A navigation positioning method and device, electronic equipment and navigation terminal

Abstract

Embodiments of the present application provide a navigation positioning method and device, electronic equipment and navigation terminal, and relate to the technical field of navigation positioning. The method comprises: in response to receiving a positioning mode switching instruction, obtaining a positioning solution state of a current positioning mode positioning result and a positioning solution state of a to-be-switched positioning mode positioning result, different positioning modes outputting positioning results in parallel through different positioning solution units; then, according to the multiple positioning solution states, weighting and fusing the current positioning mode positioning result and the to-be-switched positioning mode positioning result within a preset time window to generate a fused positioning result as a positioning output; and finally, after the end of the preset time window, taking the to-be-switched positioning mode positioning result as the positioning output. The embodiments of the present application can be used in a combined navigation terminal with multiple positioning modes, and can realize smooth transition of the positioning result during the positioning mode switching process, avoiding positioning jump or sudden accuracy drop.

Description

Technical Field

[0001] This application relates to the field of navigation and positioning technology, and in particular to a navigation and positioning method, device, electronic device, and navigation terminal. Background Technology

[0002] As autonomous driving technology advances to Level 3+, traditional real-time kinematic (RTK) positioning becomes ineffective when vehicles are driving in remote areas without network signal coverage because it cannot provide differential data. The positioning accuracy of relying solely on the Global Navigation Satellite System (GNSS) drops to the 10-meter level, which is insufficient to meet the high-precision positioning requirements of autonomous driving.

[0003] To address the aforementioned issues, several technological attempts have been made. Existing solutions include: some focusing on building integrated navigation algorithm models to improve positioning accuracy by fusing data from multiple sensors; others emphasizing hardware redundancy switching between dual inertial navigation systems to ensure the reliability of the positioning system; some focusing on power-on / off switching between chips of different navigation standards, selecting the optimal chip based on positioning accuracy; and still others focusing on integrated satellite-ground multi-algorithm fusion, broadcasting various differential information through satellite and ground networks, allowing the terminal to select the optimal solution.

[0004] However, existing technologies ignore the performance interruption when switching between different positioning methods, making it difficult to guarantee seamless high-precision positioning of vehicles in various positioning scenarios. Summary of the Invention

[0005] The purpose of this application is to provide a navigation and positioning method, device, electronic device, and navigation terminal, which aims to ensure that the positioning results are continuous, smooth, and stable in accuracy during the transition of positioning mode switching.

[0006] In a first aspect, this application provides a navigation and positioning method, the method comprising: in response to receiving a positioning mode switching command, acquiring the positioning calculation state of a first positioning result and the positioning calculation state of a second positioning result, wherein different positioning modes output positioning results in parallel through different positioning calculation units, the first positioning result is the positioning result output by the current positioning mode, the second positioning result is the positioning result output by the positioning mode to be switched, and the positioning calculation state characterizes the accuracy of the positioning result; based on multiple positioning calculation states, within a preset time window, weightedly fusing the first positioning result and the second positioning result to generate a fused positioning result as the positioning output, the preset time window characterizing the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched; and after the preset time window ends, using the second positioning result as the positioning output.

[0007] The navigation and positioning method provided in this application, upon receiving a positioning mode switching command, simultaneously acquires the positioning calculation status of the current positioning mode and the positioning mode to be switched (this status characterizes the accuracy of the positioning result output by the positioning mode). It then uses these two statuses to perform a weighted fusion of the two parallel positioning results within a preset time window. This generates a continuous, smooth, and optimally accurate fused positioning result during the mode switching transition, effectively avoiding positioning jumps or sudden drops in accuracy that might occur with direct switching. After the preset time window ends, the positioning result output by the positioning mode to be switched is used as the positioning output, thus ensuring a smooth positioning transition and ultimately achieving a reliable switching of the positioning mode.

[0008] In conjunction with the first aspect mentioned above, in one possible implementation, based on multiple positioning calculation states, within a preset time window, the first positioning result and the second positioning result are weighted and fused to generate a fused positioning result. This includes: determining a first weight and a second weight for weighted fusion based on multiple positioning calculation states, wherein the first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1; within the preset time window, the first positioning result and the second positioning result are weighted and fused according to the first weight and the second weight to generate a fused positioning result.

[0009] Based on the above technical means, this application can dynamically allocate fusion weights based on the solution status of the current positioning mode and the positioning mode to be switched, thereby achieving smooth weighted fusion of positioning results during the switching transition period and avoiding positioning jumps caused by direct switching.

[0010] In conjunction with the first aspect mentioned above, in one possible implementation, when the positioning calculation states of both the first positioning result and the second positioning result reach a preset accuracy threshold, the first weight dynamically decreases within a preset time window, and the second weight dynamically increases within a preset time window.

[0011] Based on the above technical means, this application can, when both positioning modes meet the accuracy requirements, gradually decrease the weight of the positioning result of the current positioning mode from 1 to 0, and correspondingly increase the weight of the positioning result of the positioning mode to be switched, thereby realizing a gradual transition of positioning output and improving the continuity and stability of the switching process.

[0012] In conjunction with the first aspect above, in one possible implementation, the first weight is determined in the following manner: ; in, As the first weight, Indicates the preset time window. .

[0013] Based on the above technical means, this application can use the cosine function to nonlinearly adjust the weights within the time window, making the changes in the starting and ending stages of the positioning transition smoother, and further improving the smoothness of the fused positioning results and user experience.

[0014] In conjunction with the first aspect mentioned above, in one possible implementation, determining the first weight and the second weight during weighted fusion based on multiple positioning solution states further includes: when the positioning solution state of the first positioning result does not reach the preset accuracy threshold, and the positioning solution state of the second positioning result reaches the preset accuracy threshold, setting the first weight to 0 and the second weight to 1 within a preset time window.

[0015] Based on the above technical means, this application can directly use the second positioning result for output when the accuracy of the current positioning mode is not up to standard but the accuracy of the positioning mode is up to standard, thereby avoiding the negative impact of low-precision positioning results on the fusion output and ensuring the positioning reliability during the transition period.

[0016] In conjunction with the first aspect above, in one possible implementation, when the positioning calculation state of the current positioning mode reaches a preset accuracy threshold, and the positioning calculation state of the positioning mode to be switched does not reach the preset accuracy threshold, the method further includes: setting a delay waiting time window and monitoring the positioning calculation state of the second positioning result; within the delay waiting time window, if the positioning calculation state of the second positioning result reaches the preset accuracy threshold, then the positioning mode switching process is executed; after the delay waiting time window ends, if the positioning calculation state of the second positioning result still does not reach the preset accuracy threshold, then the positioning mode switching process is exited, and the first positioning result is used as the positioning output.

[0017] Based on the above technical means, this application can actively wait for the state to converge when the positioning mode to be switched has not yet met the accuracy requirements, and continue to use the current positioning mode after the waiting fails, thereby avoiding switching to unstable or low-precision positioning results.

[0018] In conjunction with the first aspect mentioned above, in one possible implementation, the method further includes: obtaining user configuration information, which is used to indicate the priority of multiple candidate positioning modes; obtaining the availability status of each candidate positioning mode; and generating a positioning mode switching instruction based on the user configuration information and the availability status of each candidate positioning mode.

[0019] Based on the aforementioned technical means, this application can automatically generate switching instructions by combining the user's preset positioning priority and the real-time availability of each positioning mode, thereby selecting the most suitable positioning mode while meeting the user's preferences, and improving the intelligence and flexibility of the navigation terminal.

[0020] In conjunction with the first aspect mentioned above, in one possible implementation, the positioning calculation unit includes at least a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit; the LEO satellite positioning calculation unit is used to receive raw observation data from the Global Navigation Satellite System (GNSS) and calculate the positioning result based on the augmentation information broadcast by the LEO satellites; the network real-time positioning calculation unit is used to receive raw observation data from the GNSS and calculate the positioning result based on the network real-time dynamic differential data.

[0021] Based on the above technical means, this application can use the enhanced information broadcast by low-orbit satellites and the real-time dynamic differential data of the network to perform positioning calculations, thereby obtaining higher accuracy and faster convergence positioning results under satellite signal and / or network coverage conditions, and meeting the high-precision navigation requirements in complex environments.

[0022] Secondly, this application provides a navigation and positioning device, comprising: an instruction response module and a positioning output module. The instruction response module is used to, in response to receiving a positioning mode switching instruction, acquire the positioning calculation status of a first positioning result and a second positioning result. Different positioning modes output positioning results in parallel through different positioning calculation units. The first positioning result is the positioning result output by the current positioning mode, and the second positioning result is the positioning result output by the positioning mode to be switched. The positioning calculation status characterizes the accuracy of the positioning result. The positioning output module is used to, based on multiple positioning calculation states, within a preset time window, weightedly fuse the first positioning result and the second positioning result to generate a fused positioning result as the positioning output. The preset time window characterizes the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched. The positioning output module is also used to output the second positioning result as the positioning output after the preset time window ends.

[0023] In conjunction with the second aspect above, in one possible implementation, the positioning output module is specifically used to: determine the first weight and the second weight during weighted fusion based on multiple positioning solution states, wherein the first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1; and within a preset time window, perform weighted fusion of the first positioning result and the second positioning result according to the first weight and the second weight to generate a fused positioning result.

[0024] In conjunction with the second aspect above, in one possible implementation, when the positioning calculation states of both the first positioning result and the second positioning result reach a preset accuracy threshold, the first weight dynamically decreases within a preset time window, and the second weight dynamically increases within a preset time window.

[0025] In conjunction with the second aspect above, in one possible implementation, the first weight is determined in the following manner: ; in, As the first weight, Indicates the preset time window. .

[0026] In conjunction with the second aspect above, in one possible implementation, the positioning output module is specifically used to: set the first weight to 0 and the second weight to 1 within a preset time window when the positioning solution state of the first positioning result has not reached the preset accuracy threshold and the positioning solution state of the second positioning result has reached the preset accuracy threshold.

[0027] In conjunction with the second aspect above, in one possible implementation, when the positioning calculation state of the current positioning mode reaches a preset accuracy threshold, and the positioning calculation state of the positioning mode to be switched does not reach the preset accuracy threshold, the positioning output module is further configured to: set a delay waiting time window and monitor the positioning calculation state of the second positioning result; within the delay waiting time window, if the positioning calculation state of the second positioning result reaches the preset accuracy threshold, then execute the positioning mode switching process; after the delay waiting time window ends, if the positioning calculation state of the second positioning result still does not reach the preset accuracy threshold, then exit the positioning mode switching process and use the first positioning result as the positioning output.

[0028] In conjunction with the second aspect above, in one possible implementation, the device further includes an instruction generation module, configured to: acquire user configuration information, which indicates the priority of multiple candidate positioning modes; acquire the availability status of each candidate positioning mode; and generate a positioning mode switching instruction based on the user configuration information and the availability status of each candidate positioning mode.

[0029] In conjunction with the second aspect mentioned above, in one possible implementation, the positioning calculation unit includes at least a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit; the LEO satellite positioning calculation unit is used to receive raw observation data from the Global Navigation Satellite System (GNSS) and calculate the positioning result based on the augmentation information broadcast by the LEO satellites; the network real-time positioning calculation unit is used to receive raw observation data from the GNSS and calculate the positioning result based on the network real-time dynamic differential data.

[0030] Thirdly, this application provides an electronic device comprising: a processor and a memory; the memory storing processor-executable instructions; when the processor is configured to execute the instructions, the electronic device implements the method of the first aspect described above.

[0031] Fourthly, this application provides a computer-readable storage medium comprising: computer software instructions; which, when executed in an electronic device, cause the electronic device to implement the method described in the first aspect.

[0032] Fifthly, this application provides a computer program product that, when run on a computer, causes the computer to perform the steps of the relevant method described in the first aspect above, so as to implement the method of the first aspect above.

[0033] Sixthly, this application provides a navigation terminal, which includes: a processing chip and a positioning module; the processing chip, connected to the positioning module, is used to send a positioning mode switching command to the positioning module, the positioning mode switching command being used to instruct the positioning module to switch from the current positioning mode to the positioning mode to be switched; the positioning module includes at least two positioning calculation units operating in parallel, each positioning calculation unit corresponding to a positioning mode; wherein, the positioning module is configured to execute the navigation positioning method of the first aspect described above, in response to receiving the positioning mode switching command, outputting a target positioning result based on a first positioning result output by the current positioning mode and a second positioning result output by the positioning mode to be switched; within a preset time window, the target positioning result is a fusion result of the first positioning result and the second positioning result; after the preset time window ends, the target positioning result is the second positioning result.

[0034] The beneficial effects of the second to sixth aspects mentioned above can be referred to the corresponding descriptions in the first aspect, and will not be repeated here.

[0035] It should be noted that any of the possible implementations of any of the above aspects can be combined, provided that the solutions do not contradict each other. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A schematic diagram illustrating the composition of a navigation terminal provided in an embodiment of this application; Figure 2 A detailed schematic diagram illustrating the components of a navigation terminal provided in an embodiment of this application; Figure 3 A flowchart illustrating a navigation and positioning method provided in an embodiment of this application; Figure 4 A detailed flowchart illustrating a method for sending a positioning mode switching command, provided in an embodiment of this application; Figure 5 A detailed flowchart illustrating a navigation and positioning method provided in an embodiment of this application; Figure 6This is a schematic diagram illustrating the composition of a navigation and positioning device provided in an embodiment of this application; Figure 7 This is a schematic diagram of a navigation and positioning device provided in an embodiment of this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] It should be noted that in the embodiments of this application, the words "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0040] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.

[0041] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0042] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0043] This application provides a navigation and positioning method. Upon receiving a positioning mode switching command, it simultaneously acquires the positioning calculation status of the current positioning mode and the positioning mode to be switched (this status characterizes the accuracy of the positioning result output by the positioning mode). Using these two statuses, it performs a weighted fusion of the two parallel positioning results within a preset time window. This generates a continuous, smooth, and optimally accurate fused positioning result during the mode switching transition, effectively avoiding positioning jumps or sudden drops in accuracy that might occur with direct switching. After the preset time window ends, the positioning result output by the positioning mode to be switched is used as the positioning output, thus ensuring a smooth positioning transition and ultimately achieving a reliable switching of the positioning mode.

[0044] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0045] The navigation and positioning method provided in this application can be achieved through methods such as... Figure 1 The navigation terminal shown is implemented in an application that includes a positioning module and a processing chip. The positioning module includes at least two positioning calculation units that operate in parallel. The processing chip can communicate with the positioning module and can send positioning mode switching commands to the positioning module, as well as receive positioning results output by the positioning module.

[0046] In one possible implementation, the positioning module may include a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit, which operate in parallel within the navigation terminal. The LEO satellite positioning calculation unit receives raw observation data from the Global Navigation Satellite System (GNSS) and calculates the positioning result based on augmentation information broadcast by LEO satellites. The network real-time positioning calculation unit receives raw observation data from the GNSS and calculates the positioning result based on real-time dynamic differential data from the network.

[0047] In one possible implementation, the processing chip can be a microcontroller chip that integrates an intelligent switching controller, which can be used to send positioning mode switching commands to the positioning module.

[0048] For example, this application provides a navigation terminal for implementing a navigation and positioning method, the specific structure of which is as follows: Figure 2 As shown, the system includes a positioning module and a microcontroller chip. The positioning module includes a low-Earth orbit satellite positioning calculation unit, a network real-time positioning calculation unit, and a positioning result output unit. The microcontroller chip includes an intelligent switching controller, which can be used to send mode switching commands to the positioning module.

[0049] exist Figure 2In the navigation terminal shown, the low-Earth orbit (LEO) satellite positioning calculation unit can receive raw observation data from the Global Navigation Satellite System (GNSS) and LEO augmentation information broadcast by LEO satellites to calculate the positioning result. The network real-time positioning calculation unit can receive raw observation data from the GNSS and network real-time dynamic differential data to calculate the positioning result. The positioning result output unit can acquire the positioning results output by the LEO satellite positioning calculation unit and the network real-time positioning calculation unit in parallel, and then output the positioning result to the microcontroller chip.

[0050] For example, in Figure 2 In the navigation terminal shown, the navigation and positioning method provided in this application embodiment includes as follows: Figure 3 Steps S301-S303 shown: S301. In response to receiving a positioning mode switching command, obtain the positioning calculation status of the first positioning result and the positioning calculation status of the second positioning result.

[0051] Different positioning modes output positioning results in parallel through different positioning calculation units. The first positioning result is the positioning result output by the current positioning mode, and the second positioning result is the positioning result output by the positioning mode to be switched. The positioning calculation status represents the accuracy of the positioning result.

[0052] In this embodiment, the positioning mode switching command is a control command issued by the intelligent switching controller integrated within the microcontroller chip to the positioning module for switching positioning modes. The first positioning result is the positioning result output by the positioning calculation unit currently in operation within the positioning module. The second positioning result is the positioning result output by the positioning calculation unit to be switched within the positioning module. The positioning calculation status is a status parameter reflecting the accuracy level of the positioning result output by the positioning calculation unit. The positioning calculation unit is a functional unit within the positioning module that independently performs positioning calculation operations.

[0053] In some embodiments, the positioning solution unit may be Figure 2 The diagram shows a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit. The LEO satellite positioning calculation unit performs positioning calculations based on raw GNSS observation data and LEO satellite augmentation information, while the network real-time positioning calculation unit performs positioning calculations based on raw GNSS observation data and network real-time dynamic differential data. The two types of positioning calculation units operate independently and in parallel within the positioning module.

[0054] In some embodiments, the positioning module can obtain a positioning mode switching instruction by receiving a control signal sent by the intelligent switching controller in the microcontroller chip. During the parallel calculation and output of positioning results by the two types of positioning calculation units, the module can directly read the calculation data output by each positioning calculation unit to obtain the positioning calculation status of the first positioning result and the second positioning result.

[0055] In some embodiments, the positioning module may also: synchronously update the solution status of two parallel positioning solution units in real time, ensuring that the solution status of the first positioning result and the second positioning result are real-time valid data, while maintaining the continuity and accuracy of the solution status data.

[0056] In one possible implementation, after receiving the positioning mode switching command issued by the microcontroller chip, the positioning module immediately calls the internal data reading interface to collect the first positioning result and its solution status output by the currently working positioning solution unit, and the second positioning result and its solution status output by the standby positioning solution unit to be switched, thereby completing the synchronous acquisition of the two types of solution statuses.

[0057] As can be seen from step S301, by responding to the positioning mode switching command, the solution status of the two positioning results output by the current positioning mode and the positioning mode to be switched can be obtained synchronously, which can provide accurate precision reference for positioning mode switching, ensure that the switching operation is carried out based on effective and reliable solution data, and avoid positioning output abnormalities caused by data loss or lag.

[0058] S302. Based on multiple positioning calculation states, within a preset time window, the first positioning result and the second positioning result are weighted and fused to generate a fused positioning result as the positioning output.

[0059] The preset time window represents the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched.

[0060] In this embodiment, weighted fusion is a positioning data processing method that integrates the first positioning result and the second positioning result according to corresponding weights. The preset time window is the transition duration set by the positioning module for switching positioning modes. The fused positioning result is the positioning data generated and output after weighted fusion.

[0061] In some embodiments, the preset time window may include a transition duration of 0.5 to 1 second pre-configured within the positioning module, which is adapted to the positioning calculation convergence rhythm and is used to support a smooth transition of positioning mode switching.

[0062] In some embodiments, the positioning module can obtain the duration of a preset time window by reading internal pre-configured parameters, and after obtaining the real-time calculation data of the first positioning result and the second positioning result, it can perform weighted fusion calculation.

[0063] In some embodiments, the positioning module may also: maintain the parallel operation of the dual positioning solution units within a preset time window, and collect the latest positioning results in real time to ensure the timeliness of the fusion calculation data.

[0064] In one possible implementation, the positioning module determines the appropriate fusion weights based on multiple positioning calculation states, performs weighted calculations on the first and second positioning results within a preset time window, and directly generates the fused positioning result as the positioning data to be output.

[0065] As can be seen from step S302, by completing the weighted fusion output of the dual positioning results within a preset time window based on the positioning solution status, the accuracy breakpoint during the positioning mode switching process can be eliminated, ensuring that the positioning output is continuous without jumps.

[0066] S303. After the preset time window ends, the second positioning result is used as the positioning output.

[0067] In this embodiment, the end of the preset time window refers to the transition time of the positioning mode switching reaching a preset cutoff time. The positioning output is the final positioning data result provided by the positioning module.

[0068] In some embodiments, the end of the preset time window can be: the timing unit inside the positioning module counts to reach the termination node of the preset transition time. At this time, the transition phase of the weighted fusion of positioning results is completed, and the stable output phase of the positioning mode to be switched is entered.

[0069] In some embodiments, the positioning module can obtain the trigger signal for the end of a preset time window by real-time periodic counting monitoring through the internal timing unit.

[0070] In some embodiments, the positioning module may also: after switching to the second positioning result output, update the running identifiers of the current service engine and the backup engine, while maintaining the background parallel calculation state of the original positioning calculation unit to maintain the system backup capability.

[0071] In one possible implementation, after detecting the signal that the preset time window has ended, the positioning module terminates the calculation process of the fused positioning results and directly selects the second positioning result as the positioning data to be output.

[0072] As can be seen from step S303, by taking the second positioning result as the final positioning output after the preset time window ends, the positioning mode to be switched can be officially activated after a smooth transition is completed, ensuring that the positioning mode switch is fully implemented and the positioning output remains stable.

[0073] In this embodiment, the positioning module can determine a first weight and a second weight during weighted fusion based on multiple positioning calculation states. Then, within a preset time window, the first positioning result and the second positioning result are weighted and fused according to the first weight and the second weight to generate a fused positioning result.

[0074] The first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1.

[0075] For example, when the positioning module achieves a preset accuracy threshold in both the positioning calculation states of the first positioning result and the second positioning result, the first weight can be dynamically decreased within a preset time window, and the second weight can be dynamically increased within a preset time window.

[0076] In this embodiment of the application, the preset accuracy threshold is a criterion for determining whether the positioning solution meets the requirements for high-precision output, and the dynamic adjustment of weights refers to the operation method of continuously changing the weight values ​​according to preset rules within a preset time window.

[0077] In some embodiments, the preset accuracy threshold may include: an accuracy determination condition in which the positioning solution reaches a fixed solution state or a fully converged state. This condition is the core basis for the positioning module to determine whether to initiate progressive weight adjustment.

[0078] In some embodiments, the positioning module can obtain a preset accuracy threshold by reading internally stored accuracy judgment parameters, and after real-time analysis of the solution status of the first positioning result and the second positioning result, determine whether the triggering condition for dynamic weight adjustment is met.

[0079] In some embodiments, the first weight is determined in the following manner: ; in, As the first weight, Indicates the preset time window. .

[0080] In some embodiments, the positioning module may also: verify in real time that the sum of the values ​​of the first weight and the second weight is always 1 during the dynamic adjustment of weights, and keep the weight adjustment progress synchronized with the timing progress of the preset time window.

[0081] In one possible implementation, after the positioning module determines that the solution states of both the first and second positioning results have reached a preset accuracy threshold, it dynamically adjusts the weights by gradually decreasing the first weight from 1 to 0 using a smoothing function with a first derivative of zero at the endpoints of the interval, according to the timing process of a preset time window.

[0082] Furthermore, the positioning module can simultaneously input the first positioning result and the second positioning result after dynamic weight allocation into the Kalman filter for fusion calculation. The Kalman filter performs optimal estimation and smoothing on the two sets of positioning data, and finally generates a continuous and stable fused positioning result as the current positioning output.

[0083] In this embodiment of the application, by performing a gradual and dynamic adjustment of the weights when both positioning results meet the preset accuracy threshold, the transition process of the positioning output can be made smoother and more continuous, eliminating the problem of sudden changes in accuracy when switching positioning modes.

[0084] For example, when the positioning solution state of the first positioning result does not reach the preset accuracy threshold and the positioning solution state of the second positioning result reaches the preset accuracy threshold, the positioning module may set the first weight to 0 and the second weight to 1 within a preset time window.

[0085] For example, after obtaining the positioning solution status of the first positioning result, the positioning module determines that the positioning solution status is a non-fixed solution status or that the positioning solution status has not reached a fully converged state, that is, the positioning solution status of the first positioning result has not reached a preset accuracy threshold. At the same time, it determines that the positioning solution status of the second positioning result has reached the preset accuracy threshold. In this case, the positioning module can directly set the first weight to 0 and the second weight to 1 to avoid the first positioning result affecting the fused positioning result due to insufficient accuracy.

[0086] In this embodiment, by directly configuring the corresponding weight when the accuracy of the current positioning result is substandard while the accuracy of the second positioning result is up to standard, it is possible to quickly switch to a reliable high-precision positioning output, thus avoiding the negative impact of low-precision positioning results on positioning performance.

[0087] In this embodiment of the application, after obtaining the positioning calculation status of the first positioning result and the positioning calculation status of the second positioning result, before entering the preset time window, the positioning module can first determine whether the positioning calculation status of the second positioning result has reached the preset accuracy threshold.

[0088] Furthermore, if the positioning calculation status of the positioning mode to be switched has not reached the preset accuracy threshold, while the positioning calculation status of the current positioning mode has reached the preset accuracy threshold, the positioning module can set a delay waiting time window and continuously monitor the positioning calculation status of the second positioning result. Within the delay waiting time window, if the positioning calculation status of the second positioning result reaches the preset accuracy threshold, the positioning module will execute the positioning mode switching process. After the delay waiting time window ends, if the positioning calculation status of the second positioning result still has not reached the preset accuracy threshold, the positioning module will exit the positioning mode switching process and use the first positioning result as the positioning output.

[0089] In this embodiment, the delay window is a dedicated waiting time set by the positioning module for the convergence of the positioning mode calculation state. The positioning mode switching process is the complete execution flow of the positioning module switching from the current positioning mode to the positioning mode to be switched.

[0090] In some embodiments, the delay waiting time window can be a 10-second waiting time pre-configured inside the positioning module. This time can reserve sufficient convergence time for the positioning calculation unit to switch positioning modes, and is a key time parameter to ensure that the positioning accuracy meets the standard and the output is stable after switching.

[0091] In some embodiments, the positioning module can obtain the duration of the delay waiting time window by reading the internally stored delay configuration parameters. After completing the accuracy determination of the current and the positioning mode to be switched, it can collect the solution status data of the second positioning result in real time to achieve continuous monitoring.

[0092] In some embodiments, the positioning module may also: continuously maintain the normal calculation and output of the current positioning mode during the operation of the delay waiting time window, and simultaneously record the change data of the positioning calculation status of the second positioning result, so as to provide complete data basis for switching decisions.

[0093] In one possible implementation, the positioning module can initiate a delay window and continuously monitor the calculation status of the second positioning result when it determines that the positioning calculation status of the positioning mode to be switched has not reached a preset accuracy threshold, while the positioning calculation status of the current positioning mode has reached the preset accuracy threshold. If the calculation status of the second positioning result meets the threshold within the delay window, the positioning mode switching process is executed. If the calculation status of the second positioning result still does not meet the threshold after the delay window ends, the positioning mode switching process is exited, and the current positioning mode outputs the positioning result.

[0094] In this embodiment of the application, by setting a delay waiting time window and performing branch processing according to the positioning solution status of the second positioning result, it is possible to effectively avoid switching to the low-precision positioning mode that has not converged, while ensuring that the positioning output is continuous and stable throughout the process, thereby improving the robustness and reliability of the positioning result.

[0095] In this embodiment, the intelligent switching controller in the microcontroller chip can obtain user-preset configuration information and the availability status of each candidate positioning mode. Then, based on the user configuration information and the availability status of each candidate positioning mode, it generates a positioning mode switching command.

[0096] The user configuration information is used to indicate the priority of various candidate positioning modes.

[0097] In this embodiment, the user configuration information refers to configuration parameters pre-written by the user into the navigation terminal to specify the priority of candidate positioning modes. The candidate positioning mode is a high-precision positioning enhancement mode that the navigation terminal can select. The availability status is obtained through multi-level detection and represents the status result indicating whether the candidate positioning mode can provide normal service. The positioning mode switching command is a control signal issued by the intelligent switching controller to the positioning module to trigger the positioning mode switching.

[0098] In some embodiments, user configuration information may include three preset configuration types: Low Earth Orbit (LEO) satellite navigation enhancement mode (executed by the LEO satellite positioning solution unit), network RTK mode (executed by the network real-time positioning solution unit), and default adaptive mode. The default adaptive mode is a configuration option for the system's autonomous decision-making positioning mode, and candidate positioning modes may include LEO satellite navigation enhancement mode and network real-time dynamic positioning mode.

[0099] In some embodiments, the available state may include the complete and effective state of the low-orbit satellite positioning solution unit after three levels of detection: signal layer, data layer, and enhancement service layer, and the normal available state of the network real-time positioning solution unit after detection of differential data stream integrity, data content quality, and performance.

[0100] In some embodiments, the intelligent switching controller can obtain user-preset configuration information by reading the non-volatile storage partition inside the navigation terminal. During a cyclic monitoring process with a period of no less than 2 seconds, the availability status of the low-Earth orbit satellite navigation enhancement mode is obtained by progressively verifying radio frequency signals, message data, and service timeliness. The availability status of the network RTK mode is obtained by parsing network differential data and verifying data age and solution type.

[0101] In some embodiments, the intelligent switching controller can also set an enable flag for each positioning mode. This flag is a status flag bit built into the intelligent switching controller, which is divided into an enable flag for the low-orbit satellite navigation enhancement mode and an enable flag for the network RTK mode. It is the core judgment basis for the switching state machine.

[0102] In some embodiments, the intelligent switching controller can also: when it detects that a user-configured positioning mode is unavailable, continuously perform multiple loop monitoring to confirm its availability; and if it is still unavailable after multiple monitoring, automatically switch to another candidate positioning mode to ensure service continuity. For example, the intelligent switching controller can prioritize the network RTK mode in the default adaptive mode, while adjusting the default preferred mode according to the construction progress of the low-Earth orbit satellite constellation. Furthermore, during the decision-making process, it simultaneously maintains the low-Earth orbit satellite navigation enhancement mode enable flag and the network RTK mode enable flag to mark the currently effective positioning mode.

[0103] In one possible implementation, the intelligent switching controller first parses the user configuration information and then reads the availability status of the corresponding candidate positioning modes. If the mode is available, it directly generates the corresponding positioning mode switching command and sends it to the positioning module. If it is unavailable, it continuously monitors the availability status within a set number of loops. If it is still unavailable after the loop ends, it automatically selects another candidate positioning mode and generates the corresponding switching command. In the default mode, it prioritizes the detection of the availability status of the network RTK mode and generates the corresponding switching command.

[0104] For example, the logic of the intelligent switching controller in switching between low-Earth orbit satellite navigation enhancement mode and network RTK navigation enhancement mode is as follows: Figure 4 As shown. The intelligent switching controller first performs the initialization of the enable flags for each positioning mode, and then reads and parses the user configuration information. It then determines whether the user configuration is for LEO satellite navigation enhancement mode. If the result is yes, it reads the availability status of LEO satellite navigation enhancement mode. Next, it determines whether LEO satellite navigation enhancement mode is available. If the result is yes, it further determines whether there is an LEO satellite navigation enhancement mode enable flag. If the result is no, it first clears the network RTK mode enable flag, then sends the LEO satellite navigation enhancement mode switching command, and finally sets the LEO satellite navigation enhancement mode enable flag. If the result is yes, it returns to the step of reading the availability status of LEO satellite navigation enhancement mode. If the result is no, it determines whether to read N times in a loop. If the result of reading N times in a loop is no, it proceeds to the step of reading the availability status of LEO satellite navigation enhancement mode to monitor this mode. If the result of the determination of whether to read N times in a loop is yes, then jump to the step of reading the availability status of network RTK mode to execute the relevant detection logic of network RTK mode.

[0105] If the determination of whether the user configuration is in LEO satellite navigation enhancement mode is negative, then the process further determines whether the user configuration is in network RTK mode. If the determination of whether the user configuration is in network RTK mode is positive, then the availability status of network RTK mode is read, and then the availability of network RTK mode is determined. If the determination of whether network RTK mode is available is positive, then the process further determines whether there is a network RTK mode enable flag. If the determination of whether there is a network RTK mode enable flag is negative, then the LEO satellite navigation enhancement mode enable flag is cleared first, then a network RTK mode switching command is sent, and finally the network RTK mode enable flag is set. If the determination of whether there is a network RTK mode enable flag is positive, then the process returns to the step of reading the availability status of network RTK mode. If the determination of whether network RTK mode is available is negative, then the process determines whether to read the status N times. If the determination of whether to read the status N times is negative, then the process proceeds to the step of reading the availability status of network RTK mode to monitor the mode. If the determination of whether to read the status N times is positive, then the process jumps to the step of reading the availability status of LEO satellite navigation enhancement mode. If the result of determining whether the user configuration is in network RTK mode is no, then the default configuration is adopted, and the process jumps to the step of reading the availability status of network RTK mode.

[0106] In this embodiment, by combining the user-configured positioning mode priority with the real-time availability status of each candidate positioning mode to generate a switching instruction, it is possible to achieve adaptive intelligent switching of positioning modes while meeting the user's customized usage needs. With the help of a multi-level availability status detection and cyclic monitoring mechanism, it can effectively avoid positioning service interruption and improve the continuity and wide-area reliability of the positioning service of the navigation terminal in complex dynamic environments.

[0107] In summary, such as Figure 5As shown, the detailed process of the navigation and positioning method provided in this application is as follows: After receiving the switching command, the positioning module first determines whether the command is to switch to network RTK mode. If the result of determining whether the command is to switch to network RTK mode is yes, it further determines whether the current mode is network RTK. If the result of determining whether the current mode is network RTK is yes, it is determined that no switching is required. If the result of determining whether the current mode is network RTK is no, it continues to determine whether the low-Earth orbit satellite navigation enhancement mode outputs a fixed solution. If the result of determining whether the low-Earth orbit satellite navigation enhancement mode outputs a fixed solution is no, it directly switches to network RTK mode. If the result of determining whether the low-Earth orbit satellite navigation enhancement mode outputs a fixed solution is yes, it continues to determine whether the network RTK mode outputs a fixed solution. If the result of determining whether the network RTK mode outputs a fixed solution is yes, a weighted fusion process is performed during the transition period. After the transition period ends, it switches to network RTK mode. If the result of determining whether the network RTK mode outputs a fixed solution is no, the controller sets a delay time window. Then, within the delay time window, it continuously determines whether the network RTK mode outputs a fixed solution. If, within the delay window, the determination result for whether the network RTK mode outputs a fixed solution is "yes," then a weighted fusion process is performed during the transition period. At the end of the transition period, the system switches back to network RTK mode. If, after the delay window, the determination result for whether the network RTK mode outputs a fixed solution is still "no," then the switch is considered a failure.

[0108] If the determination of whether the instruction is to switch to network RTK mode is negative, then it further determines whether the current mode is LEO satellite navigation enhancement mode. If the determination of whether the current mode is LEO satellite navigation enhancement mode is positive, then it is determined that no switching is needed. If the determination of whether the current mode is LEO satellite navigation enhancement mode is negative, then it continues to determine whether network RTK mode outputs a fixed solution. If the determination of whether network RTK mode outputs a fixed solution is negative, then it switches to LEO satellite navigation enhancement mode. If the determination of whether network RTK mode outputs a fixed solution is positive, then it continues to determine whether LEO satellite navigation enhancement mode outputs a fixed solution. If the determination of whether LEO satellite navigation enhancement mode outputs a fixed solution is positive, then a weighted fusion process is performed during the transition period. After the transition period ends, it switches to LEO satellite navigation enhancement mode. If the determination of whether LEO satellite navigation enhancement mode outputs a fixed solution is negative, the controller sets a delay time window. Then, within the delay time window, it continuously determines whether LEO satellite navigation enhancement mode outputs a fixed solution. If, within the delay window, the determination result for whether the LEO satellite navigation augmentation mode outputs a fixed solution is "yes," then a weighted fusion process is performed during the transition period. After the transition period ends, the system switches back to the LEO satellite navigation augmentation mode. If, after the delay window, the determination result for whether the LEO satellite navigation augmentation mode outputs a fixed solution is still "no," then the switchover is considered a failure.

[0109] The navigation and positioning method provided in this application, upon receiving a positioning mode switching command, simultaneously acquires the positioning calculation status of the current positioning mode and the positioning mode to be switched (this status characterizes the accuracy of the positioning result output by the positioning mode). It then uses these two statuses to perform a weighted fusion of the two parallel positioning results within a preset time window. This generates a continuous, smooth, and optimally accurate fused positioning result during the mode switching transition, effectively avoiding positioning jumps or sudden drops in accuracy that might occur with direct switching. After the preset time window ends, the positioning result output by the positioning mode to be switched is used as the positioning output, thus ensuring a smooth positioning transition and ultimately achieving a reliable switching of the positioning mode.

[0110] In an exemplary embodiment, such as Figure 6 As shown, the navigation and positioning device includes a command response module 601 and a positioning output module 602. The command response module 601, in response to receiving a positioning mode switching command, acquires the positioning calculation status of a first positioning result and a second positioning result. Different positioning modes output positioning results in parallel through different positioning calculation units. The first positioning result is the positioning result output by the current positioning mode, and the second positioning result is the positioning result output by the positioning mode to be switched. The positioning calculation status characterizes the accuracy of the positioning result. The positioning output module 602, based on multiple positioning calculation statuses, performs weighted fusion of the first and second positioning results within a preset time window to generate a fused positioning result as the positioning output. The preset time window characterizes the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched. The positioning output module 602 is also used to output the second positioning result as the positioning output after the preset time window ends.

[0111] In this embodiment of the application, the positioning output module 602 is specifically used to: determine a first weight and a second weight in the weighted fusion according to multiple positioning calculation states, wherein the first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1; and within a preset time window, perform weighted fusion on the first positioning result and the second positioning result according to the first weight and the second weight to generate a fused positioning result.

[0112] In this embodiment of the application, when the positioning calculation states of the first positioning result and the second positioning result both reach the preset accuracy threshold, the first weight dynamically decreases within the preset time window, and the second weight dynamically increases within the preset time window.

[0113] In this embodiment of the application, the first weight is determined in the following manner: ; in, As the first weight, Indicates the preset time window. .

[0114] In this embodiment of the application, the positioning output module 602 is specifically used to: set the first weight to 0 and the second weight to 1 within a preset time window when the positioning calculation state of the first positioning result does not reach the preset accuracy threshold and the positioning calculation state of the second positioning result reaches the preset accuracy threshold.

[0115] In this embodiment of the application, when the positioning calculation state of the current positioning mode reaches a preset accuracy threshold, and the positioning calculation state of the positioning mode to be switched does not reach the preset accuracy threshold, the positioning output module 602 is further configured to: set a delay waiting time window and monitor the positioning calculation state of the second positioning result; within the delay waiting time window, if the positioning calculation state of the second positioning result reaches the preset accuracy threshold, then execute the positioning mode switching process; after the delay waiting time window ends, if the positioning calculation state of the second positioning result still does not reach the preset accuracy threshold, then exit the positioning mode switching process and use the first positioning result as the positioning output.

[0116] In this embodiment of the application, the device further includes an instruction generation module, configured to: obtain user configuration information, wherein the user configuration information is used to indicate the priority of multiple candidate positioning modes; obtain the availability status of each candidate positioning mode; and generate a positioning mode switching instruction based on the user configuration information and the availability status of each candidate positioning mode.

[0117] In this embodiment of the application, the positioning calculation unit includes at least a low-Earth orbit satellite positioning calculation unit and a network real-time positioning calculation unit; the low-Earth orbit satellite positioning calculation unit is used to receive raw observation data from the global navigation satellite system and calculate the positioning result based on the enhanced information broadcast by the low-Earth orbit satellites; the network real-time positioning calculation unit is used to receive raw observation data from the global navigation satellite system and calculate the positioning result based on the network real-time dynamic differential data.

[0118] In an exemplary embodiment, this application also provides an electronic device, which may be the navigation and positioning device in the above method embodiments. For example... Figure 7 As shown, the navigation and positioning device may include a processor 701 and a memory 702. The memory 702 stores instructions executable by the processor 701. When the processor 701 is configured to execute the instructions, it causes an electronic device, network device, or manager to perform the system functions described in the foregoing method embodiments.

[0119] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A navigation and positioning method, characterized in that, The method includes: In response to receiving a positioning mode switching command, the system acquires the positioning calculation status of the first positioning result and the positioning calculation status of the second positioning result. Different positioning modes output positioning results in parallel through different positioning calculation units. The first positioning result is the positioning result output by the current positioning mode, and the second positioning result is the positioning result output by the positioning mode to be switched to. The positioning calculation status characterizes the accuracy of the positioning result. The positioning calculation unit includes at least a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit. The LEO satellite positioning calculation unit and the network real-time positioning calculation unit are used to receive the same set of raw observation data from the Global Navigation Satellite System and output positioning results in parallel according to different calculation methods. The LEO satellite positioning calculation unit is used to calculate the positioning result based on the augmentation information broadcast by the LEO satellites. The network real-time positioning calculation unit is used to calculate the positioning result based on the network real-time dynamic differential data. When both the positioning calculation state of the first positioning result and the positioning calculation state of the second positioning result reach a preset accuracy threshold, based on the multiple positioning calculation states, the basic weight values ​​of the first weight and the second weight in the weighted fusion are determined respectively. Within a preset time window, the first positioning result and the second positioning result are weighted and fused according to the first weight and the second weight to generate the fused positioning result. The first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1. The preset time window represents the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched. The first weight dynamically decreases within the preset time window, and the second weight dynamically increases within the preset time window. After the preset time window ends, the second positioning result is used as the positioning output.

2. The navigation and positioning method according to claim 1, characterized in that, The first weight is determined in the following manner: ； in, As the first weight, This refers to the preset time window. .

3. The navigation and positioning method according to claim 1, characterized in that, The step of determining the basic weight values ​​of the first weight and the second weight during weighted fusion based on the multiple positioning solution states further includes: When the positioning solution status of the first positioning result does not reach the preset accuracy threshold, and the positioning solution status of the second positioning result reaches the preset accuracy threshold, the first weight is set to 0 and the second weight is set to 1 within a preset time window.

4. The navigation and positioning method according to claim 1, characterized in that, When the positioning calculation state of the current positioning mode reaches a preset accuracy threshold, and the positioning calculation state of the positioning mode to be switched does not reach the preset accuracy threshold, the method further includes: Set a delay waiting time window and monitor the positioning calculation status of the second positioning result; If the positioning calculation status of the second positioning result reaches the preset accuracy threshold within the delay waiting time window, the positioning mode switching process is executed. If the positioning calculation status of the second positioning result still does not reach the preset accuracy threshold after the delay waiting time window ends, the positioning mode switching process is exited and the first positioning result is used as the positioning output.

5. The navigation and positioning method according to claim 1, characterized in that, The method further includes: Obtain user configuration information, which is used to indicate the priority of multiple candidate positioning modes; Obtain the availability status of each candidate positioning mode; Based on the user configuration information and the availability status of each candidate positioning mode, a positioning mode switching instruction is generated.

6. A navigation and positioning device, characterized in that, The device includes: The instruction response module is used to respond to a received positioning mode switching instruction, acquire the positioning calculation status of the first positioning result and the positioning calculation status of the second positioning result. Different positioning modes output positioning results in parallel through different positioning calculation units. The first positioning result is the positioning result output by the current positioning mode, and the second positioning result is the positioning result output by the positioning mode to be switched to. The positioning calculation status characterizes the accuracy of the positioning result. The positioning calculation unit includes at least a low-Earth orbit (LEO) satellite positioning calculation unit and a network real-time positioning calculation unit. The LEO satellite positioning calculation unit and the network real-time positioning calculation unit are used to receive the same set of raw observation data from the Global Navigation Satellite System and output positioning results in parallel according to different calculation methods. The LEO satellite positioning calculation unit is used to calculate the positioning result based on the augmentation information broadcast by the LEO satellites. The network real-time positioning calculation unit is used to calculate the positioning result based on the network real-time dynamic differential data. The positioning output module is used to determine the basic weight values ​​of the first weight and the second weight during weighted fusion based on multiple positioning calculation states when both the positioning calculation states of the first positioning result and the second positioning result reach a preset accuracy threshold. Within a preset time window, the module performs weighted fusion on the first positioning result and the second positioning result according to the first weight and the second weight to generate the fused positioning result. The first weight corresponds to the first positioning result, the second weight corresponds to the second positioning result, and the sum of the first weight and the second weight is 1. The preset time window represents the transition time required for the positioning mode to switch from the current positioning mode to the positioning mode to be switched. The first weight dynamically decreases within the preset time window, and the second weight dynamically increases within the preset time window. The positioning output module is further configured to output the second positioning result as a positioning result after the preset time window ends.

7. The navigation and positioning device according to claim 6, characterized in that, The device further includes an instruction generation module for: Obtain user configuration information, which is used to indicate the priority of multiple candidate positioning modes; Obtain the availability status of each candidate positioning mode; Based on the user configuration information and the availability status of each candidate positioning mode, a positioning mode switching instruction is generated.

8. An electronic device, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the navigation and positioning method as described in any one of claims 1-5.

9. A navigation terminal, characterized in that, include: Processing chips and positioning modules; The processing chip is connected to the positioning module and is used to send a positioning mode switching instruction to the positioning module. The positioning mode switching instruction is used to instruct the positioning module to switch from the current positioning mode to the positioning mode to be switched. The positioning module includes at least two positioning calculation units that operate in parallel, and each positioning calculation unit corresponds to a positioning mode. The positioning module is configured to execute the navigation and positioning method as described in any one of claims 1-5, in response to receiving the positioning mode switching instruction, to output a target positioning result based on a first positioning result output by the current positioning mode and a second positioning result output by the positioning mode to be switched; within a preset time window, the target positioning result is a fusion result of the first positioning result and the second positioning result; After the preset time window ends, the target positioning result is the second positioning result.

Images