal location information, and combined with a preset dynamic elevation compensation formula, a three-dimensional confidence region is constructed for the target terminal; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal. Based on the determined first satellite position information corresponding to multiple first satellites and the three-dimensional confidence region, all second satellites that meet the preset observation conditions are selected from all the first satellites; and based on all the second satellites and the three-dimensional confidence region, an ambiguity search space for the target terminal is constructed. Based on the second satellite position information of all the second satellites and the terminal position information, an ambiguity resolution operation is performed on the ambiguity search space to obtain an ambiguity resolution result for the ambiguity search space; the ambiguity resolution operation is an RTK-based resolution operation; the ambiguity resolution result includes the target terminal position after correction of the initial terminal position.

[0007] As an optional implementation, in the first aspect of the present invention, the base station identifier is the CellID information corresponding to the communication base station; Determining the terminal location information of the target terminal based on the base station identifier includes: The first latitude and longitude coordinates and signal coverage area of ​​the communication base station are determined based on the base station identifier; Based on the first latitude and longitude coordinates and the signal coverage area, the initial terminal position of the target terminal is estimated, and the initial terminal position includes at least the second latitude and longitude coordinates corresponding to the target terminal; Using the initial terminal location as the center and combining the signal coverage range, a two-dimensional confidence region corresponding to the target terminal is constructed; The initial terminal location and the two-dimensional confidence region are determined as the terminal location information of the target terminal.

[0008] As an optional implementation, in the first aspect of the present invention, the step of constructing a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and the terminal location information, combined with a preset dynamic elevation compensation formula, includes: The altitude of the communication base station is determined based on the base station identifier; Based on the preset terminal height estimation model and combined with the terminal location information, the estimated ground clearance of the target terminal is calculated. The altitude of the communication base station, the estimated ground clearance of the target terminal, and the terminal location information are input into a preset dynamic elevation compensation formula to construct a three-dimensional confidence region for the target terminal.

[0009] As an optional implementation, in the first aspect of the present invention, the dynamic elevation compensation formula is:

[0010] in,( , , ) represents the three-dimensional coordinates corresponding to the initial terminal position; and This is obtained by calculating the sum of the altitude of the communication base station and the estimated ground clearance of the target terminal; , , () is used to indicate that it is within the two-dimensional confidence region and is any three-dimensional coordinate other than the three-dimensional coordinates corresponding to the initial terminal position;

[0011] Wherein, the coverage radius is the radius corresponding to the first area range; the terrain attenuation factor is used to indicate the attenuation effect of the target terminal and the environment where the communication base station is located on the communication signal;

[0012] The base station altitude standard deviation is used to indicate the measurement error corresponding to the altitude of the communication base station; the terminal motion altitude fluctuation threshold is used to indicate the range of altitude change of the target terminal relative to its local plane when the target terminal moves. The elevation dynamic compensation formula is used to select all target three-dimensional coordinate points that satisfy the elevation dynamic compensation formula from the two-dimensional confidence region.

[0013] As an optional implementation, in the first aspect of the present invention, the step of selecting all second satellites that meet preset observation conditions from all the first satellites based on the determined first satellite position information corresponding to the plurality of first satellites and the three-dimensional confidence region includes: The first satellite position information corresponding to all first satellites corresponding to the target terminal is obtained according to the satellite navigation system; the first satellite position information corresponding to all first satellites includes the third latitude and longitude coordinates and satellite altitude of each first satellite; For each of the first satellites, the shortest distance between the first satellite and the three-dimensional confidence region is calculated based on the location information corresponding to the first satellite and the initial terminal location. Determine whether the shortest distance corresponding to the first satellite is less than a preset distance threshold. When it is determined that the shortest distance corresponding to the first satellite is less than the preset distance threshold, the first satellite is determined to be a valid satellite that meets the preset observation conditions and is recorded as the second satellite.

[0014] As an optional implementation, in the first aspect of the present invention, the step of performing ambiguity resolution on the ambiguity search space based on the second satellite position information of all the second satellites and the terminal position information to obtain the ambiguity resolution result for the ambiguity search space includes: Based on the second satellite position information of all the second satellites and the terminal position information, and in conjunction with a preset solution algorithm, a first solution operation is performed on the ambiguity search space to obtain multiple ambiguity candidate solutions for the ambiguity search space; the solution algorithm includes the LAMBDA algorithm. The dynamic correction data corresponding to the target terminal is obtained. The dynamic correction data is IMU data obtained by collecting motion data of the target terminal when it moves through the inertial measurement unit set on the target terminal. Based on the dynamic correction data, and using multiple preset correction parameters as a benchmark, a data correction operation is performed on all the ambiguity candidate solutions to obtain the data correction results for all the ambiguity candidate solutions; the data correction operation is used to determine the target ambiguity candidate solution that matches all the correction parameters from all the ambiguity candidate solutions. A second solution operation is performed on the data correction result to obtain the target solution result for the data correction result, which is used as the fuzziness solution result for the fuzziness search space.

[0015] As an optional implementation, in the first aspect of the present invention, the IMU data includes at least triaxial acceleration data and triaxial angular velocity data corresponding to the target terminal; the IMU data also includes triaxial magnetometer data or barometer data corresponding to the target terminal. These multiple correction parameters include position domain parameters, frequency domain parameters, and time domain parameters; The location domain parameters are used to dynamically adjust the region range and shape of the three-dimensional confidence region; The frequency domain parameters are used to analyze the frequency characteristics of the IMU data and also to determine the solution priority for all the ambiguity candidate solutions. The time domain parameters are used to eliminate abnormal data in all the candidate solutions for ambiguity.

[0016] A second aspect of the present invention discloses a combined positioning device based on 5G communication technology and RTK technology, the device comprising: The determination module is used to determine, when a positioning request for a target terminal is detected, the communication base station responding to the positioning request and its corresponding base station identifier, and determine the terminal location information of the target terminal based on the base station identifier. The terminal location information includes an initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range. The construction module is used to construct a three-dimensional confidence region for the target terminal based on the pre-acquired target altitude information and the terminal location information, combined with a preset dynamic elevation compensation formula; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal. The filtering module is used to filter all second satellites that meet the preset observation conditions from all the first satellites based on the first satellite position information corresponding to the determined multiple first satellites and the three-dimensional confidence region; The construction module is also used to construct an ambiguity search space for the target terminal based on all the second satellites and the three-dimensional confidence region; The ambiguity resolution module is used to perform ambiguity resolution operations on the ambiguity search space based on the second satellite position information of all the second satellites and the terminal position information, to obtain ambiguity resolution results for the ambiguity search space; the ambiguity resolution operation is a resolution operation based on RTK technology; the ambiguity resolution results include the target terminal position after correction of the initial terminal position.

[0017] As an optional implementation, in a second aspect of the present invention, the base station identifier is the CellID information corresponding to the communication base station; The method by which the determining module determines the terminal location information of the target terminal based on the base station identifier specifically includes: The first latitude and longitude coordinates and signal coverage area of ​​the communication base station are determined based on the base station identifier; Based on the first latitude and longitude coordinates and the signal coverage area, the initial terminal position of the target terminal is estimated, and the initial terminal position includes at least the second latitude and longitude coordinates corresponding to the target terminal; Using the initial terminal location as the center and combining the signal coverage range, a two-dimensional confidence region corresponding to the target terminal is constructed; The initial terminal location and the two-dimensional confidence region are determined as the terminal location information of the target terminal.

[0018] As an optional implementation, in the second aspect of the present invention, the method by which the construction module constructs a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and the terminal location information, combined with a preset dynamic elevation compensation formula, specifically includes: The altitude of the communication base station is determined based on the base station identifier; Based on the preset terminal height estimation model and combined with the terminal location information, the estimated ground clearance of the target terminal is calculated. The altitude of the communication base station, the estimated ground clearance of the target terminal, and the terminal location information are input into a preset dynamic elevation compensation formula to construct a three-dimensional confidence region for the target terminal.

[0019] As an optional implementation, in a second aspect of the present invention, the dynamic elevation compensation formula is:

[0020] in,( , , ) represents the three-dimensional coordinates corresponding to the initial terminal position; and This is obtained by calculating the sum of the altitude of the communication base station and the estimated ground clearance of the target terminal; , , () is used to indicate that it is within the two-dimensional confidence region and is any three-dimensional coordinate other than the three-dimensional coordinates corresponding to the initial terminal position;

[0021] Wherein, the coverage radius is the radius corresponding to the first area range; the terrain attenuation factor is used to indicate the attenuation effect of the target terminal and the environment where the communication base station is located on the communication signal;

[0022] The base station altitude standard deviation is used to indicate the measurement error corresponding to the altitude of the communication base station; the terminal motion altitude fluctuation threshold is used to indicate the range of altitude change of the target terminal relative to its local plane when the target terminal moves. The elevation dynamic compensation formula is used to select all target three-dimensional coordinate points that satisfy the elevation dynamic compensation formula from the two-dimensional confidence region.

[0023] As an optional implementation, in a second aspect of the present invention, the filtering module filters all second satellites that meet preset observation conditions from all the first satellites based on the determined first satellite position information corresponding to the plurality of first satellites and the three-dimensional confidence region. Specifically, this includes: The first satellite position information corresponding to all first satellites corresponding to the target terminal is obtained according to the satellite navigation system; the first satellite position information corresponding to all first satellites includes the third latitude and longitude coordinates and satellite altitude of each first satellite; For each of the first satellites, the shortest distance between the first satellite and the three-dimensional confidence region is calculated based on the location information corresponding to the first satellite and the initial terminal location. Determine whether the shortest distance corresponding to the first satellite is less than a preset distance threshold. When it is determined that the shortest distance corresponding to the first satellite is less than the preset distance threshold, the first satellite is determined to be a valid satellite that meets the preset observation conditions and is recorded as the second satellite.

[0024] As an optional implementation, in the second aspect of the present invention, the method by which the solving module performs ambiguity solving operations on the ambiguity search space based on the second satellite position information of all the second satellites and the terminal position information, to obtain the ambiguity solving result for the ambiguity search space, specifically includes: Based on the second satellite position information of all the second satellites and the terminal position information, and in conjunction with a preset solution algorithm, a first solution operation is performed on the ambiguity search space to obtain multiple ambiguity candidate solutions for the ambiguity search space; the solution algorithm includes the LAMBDA algorithm. The dynamic correction data corresponding to the target terminal is obtained. The dynamic correction data is IMU data obtained by collecting motion data of the target terminal when it moves through the inertial measurement unit set on the target terminal. Based on the dynamic correction data, and using multiple preset correction parameters as a benchmark, a data correction operation is performed on all the ambiguity candidate solutions to obtain the data correction results for all the ambiguity candidate solutions; the data correction operation is used to determine the target ambiguity candidate solution that matches all the correction parameters from all the ambiguity candidate solutions. A second solution operation is performed on the data correction result to obtain the target solution result for the data correction result, which is used as the fuzziness solution result for the fuzziness search space.

[0025] As an optional implementation, in the second aspect of the present invention, the IMU data includes at least triaxial acceleration data and triaxial angular velocity data corresponding to the target terminal; the IMU data also includes triaxial magnetometer data or barometer data corresponding to the target terminal. These multiple correction parameters include position domain parameters, frequency domain parameters, and time domain parameters; The location domain parameters are used to dynamically adjust the region range and shape of the three-dimensional confidence region; The frequency domain parameters are used to analyze the frequency characteristics of the IMU data and also to determine the solution priority for all the ambiguity candidate solutions. The time domain parameters are used to eliminate abnormal data in all the candidate solutions for ambiguity.

[0026] A third aspect of the present invention discloses another combined positioning device based on 5G communication technology and RTK technology, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the combined positioning method based on 5G communication technology and RTK technology according to any of the first aspects of the present invention.

[0027] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the combined positioning method based on 5G communication technology and RTK technology described in any of the first aspects of the present invention.

[0028] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a combined positioning method based on 5G communication technology and RTK technology. The method includes: when a positioning request for a target terminal is detected, determining the communication base station responding to the positioning request and its corresponding base station identifier, and determining the terminal location information of the target terminal based on the base station identifier. The terminal location information includes the initial terminal location and its corresponding two-dimensional confidence region, with the two-dimensional confidence region corresponding to a first region range; constructing a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and terminal location information, combined with a preset dynamic elevation compensation formula; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal; selecting all second satellites that meet preset observation conditions from all first satellites based on the determined first satellite location information corresponding to multiple first satellites and the three-dimensional confidence region; constructing an ambiguity search space for the target terminal based on all second satellites and the three-dimensional confidence region; performing ambiguity resolution on the ambiguity search space based on the second satellite location information of all second satellites and the terminal location information to obtain an ambiguity resolution result for the ambiguity search space; the ambiguity resolution operation is an RTK-based resolution operation; the ambiguity resolution result includes the target terminal location after correction of the initial terminal location. As can be seen, implementing this invention allows for rapid response to positioning needs and determination of the initial terminal location and two-dimensional confidence region based on 5G communication technology. This is followed by the construction of a three-dimensional confidence region incorporating elevation information, thus expanding the positioning dimension. Furthermore, it enables precise satellite selection, which effectively constrains and optimizes the RTK ambiguity search space. Based on this optimized ambiguity search space, the computational efficiency and accuracy of subsequent solution operations are improved. Finally, high-precision ambiguity resolution is performed using RTK technology, ultimately yielding a high-precision target terminal location. This effectively improves the real-time performance, accuracy, and efficiency of positioning, while also enhancing the applicability and practicality of the method across various application scenarios. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a flowchart illustrating a combined positioning method based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Figure 2 This is a flowchart illustrating another combined positioning method based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Figure 3This is a schematic diagram of the structure of a combined positioning device based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention; Figure 4 This is a flowchart illustrating another combined positioning method based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention; Figure 5 This is a schematic diagram of another combined positioning device based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] This invention discloses a combined positioning method and apparatus based on 5G communication technology and RTK technology. By rapidly responding to positioning needs and determining the initial terminal location and two-dimensional confidence region based on 5G communication technology, a three-dimensional confidence region incorporating elevation information is constructed, expanding the positioning dimension. It also enables precise satellite selection, which effectively constrains and optimizes the RTK ambiguity search space. Based on this optimized ambiguity search space, the computational efficiency and accuracy of subsequent ambiguity resolution operations are improved. Finally, high-precision ambiguity resolution is performed using RTK technology to obtain a high-precision target terminal location, effectively improving the real-time performance, accuracy, and efficiency of positioning, while also enhancing the applicability and practicality of the method for various application scenarios. Detailed descriptions follow.

[0035] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a combined positioning method based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Figure 1 The described combined positioning method based on 5G communication technology and RTK technology can be applied to combined positioning devices based on 5G communication technology and RTK technology, and the embodiments of the present invention are not limited thereto. Figure 1 As shown, this combined positioning method based on 5G communication technology and RTK technology may include the following operations: 101. When a positioning request for a target terminal is detected, determine the communication base station responding to the positioning request and its corresponding base station identifier, and determine the terminal location information of the target terminal based on the base station identifier.

[0036] In this embodiment of the invention, the terminal location information includes the initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range.

[0037] In the embodiments of this invention, please refer to Figure 4 , Figure 4 This is a flowchart illustrating another positioning method based on a combination of 5G communication technology and RTK technology disclosed in an embodiment of the present invention. The base station identifier of the communication base station can be obtained through the 5G module configured on the target terminal.

[0038] 102. Based on the pre-acquired target altitude information and terminal location information, and combined with the preset dynamic elevation compensation formula, construct a three-dimensional confidence region for the target terminal.

[0039] In this embodiment of the invention, the target altitude information includes the altitude of the communication base station and the estimated altitude of the target terminal above the ground.

[0040] In this embodiment of the invention, by executing steps 101-102, the traditional two-dimensional confidence region based on 5G CellID is combined with dynamic elevation compensation technology to construct a three-dimensional confidence region that better reflects the actual physical space. This three-dimensional confidence region / three-dimensional model can effectively constrain the search space of ambiguity in the vertical direction, thereby overcoming the inherent bias of the pure two-dimensional positioning model in the elevation direction. This results in higher accuracy of the final calculated target terminal position in three-dimensional space, providing a more accurate spatial range for subsequent satellite selection and ambiguity resolution, thus significantly improving the reliability of the subsequent positioning results.

[0041] 103. Based on the determined first satellite position information and three-dimensional confidence region corresponding to multiple first satellites, select all second satellites that meet the preset observation conditions from all first satellites.

[0042] 104. Based on all second satellites and the three-dimensional confidence region, construct an ambiguity search space for the target terminal.

[0043] In this embodiment of the invention, satellite observations are pre-screened using a constructed three-dimensional confidence region, retaining only second satellite signals that penetrate this region for constructing the ambiguity search space. Step 103 eliminates a large number of satellite signals with poor geometric relationships or affected by occlusion or reflection, achieving "dimensionality reduction" and "purification" of the ambiguity search space. This reduces the number of candidate solutions to be searched in subsequent ambiguity resolution, thereby accelerating the convergence time required for ambiguity fixation. It also reduces the overall computational load of the system, thus improving the computational efficiency and accuracy of subsequent ambiguity resolution.

[0044] In this embodiment of the invention, optionally, step 104, which constructs the ambiguity search space for the target terminal based on all second satellites and the three-dimensional confidence region, specifically includes: For each second satellite, calculate the satellite line-of-sight vector from that second satellite to the target terminal; Project the satellite line-of-sight vector corresponding to the second satellite onto the three-dimensional confidence region to obtain the vector projection result of the satellite line-of-sight vector corresponding to the second satellite; Based on the vector projection results of each second satellite, the carrier phase observation values ​​of each second satellite, and the three-dimensional confidence region, an ambiguity search space is constructed for the target terminal; wherein, the ambiguity search space can be a search space constructed based on the carrier phase observation equation and the double difference observation equation.

[0045] The calculation formula corresponding to this carrier phase observation equation can be: φ = ρ + c * (δt_r - δt_s) + T - I + λ * N + ε Where φ is the measured carrier phase in meters; ρ is the geometric distance between the satellite and the target terminal, including the terminal position (x, y, z); c is the speed of light; δt_r-δt_s refers to the clock error between the target terminal and the satellite; T and I are atmospheric delay errors; λ is the carrier wavelength of the satellite signal; N is the integer ambiguity (N is the integer value that needs to be solved later); and ε is the measurement noise.

[0046] In this embodiment of the invention, a double-difference technique can be used to eliminate common errors such as clock errors between the target terminal and the satellite. Specifically, at the same time, the differences between the observations of the same satellite by two receivers (one base station and one rover station) can be used to eliminate the satellite clock error δt_s. For the same receiver, the differences between the single-difference observations of two different satellites can be calculated again to eliminate the receiver clock error δt_r.

[0047] Based on this, the double-difference observation equation can be simplified to: Δφ = Δρ + λ * ΔN + Δε in, Δ represents the double difference sign; Δφ is the observed value of the double-difference carrier phase; Δρ is the double-difference geometric distance (currently only containing the relative position information of the two receivers and two satellites); ΔN is the double-difference integer ambiguity (which is now the integer we need to solve for); at this point, the main unknowns in the equation are the precise coordinates of the rover (x, y, z) and the double-difference ambiguity. ΔN.

[0048] Furthermore, the The calculation of Δρ is constrained by the constructed three-dimensional confidence region, which greatly reduces the number of candidate groups that need to be calculated for subsequent solution based on the LAMBDA algorithm.

[0049] 105. Based on the second satellite position information of all second satellites and the terminal position information, perform ambiguity resolution operation on the ambiguity search space to obtain the ambiguity resolution result for the ambiguity search space.

[0050] In embodiments of the present invention, such as Figure 4As shown, the second satellite position information of all second satellites can be obtained through the satellite positioning module configured on the target terminal, such as the GNSS module. At the same time, the satellite observation data of each second satellite can also be provided through the satellite positioning module.

[0051] In this embodiment of the invention, the ambiguity resolution operation is a resolution operation based on RTK technology; the ambiguity resolution result includes the target terminal position after correction of the initial terminal position.

[0052] In this embodiment of the invention, RTK technology features high precision, enabling it to quickly and accurately find the ambiguity solution within a relatively optimized ambiguity search space, thereby obtaining the target terminal position after correction of the initial terminal position. Thus, by combining 5G communication technology and RTK technology, the problems of difficult ambiguity resolution and low accuracy in traditional positioning methods are effectively overcome. Simultaneously, it can provide positioning results with centimeter-level or even higher precision, meeting the needs of high-precision positioning application scenarios.

[0053] In this embodiment of the invention, combined with Figure 1 , Figure 4 Taking a vehicle-mounted terminal as an example, the process of steps 101-105 in practical applications can be as follows: When the vehicle corresponding to the vehicle-mounted terminal starts, the 5G module configured on the vehicle automatically obtains the CellID information of the nearby communication base station and sends it to the cloud server. The cloud server returns the corresponding base station coordinates and base station signal coverage area based on the CellID information, such as (longitude xxxx°, latitude yyyyy°, radius 500m). Furthermore, the vehicle-mounted terminal can also obtain observation data from multiple satellites for the vehicle-mounted terminal through the satellite navigation system configured on the vehicle-mounted terminal, such as the GNSS module. Based on the observation data, the three-dimensional confidence region corresponding to the base station coordinates is optimized and constructed. Then, the base station coordinates, the observation data, and the three-dimensional confidence region are fed back to the RTK engine. After receiving this series of data, the RTK engine sets the confidence region to a 500m×500m grid, so it only needs to solve the ambiguity combination within the region, greatly reducing the amount of calculation, and thus achieving fast and accurate positioning of the vehicle-mounted terminal. Meanwhile, in the process of settling the ambiguity combinations in this area, the vehicle speed sensor (e.g., data obtained via CAN bus) can be used to further constrain the search direction of ambiguity resolution, so as to improve the resolution efficiency and accuracy.

[0054] It is evident that implementation Figure 1The described combined positioning method based on 5G communication technology and RTK technology rapidly responds to positioning needs and determines the initial terminal location and two-dimensional confidence region based on 5G communication technology. It then constructs a three-dimensional confidence region incorporating elevation information, expanding the positioning dimension. Furthermore, it accurately selects satellites, effectively constraining and optimizing the RTK ambiguity search space. This optimized ambiguity search space improves the computational efficiency and accuracy of subsequent ambiguity resolution operations. Finally, high-precision ambiguity resolution is performed using RTK technology to obtain a high-precision target terminal location, effectively improving the real-time performance, accuracy, and efficiency of positioning, while also enhancing the applicability and practicality of the method for various application scenarios.

[0055] In an optional embodiment, the base station identifier is the CellID information corresponding to the communication base station; The method for determining the target terminal's location information based on the base station identifier in step 101 above specifically includes: The first latitude and longitude coordinates of the communication base station and its signal coverage area are determined based on the base station identifier; Based on the first latitude and longitude coordinates and the signal coverage area, the initial terminal position of the target terminal is estimated. The initial terminal position includes at least the second latitude and longitude coordinates corresponding to the target terminal. Centered on the initial terminal location, and combined with the signal coverage area, a two-dimensional confidence region corresponding to the target terminal is constructed; The initial terminal location and the two-dimensional confidence region are determined as the terminal location information of the target terminal.

[0056] In this optional embodiment, CellID is a key parameter used to uniquely identify a base station in a communication network, and it is standardized and easily obtainable within the network. This identifier allows for the rapid and accurate determination of the first latitude and longitude coordinates and signal coverage area of ​​the corresponding communication base station from the communication network database or related systems, without requiring additional complex equipment or calculations, thus enabling quick and accurate acquisition of the base station's basic geographical information.

[0057] In this optional embodiment, the second latitude and longitude coordinates corresponding to the target terminal determined above can be the first latitude and longitude coordinates of the communication base station directly, or the coordinates of the target terminal obtained after scanning the device based on the communication base station. This embodiment of the invention does not limit the specific coordinates.

[0058] In this optional embodiment, the two-dimensional confidence region is typically a circular or rectangular area. Optionally, when the number of communication base stations responding to the positioning request is 1, the area range of the two-dimensional confidence region can be directly taken from the signal coverage range of the communication base station or a pre-set range value; when the number of communication base stations responding to the positioning request is greater than 1, the area range of the two-dimensional confidence region can be obtained by determining the overlapping area of ​​the signal coverage ranges of all communication base stations, and this embodiment of the invention does not impose any limitations.

[0059] As can be seen, in this optional embodiment, using the CellID information of the communication base station as the base station identifier, the first latitude and longitude coordinates and signal coverage range of the base station can be quickly obtained, thereby initially estimating the initial terminal position of the target terminal, and based on this, initially constructing a two-dimensional confidence region, and finally completely determining the terminal position information of the target terminal, including the initial terminal position and the two-dimensional confidence region. Based on the convenient and accurate information characteristics of CellID information, the positioning speed and reliability of the initial terminal position are greatly improved, while the construction speed and accuracy of the two-dimensional confidence region are also improved.

[0060] In another optional embodiment, the method for constructing a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and terminal location information, combined with a preset dynamic elevation compensation formula, specifically includes: Determine the altitude of the communication base station based on its identification. Based on the preset terminal height prediction model and combined with the terminal location information, the estimated ground clearance of the target terminal is calculated. The altitude of the communication base station, the estimated ground clearance of the target terminal, and the terminal location information are input into a preset dynamic elevation compensation formula to construct a three-dimensional confidence region for the target terminal.

[0061] In this optional embodiment, by using a preset terminal height estimation model and combining it with the determined terminal location information, the estimated ground clearance of the target terminal can be calculated scientifically and reasonably.

[0062] In this optional embodiment, the terminal height prediction model can comprehensively consider multiple factors, such as the type of the target terminal (e.g., mobile phone, vehicle terminal, etc.), usage scenario (indoor, outdoor, etc.), and surrounding environmental characteristics. Through comprehensive analysis of these factors, the height of the target terminal relative to the ground can be predicted more closely to the actual situation, providing important vertical data for constructing three-dimensional spatial positioning. For example, when the target terminal is a pedestrian handheld terminal, the height of the terminal above the ground is a value between [1m, 2m]; when the target is a vehicle, the height of the terminal above the ground is a value of 0.5m, and so on.

[0063] In this optional embodiment, the dynamic elevation compensation formula is:

[0064] in,( , , ) represents the three-dimensional coordinates corresponding to the initial terminal position; and This is obtained by calculating the sum of the altitude of the communication base station and the estimated ground clearance of the target terminal; , , ) is used to indicate that it is within a two-dimensional confidence region and is any three-dimensional coordinate other than the three-dimensional coordinates corresponding to the initial terminal position;

[0065] The coverage radius is the radius corresponding to the first area; the terrain attenuation factor is used to indicate the attenuation effect of the target terminal and the environment where the communication base station is located on the communication signal.

[0066] The base station altitude standard deviation is used to indicate the measurement error corresponding to the altitude of the communication base station; the terminal motion altitude fluctuation threshold is used to indicate the range of altitude change of the target terminal relative to its local plane when it moves. , , These correspond to the radii of the three-dimensional confidence region in the x, y, and z directions, respectively.

[0067] The elevation dynamic compensation formula is used to select all target three-dimensional coordinate points that satisfy the elevation dynamic compensation formula from a two-dimensional confidence region.

[0068] In this optional embodiment, by introducing a preset dynamic elevation compensation formula, the traditional two-dimensional confidence region based on CellID is constructed into a three-dimensional confidence region mathematically expressed by the ellipsoidal equation. This elevates the positioning model from a plane to a three-dimensional space, making the description of the terminal position more consistent with reality and providing a theoretical basis for subsequent high-precision positioning by imposing mathematical constraints in the vertical dimension.

[0069] In this optional embodiment, in the calculation This allows for the transformation of the assessment of elevation uncertainty from qualitative description to precise quantitative calculation. Among these, The calculation formula comprehensively considers the static error caused by terrain undulation (corresponding to the standard deviation of base station altitude) and the dynamic error caused by terminal movement (corresponding to the threshold of terminal movement height fluctuation), so that the range of the constructed three-dimensional confidence region in the Z-axis direction can adaptively and reasonably reflect the height uncertainty of the actual environment and movement state, thereby realizing intelligent and precise control of the elevation constraint range.

[0070] In this optional embodiment, the horizontal confidence range is corrected by introducing a "terrain attenuation factor," and the vertical confidence range is constrained by a "terminal motion height fluctuation threshold," enabling the constructed three-dimensional confidence ellipsoid model to possess dynamic adaptability. Whether in mountainous terrain with undulating features or in dynamic scenarios where the terminal altitude changes rapidly (such as vehicle navigation or drone flight), the model can adjust its three-dimensional shape to more accurately capture the terminal's true possible location, thereby significantly improving the adaptability and robustness of the positioning system in complex application scenarios.

[0071] As can be seen, in this optional embodiment, by accurately obtaining the base station altitude and the terminal's estimated ground clearance, a three-dimensional confidence region is constructed using a scientifically sound dynamic elevation compensation formula. Based on this dynamic elevation compensation formula, the accuracy and reliability of determining the three-dimensional confidence region are improved, which is beneficial to the accuracy and reliability of subsequent positioning based on this three-dimensional confidence region. At the same time, the above scheme can extend the two-dimensional positioning prior information into a three-dimensional confidence model that can accurately quantify and adaptively compensate for elevation uncertainties. Moreover, this three-dimensional confidence model can achieve fast and stable convergence in complex terrain and dynamic scenarios, improving the applicability and suitability of the three-dimensional confidence model.

[0072] Example 2 Please see Figure 2 , Figure 2 This is a flowchart illustrating another positioning method based on a combination of 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Figure 2 The described combined positioning method based on 5G communication technology and RTK technology can be applied to combined positioning devices based on 5G communication technology and RTK technology, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, this combined positioning method based on 5G communication technology and RTK technology may include the following operations: 201. When a positioning request for a target terminal is detected, determine the communication base station responding to the positioning request and its corresponding base station identifier, and determine the terminal location information of the target terminal based on the base station identifier.

[0073] 202. Based on the pre-acquired target altitude information and terminal location information, and combined with the preset dynamic elevation compensation formula, construct a three-dimensional confidence region for the target terminal.

[0074] 203. Obtain the position information of all first satellites corresponding to the target terminal based on the satellite navigation system.

[0075] In this embodiment of the invention, each first satellite is a visible satellite corresponding to the target terminal. The visible satellite is a satellite with the target terminal as the reference point, whose search elevation angle corresponding to the reference point is greater than a preset elevation angle (such as 30°), and whose azimuth angle is within the three-dimensional confidence area.

[0076] In this embodiment of the invention, the first satellite position information corresponding to all first satellites includes the third latitude and longitude coordinates and satellite altitude corresponding to each first satellite.

[0077] 204. For each first satellite, calculate the shortest distance between the first satellite and the three-dimensional confidence region based on the location information corresponding to the first satellite and the initial terminal location.

[0078] 205. Determine whether the shortest distance corresponding to the first satellite is less than a preset distance threshold.

[0079] In this embodiment of the invention, the preset distance threshold can be set to 0.5 × carrier wavelength; wherein the carrier wavelength is the carrier wavelength corresponding to a predetermined satellite signal.

[0080] 206. When it is determined that the shortest distance corresponding to the first satellite is less than the preset distance threshold, the first satellite is determined to be a valid satellite that meets the preset observation conditions and is recorded as the second satellite.

[0081] In this embodiment of the invention, in complex urban, canyon, or densely forested environments, the receiver may capture a large number of satellites, but some of these satellites are unsuitable for high-precision positioning due to severe signal degradation. Including all observed satellites in the calculation process would significantly increase the processor's computational load and prolong the calculation time. By executing steps 203-206, and performing pre-screening using a preset distance threshold, a subset of "second satellites" located near the three-dimensional confidence region with better observation conditions can be quickly identified. This effectively reduces the amount of data input required for subsequent ambiguity resolution and position estimation operations, lowers computational complexity, and allows the system to achieve faster positioning response speeds while maintaining accuracy, while also saving computational resources and power consumption.

[0082] 207. Based on all second satellites and the three-dimensional confidence region, construct an ambiguity search space for the target terminal.

[0083] 208. Based on the second satellite position information of all second satellites and the terminal position information, perform ambiguity resolution operation on the ambiguity search space to obtain the ambiguity resolution result for the ambiguity search space.

[0084] For further descriptions of steps 201-202 and 207-208 in this embodiment of the invention, please refer to the other specific descriptions of steps 101-102 and 104-105 in Embodiment 1. These descriptions will not be repeated in this embodiment of the invention.

[0085] It is evident that implementation Figure 2 The described combined positioning method based on 5G communication technology and RTK technology can more precisely identify and eliminate satellites whose signal propagation paths may cross areas with significant errors by calculating the "shortest distance" between the satellite and the three-dimensional confidence region. This eliminates the influence of unreliable observation data from "low-quality satellites" on subsequent data, thereby improving the spatial accuracy and reliability of the ambiguity search space subsequently constructed based on the reliable second satellite, and consequently improving the accuracy and reliability of positioning based on this ambiguity search space.

[0086] In an optional embodiment, step 208, which involves performing ambiguity resolution on the ambiguity search space based on the second satellite position information of all second satellites and the terminal position information, specifically includes the following methods to obtain the ambiguity resolution result for the ambiguity search space: Based on the second satellite position information of all second satellites and the terminal position information, and combined with the preset solution algorithm, the first solution operation is performed on the ambiguity search space to obtain multiple ambiguity candidate solutions for the ambiguity search space; the solution algorithm includes the LAMBDA algorithm. The dynamic correction data corresponding to the target terminal is obtained. The dynamic correction data is IMU data obtained by collecting motion data of the target terminal when it moves through the inertial measurement unit set in the target terminal. Based on the dynamically corrected data and using multiple preset correction parameters as a benchmark, a data correction operation is performed on all ambiguity candidate solutions to obtain the data correction results for all ambiguity candidate solutions; the data correction operation is used to determine the target ambiguity candidate solution that matches all correction parameters from all ambiguity candidate solutions. Perform a second solution operation on the data correction result to obtain the target solution result for the data correction result, which is used as the fuzziness solution result for the fuzziness search space.

[0087] In this optional embodiment, the LAMBDA algorithm is a relatively mature ambiguity resolution algorithm, characterized by fast convergence speed and high resolution accuracy. By employing the LAMBDA algorithm, and through searching within the integer domain combined with satellite and terminal location information, the search range for ambiguity can be effectively narrowed, thereby generating multiple possible ambiguity candidate solutions in a short time. This provides rich initial data for subsequent accurate resolution, which is beneficial to improving the efficiency of the entire positioning resolution process.

[0088] In this optional embodiment, the IMU data includes at least the triaxial acceleration data and triaxial angular velocity data corresponding to the target terminal; the IMU data also includes the triaxial magnetometer data or barometer data corresponding to the target terminal.

[0089] In this optional embodiment, triaxial acceleration data accurately reflects the acceleration changes of the target terminal in three directions, while triaxial angular velocity data describes the rotational motion of the target terminal. Triaxial magnetometer data helps determine the orientation information of the target terminal, and barometer data can be used to assist in estimating the altitude changes of the target terminal. This multi-dimensional IMU data can comprehensively and in real-time record the motion characteristics of the target terminal, providing detailed and accurate dynamic information for subsequent correction of ambiguity candidate solutions, effectively compensating for the shortcomings of relying solely on satellite signals for positioning in dynamic scenarios.

[0090] In this optional embodiment, the plurality of correction parameters include position domain parameters, frequency domain parameters, and time domain parameters.

[0091] In this optional embodiment, the location domain parameter is used to dynamically adjust the region extent and shape of the three-dimensional confidence region.

[0092] In this optional embodiment, the frequency domain parameters are used to analyze the frequency characteristics of the IMU data and also to determine the solution priority for all ambiguity candidate solutions. For example, frequency domain analysis (such as FFT) can be performed on the IMU data to identify the motion frequency characteristics of the target terminal; it can also be used to perform correlation analysis between ambiguity candidate solutions and motion frequencies, thereby giving higher priority to highly correlated solutions to accelerate convergence.

[0093] In this optional embodiment, the time domain parameter is used to remove abnormal data from all ambiguity candidate solutions. Specifically, a sliding time window mechanism can be used to compare the continuity of a certain ambiguity candidate solution with historical solutions within the window. If the deviation between a certain ambiguity candidate solution and historical solutions exceeds a set threshold, it is considered an abnormal solution and is removed.

[0094] In this optional embodiment, the motion state determination formula corresponding to the above position domain parameters can be:

[0095] in, The dynamic confidence ellipsoid radius is used to indicate the radius of the three-dimensional confidence region after adaptive adjustment based on the current motion state of the target terminal. The static or reference confidence ellipsoid radius is used to indicate the reference radius pre-set for the three-dimensional confidence region when the target terminal is at rest or in uniform motion (i.e., in standard state); The maximum acceleration value is preset within a preset time period, such as the maximum acceleration value within the last 3 seconds; this maximum acceleration value can be measured and provided in real time by an inertial measurement unit (IMU). The acceleration threshold is a preset acceleration reference value used to determine the intensity of motion.

[0096] As can be seen, in this optional embodiment, by introducing independent dynamic correction data provided by the IMU, a multi-dimensional, multi-physical parameter filtering system that cross-validates with the satellite observation geometry is constructed. Specifically, by using position domain, frequency domain, and time domain parameters to jointly screen and verify multiple ambiguity candidate solutions generated by the LAMBDA algorithm, erroneous candidate solutions caused by instantaneous gross errors or periodic interference in satellite observation data can be effectively identified and eliminated. Through this verification mechanism based on multi-source information fusion, the probability of ambiguity errors being fixed can be greatly reduced, while improving the accuracy of the final positioning result and the reliability of the output solution.

[0097] Example 3 Please see Figure 3 , Figure 3 This is a schematic diagram of a combined positioning device based on 5G communication technology and RTK technology disclosed in an embodiment of the present invention. The combined positioning device based on 5G communication technology and RTK technology can be a combined positioning terminal, device, system, or server based on 5G communication technology and RTK technology. The terminal or device can be a mobile terminal or mobile device, such as a vehicle; the system is at least applied to the terminal / device based on the combined positioning of 5G communication technology and RTK technology, but the embodiment of the present invention does not limit this. Figure 3 As shown, the combined positioning device based on 5G communication technology and RTK technology may include a determining module 301, a constructing module 302, a filtering module 303, and a solving module 304, wherein: The determination module 301 is used to determine the communication base station responding to the positioning request and its corresponding base station identifier when a positioning request for the target terminal is detected, and to determine the terminal location information of the target terminal based on the base station identifier. The terminal location information includes the initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range.

[0098] The construction module 302 is used to construct a three-dimensional confidence region for the target terminal based on the pre-acquired target altitude information and terminal location information, combined with a preset dynamic elevation compensation formula; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal.

[0099] The filtering module 303 is used to filter all second satellites that meet the preset observation conditions from all first satellites based on the first satellite position information corresponding to the determined multiple first satellites and the three-dimensional confidence region.

[0100] The construction module 302 is also used to construct an ambiguity search space for the target terminal based on all second satellites and the three-dimensional confidence region.

[0101] The ambiguity resolution module 304 is used to perform ambiguity resolution operations on the ambiguity search space based on the second satellite position information of all second satellites and the terminal position information, and obtain the ambiguity resolution results for the ambiguity search space; the ambiguity resolution operation is a resolution operation based on RTK technology; the ambiguity resolution results include the target terminal position after correction of the initial terminal position.

[0102] It is evident that implementation Figure 3 The described positioning device, based on a combination of 5G communication and RTK technologies, rapidly responds to positioning needs and determines the initial terminal location and two-dimensional confidence region using 5G communication technology. It then constructs a three-dimensional confidence region incorporating elevation information, expanding the positioning dimension. Furthermore, it can accurately select satellites, effectively constraining and optimizing the RTK ambiguity search space. This optimized ambiguity search space improves the computational efficiency and accuracy of subsequent ambiguity resolution operations. Finally, high-precision ambiguity resolution is performed using RTK technology to obtain a high-precision target terminal location, effectively improving the real-time performance, accuracy, and efficiency of positioning, while also enhancing the device's applicability and practicality for various application scenarios.

[0103] In an optional embodiment, the base station identifier is the CellID information corresponding to the communication base station; The specific methods by which the determining module 301 determines the terminal location information of the target terminal based on the base station identifier include: The first latitude and longitude coordinates of the communication base station and its signal coverage area are determined based on the base station identifier; Based on the first latitude and longitude coordinates and the signal coverage area, the initial terminal position of the target terminal is estimated. The initial terminal position includes at least the second latitude and longitude coordinates corresponding to the target terminal. Centered on the initial terminal location, and combined with the signal coverage area, a two-dimensional confidence region corresponding to the target terminal is constructed; The initial terminal location and the two-dimensional confidence region are determined as the terminal location information of the target terminal.

[0104] As can be seen, in this optional embodiment, using the CellID information of the communication base station as the base station identifier, the first latitude and longitude coordinates and signal coverage range of the base station can be quickly obtained, thereby initially estimating the initial terminal position of the target terminal, and based on this, initially constructing a two-dimensional confidence region, and finally completely determining the terminal position information of the target terminal, including the initial terminal position and the two-dimensional confidence region. Based on the convenient and accurate information characteristics of CellID information, the positioning speed and reliability of the initial terminal position are greatly improved, while the construction speed and accuracy of the two-dimensional confidence region are also improved.

[0105] In another optional embodiment, the construction module 302 constructs a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and terminal location information, combined with a preset dynamic elevation compensation formula. Specifically, this includes: Determine the altitude of the communication base station based on its identification. Based on the preset terminal height prediction model and combined with the terminal location information, the estimated ground clearance of the target terminal is calculated. The altitude of the communication base station, the estimated ground clearance of the target terminal, and the terminal location information are input into a preset dynamic elevation compensation formula to construct a three-dimensional confidence region for the target terminal.

[0106] In this optional embodiment, the dynamic elevation compensation formula is:

[0107] in,( , , ) represents the three-dimensional coordinates corresponding to the initial terminal position; and This is obtained by calculating the sum of the altitude of the communication base station and the estimated ground clearance of the target terminal; , , ) is used to indicate that it is within a two-dimensional confidence region and is any three-dimensional coordinate other than the three-dimensional coordinates corresponding to the initial terminal position;

[0108] The coverage radius is the radius corresponding to the first area; the terrain attenuation factor is used to indicate the attenuation effect of the target terminal and the environment where the communication base station is located on the communication signal.

[0109] The base station altitude standard deviation is used to indicate the measurement error corresponding to the altitude of the communication base station; the terminal motion altitude fluctuation threshold is used to indicate the range of altitude change of the target terminal relative to its local plane when it moves. The elevation dynamic compensation formula is used to select all target three-dimensional coordinate points that satisfy the elevation dynamic compensation formula from a two-dimensional confidence region.

[0110] As can be seen, in this optional embodiment, by accurately obtaining the base station altitude and the terminal's estimated ground clearance, a three-dimensional confidence region is constructed using a scientifically sound dynamic elevation compensation formula. Based on this dynamic elevation compensation formula, the accuracy and reliability of determining the three-dimensional confidence region are improved, which is beneficial to the accuracy and reliability of subsequent positioning based on this three-dimensional confidence region. At the same time, the above scheme can extend the two-dimensional positioning prior information into a three-dimensional confidence model that can accurately quantify and adaptively compensate for elevation uncertainties. Moreover, this three-dimensional confidence model can achieve fast and stable convergence in complex terrain and dynamic scenarios, improving the applicability and suitability of the three-dimensional confidence model.

[0111] In another optional embodiment, the filtering module 303 filters all second satellites that meet the preset observation conditions from all first satellites based on the determined first satellite position information and three-dimensional confidence regions. Specifically, this includes: The satellite navigation system is used to obtain the position information of all first satellites corresponding to the target terminal; the position information of all first satellites includes the third latitude and longitude coordinates and the satellite altitude of each first satellite. For each first satellite, the shortest distance between the first satellite and the three-dimensional confidence region is calculated based on the location information corresponding to the first satellite and the initial terminal location. Determine whether the shortest distance corresponding to the first satellite is less than a preset distance threshold. If it is determined that the shortest distance corresponding to the first satellite is less than the preset distance threshold, the first satellite is determined to be a valid satellite that meets the preset observation conditions and is recorded as the second satellite.

[0112] As can be seen, in this optional embodiment, by calculating the "shortest distance" between the satellite and the three-dimensional confidence region, satellites whose signal propagation paths may cross significant error regions can be identified and eliminated more precisely. This eliminates the influence of unreliable observation data from "low-quality satellites" on subsequent data, thereby improving the spatial accuracy and reliability of the ambiguity search space subsequently constructed based on the reliable second satellite, and consequently improving the accuracy and reliability of positioning based on the ambiguity search space.

[0113] In another optional embodiment, the ambiguity resolution module 304 performs ambiguity resolution operations on the ambiguity search space based on the second satellite position information of all second satellites and the terminal position information, and obtains the ambiguity resolution result for the ambiguity search space in the following specific ways: Based on the second satellite position information of all second satellites and the terminal position information, and combined with the preset solution algorithm, the first solution operation is performed on the ambiguity search space to obtain multiple ambiguity candidate solutions for the ambiguity search space; the solution algorithm includes the LAMBDA algorithm. The dynamic correction data corresponding to the target terminal is obtained. The dynamic correction data is IMU data obtained by collecting motion data of the target terminal when it moves through the inertial measurement unit set in the target terminal. Based on the dynamically corrected data and using multiple preset correction parameters as a benchmark, a data correction operation is performed on all ambiguity candidate solutions to obtain the data correction results for all ambiguity candidate solutions; the data correction operation is used to determine the target ambiguity candidate solution that matches all correction parameters from all ambiguity candidate solutions. Perform a second solution operation on the data correction result to obtain the target solution result for the data correction result, which is used as the fuzziness solution result for the fuzziness search space.

[0114] In this optional embodiment, the IMU data includes at least the triaxial acceleration data and triaxial angular velocity data corresponding to the target terminal; the IMU data also includes the triaxial magnetometer data or barometer data corresponding to the target terminal.

[0115] In this optional embodiment, the plurality of correction parameters include position domain parameters, frequency domain parameters, and time domain parameters.

[0116] In this optional embodiment, the location domain parameter is used to dynamically adjust the region extent and shape of the three-dimensional confidence region.

[0117] In this optional embodiment, the frequency domain parameters are used to analyze the frequency characteristics of the IMU data and also to determine the solution priority for all ambiguity candidate solutions.

[0118] In this optional embodiment, the time domain parameter is used to remove outlier data from all ambiguity candidate solutions.

[0119] As can be seen, in this optional embodiment, by introducing independent dynamic correction data provided by the IMU, a multi-dimensional, multi-physical parameter filtering system that cross-validates with the satellite observation geometry is constructed. Specifically, by using position domain, frequency domain, and time domain parameters to jointly screen and verify multiple ambiguity candidate solutions generated by the LAMBDA algorithm, erroneous candidate solutions caused by instantaneous gross errors or periodic interference in satellite observation data can be effectively identified and eliminated. Through this verification mechanism based on multi-source information fusion, the probability of ambiguity errors being fixed can be greatly reduced, while improving the accuracy of the final positioning result and the reliability of the output solution.

[0120] Example 4 Please see Figure 5 , Figure 5 This is a schematic diagram of another positioning device based on a combination of 5G communication technology and RTK technology disclosed in an embodiment of the present invention. Figure 5 As shown, the combined positioning device based on 5G communication technology and RTK technology may include: Memory 401 storing executable program code; Processor 402 coupled to memory 401; The processor 402 calls the executable program code stored in the memory 401 to execute some or all of the steps in any of the combined positioning methods based on 5G communication technology and RTK technology described in Embodiment 1 or Embodiment 2 of the present invention.

[0121] Example 5 This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute some or all of the steps in any of the combined positioning methods based on 5G communication technology and RTK technology described in Embodiment 1 or Embodiment 2 of this invention.

[0122] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0123] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0124] Finally, it should be noted that the above embodiments are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A combined positioning method based on 5G communication technology and RTK technology, characterized in that, The method includes: When a positioning request for a target terminal is detected, the communication base station responding to the positioning request and its corresponding base station identifier are determined, and the terminal location information of the target terminal is determined based on the base station identifier. The terminal location information includes the initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range. Based on the pre-acquired target altitude information and the terminal location information, and combined with a preset dynamic elevation compensation formula, a three-dimensional confidence region is constructed for the target terminal; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal. Based on the determined first satellite position information corresponding to multiple first satellites and the three-dimensional confidence region, all second satellites that meet the preset observation conditions are selected from all the first satellites; and based on all the second satellites and the three-dimensional confidence region, an ambiguity search space for the target terminal is constructed. Based on the second satellite position information of all the second satellites and the terminal position information, an ambiguity resolution operation is performed on the ambiguity search space to obtain an ambiguity resolution result for the ambiguity search space; the ambiguity resolution operation is an RTK-based resolution operation; the ambiguity resolution result includes the target terminal position after correction of the initial terminal position.

2. The positioning method based on the combination of 5G communication technology and RTK technology according to claim 1, characterized in that, The base station identifier is the CellID information corresponding to the communication base station; Determining the terminal location information of the target terminal based on the base station identifier includes: The first latitude and longitude coordinates and signal coverage area of ​​the communication base station are determined based on the base station identifier; Based on the first latitude and longitude coordinates and the signal coverage area, the initial terminal position of the target terminal is estimated, and the initial terminal position includes at least the second latitude and longitude coordinates corresponding to the target terminal; Using the initial terminal location as the center and combining the signal coverage range, a two-dimensional confidence region corresponding to the target terminal is constructed; The initial terminal location and the two-dimensional confidence region are determined as the terminal location information of the target terminal.

3. The combined positioning method based on 5G communication technology and RTK technology according to claim 1 or 2, characterized in that, The step of constructing a three-dimensional confidence region for the target terminal based on pre-acquired target altitude information and terminal location information, combined with a preset dynamic elevation compensation formula, includes: The altitude of the communication base station is determined based on the base station identifier; Based on the preset terminal height estimation model and the terminal location information, the estimated ground clearance of the target terminal is calculated. The altitude of the communication base station, the estimated ground clearance of the target terminal, and the terminal location information are input into a preset dynamic elevation compensation formula to construct a three-dimensional confidence region for the target terminal.

4. The positioning method based on the combination of 5G communication technology and RTK technology according to claim 3, characterized in that, The dynamic elevation compensation formula is as follows: in,( , , ) represents the three-dimensional coordinates corresponding to the initial terminal position; and This is obtained by calculating the sum of the altitude of the communication base station and the estimated ground clearance of the target terminal; , , () is used to indicate that it is within the two-dimensional confidence region and is any three-dimensional coordinate other than the three-dimensional coordinates corresponding to the initial terminal position; Wherein, the coverage radius is the radius corresponding to the first area range; the terrain attenuation factor is used to indicate the attenuation effect of the target terminal and the environment where the communication base station is located on the communication signal; The base station altitude standard deviation is used to indicate the measurement error corresponding to the altitude of the communication base station; the terminal motion altitude fluctuation threshold is used to indicate the range of altitude change of the target terminal relative to its local plane when the target terminal moves. The elevation dynamic compensation formula is used to select all target three-dimensional coordinate points that satisfy the elevation dynamic compensation formula from the two-dimensional confidence region.

5. The combined positioning method based on 5G communication technology and RTK technology according to claim 1, 2, or 4, characterized in that, The step of selecting all second satellites that meet preset observation conditions from all first satellites based on the determined first satellite position information corresponding to multiple first satellites and the three-dimensional confidence region includes: The first satellite position information corresponding to all first satellites corresponding to the target terminal is obtained according to the satellite navigation system; the first satellite position information corresponding to all first satellites includes the third latitude and longitude coordinates and satellite altitude of each first satellite; For each of the first satellites, the shortest distance between the first satellite and the three-dimensional confidence region is calculated based on the location information corresponding to the first satellite and the initial terminal location. Determine whether the shortest distance corresponding to the first satellite is less than a preset distance threshold. When it is determined that the shortest distance corresponding to the first satellite is less than the preset distance threshold, the first satellite is determined to be a valid satellite that meets the preset observation conditions and is recorded as the second satellite.

6. The positioning method based on a combination of 5G communication technology and RTK technology according to claim 1, 2, or 4, characterized in that, The step of performing ambiguity resolution on the ambiguity search space based on the second satellite position information of all the second satellites and the terminal position information, to obtain the ambiguity resolution result for the ambiguity search space, includes: Based on the second satellite position information of all the second satellites and the terminal position information, and in conjunction with a preset solution algorithm, a first solution operation is performed on the ambiguity search space to obtain multiple ambiguity candidate solutions for the ambiguity search space; the solution algorithm includes the LAMBDA algorithm. The dynamic correction data corresponding to the target terminal is obtained. The dynamic correction data is IMU data obtained by collecting motion data of the target terminal when it moves through the inertial measurement unit set on the target terminal. Based on the dynamic correction data, and using multiple preset correction parameters as a benchmark, a data correction operation is performed on all the ambiguity candidate solutions to obtain the data correction results for all the ambiguity candidate solutions; the data correction operation is used to determine the target ambiguity candidate solution that matches all the correction parameters from all the ambiguity candidate solutions. A second solution operation is performed on the data correction result to obtain the target solution result for the data correction result, which is used as the fuzziness solution result for the fuzziness search space.

7. The positioning method based on a combination of 5G communication technology and RTK technology according to claim 6, characterized in that, The IMU data includes at least the triaxial acceleration data and triaxial angular velocity data corresponding to the target terminal; the IMU data also includes the triaxial magnetometer data or barometer data corresponding to the target terminal. These multiple correction parameters include position domain parameters, frequency domain parameters, and time domain parameters; The location domain parameters are used to dynamically adjust the region range and shape of the three-dimensional confidence region; The frequency domain parameters are used to analyze the frequency characteristics of the IMU data and also to determine the solution priority for all the ambiguity candidate solutions. The time domain parameters are used to eliminate abnormal data in all the candidate solutions for ambiguity.

8. A combined positioning device based on 5G communication technology and RTK technology, characterized in that, The device includes: The determination module is used to determine, when a positioning request for a target terminal is detected, the communication base station responding to the positioning request and its corresponding base station identifier, and determine the terminal location information of the target terminal based on the base station identifier. The terminal location information includes an initial terminal location and its corresponding two-dimensional confidence region, and the two-dimensional confidence region corresponds to a first region range. The construction module is used to construct a three-dimensional confidence region for the target terminal based on the pre-acquired target altitude information and the terminal location information, combined with a preset dynamic elevation compensation formula; the target altitude information includes the altitude of the communication base station and the estimated ground clearance of the target terminal. The filtering module is used to filter all second satellites that meet the preset observation conditions from all the first satellites based on the first satellite position information corresponding to the determined multiple first satellites and the three-dimensional confidence region; The construction module is also used to construct an ambiguity search space for the target terminal based on all the second satellites and the three-dimensional confidence region; The ambiguity resolution module is used to perform ambiguity resolution operations on the ambiguity search space based on the second satellite position information of all the second satellites and the terminal position information, to obtain ambiguity resolution results for the ambiguity search space; the ambiguity resolution operation is a resolution operation based on RTK technology; the ambiguity resolution results include the target terminal position after correction of the initial terminal position.

9. A combined positioning device based on 5G communication technology and RTK technology, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the combined positioning method based on 5G communication technology and RTK technology as described in any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the combined positioning method based on 5G communication technology and RTK technology as described in any one of claims 1-7.

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