Method, positioning method, apparatus and storage medium for providing positioning assistance data

Abstract

Providing positioning assistance data method, positioning method, device and storage medium, relate to positioning technical field. The method for providing positioning assistance data is executed at the network side, comprising: receiving the data request sent by the terminal device, the data request carrying the identification of the first base station and the positioning data of the terminal device, the first base station being the base station participating in the last positioning; according to the positioning data and the position of the base station stored at the network side, the base station closest to the terminal device is obtained as the target base station; if the identification of the target base station is different from the identification of the first base station, the single difference ambiguity between the first base station and the target base station is obtained from the data set according to the identification of the first base station and the identification of the target base station; the single difference ambiguity between the first base station and the target base station and the positioning satellite observation data of the target base station are issued to the terminal device. The scheme can ensure the continuity and accuracy of RTK positioning.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a method, positioning method, device and storage medium for providing positioning auxiliary data. Background Technology

[0002] Real-time kinematics (RTK) positioning technology, also known as carrier phase differential positioning technology, involves a base station and a rover. By differentially analyzing the positioning satellite observation data of the Global Navigation Satellite System (GNSS) observed by the base station and the rover, and combining this with the position of the base station, the position of the rover can be calculated.

[0003] In mobile positioning scenarios, the mobile station can be a terminal device, such as a smartphone, tablet, or in-vehicle infotainment system, while the base station is typically a base station. When a terminal device performs RTK positioning calculations, it needs to obtain both its own observation data from positioning satellites and the observation data from the nearest base station. Based on these observations, the carrier phase measurement values ​​from the satellite to the terminal device and from the nearest base station can be obtained. The carrier phase measurement value refers to the relative phase change of the satellite carrier signal from the satellite to the terminal device or base station. The difference between the carrier phase measurement value of the terminal device or base station and the actual propagation distance of the satellite signal is an unknown integer-cycle wavelength, called the integer-cycle ambiguity, or simply ambiguity. The difference between the ambiguity of the terminal device and the ambiguity of the nearest base station is called the single-difference ambiguity. This single-difference ambiguity between the terminal device and the nearest base station is one of the state variables in RTK positioning calculations.

[0004] During the travel of a terminal device, if the travel distance is long, the nearest base station to the terminal device will change, for example, from base station A to base station B. When the terminal device is within the service range of base station A, after a certain period of filtering, the single-difference ambiguity between the terminal device and base station A will converge to a certain value. At this time, the RTK positioning position can be stably output based on this single-difference ambiguity. However, when the nearest base station to the terminal device changes from base station A to base station B, since the ambiguity of base station B is necessarily different from that of base station A, the existing technology needs to initialize and converge the single-difference ambiguity between the terminal device and base station B. During the initialization and convergence process, the RTK positioning solution will experience problems such as position jumps and decreased positioning accuracy. Summary of the Invention

[0005] To address the aforementioned technical problems in the prior art, this application provides a method, positioning method, apparatus, and storage medium for providing positioning auxiliary data, which can ensure the continuity and accuracy of RTK positioning.

[0006] In a first aspect, this application provides a method for providing positioning assistance data. This method is executed on the network side, which stores the locations of base stations, a dataset recording single-difference ambiguities between base stations, and positioning satellite observation data from the base stations. The method includes: receiving a data request sent by a terminal device, the data request carrying an identifier of a first base station and positioning data of the terminal device, wherein the first base station is a base station that participated in the previous positioning; obtaining the base station closest to the terminal device as a target base station based on the positioning data and the base station locations stored on the network side; if the identifier of the target base station is different from the identifier of the first base station, obtaining the single-difference ambiguity between the first base station and the target base station from the dataset based on the identifiers of the first base station and the target base station; and sending the single-difference ambiguity between the first base station and the target base station, along with the positioning satellite observation data of the target base station, to the terminal device.

[0007] The technical solution provided in this application stores the location of the base station, a dataset recording the single-difference ambiguity between the base stations, and positioning satellite observation data from the base station on the network side. Based on the positioning data sent by the terminal device and the location of the base station, the network side obtains the target base station closest to the terminal device. If the target base station is different from the first base station that participated in the previous positioning, it indicates that the base station closest to the terminal device has been switched, that is, switched from the first base station to the target base station. At this time, the technical solution provided in this application can use the stored dataset to obtain the positioning satellite observation data of the target base station and the single-difference ambiguity between the first base station and the target base station and send it to the terminal device to support the terminal device to perform RTK positioning. Because the network side of this application can directly provide the terminal device with the accurate single-difference ambiguity between the two base stations (the first base station and the target base station) during the handover, the terminal device can directly obtain the accurate single-difference ambiguity between the terminal device and the target base station based on the single-difference ambiguity (known quantity) between the terminal device and the first base station, and the single-difference ambiguity between the first base station and the target base station. This eliminates the need for the terminal device to re-initialize and converge the single-difference ambiguity for the target base station after the handover, effectively solving the problem of discontinuous RTK positioning caused by the need to re-initialize and converge the single-difference ambiguity during base station handover in existing technologies, and ensuring the continuity and accuracy of RTK positioning.

[0008] Secondly, this application also provides a positioning method applied to a terminal device. The method includes: sending a data request to the network side, the data request being used to request the acquisition of positioning satellite observation data of a target base station, the target base station being the base station closest to the terminal device, the data request carrying the identifier of a first base station and the positioning data of the terminal device, the first base station being the base station that participated in the previous positioning; when receiving the single-difference ambiguity between the first base station and the target base station and the positioning satellite observation data of the target base station sent by the network side, determining the single-difference ambiguity between the terminal device and the target base station based on the single-difference ambiguity between the first base station and the target base station and the single-difference ambiguity between the terminal device and the first base station; and determining the positioning result of the terminal device based on the single-difference ambiguity between the terminal device and the target base station and the positioning satellite observation data of the target base station.

[0009] Using the technical solution provided in this application, during the RTK positioning process of a terminal device, the terminal device sends the identifier of the first base station that participated in the previous positioning and the current positioning data of the terminal device to the network side. The network side stores the location of the base stations, a dataset recording the single-difference ambiguity between base stations, and positioning satellite observation data from the base stations. When the network side, based on the positioning data sent by the terminal device and the location of the base stations, finds that the target base station closest to the terminal device is different from the first base station that participated in the previous positioning, it indicates that the base station closest to the terminal device has switched, i.e., switched from the first base station to the target base station. At this time, the network side uses the stored dataset to obtain the positioning satellite observation data of the target base station and the single-difference ambiguity between the first base station and the target base station and sends it to the terminal device. Based on the single-difference ambiguity (known quantity) between the terminal device and the first base station, and the single-difference ambiguity between the first base station and the target base station sent by the network side, the terminal device can directly obtain the accurate single-difference ambiguity between the terminal device and the target base station without having to re-initialize and converge the single-difference ambiguity for the target base station after handover. This effectively solves the problem of discontinuous RTK positioning caused by the need to re-initialize and converge the single-difference ambiguity when the base station is switched in the existing technology, and ensures the continuity and accuracy of RTK positioning.

[0010] Thirdly, this application also provides an apparatus for providing positioning assistance data. The apparatus is located on the network side, which stores the locations of base stations, a dataset recording single-difference ambiguities between base stations, and positioning satellite observation data from the base stations. The apparatus includes a receiving unit, a first acquisition unit, a second acquisition unit, and a sending unit. The receiving unit is used to receive a data request sent by a terminal device. The data request carries the identifier of a first base station and the positioning data of the terminal device. The first base station is the base station that participated in the previous positioning. The first acquisition unit is used to acquire the base station closest to the terminal device as the target base station based on the positioning data and the location of the base station. The second acquisition unit is used to acquire the single-difference ambiguity between the first base station and the target base station from the dataset based on the identifiers of the first base station and the target base station when the identifier of the target base station is different from the identifier of the first base station. The sending unit is used to send the single-difference ambiguity and the positioning satellite observation data acquired by the target base station to the terminal device.

[0011] Fourthly, this application also provides a storage medium storing a computer program, which, when executed by a processor, implements the method for providing positioning auxiliary data as described in the first aspect above, or implements the positioning method as described in the second aspect above. Attached Figure Description

[0012] Figure 1 Scenario illustration provided for embodiments of this application Figure 1 ;

[0013] Figure 2 A flowchart illustrating a method for providing positioning assistance data, as provided in an embodiment of this application;

[0014] Figure 3A Scenario illustration provided for embodiments of this application Figure 2 ;

[0015] Figure 3B Scenario diagram three provided for embodiments of this application;

[0016] Figure 4 A flowchart illustrating a positioning method provided in an embodiment of this application;

[0017] Figure 5 A schematic diagram of a device for providing positioning assistance data provided in an embodiment of this application;

[0018] Figure 6 A schematic diagram of a network device provided in an embodiment of this application;

[0019] Figure 7 A schematic diagram of a network device cluster provided in an embodiment of this application;

[0020] Figure 8This is a schematic diagram of another network device cluster provided in an embodiment of this application. Detailed Implementation

[0021] To enable those skilled in the art to better understand the proposed solution, the prior art will first be introduced below with examples of RTK positioning scenarios.

[0022] Figure 1 This is a diagram of an RTK positioning scenario. Figure 1 This scenario involves: terminal device 10, base station 21, and base station 22. Terminal device 10 can be located in a vehicle and move with the vehicle. Terminal device 10 can be a device independent of the vehicle, such as a smartphone, or it can be an in-vehicle device integrated into the vehicle, such as a car infotainment system. It should be noted that base station 21 or base station 22 can be a physical base station existing in the real world, or it can be a virtual base station generated through interpolation based on a physical base station existing in the real world. Therefore, Figure 1 The schematic diagram shown is only for illustrating the devices involved in the RTK positioning scenario, and does not mean that these devices are physical devices that exist in the real world.

[0023] The difference between a virtual base station and a physical base station is that a physical base station is a real-world device installed at a specific location. The geographical coordinates of this location can be obtained through on-site measurement. Furthermore, a physical base station, through its integrated GNSS receiver, can observe positioning satellite data from GNSS satellites. A virtual base station, on the other hand, is generated through interpolation. Therefore, the geographical coordinates of the virtual base station's location and its positioning satellite data are both based on the location of a real-world physical base station and the observed positioning satellite data. However, this does not affect the implementation of the technical solution provided in this application. Therefore, both virtual and physical base stations are collectively referred to as base stations in this application.

[0024] Terminal device 10 can observe satellite positioning data through its integrated GNSS receiver. For example, it can observe... Figure 1 The positioning satellite observation data of satellites 41 and 42 shown include carrier phase measurements and pseudorange observations.

[0025] Server 30 stores the location of the base station and its positioning satellite observation data.

[0026] When the terminal device 10 performs RTK positioning, it obtains the location of the base station and the positioning satellite observation data of the base station from the server 30.

[0027] Terminal device 10 performs real-time carrier phase differential analysis on the positioning satellite observation data from the base station and the positioning satellite observation data observed by the terminal device 10 itself. Based on the location of the base station, it can calculate the RTK positioning position of terminal device 10 in real time. Since real-time carrier phase differential analysis can reduce satellite observation errors and errors caused by signal delay in the atmosphere, and weaken the influence of errors such as orbital errors, clock errors, and atmospheric errors, the accuracy of RTK positioning can reach the centimeter level.

[0028] To minimize errors and ensure the accuracy of RTK positioning, terminal device 10 typically needs to perform real-time carrier phase differential with the nearest base station. This is because the closer the base station and terminal device 10 are, the more similar the error impact of their positioning satellite observation data becomes; differential analysis can minimize the error impact. Therefore, when performing RTK positioning, terminal device 10 generally obtains the location and positioning satellite observation data of the nearest base station from server 30. Figure 1 As shown, if the base station closest to the terminal device 10 is base station 21, then the terminal device 10 obtains the location of base station 21 and the positioning satellite observation data of base station 21 from the server 30. After a certain period of filtering, the single difference ambiguity between the terminal device 10 and base station 21 will converge to a certain value. This single difference ambiguity is one of the state variables for RTK positioning calculation. When it converges to a certain value, the RTK positioning position can be stably output based on this single difference ambiguity.

[0029] However, when terminal device 10 undergoes a long-distance displacement, base station handover inevitably occurs. For example, as terminal device 10 moves, the base station closest to terminal device 10 changes to base station 22, meaning the base station closest to terminal device 10 switches from base station 21 to base station 22. Since the ambiguities of base station 22 and base station 21 are not the same, this will cause terminal device 10 to detect a cycle slip in the carrier phase. At this time, the single-difference ambiguity between terminal device 10 and base station 22 needs to be re-initialized until the single-difference ambiguity converges again. During the process of re-initializing the single-difference ambiguity until it converges again, the value of the single-difference ambiguity changes, which will cause RTK positioning to be discontinuous, resulting in RTK positioning position jumps and reduced RTK positioning accuracy.

[0030] To address the above problems, embodiments of this application provide a method, positioning method, apparatus, and storage medium for providing positioning assistance data. To enable those skilled in the art to more clearly understand the solutions of this application, the technical solutions in the embodiments of this application will be described below with reference to the accompanying drawings.

[0031] The terms "first" and "second" used in this application description are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0032] The terminal equipment in this application may also be referred to as a subscriber unit, terminal station, terminal agent, terminal device, access terminal, terminal in V2X communication, user unit, user equipment (UE), user station, mobile station, mobile station (MS), remote station, remote terminal, terminal equipment, user terminal, wireless communication equipment, user agent, or user device. Specifically, these can include mobile phones, tablets, computers with wireless transceiver capabilities, holographic projectors, video players, virtual reality (VR) terminals, augmented reality (AR) terminals, extended reality (XR) terminals, wireless terminals in industrial control, tactile terminal devices, in-vehicle terminal devices, wireless terminals in self-driving vehicles, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, and personal digital assistants. PDA (Power Assistant), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, in-vehicle devices, wearable devices, terminals in 5G networks or terminals in future evolved networks, etc.

[0033] The embodiments provided in this application will be described in detail below with reference to the accompanying drawings.

[0034] See Figure 2 The figure is a flowchart illustrating a method for providing positioning assistance data according to an embodiment of this application. This method can be executed on the network side, which stores the locations of base stations, a dataset recording single-difference ambiguities between base stations, and positioning satellite observation data from the base stations. The method includes the following steps:

[0035] S11: Receive a data request sent by the terminal device. The data request carries the identifier of the first base station and the location data of the terminal device. The first base station is the base station that participated in the previous RTK positioning.

[0036] In this embodiment, the network side can deploy network-side devices such as servers or server clusters to execute the technical solutions provided in this application. It should be noted that the network-side devices used to execute the technical solutions provided in this application and the network-side devices used to store the location of base stations, record the dataset of single-difference ambiguities between base stations, and collect positioning satellite observation data from base stations can be different or the same network-side devices; this does not affect the implementation of this application.

[0037] In one implementation, the location data of the terminal device carried in the data request can be either GNSS location data or RTK location data, and the location data includes at least the latest location of the terminal device (hereinafter referred to as the location of the terminal device).

[0038] S12: Based on the location data and the location of the base station stored on the network side, the base station closest to the terminal device is selected as the target base station.

[0039] The network-side equipment stores the location of the base station, which can be a single geographical coordinate or a range of geographical coordinates.

[0040] If the location of the base station stored by the network-side device is a geographic coordinate, then based on the location of the terminal device in the location data and the location of the base station stored by the network side, the base station with the closest straight-line distance to the terminal device is selected as the target base station. If the location data is RTK location data, then the first base station participates in the process of obtaining this location data. If the location data is GNSS location data, then the previous RTK positioning refers to the last RTK positioning before obtaining this GNSS positioning data, and the first base station participates in this last RTK positioning.

[0041] If the location of the base station stored by the network-side device is a geographical coordinate range, then based on the location of the terminal device in the location data, the geographical coordinate range into which the location location falls is detected, and the base station corresponding to the geographical coordinate range into which it falls is taken as the target base station closest to the terminal device. That is, based on the geographical coordinates of the location of the terminal device in the location data, it is detected whether the terminal device has entered the geographical coordinate range of the corresponding base station, and the base station corresponding to the geographical coordinate range into which the terminal device has entered is taken as the target base station closest to the terminal device.

[0042] S13: If the identifier of the target base station is different from the identifier of the first base station, then based on the identifier of the first base station and the identifier of the target base station, obtain the single difference ambiguity between the first base station and the target base station from the data set.

[0043] The base stations stored by the network-side equipment are indexed by identifiers. The identifiers are unique and do not repeat. That is, different base stations have different identifiers. If the identifier of the first base station is the same as the identifier of the target base station, it means that the base station closest to the terminal device has not changed and is still the base station that participated in the previous positioning. Therefore, it is not necessary to perform single-difference ambiguity calibration between the base station and the terminal device.

[0044] If the identifier of the first base station is different from that of the target base station, it indicates that the base station closest to the terminal device has changed due to the displacement of the terminal device, that is, the base station has been switched. In this case, it is necessary to determine the single difference ambiguity between the first base station and the target base station from the dataset that records the single difference ambiguity between the base stations.

[0045] S14: Send the single-difference ambiguity between the first base station and the target base station and the positioning satellite observation data of the target base station to the terminal device.

[0046] The above are embodiments of the method for providing positioning assistance data provided in this application. The network side stores the location of the base station, a dataset recording the single-difference ambiguity between the base stations, and positioning satellite observation data from the base station. When the network side detects a handover of the base station providing communication services to the terminal device, it can directly provide the single-difference ambiguity between the two base stations (the first base station and the target base station) that are being handed over. This allows the terminal device to directly obtain the accurate single-difference ambiguity between the terminal device and the target base station based on the single-difference ambiguity (known quantity) between the terminal device and the first base station, and the single-difference ambiguity between the first base station and the target base station. The terminal device does not need to re-initialize and converge the single-difference ambiguity for the switched base station (target base station). This effectively solves the problem of discontinuous RTK positioning caused by the need to re-initialize and converge the single-difference ambiguity when the base station is switched in the prior art, and improves the continuity and accuracy of RTK positioning.

[0047] In one possible implementation, each data record in the dataset used to record the single-difference ambiguity between base stations can be represented as {base station A, base station B, ...} The format is} to record the single-difference ambiguity between base stations.

[0048] in, This represents the single-difference ambiguity between base station A and base station B relative to satellite S when switching from base station A to base station B. If satellite S has two or more operating frequencies, then... This includes the single-difference ambiguity between base station A and base station B at different operating frequencies of satellite S. For example, satellite S can operate at frequency 1 and frequency 2, then... This includes: the single-difference ambiguity 1 for base stations A and B when satellite S is operating at frequency 1, and the single-difference ambiguity 2 for base stations A and B when satellite S is operating at frequency 2. Since the single-difference ambiguity from base station A to base station B and from base station B to base station A differ by only a negative sign relative to the same satellite S, to reduce data storage, the dataset of this application can only record the single-difference ambiguity from base station A to base station B relative to satellite S. When the single-difference ambiguity from base station B to base station A relative to satellite S is needed, it is only necessary to multiply the single-difference ambiguity from base station A to base station B by a negative one to obtain the single-difference ambiguity from base station B to base station A. In other words, the negative of the single-difference ambiguity from base station A to base station B is used as the single-difference ambiguity from base station B to base station A. For example, the single-difference ambiguity from base station A to base station B is m, and the single-difference ambiguity from base station B to base station A is -m.

[0049] Furthermore, since there is more than one satellite, each data record includes the single-difference ambiguity from base station A to base station B relative to each satellite and each operating frequency point, {base station A, base station B, ... …}, where the ellipsis indicates unshown single-difference ambiguities. Of course, disregarding data storage requirements, in practical implementation, the dataset can store either the single-difference ambiguities from base station A to base station B relative to each satellite and each operating frequency, or the single-difference ambiguities from base station B to base station A relative to each satellite and each operating frequency. The storage format can be: {Base station B, Base station A, …} …}, so that if the single-difference ambiguity between base station B and base station A is needed later, it can be directly queried without converting the single-difference ambiguity between base station A and base station B. Base station A and base station B are only used to illustrate the storage format of data records in the dataset and should not be regarded as a limitation of this application.

[0050] The above is one specific implementation method for each data record in the dataset provided in this application embodiment. Based on this implementation method, this application obtains the single-difference ambiguity between the first base station and the target base station from the dataset according to the identifier of the first base station and the identifier of the target base station. The following implementation method can be adopted:

[0051] From the dataset, search for data records that simultaneously include the identifier of the first base station and the identifier of the target base station. If found, determine the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity in the data record.

[0052] If no target data is found, at least two target data records are obtained from the dataset based on the identifier of the first base station and the identifier of the target base station. The base stations included in the at least two target data records constitute the base station handover route from the first base station to the target base station via the other base stations with the fewest paths.

[0053] The single-difference ambiguity between the first base station and the target base station is determined based on at least two target data records including the single-difference ambiguity of the base station and the handover order of the base station in the base station handover route included in at least two target data records.

[0054] In the above embodiments, if a data record containing both the identifier of the first base station and the identifier of the target base station can be found, it indicates that the first base station and the target base station are adjacent base stations. In this case, if the data record contains the single-difference ambiguity from the first base station to the target base station, the single-difference ambiguity contained in the data record is directly used as the single-difference ambiguity between the first base station and the target base station; if the data record contains the single-difference ambiguity from the target base station to the first base station, the opposite of the single-difference ambiguity contained in the data record is used as the single-difference ambiguity between the first base station and the target base station.

[0055] In other scenarios, the first base station and the target base station may not be adjacent base stations. In this case, there is no data record in the dataset that simultaneously includes the identifiers of both the first base station and the target base station. In such cases, the following implementation method can be adopted:

[0056] Based on the identifier of the first base station and the identifier of the target base station, at least two target data records are obtained from the dataset, wherein the base stations included in the at least two target data records constitute the base station handover route from the first base station to the target base station via the other base stations with the fewest paths.

[0057] The single-difference ambiguity between the first base station and the target base station is determined based on at least two target data records including the single-difference ambiguity of the base station and the handover order of the base station in the base station handover route included in at least two target data records.

[0058] The following combination Figure 3A This application provides a detailed description of an embodiment of the base station handover route. When the base station closest to the terminal device is switched from base station A (first base station) to base station F (target base station), the target data record is obtained from the dataset using the shortest path algorithm based on the identifiers of the first base station and the target base station. Referring to Figure 3, the obtained target data record includes:

[0059] Target data record 1: {Base station A, Base station B, …}, Update time t1

[0060] Target data record 2: {Base station A, Base station E,} …}, Update time t3

[0061] Target data record 3: {Base station B, Base station F, …}, Update time t2

[0062] Target data record 4: {Base station E, Base station F, …}, Update time t4

[0063] The base station handover routes from the first base station to the target base station, formed by the above target data records and the fewest other base stations, include ABF and AEF. Since the base station handover routes conforming to the shortest path principle are not unique, further steps are needed: The base station handover route of the adjacent base station whose update time of the single-difference ambiguity is closest to the current time is determined as Zu Zihong's base station handover route. This improves the timeliness of the calibrated single-difference ambiguity, enhancing the accuracy and continuity of RTK positioning. Continuing the previous example, for instance, if the update time of the single-difference ambiguity for base stations A and B is time t1, the update time for the single-difference ambiguity for base stations B and F is time t2, the update time for the single-difference ambiguity for base stations A and E is time t3, and the update time for the single-difference ambiguity for base stations E and F is time t4, if time t1 is closer to the current time than times t2, t3, and t4, then the selected base station handover route is ABF. In another example, when the base station closest to the terminal device is switched from base station A to base station I, the base station switching route obtained by the shortest path algorithm is AEI. Since there is only one base station switching route that passes through the fewest base stations, AEI can be taken as the final result.

[0064] See also Figure 3A Taking the base station handover line ABF as an example, if the target data record contains single-difference ambiguities from base station A to base station B and from base station B to base station F respectively, then only the single-difference ambiguities in the two target data records need to be added together. If the target data record contains single-difference ambiguities from base station B to base station A and from base station B to base station F respectively, then according to the order of the base station handover line ABF, the single-difference ambiguity from base station B to base station A needs to be multiplied by negative one, and then added together with the single-difference ambiguity from base station B to base station F.

[0065] The above are embodiments of providing positioning assistance data provided in this application. It is understood that in order to implement the solution provided in this application, it is necessary to pre-generate a dataset recording the single difference ambiguity between base stations, and in order to ensure the accuracy of the single difference ambiguity recorded in the dataset, it is necessary to update the dataset.

[0066] As mentioned earlier, two adjacent base stations can calculate a single-difference ambiguity for a specific operating frequency of a satellite. The following, with reference to the attached diagram, first describes the scheme for calculating this single-difference ambiguity, which includes:

[0067] For two adjacent base stations in the base station set, based on the positions of the two adjacent base stations and the satellite observation data of the positioning satellites observed by the base stations, the single-difference ambiguity between the two base stations is obtained;

[0068] The identifiers of the two base stations and the single-difference ambiguity between the two base stations are saved as a single data record in the dataset.

[0069] The base station set can be obtained periodically by the location service provider from the operator. This set records the base station identifiers, locations, adjacency relationships, and satellite observation data of the positioning satellites observed by each base station. The specific implementation of the base station set, particularly the interpolation method for virtual base stations, and, if the base station location is a geographic coordinate range, the area covered by that geographic coordinate range, is as follows... Figure 3A The rectangular area shown is still Figure 3B The triangular area shown is not the part that those skilled in the art of positioning need to implement; therefore, this application will not elaborate on this part. Regardless of whether the operator follows… Figure 3A Or according to Figure 3B The method of dividing the base station location does not affect the implementation of this application.

[0070] In specific implementation, for two adjacent base stations in the base station set, the single-difference ambiguity between the two base stations is obtained based on their positions and the satellite observation data of the positioning satellites observed by the base stations. The following implementation method can be adopted:

[0071] For satellite observation data of any two positioning satellites observed by two adjacent base stations, based on the positions of the two base stations and the satellite observation data of any two positioning satellites, obtain the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites. One of the two positioning satellites is a reference satellite and the other is a non-reference satellite.

[0072] Based on the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites, floating-point solutions of the single-difference ambiguity of the two base stations relative to the reference satellite and the single-difference ambiguity of the non-reference satellite are obtained by Kalman filtering.

[0073] Based on an algorithm that follows the principle of least squares for integers, floating-point solutions are converted into fixed solutions;

[0074] Each fixed solution is used as a single-difference ambiguity between the two base stations.

[0075] To facilitate understanding of the above embodiments, Figure 3A Taking adjacent base stations A and B, and their observed satellites s and t as examples, the process of obtaining the single-difference ambiguity between these two base stations is illustrated.

[0076] As mentioned above, base station A and base station B may both be physical base stations, or both may be virtual base stations, or one may be a physical base station and the other a virtual base station. Regardless of whether they are physical base stations or virtual base stations, the scheme for obtaining single-difference ambiguity provided in the embodiments of this application can be used.

[0077] The method for determining the single-difference ambiguity utilizes the existing RTK positioning principle. Base station A is used as the base station in RTK positioning, and base station B is used as the rover. This can be understood as follows: since the location of base station B is known, the RTK positioning location is also known. Therefore, based on the location of base station B, the single-difference ambiguity, which serves as the state variable, can be solved. Specifically:

[0078] For satellite observation data of satellite s and positioning satellite t observed by adjacent base stations A and B, based on the positions of the two base stations and the satellite observation data of the two positioning satellites, the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites are obtained. The specific solution process is as follows: after inter-satellite difference and inter-station difference, the double-difference observation equation for pseudorange is as follows:

[0079]

[0080] In equation (1), i refers to base station A, j refers to base station B, and the superscripts s and t represent satellite s and satellite t, respectively.

[0081] In this context, t refers to the reference star and s refers to the non-reference star. The double difference of pseudorange is a known quantity that can be obtained from pseudorange observations in the positioning satellite observation data of two base stations. This represents the satellite-to-ground distance after the double difference. This represents the sum of multipath noise and measurement noise, which is the pseudorange.

[0082] The double-difference observation equation for the carrier phase is as follows:

[0083]

[0084] In equation (2), The carrier phase difference is the double difference, which can be obtained from the carrier phase measurement data in the positioning satellite observation data of two base stations. It is a known quantity, and λ is the wavelength corresponding to the carrier. and Let be the single-difference ambiguities of the two base stations relative to satellites s and t, respectively. This is the sum of the carrier's multipath noise and the measurement noise.

[0085] After double difference, the satellite clock error and receiver clock error can be considered to be eliminated. The effects of carrier propagation in the atmosphere, such as tropospheric delay and ionospheric delay, can also be ignored, and therefore are not shown in equations (1) and (2).

[0086] Since base station B is a mobile station with a known and fixed location, the purpose of RTK positioning is to determine the location of base station B. When the location of base station B is known, the process noise of the location in the Kalman filter can be set to a minimum value, and the wavelength λ corresponding to the carrier wave is known. and In actual calculations, this can be ignored; therefore, the undetermined state variable in the above formula is the single-difference ambiguity. The reason why the process noise of the position can be set to a minimum value is that the position of base station B remains unchanged during the Kalman filtering process, so time updates will not cause the position of the base station to change.

[0087] Based on the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites, a floating-point solution for the single-difference ambiguity can be obtained for satellites s and t using Kalman filtering. Kalman filtering is a recursive estimation method, meaning that the estimated value of the current state variable can be calculated as long as the estimated value of the state variable at the previous time step and the observed value of the current state variable are known. The floating-point solution is the baseline vector solution obtained when the ambiguity parameter takes real numbers, also known as the real-number solution. Then, using an algorithm following the positive least squares principle (e.g., Least-square Ambiguity Decorrelation Adjustment, LAMBDA), the floating-point solutions for satellites s and t are converted into fixed solutions, and each fixed solution is used as a single-difference ambiguity between base stations A and B. The specific implementation process can be found in the RTK positioning algorithm implementation, and will not be elaborated here.

[0088] The single-difference ambiguity between two adjacent base stations can be determined using the above calculation method.

[0089] As mentioned earlier, since the single-difference ambiguity between base station A and base station B is the opposite of the single-difference ambiguity between base station B and base station A (i.e., the absolute values ​​are the same but differ by a negative sign), the single-difference ambiguity between the two base stations only needs to be calculated once, saving computational resources and facilitating the rapid generation of single-difference ambiguities between all base stations. After determining the single-difference ambiguity between two adjacent base stations, the corresponding single-difference ambiguity can be saved in the dataset according to the format provided in the aforementioned embodiment.

[0090] Secondly, in order to ensure the accuracy and timeliness of the provided positioning assistance data, it is necessary to update the single difference ambiguity recorded in the data. The update can be performed periodically according to the set update cycle, or when the base station experiences a cycle slip.

[0091] Cycle slip at a base station specifically refers to the following: During carrier phase detection, the actual carrier phase value obtained by the GNSS receiver at the base station includes a fractional part (less than one cycle) and an integer part. During continuous satellite observation, as the fractional phase changes from 0 to 2π, the integer cycle count increases by 1. However, temporary satellite loss of lock due to signal obstruction, electronic interference, or other reasons can cause interruptions in the base station's counter during accumulation, resulting in a jump or interruption in the integer cycle count. In this case, while the fractional value (less than one cycle) remains unchanged, the integer cycle count changes discontinuously; this is known as a cycle slip. Positioning satellite observation data typically includes pseudorange and carrier phase measurements. The carrier phase measurement is a time-varying sequence. Ideally, as a function of time, the carrier phase observation should be a smooth curve over a certain continuous time period. However, when a cycle slip occurs, this smoothness is disrupted, causing a fixed jump deviation in subsequent carrier phase measurement sequences.

[0092] In practical applications, physical base stations are generally installed in relatively open areas, making them less likely to experience cycle slips due to external environmental interference. However, the possibility of cycle slips cannot be completely ruled out. Therefore, it is necessary to periodically perform cycle slip detection on each base station. When a base station is identified as experiencing a cycle slip, the single-difference ambiguity between that base station and its surrounding base stations needs to be recalculated, the dataset updated, and the update time recorded.

[0093] In one possible implementation, for a base station experiencing a cycle slip, the single-difference ambiguity between that base station and its neighboring base stations is redefined. The specific execution process is the same as the process of obtaining the single-difference ambiguity between two base stations based on their locations and satellite observation data.

[0094] For example, Figure 3A If a cycle slip occurs at base station F, it is necessary to redetermine the single-difference ambiguity between base station F and base station B, base station F and base station E, base station F and base station G, and base station F and base station J, and update the single-difference ambiguity between base station F and base station B, base station F and base station E, base station F and base station G, and base station F and base station J in the dataset.

[0095] In addition, when no base station cycle slip occurs, in order to ensure the timeliness of data and improve the accuracy of single difference ambiguity, the single difference ambiguity between any two adjacent base stations can be updated according to a preset period to update the single difference ambiguity set. This application embodiment does not specifically limit the preset period.

[0096] It is understood that the above division of steps in this application is only for the convenience of explanation and does not constitute a limitation on the technical solution of this application.

[0097] In summary, the network side of this application stores the location of the base station, a dataset recording the single-difference ambiguity between base stations, and positioning satellite observation data from the base station. When the network side detects a handover of the base station providing communication services to the terminal device, it can determine the single-difference ambiguity between the first base station and the target base station regardless of whether they are adjacent. This allows the terminal device to directly obtain the accurate single-difference ambiguity between itself and the target base station based on the single-difference ambiguity between itself and the first base station, and between the first base station and the target base station. This eliminates the need for the terminal device to re-initialize and converge the single-difference ambiguity for the target base station after the handover, effectively solving the problem of discontinuous RTK positioning caused by the need to re-initialize and converge the single-difference ambiguity during base station handover in existing technologies, thus improving the continuity and accuracy of RTK positioning. Furthermore, the network side device can update the dataset when a base station cycle slip occurs, and also update the dataset according to a preset period to ensure the accuracy and effectiveness of recording the single-difference ambiguity between base stations, further improving the continuity and accuracy of RTK positioning.

[0098] Based on the method for providing positioning assistance data described in the above embodiments, this application also provides a positioning method applied to a terminal device.

[0099] See Figure 4 The figure is a flowchart of a positioning method provided in an embodiment of this application. The method is applied to the RTK positioning process of a terminal device and includes the following steps:

[0100] S41: The terminal device sends a data request to the network-side device.

[0101] The data request includes the identifier of the first base station and the location data of the terminal device. The first base station is the base station that participated in the previous location.

[0102] S42: The terminal device receives the single-difference ambiguity between the first base station and the target base station, as well as the positioning satellite observation data of the target base station, which is the base station closest to the terminal device, in response to the data request from the network side.

[0103] After receiving the response message sent by the network device, the terminal device parses the response message to obtain the single-difference ambiguity and the positioning satellite observation data obtained by the target base station.

[0104] S43: The terminal device determines the single-difference ambiguity between itself and the target base station.

[0105] The terminal device can determine the ambiguity between the first base station and the target base station, as well as the ambiguity between the terminal device and the first base station.

[0106] As mentioned earlier, the first base station is the base station that participated in the previous RTK positioning. Therefore, the single-difference ambiguity between the terminal device and the first base station is a known quantity for the terminal device. Thus, the terminal device can determine the single-difference ambiguity between itself and the target base station based on the single-difference ambiguity between the first base station and the target base station, as well as the single-difference ambiguity between itself and the first base station. The specific formula is as follows:

[0107]

[0108] In equation (3) This represents the single-difference ambiguity between the terminal device and the target base station B. This represents the single-difference ambiguity between the terminal device and the first base station A. This represents the single-difference ambiguity between the first base station A and the target base station B.

[0109] S44: The terminal device determines its positioning result based on the single-difference ambiguity between the terminal device and the target base station, as well as the positioning satellite observation data of the target base station.

[0110] The RTK positioning result is calculated using the single-difference ambiguity between the terminal device and the target base station, as well as the positioning satellite observation data of the target base station. The specific calculation process is as follows:

[0111] Acquiring satellite parameters: The terminal device receives positioning satellite observation data provided by the target base station. This data typically includes pseudorange, carrier phase, Doppler shift, and other information. The terminal device also uses known satellite ephemeris (such as broadcast ephemeris or precise ephemeris) to calculate the satellite's position, velocity, and clock bias.

[0112] Calculating the non-differential residuals: The terminal device calculates the non-differential residuals of the pseudorange detected by the first base station and the non-differential residuals of the carrier phase. The residuals characterize the difference between the actual observed values ​​and the estimated values. Simultaneously, the terminal device also calculates the non-differential residuals of the pseudorange and carrier phase detected by itself.

[0113] Selecting a common-view satellite: The terminal device selects a satellite that is in the same view as the target base station. A common-view satellite is a satellite whose signal can be received by both the terminal device and the target base station at the same time.

[0114] Update current status:

[0115] Kalman filter update: The terminal device uses a Kalman filter to update the parameters in the state equation and state covariance equation. Specifically, this includes the terminal device's position, velocity, and acceleration.

[0116] Ionospheric state update: Updates the state of the ionospheric delay to reduce the impact of the ionosphere on signal propagation.

[0117] Tropospheric state update: Update the state of the tropospheric delay to reduce the impact of the troposphere on signal propagation.

[0118] Time update: Update the time of the terminal device to ensure clock synchronization.

[0119] Single-difference ambiguity update: Update the single-difference ambiguity between the terminal device and the target base station. This step can use the single-difference ambiguity requested in this application.

[0120] Cycle slip detection: The terminal equipment performs cycle slip detection on the common-view satellite to determine whether cycle slips have been detected on both the base station and the terminal equipment side. If a cycle slip is detected, appropriate processing is required to restore correct carrier phase measurements.

[0121] Selecting reference satellites: Select a subset of satellites from the common-view satellites as reference satellites, and use the observation data of the corresponding positioning satellites to perform RTK positioning calculations to reduce positioning errors.

[0122] Forming the double-difference observation equation: Inter-satellite and inter-station differences are performed to obtain the double-difference observation equation (or double-difference observation matrix) and the measurement matrix. The double-difference observation equation helps eliminate common error sources and improves positioning accuracy.

[0123] Kalman filter measurement update: The measurement is updated using a Kalman filter to obtain a floating-point solution for the position.

[0124] Fixed ambiguity: The LAMBDA algorithm is used to fix the ambiguity from the floating point solution to the nearest integer value, thereby significantly improving the positioning accuracy.

[0125] In summary, using the solution provided in this application, once the terminal device completes its initial RTK positioning and obtains the single-difference ambiguity between the terminal device and the base stations participating in the initial RTK positioning, the terminal device can request the single-difference ambiguity of the base station closest to the terminal device from the network side, and then perform RTK positioning. This eliminates the need to re-initialize and converge the single-difference ambiguity, significantly shortening the calibration time for the single-difference ambiguity. This ensures the continuity and accuracy of the RTK positioning results even if the base station switches during the RTK positioning process, thus improving the user's positioning experience.

[0126] Based on the method for providing positioning assistance data provided in the above embodiments, this application also provides an apparatus for providing positioning assistance data, which will be described in detail below with reference to the accompanying drawings.

[0127] See Figure 5 The figure is a schematic diagram of a device for providing positioning assistance data according to an embodiment of this application.

[0128] The device for providing positioning assistance data includes: a receiving unit 61, a first acquisition unit 62, a second acquisition unit 63, and a sending unit 64.

[0129] The receiving unit 61 is used to receive a data request sent by the terminal device. The data request carries the identifier of the first base station and the location data of the terminal device. The first base station is the base station that participated in the previous positioning.

[0130] The first acquisition unit 62 is used to acquire the base station closest to the terminal device as the target base station based on the positioning data and the location of the base station stored on the network side.

[0131] The second acquisition unit 63 is used to acquire the single-difference ambiguity between the first base station and the target base station from the data set if the identifier of the target base station is different from the identifier of the first base station.

[0132] The transmitting unit 64 is used to send single-difference ambiguity and positioning satellite observation data obtained by the target base station to the terminal device.

[0133] In one possible implementation, each data record in the dataset includes the identifiers of two base stations and the single-difference ambiguity between the two base stations. The second acquisition unit 63 is specifically configured to: search the dataset for a data record that simultaneously includes the identifier of the first base station and the identifier of the target base station; if found, determine the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity in the data record; if not found, acquire at least two target data records from the dataset based on the identifiers of the first base station and the target base station, wherein the base stations included in the at least two target data records constitute a base station handover route from the first base station to the target base station with the fewest other base stations; and determine the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity included in the at least two target data records.

[0134] In one possible implementation, the second acquisition unit 63 is specifically used to accumulate the single-difference ambiguity of the base stations included in the at least two target data records according to the order of the base stations in the base station handover route, so as to obtain the single-difference ambiguity between the first base station and the target base station.

[0135] In one possible implementation, the second acquisition unit 63 is specifically used to: if the data record includes a single difference ambiguity from the first base station to the target base station, then use the single difference ambiguity included in the data record as the single difference ambiguity between the first base station and the target base station; if the data record includes a single difference ambiguity from the target base station to the first base station, then use the opposite of the single difference ambiguity included in the data record as the single difference ambiguity between the first base station and the target base station.

[0136] In one possible implementation, the device further includes a third acquisition unit, which is used to acquire, for two adjacent base stations in the base station set, the single-difference ambiguity between the two base stations based on the positions of the two adjacent base stations and the satellite observation data of the positioning satellites observed by the base stations; and save the identifiers of the two base stations and the single-difference ambiguity between the two base stations as a data record in the dataset.

[0137] In one possible implementation, the third acquisition unit is further configured to: detect whether a cycle slip has occurred at a base station in the base station set based on satellite observation data of the positioning satellites observed by the base station; for a base station experiencing a cycle slip, acquire the base station and the base stations located around it in the base station set; for two adjacent base stations among the acquired base stations, perform the step of acquiring the single-difference ambiguity between the two base stations based on their positions and satellite observation data; and update the single-difference ambiguity in the data records containing the identifiers of the two base stations in the dataset using the acquired single-difference ambiguity between the two base stations.

[0138] In one possible implementation, the third acquisition unit is used to acquire satellite observation data of any two positioning satellites observed by two adjacent base stations. Based on the positions of the two base stations and the satellite observation data of any two positioning satellites, it acquires the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites, where one of the two positioning satellites is a reference satellite and the other is a non-reference satellite. Based on the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites, it obtains floating-point solutions of single-difference ambiguities of the two base stations relative to the reference satellite and the single-difference ambiguities relative to the non-reference satellite through Kalman filtering. Based on an algorithm following the integer least squares principle, the floating-point solutions are converted into fixed solutions. Each fixed solution is used as a single-difference ambiguity between the two base stations.

[0139] As an illustration, the aforementioned receiving unit 61, first acquisition unit 62, second acquisition unit 63, and sending unit 64 can be implemented in hardware or in software.

[0140] When implemented in software, the above units are applications running on computing devices, such as computing engines. These applications can be provided as virtualization services. Virtualization services can include virtual machine (VM) services, bare metal server (BMS) services, and container services. VM services utilize virtualization technology to create virtual machine resource pools across multiple physical hosts, providing VMs to users on demand. BMS services create virtual BMS resource pools across multiple physical hosts, providing BMS services to users on demand. Container services create virtual container resource pools across multiple physical hosts, providing containers to users on demand. A VM is a simulated virtual computer, or logically a computer. A BMS is a scalable, high-performance computing service with computing performance indistinguishable from traditional physical machines, featuring secure physical isolation. A container is a kernel virtualization technology that provides lightweight virtualization to isolate user space, processes, and resources. It should be understood that the VM service, BMS service, and container service mentioned above are merely specific examples. In practical applications, virtualization services can also include other lightweight or heavyweight virtualization services, which are not specifically limited here.

[0141] When implemented in hardware, the above units may include at least one computing device, such as a server. Alternatively, the above units may also be devices implemented using application-specific integrated circuits (ASICs) or programmable logic devices (PLDs). The PLD may be a complex programmable logical device (CPLD), a field-programmable gate array (FPGA), generic array logic (GAL), or any combination thereof.

[0142] This application also provides a network device, which will be described in detail below with reference to the accompanying drawings.

[0143] See Figure 6 This figure is a schematic diagram of a network device provided in an embodiment of this application.

[0144] The network device 1000 includes: a bus 1002, a processor 1004, a memory 1006, and a communication interface 1008.

[0145] The processor 1004, memory 1006, and communication interface 1008 communicate via bus 1002. The network device 1000 can be a server. It should be understood that this application does not limit the number of processors and memories in the network device 1000.

[0146] Bus 1002 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. Figure 6 The bus 1002 may be represented by a single line, but this does not mean that there is only one bus or one type of bus. The bus 1002 may include a path for transmitting information between various components of the computing device 1000 (e.g., memory 1006, processor 1004, communication interface 1008).

[0147] The processor 1004 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0148] The memory 1006 may include volatile memory, such as random access memory (RAM). The memory 1006 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0149] The memory 1006 stores executable program code, and the processor 1004 executes the executable program code to implement the aforementioned method of providing positioning auxiliary data.

[0150] The communication interface 1008 uses transceiver modules such as, but not limited to, network interface cards and transceivers to enable communication between the computing device 1000 and other devices or communication networks.

[0151] This application also provides a network device cluster, which will be described in detail below with reference to the accompanying drawings.

[0152] See Figure 7 This figure is a schematic diagram of a network device cluster provided in an embodiment of this application.

[0153] The network device cluster includes at least one network device. This network device can be a server, such as a central server, an edge server, or a local server in a local data center. In some embodiments, the network device can also be a terminal such as a desktop computer or a laptop.

[0154] like Figure 7 As shown, the network device cluster includes multiple network devices 1000. The memory 1006 of each network device 1000 in the network device cluster may store the same instructions for executing methods that provide positioning assistance data.

[0155] In some possible implementations, one or more network devices 1000 in the network device cluster can also be used to implement some instructions of the method for providing location-aided data. In other words, a combination of one or more network devices 1000 can jointly execute the instructions of the method for providing location-aided data.

[0156] Figure 8 One possible implementation is shown. For example... Figure 8 As shown, two network devices 1000A and 1000B are connected via a communication interface 1008. The memory of network device 1000A stores instructions for executing the functions of the receiving unit 61. The memory of network device 1000B stores instructions for executing the functions of the first acquisition unit 62, the second acquisition unit 63, and the sending unit 64. In other words, the memory 1006 of network devices 1000A and 1000B jointly stores instructions for providing positioning assistance data. Furthermore, network device 1000A may also store instructions for executing the functions of the first acquisition unit 62, the second acquisition unit 63, and the sending unit 64, and computing device 1000B may also store instructions for executing the functions of the receiving unit 61.

[0157] Figure 8 The connection method between the network device clusters shown can be considered because the method provided in this application involves the calculation of single-difference ambiguities of numerous base stations, which may require significant computing resources. Therefore, the functions implemented by the receiving unit 61, the first acquisition unit 62, the second acquisition unit 63, and the sending unit 64 can be performed by different network devices. It is understood that a similar approach can also be adopted. Figure 8 The network devices of each of the above units can be configured in different ways.

[0158] It should be understood that Figure 8The functions of network device 1000A shown can also be performed by multiple network devices 1000. Similarly, the functions of network device 1000B can also be performed by multiple network devices 1000.

[0159] In some possible implementations, one or more network devices in a network device cluster can be connected via a network. This network can be a wide area network (WAN) or a local area network (LAN), etc. Specifically, the connection to the network is achieved through the communication interfaces of each network device.

[0160] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that a computing device can store, or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive). The computer-readable storage medium includes instructions that instruct a computing device to perform the above-described method of providing location assistance data. This application also provides another computer-readable storage medium. This computer-readable storage medium includes instructions that instruct a computing device to perform the above-described method of providing location assistance data.

[0161] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a network device or stored on any available medium. When the computer program product is run on at least one network device, it causes the at least one network device to perform the above-described method for providing location assistance data.

[0162] This application also provides a terminal device in its embodiments.

[0163] The terminal device may include a processor and memory, with the processor coupled to the memory. The memory is used to store instructions, and the processor is used to execute the instructions stored in the memory to implement the positioning method.

[0164] In some embodiments, the computer program stored on the storage medium implements the above positioning method when executed by the processor of the terminal device.

[0165] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0166] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. The device embodiments described above are merely illustrative, and the units and modules described as separate components may or may not be physically separate. Furthermore, some or all of the units and 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 creative effort.

[0167] The above description is only a specific embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for providing positioning auxiliary data, characterized in that, The method is executed on the network side, which stores the locations of base stations, a dataset recording single-difference ambiguities between base stations, and positioning satellite observation data from the base stations. The method includes: The terminal device receives a data request, which carries the identifier of the first base station and the location data of the terminal device. The first base station is the base station that participated in the previous location. Based on the location data and the location of the base stations stored on the network side, the base station closest to the terminal device is selected as the target base station; If the identifier of the target base station is different from the identifier of the first base station, then based on the identifier of the first base station and the identifier of the target base station, the single-difference ambiguity between the first base station and the target base station is obtained from the data set; The terminal device is sent the single-difference ambiguity between the first base station and the target base station, as well as the positioning satellite observation data of the target base station.

2. The method according to claim 1, characterized in that, Each data record in the dataset includes the identifiers of two base stations and the single-difference ambiguity between the two base stations. The step of obtaining the single-difference ambiguity between the first base station and the target base station from the dataset based on the identifier of the first base station and the identifier of the target base station specifically includes: From the dataset, search for data records that simultaneously include the identifier of the first base station and the identifier of the target base station. If found, determine the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity in the data record. If no target data is found, at least two target data records are obtained from the dataset based on the identifier of the first base station and the identifier of the target base station. The base stations included in the at least two target data records constitute a base station handover route from the first base station to the target base station via other base stations with the fewest paths. Based on the single-difference ambiguity of the base station included in the at least two target data records and the switching order of the base station in the base station switching route included in the at least two target data records, the single-difference ambiguity between the first base station and the target base station is determined.

3. The method according to claim 2, characterized in that, The step of determining the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity of the at least two target data records including the base station and the order of the base stations included in the at least two target data records in the base station handover route specifically includes: According to the order of the base stations included in the at least two target data records in the base station handover route, the single-difference ambiguities of the base stations included in the at least two target data records are accumulated to obtain the single-difference ambiguity between the first base station and the target base station.

4. The method according to claim 2, characterized in that, The step of determining the single-difference ambiguity between the first base station and the target base station based on the single-difference ambiguity in the data record specifically includes: If the data record includes the single-difference ambiguity from the first base station to the target base station, then the single-difference ambiguity included in the data record shall be used as the single-difference ambiguity between the first base station and the target base station. If the data record includes the single-difference ambiguity from the target base station to the first base station, then the inverse of the single-difference ambiguity included in the data record is taken as the single-difference ambiguity between the first base station and the target base station.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: For two adjacent base stations in the base station set, based on the positions of the two adjacent base stations and the satellite observation data of the positioning satellites observed by the base stations, the single-difference ambiguity between the two base stations is obtained; The identifiers of the two base stations and the single-difference ambiguity between the two base stations are saved as a data record in the dataset.

6. The method according to claim 5, characterized in that, The method includes: Based on the satellite observation data of the positioning satellites observed by the base station, detect whether a cycle slip occurs in the base station set; For a base station that experiences a cycle slip, obtain the base station and the base stations located around it in the base station set; For two adjacent base stations among the acquired base stations, the step of obtaining the single-difference ambiguity between the two base stations based on the positions of the two adjacent base stations and the satellite observation data of the base stations is performed; The single-difference ambiguity between the two base stations is used to update the single-difference ambiguity in the data records in the dataset that include the identifiers of the two base stations.

7. The method according to claim 5, characterized in that, The step of obtaining the single-difference ambiguity between two adjacent base stations based on their locations and satellite observation data of the positioning satellites observed by the base stations specifically includes: For satellite observation data of any two positioning satellites observed by two adjacent base stations, based on the positions of the two base stations and the satellite observation data of the arbitrary two positioning satellites, the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites are obtained, where one of the two positioning satellites is a reference satellite and the other is a non-reference satellite. Based on the double-difference pseudorange and carrier phase observations of the two base stations relative to the two positioning satellites, floating-point solutions of single-difference ambiguities of the two base stations relative to the reference satellite and floating-point solutions of single-difference ambiguities relative to the non-reference satellite are obtained through Kalman filtering. Based on an algorithm that follows the principle of least squares for integers, the floating-point solution is converted into a fixed solution; Each fixed solution is used as a single-difference ambiguity between the two base stations.

8. A positioning method, characterized in that, Applied to a terminal device, the method includes: A data request is sent to the network side, the data request carrying the identifier of the first base station and the location data of the terminal device, the first base station being the base station that participated in the previous location; The network receives the single-difference ambiguity between the first base station and the target base station and the positioning satellite observation data of the target base station, which is the base station closest to the terminal device, in response to the data request. Based on the single-difference ambiguity between the first base station and the target base station and the single-difference ambiguity between the terminal device and the first base station, the single-difference ambiguity between the terminal device and the target base station is determined; The positioning result of the terminal device is determined based at least on the single-difference ambiguity between the terminal device and the target base station, and the positioning satellite observation data of the target base station.

9. A device for providing positioning assistance data, characterized in that, The device is located on the network side, which stores the location of the base station, a dataset recording the single-difference ambiguity between the base stations, and positioning satellite observation data from the base station. The device includes: a receiving unit, a first acquisition unit, a second acquisition unit, and a sending unit. The receiving unit is used to receive a data request sent by the terminal device. The data request carries the identifier of the first base station and the location data of the terminal device. The first base station is the base station that participated in the previous location. The first acquisition unit is used to acquire the base station closest to the terminal device as the target base station based on the positioning data and the location of the base station; The second acquisition unit is used to acquire, based on the identifier of the first base station and the identifier of the target base station, the single-difference ambiguity between the first base station and the target base station from the data set when the identifier of the target base station is different from the identifier of the first base station; The sending unit is used to send the single-difference ambiguity and the positioning satellite observation data obtained by the target base station to the terminal device.

10. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method for providing positioning auxiliary data as described in any one of claims 1-7, or the positioning method as described in claim 8.

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