Positioning method for terminal device, and electronic device and vehicle

Abstract

A vehicle, which is provided with an electronic device that executes a positioning method for a terminal device. The method comprises: receiving satellite signals and receiving first correction information sent by a first server-side device, wherein the first correction information comprises correction data for correcting error losses in a process of transmitting the satellite signals; performing conversion on the first correction information to obtain second correction information, which comprises correction data for correcting errors of observed values of the satellite signals; and determining a first position of a terminal device on the basis of the satellite signals and the second correction information.

Description

Terminal device positioning method, electronic device, and vehicle Technical Field

[0001] The present application relates to the field of positioning technology, and more specifically to a positioning method for a terminal device, an electronic device, and a vehicle. Background Art

[0002] Outdoor positioning terminals typically use the Global Navigation Satellite System (GNSS) for high-precision positioning, including relative positioning, such as Network Real-time Kinematic (NRTK), and absolute positioning, such as Precise Point Positioning-Real-time Kinematic (PPP-RTK).

[0003] The NRTK positioning method has a simple algorithm implementation, high positioning accuracy, and fast initialization speed. However, this method is highly dependent on the density of the service station network and requires dense reference stations to generate service correction products. Its positioning performance will drop sharply as the station network density decreases, resulting in inaccurate positioning or even inability to position.

[0004] The PPP-RTK positioning method does not rely on dense reference stations, has a long product lifespan, a more refined data processing model, and a flexible positioning method. It does not require users to provide an initial approximate location. However, the terminal positioning algorithm is more complex, which increases the difficulty for users to use PPP-RTK services.

[0005] Therefore, how to improve the accuracy and reliability of positioning and reduce the complexity of terminal implementation has become a technical problem that needs to be solved urgently.

[0006] Summary of the Invention

[0007] The present application is proposed in view of the above problems. The present application provides a terminal device positioning method, electronic device and vehicle, which can improve the accuracy and reliability of positioning and reduce the complexity of terminal implementation.

[0008] According to a first aspect of the present application, a method for positioning a terminal device is provided, the method comprising:

[0009] receiving a satellite signal and receiving first correction information sent by a first server device, wherein the first correction information includes correction data for correcting an error loss during transmission of the satellite signal;

[0010] converting the first correction information to obtain second correction information, where the second correction information includes correction data for correcting an error in an observation value of the satellite signal;

[0011] A first position of the terminal device is determined based on the satellite signal and the second correction information.

[0012] In one embodiment of the present application, the correction data in the first correction information includes satellite orbit correction data and satellite clock error correction data; and converting the first correction information to obtain the second correction information includes:

[0013] Obtaining a precise satellite clock error and a distance between the terminal device and the satellite based on the satellite signal, the satellite orbit correction data, and the satellite clock error correction data;

[0014] The distance between the terminal device and the satellite is corrected based on the precise satellite clock error and the first correction information to obtain the second correction information, which includes a virtual reference station pseudorange calculation value and a virtual reference station phase calculation value.

[0015] In one embodiment of the present application, obtaining a precise satellite clock error and a distance between the terminal device and the satellite based on the satellite signal, the satellite orbit correction data, and the satellite clock error correction data includes:

[0016] Extracting broadcast ephemeris from the satellite signal and calculating an approximate position of the terminal device;

[0017] Determine a precise satellite orbit position based on the broadcast ephemeris and the satellite orbit correction data;

[0018] Determine a precise satellite clock error based on the broadcast ephemeris and the satellite clock error correction data;

[0019] The distance between the terminal device and the satellite is determined based on the precise satellite orbit position and the approximate position.

[0020] In one embodiment of the present application, before obtaining the second correction information, the method further includes: converting the correction data in the first correction information to obtain converted first correction information.

[0021] In one embodiment of the present application, the first correction information further includes tropospheric correction data, ionospheric correction data, pseudorange deviation data, and phase deviation data; and converting the correction data in the first correction information to obtain the converted first correction information includes:

[0022] converting the tropospheric correction data to obtain a slant path tropospheric delay error;

[0023] converting the ionospheric correction data to obtain a slant path ionospheric delay error;

[0024] Based on the pseudorange deviation data and the phase deviation data, a pseudorange hardware delay and a phase hardware delay are obtained.

[0025] In one embodiment of the present application, the second correction information includes a calculated virtual reference station pseudorange value and a calculated virtual reference station phase value. Correcting the distance between the terminal device and the satellite based on the precise satellite clock error and the first correction information to generate the second correction information includes:

[0026] Correcting the distance between the terminal device and the satellite based on the precise satellite clock error, the slant path tropospheric delay error, the slant path ionospheric delay error, and the pseudorange hardware delay to obtain the virtual reference station pseudorange calculation value;

[0027] The distance between the terminal device and the satellite is corrected based on the precise satellite clock error, the slant path tropospheric delay error, the slant path ionospheric delay error, and the phase hardware delay to obtain the virtual reference station phase calculation value.

[0028] In one embodiment of the present application, the calculation formulas for the virtual reference station pseudorange calculation value and the virtual reference station phase calculation value are as follows:

[0029] in, is the calculated pseudorange value of the virtual reference station, is the calculated phase value of the virtual reference station, j is the satellite signal frequency code, is the geometric distance from terminal device i to satellite m; c is the speed of light in vacuum; t m is the satellite clock error of satellite m; i is the tropospheric delay error of the slant path; λ j =c / f j is the frequency f j The corresponding satellite signal wavelength; is the first-order slant path ionospheric delay error, and the ionospheric effect of higher-order terms is ignored here; is the pseudorange observation value Hardware delay error of satellite m; is the pseudorange observation value Hardware delay error of satellite m; and are the partial model errors of the pseudorange observations and the partial model errors of the phase observations, respectively.

[0030] In one embodiment of the present application, determining the first position of the terminal device based on the satellite signal and the second correction information includes:

[0031] determining an initial position of the terminal device based on the satellite signal;

[0032] The initial position is corrected based on the second correction information to obtain the first position of the terminal device.

[0033] In one embodiment of the present application, determining the initial position of the terminal device based on the satellite signal includes:

[0034] Based on the satellite signals, a double-difference relative positioning method is used to determine the initial position of the terminal device.

[0035] In one embodiment of the present application, the correcting the initial position based on the second correction information to obtain the first position of the terminal device includes:

[0036] Determining a double-difference slant path tropospheric delay error and a double-difference slant path ionospheric delay error based on the second correction information;

[0037] The first position of the terminal device is obtained based on the double-difference slant path tropospheric delay error, the double-difference slant path ionospheric delay error and the initial position.

[0038] In one embodiment of the present application, the double-difference slant path tropospheric delay error and the double-difference slant path ionospheric delay error are determined based on the second correction information using the following formula:

[0039] in, is the double-difference slant-path tropospheric delay error between satellite m and satellite n and between terminal equipment i and terminal equipment k, Double-difference slant path ionospheric delay errors between satellite m and satellite n and between terminal device i and terminal device k are performed for satellite signal observations. are the slant path tropospheric delay errors between satellite m, satellite n and terminal device i, are the slant path tropospheric delay errors between satellite m, satellite n and terminal device k, are the slant path ionospheric delay errors between satellite m, satellite n and terminal device i, are the slant path ionospheric delay errors between satellite m, satellite n and terminal device k, respectively.

[0040] In one embodiment of the present application, the positioning method further includes:

[0041] receiving third correction information sent by the second server device; wherein the third correction information includes correction data for correcting an error in the observation value of the satellite signal;

[0042] Positioning the terminal device based on the third correction information to obtain a second position of the terminal device;

[0043] A final positioning result of the terminal device is determined based on the first position and / or the second position.

[0044] In one embodiment of the present application, determining a final positioning result of the terminal device based on the first position and / or the second position includes:

[0045] When the positioning accuracy of the second position is greater than or equal to the preset accuracy, taking the second position as the final positioning result;

[0046] When the positioning accuracy of the second position is lower than the preset accuracy and the positioning accuracy of the first position is higher than or equal to the preset accuracy, taking the first position as the final positioning result;

[0047] When the positioning accuracy of the first position and the second position are both lower than the preset accuracy, the final positioning result is positioning failure.

[0048] In one embodiment of the present application, after receiving the first correction information sent by the first server device, the terminal positioning method further includes:

[0049] determining the validity of the first correction information based on a first preset time threshold, and obtaining valid first correction information;

[0050] After the terminal device receives the third correction information sent by the second server device, the terminal positioning method further includes:

[0051] The validity of the third correction information is determined based on a second preset time threshold to obtain valid third correction information.

[0052] In one embodiment of the present application, before receiving the satellite signal, the positioning method further includes:

[0053] Sending an authentication request to the first server device and the second server device;

[0054] After the authentication is successful, a positioning request is sent to the first server device and the second server device.

[0055] According to the second aspect of the present application, an electronic device is provided, comprising a memory and a processor, wherein the memory stores a computer program executed by the processor, and when the computer program is executed by the processor, the device equipped with the processor executes the terminal device positioning method described in any one of the first aspects above.

[0056] According to a third aspect of the present application, a vehicle is provided, comprising the electronic device described in any one of the second aspects above.

[0057] The positioning method of the terminal device of the present application converts the first correction information into the second correction information and then performs terminal device positioning, thereby not relying on obtaining the second correction information from dense reference stations. The obtained first correction information has a long timeliness, improves the accuracy and reliability of positioning, and reduces the complexity of terminal implementation. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] The above and other objects, features, and advantages of the present invention will become more apparent through a more detailed description of the embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings are provided to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and are not intended to limit the present invention. In the drawings, the same reference numerals generally represent the same components or steps.

[0059] FIG1 is a schematic block diagram of an electronic device used in a positioning method for a terminal device according to an embodiment of the present invention;

[0060] FIG2 is a schematic flowchart of a method for positioning a terminal device according to an embodiment of the present application;

[0061] FIG3 is a schematic flowchart of converting first correction information to obtain second correction information according to an embodiment of the present application;

[0062] FIG4 is a schematic flow chart of converting first correction information to obtain second correction information according to another embodiment of the present application;

[0063] FIG5 is a schematic flowchart of a positioning method for a terminal device according to another embodiment of the present application;

[0064] FIG6 is a schematic flowchart of a positioning method for a terminal device according to yet another embodiment of the present application;

[0065] FIG7 is a schematic logical structure diagram of a software algorithm of a terminal device according to an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical solutions and advantages of the present invention more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present invention.

[0067] In response to the problem of low stability and reliability of terminal positioning methods, this application proposes a positioning method, terminal device, electronic device and medium for terminal equipment, which can improve the accuracy and reliability of positioning and reduce the complexity of terminal implementation. It is described in detail below.

[0068] First, an electronic device 100 for implementing an embodiment of the method of the present invention is described with reference to FIG. 1 .

[0069] As shown in Figure 1, electronic device 100 includes a processor 110, a memory 120, and a communication interface 130. The processor 110, the memory 120, and the communication interface 130 can be interconnected and communicated via a communication bus 140 and / or other connection mechanisms (not shown).

[0070] It should be noted that the components and structure of the electronic device 100 shown in FIG1 are merely exemplary and non-limiting, and the electronic device may also have other components and structures as needed.

[0071] Optionally, the communication interface 130 may further include a transmitter and / or a receiver.

[0072] The processor 110 can be a microcontroller unit (MCU), a central processing unit (CPU), a digital signal processor (DSP), a single-chip microcomputer and an embedded device, or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the autonomous driving vehicle system to perform desired functions.

[0073] The memory 120 can be various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM), cache memory, and synchronous dynamic random access memory (SDRAM). Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, and flash memory. One or more computer program instructions may also be stored on the computer-readable storage medium, and the memory 120 may execute the program instructions to implement the vehicle speed control method in the embodiment of the present invention described below.

[0074] Next, a positioning method for a terminal device according to an embodiment of the present application is described with reference to FIG. 2 .

[0075] The present application provides a method for positioning a terminal device, as shown in FIG2 , the method includes steps S210 to S230 .

[0076] In step S210 , a satellite signal is received, and first correction information sent by a first server device is received. The first correction information includes correction data for correcting error loss in a satellite signal transmission process.

[0077] The execution subject in this application may be a terminal device, which is a device that provides voice and / or data connectivity to users, for example, a handheld device with wireless connection function, a vehicle-mounted device, etc. Currently, some examples of terminals are: mobile phones, tablet computers, laptop computers, PDAs, mobile Internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control (Industrial Control), wireless terminals in unmanned driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, etc.

[0078] In this application, satellite signals refer to satellite signals sent in the Global Navigation Satellite System (GNSS). Specifically, the Global Navigation Satellite System can be the United States' Global Positioning System (GPS), Russia's Global Navigation Satellite System, Europe's Galileo Satellite Positioning System and China's Beidou Satellite Navigation System.

[0079] The basic principle of satellite positioning is to measure the distance between a satellite with a known position and the object to be located. Data from multiple satellites is then combined to determine the object's location. Because the object's three-dimensional position must be calculated and distance deviations must be considered, current satellite positioning technology requires at least four satellites. Therefore, in this application, the terminal device receives satellite signals from at least four satellites.

[0080] In this application, the first server device that sends the first correction information can be a PPP-RTK server device, such as a low-orbit communication satellite. In a PPP-RTK system, GNSS data received from a network of base stations is used to perform physical modeling of the state space, simulating errors across the entire region. The modeling can describe the parameters of the state space model at any given time, which can then be sent to terminal devices within the region via the server device. Correction services are provided by broadcasting a single correction data stream for the entire service area to all terminal devices.

[0081] The error loss in this application includes various error losses in the satellite signal transmission process, such as hardware error, error caused by the atmosphere, etc.

[0082] Step S220: convert the first correction information to obtain second correction information, where the second correction information includes correction data for correcting errors in observation values ​​of satellite signals.

[0083] Exemplarily, the first correction information can be obtained from the SSR correction service product broadcast by the PPP-RTK service. Specifically, the SSR correction service product may include satellite orbit error products, satellite clock error products, satellite-side pseudorange hardware delay products, satellite-side phase hardware delay products, tropospheric delay error products, and ionospheric delay error products.

[0084] In step S230 , a first position of the terminal device is determined based on the satellite signal and the second correction information.

[0085] Specifically, the terminal device may correct the satellite signal based on the second correction information, and locate the terminal device according to the corrected satellite signal from each satellite.

[0086] By converting the first correction information into the second correction information and then positioning the terminal device, it is not necessary to rely on obtaining the second correction information from dense reference stations. The obtained first correction information has a long validity period, which improves the accuracy and reliability of positioning and reduces the complexity of terminal implementation.

[0087] In one embodiment of the present application, the correction data in the first correction information may include satellite orbit correction data and satellite clock error correction data.

[0088] Next, a method for converting first correction information to obtain second correction information according to an embodiment of the present application will be described with reference to FIG. 3 .

[0089] In this embodiment, the method of converting the first correction information to obtain the second correction information includes at least the following steps S310 to S320.

[0090] In step S310, the precise satellite clock error and the distance between the terminal device and the satellite are obtained based on the satellite signal, the satellite orbit correction data and the satellite clock error correction data.

[0091] Specifically, the broadcast ephemeris is first extracted from the satellite signal, and the approximate position of the terminal device is calculated; then the precise satellite orbit position is determined based on the broadcast ephemeris and satellite orbit correction data; the precise satellite clock error is determined based on the broadcast ephemeris and satellite clock error correction data; finally, the distance between the terminal device and the satellite is determined based on the precise satellite orbit position and the approximate position.

[0092] In step S320, the distance between the terminal device and the satellite is corrected based on the precise satellite clock error and the first correction information to obtain second correction information.

[0093] Specifically, the distance between the terminal device and the satellite is corrected based on the precise satellite clock error, satellite orbit correction data, and satellite clock error correction data to obtain second correction information. Specifically, the second correction information includes a virtual reference station pseudorange calculation value and a virtual reference station phase calculation value.

[0094] In one embodiment of the present application, before obtaining the second correction information, the method further includes: converting the correction data in the first correction information to obtain the converted first correction information.

[0095] In this embodiment, the correction data in the first correction information further includes tropospheric correction data, ionospheric correction data, pseudorange deviation data, and phase deviation data.

[0096] Specifically, it includes: converting the tropospheric correction data to obtain the slant path tropospheric delay error; converting the ionospheric correction data to obtain the slant path ionospheric delay error; and obtaining the pseudorange hardware delay and phase hardware delay based on the pseudorange deviation data and the phase deviation data.

[0097] The converted first correction information includes satellite orbit correction data, satellite clock correction data, slant path tropospheric delay error, slant path ionospheric delay error, pseudorange deviation data, and phase deviation data.

[0098] Correspondingly, when the distance between the terminal device and the satellite is corrected based on the precise satellite clock error and the first correction information to obtain the second correction information, the distance between the terminal device and the satellite is corrected based on the precise satellite clock error, the slant path tropospheric delay error, the slant path ionospheric delay error, and the pseudorange hardware delay to obtain the virtual reference station pseudorange calculation value; and the distance between the terminal device and the satellite is corrected based on the precise satellite clock error, the slant path tropospheric delay error, the slant path ionospheric delay error, and the phase hardware delay to obtain the virtual reference station phase calculation value.

[0099] The second correction information finally obtained includes the virtual reference station pseudorange calculation value and the virtual reference station phase calculation value.

[0100] Specifically, the calculated pseudorange value of the virtual reference station and the calculated phase value of the virtual reference station in the second correction information can be calculated according to the following formula (1):

[0101] in, is the calculated pseudorange value of the virtual reference station, is the calculated phase value of the virtual reference station, j is the satellite signal frequency code, is the position of the phase center of the antenna of satellite m at frequency j, (X j,i ,Y j,i ,Z j,i ) is the position of the antenna phase center of terminal device i at frequency j, is the geometric distance from terminal device i to satellite m; c is the speed of light in vacuum; t m is the satellite clock error of satellite m; i is the tropospheric delay error of the slant path; λ j =c / f j is the frequency f j The corresponding satellite signal wavelength; is the first-order slant path ionospheric delay error, and the ionospheric effect of higher-order terms is ignored here; is the pseudorange observation value Hardware delay error of satellite m; is the pseudorange observation value Hardware delay error of satellite m; and are the partial model errors of the pseudorange observations and the partial model errors of the phase observations, respectively.

[0102] Next, a specific implementation process of converting the first correction information to obtain the second correction information according to another embodiment of the present application is described with reference to FIG. 4 .

[0103] In this embodiment, the first correction information is the SSR correction number, which can be obtained from the SSR correction service product.

[0104] S410: Extract broadcast ephemeris from GNSS satellite signals and calculate the approximate position of the terminal device.

[0105] Here, the broadcast ephemeris can be obtained from the GNSS raw observation data, and the approximate position of the terminal device can be calculated based on the GNSS satellite signals.

[0106] S420 : Determine the precise satellite orbit position and precise satellite clock error based on the GNSS broadcast ephemeris, satellite orbit correction data, and satellite clock error correction data.

[0107] Specifically, satellite orbit correction data can be obtained from the satellite orbit error product in the SSR correction service product. Specifically, the satellite orbit correction data is the difference between the GNSS precise satellite orbit coordinates and the GNSS broadcast ephemeris coordinates. Satellite clock correction data can be obtained from the satellite clock error product in the SSR correction service product. The satellite clock correction data is the difference between the GNSS precise satellite clock error and the satellite clock error in the GNSS broadcast ephemeris. By utilizing the satellite orbit product and satellite clock error product in the GNSS broadcast ephemeris and SSR correction numbers, the GNSS precise satellite orbit position and GNSS precise satellite clock error can be recovered.

[0108] S430: Determine the distance between the terminal device and the GNSS satellite based on the precise satellite orbit position and the approximate position of the terminal device.

[0109] S440. Obtain a slant path tropospheric delay error based on the tropospheric correction data.

[0110] Specifically, tropospheric correction data can be obtained from the tropospheric delay error product within the SSR correction service. Using this tropospheric delay product within the SSR correction, the slant-path tropospheric delay error can be recovered. The tropospheric delay product primarily consists of two components: the vertical dry and wet tropospheric delays. This allows the vertical tropospheric delay error to be determined. Simultaneously, the slant-path tropospheric delay error can be recovered using the tropospheric projection function.

[0111] S450. Obtain a slant path ionospheric delay error based on the ionospheric correction data.

[0112] Specifically, ionospheric correction data can be obtained from the ionospheric delay error product in the SSR correction service product. The ionospheric delay error product broadcasts the slant-path ionospheric delay error of each satellite. Therefore, the slant-path ionospheric delay error can be calculated by interpolating the ionospheric delay grid information in the ionospheric delay error product according to the grid interpolation formula.

[0113] S460. Generate second correction information based on the distance between the terminal device and the satellite, the precise satellite clock error, the slant path tropospheric delay error, and the slant path ionospheric delay error.

[0114] Specifically, it can be calculated using the above formula (1).

[0115] It should be noted that the satellite pseudorange hardware delay error in formula (1) is and satellite phase hardware delay error These can be obtained from the satellite-side pseudorange hardware delay product and the satellite-side phase hardware delay product in the SSR correction product. The partial model errors of the pseudorange observations and the partial model errors of the phase observations can be calculated using existing methods, such as relativistic effects, tidal corrections, and phase wrapping.

[0116] According to one embodiment of the present application, the second correction information includes a virtual reference station pseudorange calculation value and a virtual reference station phase calculation value. There is a first error term between the virtual reference station pseudorange calculation value and the virtual reference station pseudorange observation value in the positioning service. The first error term includes the receiver clock error of the terminal device and the hardware delay error of the pseudorange observation value of the satellite signal on the terminal device side; the virtual reference station phase calculation value and the virtual reference station phase observation value in the positioning service have a second error term. The second error term includes the receiver clock error of the terminal device, the hardware delay error of the phase observation value of the satellite signal on the terminal device side, and the integer ambiguity of the phase observation value of the satellite signal.

[0117] Here, the virtual reference station pseudorange observation value and the virtual reference station phase observation value can be the virtual reference station pseudorange observation value and the virtual reference station phase observation value broadcast by the NRTK service, or the virtual reference station pseudorange observation value and the virtual reference station phase observation value broadcast by the RTK service.

[0118] Specifically, the first error term between the virtual reference station pseudorange calculation value and the virtual reference station pseudorange observation value, and the second error term between the virtual reference station phase calculation value and the virtual reference station phase observation value are shown in formula (3):

[0119] in, is the calculated pseudorange value of the virtual reference station, is the calculated phase value of the virtual reference station, Pseudorange observations of virtual reference stations broadcasted by NRTK or RTK services, The phase observation value of the virtual reference station broadcast by the NRTK or RTK service, c is the speed of light in vacuum, t i is the receiver clock error of terminal device i, d j,i is the hardware delay error of the pseudorange observation value at the terminal device side, b j,i is the hardware delay error of the phase observation value at the terminal device side, λ j =c / f j is the frequency f j The satellite signal wavelength corresponding to the satellite signal, is the integer ambiguity of the phase observation.

[0120] It should be noted that relative positioning is used in the positioning process of the terminal device, so the first error term ct i +d j,i and ct in the second error term i +b j,i It can be eliminated in the process of forming inter-satellite single difference without affecting the positioning of terminal equipment.

[0121] According to an embodiment of the present application, determining a first position of a terminal device based on a satellite signal and second correction information includes:

[0122] Determine the initial location of the terminal device based on satellite signals;

[0123] The initial position is corrected based on the second correction information to obtain the first position of the terminal device.

[0124] Here, the initial position of the terminal device can be determined based on satellite signals using a single-difference or double-difference relative positioning method.

[0125] In one embodiment of the present application, determining the initial position of the terminal device based on satellite signals specifically includes:

[0126] First, the observation value generated by the terminal devices (i and j) receiving the satellite (m and n) signal is calculated. Specifically, the observation value equation generated by the terminal device i receiving the satellite signal of satellite m is shown in the following formula (4). The other observation value equations are similar and will not be described in detail.

[0127] in, is the pseudorange observation value of the terminal device, is the phase observation value of the terminal device, is the geometric distance from terminal device i to satellite m.

[0128] The satellite signal observation values ​​are double-differenced between satellites (m and n) and between terminal devices (i and j), and the initial position of the terminal device is obtained based on the second correction information.

[0129] In one embodiment of the present application, when the double-difference relative positioning method is used to determine the initial position of the terminal device, the initial position is corrected based on the second correction information to obtain the first position of the terminal device, including:

[0130] determining a double-difference slant-path tropospheric delay error and a double-difference slant-path ionospheric delay error based on the second correction information;

[0131] The first position of the terminal device is obtained based on the double-difference slant path tropospheric delay error, the double-difference slant path ionospheric delay error and the initial position.

[0132] In this embodiment, the double-difference slant path tropospheric delay error and the double-difference slant path ionospheric delay error are determined based on the second correction information using the following formulas (5) and (6):

[0133] in, is the double-difference slant-path tropospheric delay error between satellite m and satellite n and between terminal equipment i and terminal equipment k, Double-difference slant path ionospheric delay errors between satellite m and satellite n and between terminal device i and terminal device k are performed for satellite signal observations. are the slant path tropospheric delay errors between satellite m, satellite n and terminal device i, are the slant path tropospheric delay errors between satellite m, satellite n and terminal device k, are the slant path ionospheric delay errors between satellite m, satellite n and terminal device i, are the slant path ionospheric delay errors between satellite m, satellite n and terminal device k, respectively.

[0134] This embodiment uses a double-difference relative positioning method, and the double-difference model is shown in the following formula (7):

[0135] in, The satellite signal observation values ​​are marked with double differences between satellites (m and n) and between terminal devices (i and k). is the geometric distance from the double-difference satellite to the terminal, is the double-difference slant path tropospheric delay error, is the double-difference slant path ionospheric delay error, Double-difference ambiguity.

[0136] In the double difference process, the satellite clock error and the terminal device receiver clock error, the satellite pseudorange hardware delay error and the pseudorange terminal device receiver hardware delay error, the satellite phase hardware delay error and the terminal device receiver phase hardware delay, the pseudorange part model error and the phase part model error will all be eliminated by the double difference. Therefore, the double difference model equation only has the double difference satellite to terminal geometric distance Double-difference slant path tropospheric delay error Double-difference slant path ionospheric delay error and double-difference ambiguity

[0137] Since the PPP-RTK positioning method adopts the PPP absolute positioning method, the range of its products does not rely on dense reference stations (usually the station density is 50km to 150km). The terminal positioning settlement is performed using the OSR correction number converted from the SSR correction number. The terminal high-precision positioning algorithm cannot adopt the traditional NRTK high-precision positioning algorithm, that is, the tropospheric delay error and the ionospheric delay error are not estimated. Because the station spacing exceeds 50km, it cannot be assumed that the tropospheric delay error and the ionospheric delay error can also be eliminated in the process of forming a double-difference observation equation. The residual tropospheric delay error and the ionospheric delay error have an impact on the final positioning accuracy. Therefore, this embodiment still estimates the residual tropospheric delay error and the residual ionospheric delay error in the terminal high-precision positioning algorithm by solving formula (7), that is, the double-difference slant path tropospheric delay error Double-difference slant path ionospheric delay error This ensures positioning accuracy.

[0138] According to an embodiment of the present application, a single-difference positioning method may be used to determine the first position of the terminal device based on the satellite signal and the second correction information, specifically including:

[0139] Based on satellite signals, the single-difference positioning method is used to determine the initial position of the terminal device;

[0140] The initial position is corrected based on the second correction information to obtain the first position of the terminal device.

[0141] Next, a positioning method for a terminal device according to an embodiment of the present application is described with reference to FIG5 .

[0142] An embodiment of the present application also provides another terminal device positioning method, including steps S510-S540.

[0143] In step S510, the terminal device receives a satellite signal, as well as first correction information sent by a first server device and third correction information sent by a second server device; wherein the first correction information includes correction data for correcting various error losses during satellite signal transmission, and the third correction information includes correction data for correcting errors in observation values ​​of satellite signals.

[0144] Specifically, the first server device may be a PPP-RTK server device, and the second server device may be an RTK server device or an NRTK server device.

[0145] For example, the NRTK server device can be the Continuously Operating Reference Station (CORS) system closest to the terminal device, or it can be a virtual reference station. In the case of a virtual reference station, data can be sent to the terminal device via a wireless network device. The RTK server device can be a reference station.

[0146] When the first server device is a PPP-RTK server device, the first correction information may be a State Space Reputation (SSR) correction number. When the second server device is an NRTK server device, the third correction information may be an Observation Space Reputation (OSR) correction number.

[0147] Satellite signals refer to satellite signals sent in the Global Navigation Satellite System (GNSS). Specifically, the GNSS can be the United States' Global Positioning System (GPS), Russia's Global Navigation Satellite System, Europe's Galileo Satellite Positioning System, and China's BeiDou Satellite Navigation System.

[0148] In step S520, the position of the terminal device is located based on the third correction information to obtain a second position of the terminal device.

[0149] Specifically, based on the third correction information, terminal positioning can be performed using a carrier phase difference method.

[0150] When positioning using carrier phase observations, integer ambiguities arise, typically integer values. Resolving these integer ambiguities through algorithms allows positioning accuracy to be controlled to the centimeter level, and the positioning result in this case is called a fixed solution. However, there are cases where the integer ambiguities cannot be resolved, resulting in positioning accuracy limited to the decimeter level, and the positioning result is called a floating-point solution. The final second position can be either a differential solution or a floating-point solution.

[0151] In step S530, the first correction information is converted into second correction information, and the first position of the terminal device is determined based on the satellite signal and the second correction information.

[0152] In step S540, a final positioning result of the terminal device is determined based on the second position and / or the first position.

[0153] Here, when the final positioning result of the terminal device is determined based on the second position and / or the first position, the final positioning result is determined based on the second position and / or the positioning accuracy of the second positioning result.

[0154] Here, the positioning accuracy may be centimeters. That is, when the second position is a floating point solution, the first position is obtained based on the first correction information, and the first position is a floating point solution or a fixed solution.

[0155] Through the positioning method of the terminal device of the present application, the terminal device can adapt to two services, and can still achieve high-precision positioning in areas with incomplete base station coverage or areas with severe satellite signal coverage; it solves the problem in the prior art that positioning cannot be performed or positioning is inaccurate due to incomplete coverage of the CORS system or obstruction of satellite signals; thereby improving the flexibility and compatibility of the terminal device, the accuracy and reliability of positioning, reducing the complexity of terminal implementation, and at the same time reducing service costs, providing a set of practical implementation solutions for the specific implementation of positioning services.

[0156] According to one embodiment of the present application, determining a final positioning result of the terminal device based on the second position and / or the first position includes:

[0157] When the positioning accuracy of the second position is higher than or equal to the preset accuracy, the second position is taken as the final positioning result;

[0158] When the positioning accuracy of the second position is lower than the preset accuracy and the positioning accuracy of the first position is higher than or equal to the preset accuracy, the first position is taken as the final positioning result;

[0159] When the positioning accuracy of the second position and the first position are both lower than the preset accuracy, the final positioning result is positioning failure.

[0160] Specifically, when terminal positioning is performed using a carrier phase difference method, a method for determining a final positioning result of the terminal device includes:

[0161] When the second position is a fixed solution, the second position is taken as the final positioning result;

[0162] When the second position is a floating point solution and the first position is a fixed solution, the first position is taken as the final positioning result;

[0163] When the second position is a floating point solution and the first position is a floating point solution, the final positioning result is positioning failure.

[0164] By performing positioning based on two types of correction information, the positioning accuracy of the terminal device can be guaranteed, the reliability of the positioning results can be improved, and the cost of positioning services can be reduced.

[0165] According to one embodiment of the present application, after receiving the first correction information sent by the first server device, the terminal positioning method further includes:

[0166] determining the validity of the first correction information based on a first preset time threshold, and obtaining valid first correction information;

[0167] After the terminal device receives the third correction information sent by the second server device, the terminal positioning method further includes:

[0168] The validity of the third correction information is determined based on the second preset time threshold to obtain valid third correction information.

[0169] In a specific implementation, the SSR correction information can be received from the PPP-RTK server device, and the OSR correction information can be received from the NRTK server device. The terminal positioning method further includes:

[0170] Determining the validity of the SSR correction information based on a first preset time threshold, and determining the validity of the OSR correction information based on a second preset time threshold;

[0171] Invalid information is removed to obtain valid first correction information and third correction information.

[0172] Here, the validity of the correction number information is determined based on its validity period. Specifically, the validity of the SSR correction number information can be determined based on the validity period of the SSR correction number information and a first preset time threshold, and the validity of the SSR correction number information can be determined based on the validity period of the OSR correction number information and a second preset time threshold. Preferably, the first preset time threshold is less than the second preset time threshold. For example, the first preset time threshold is 30 seconds, and the second preset time threshold is 120 seconds.

[0173] When the invalid information is removed, corresponding new correction information is received until valid first correction information and third correction information are obtained.

[0174] According to one embodiment of the present application, before receiving the satellite signal, the positioning method further includes:

[0175] Sending an authentication request to the first server device and the second server device;

[0176] After the authentication is passed, a positioning request is sent to the first server device and the second server device.

[0177] Specifically, when sending authentication requests to the first server device and the second server device, the terminal device sends positioning requests to the first server device and the second server device only after the first server device and the second server device have passed authentication.

[0178] The authentication request may include the terminal device's account information, which is used to request the server to provide services. After receiving the authentication request, the server may verify the terminal device's account information. If the verification is successful, the server may provide the terminal device with positioning services, i.e., return the first correction information. If the verification fails, the server may return an indication of the failure to the terminal device.

[0179] Next, a positioning method for a terminal device according to another embodiment of the present application is described with reference to FIG6 .

[0180] As shown in FIG6 , the terminal device positioning method in this embodiment includes steps S1 to S8 .

[0181] S1. Obtain correction number.

[0182] Since the service is affected by factors such as service coverage, service performance stability, and network stability, there is uncertainty in the availability of the service. Therefore, the number of corrections obtained by the terminal device will vary depending on its location.

[0183] The correction number here can be one or more of the OSR correction number obtained by the NRTK service and the SSR correction number obtained by the PPP-RTK service.

[0184] S2. Check the validity of the OSR correction number.

[0185] For NRTK service OSR corrections, the correction product is valid for 30 seconds. If an NRTK service OSR correction exists within 30 seconds, the OSR correction is considered valid; otherwise, it is invalid. If the OSR correction is valid, proceed to step S3; if it is invalid, proceed to step S5.

[0186] S3. When OSR corrections are valid, use NRTK services based on the OSR corrections for high-precision positioning of the GNSS terminal.

[0187] S4. Determine whether the positioning result is a fixed solution. If so, the positioning is successful and the positioning result is returned; if not, go to step S5.

[0188] S5. Check the validity of the SSR correction number.

[0189] For PPP-RTK service SSR corrections, the correction product is valid for 120 seconds. If an SSR correction number exists within 120 seconds, the SSR correction number is considered valid; otherwise, it is invalid. If the SSR correction number is valid, proceed to step S6; if the SSR correction number is invalid, proceed to step S8.

[0190] S6. Convert the SSR corrections provided by the PPP-RTK service into OSR corrections for terminal positioning.

[0191] S7, determine whether the positioning result is a fixed solution, if so, the positioning is successful and the positioning result is returned; if not, go to step S8;

[0192] S8. Output the positioning result as positioning failure.

[0193] The positioning method of the terminal device in this embodiment enables the terminal to be compatible with both NRTK services and PPP-RTK services through adaptive and effective correction numbers, thereby improving the reliability of GNSS high-precision positioning.

[0194] Next, the software algorithm logic structure of the terminal device according to an embodiment of the present application is described with reference to FIG. 7 .

[0195] The terminal device in this embodiment uses a terminal high-precision positioning method compatible with NRTK and PPP-RTK services. The communication module can be implemented using hardware, and the other functional modules can be implemented using software algorithms. Specifically, this can be implemented using a terminal algorithm module 70 consisting of a service software toolkit (SDK) and an algorithm SDK.

[0196] The terminal algorithm module 70 includes two sub-modules: service SDK 71 and algorithm SDK 72. Among them, the service SDK 71 includes an authentication module 711, an SSR data decoding module 712 and an SSR to OSR module 713. The authentication module 711 is used to authenticate the service data access authority. After the authentication is passed, the NRTK service and PPP-RTK service can be obtained. After the authentication is passed, the PPP-RTK service is decoded by the SSR data decoding module 712 according to the corresponding data interface protocol, and converted into an OSR correction number product form (the same product form as the NRTK service) by the SSR to OSR 713 module. The algorithm SDK 72 includes a GNSS data decoding module 721, an OSR data decoding module 7221 and a positioning algorithm module 423. The GNSS data decoding module 721 can decode the GNSS original observation data, the OSR data decoding module 722 can decode the OSR correction data transmitted by the service SDK41, and the positioning algorithm module 723 uses the GNSS data decoding module 721 to decode the GNSS original observation data and the OSR data decoded by the OSR data decoding module 722 to realize GNSS high-precision positioning settlement.

[0197] The method of this embodiment, by simultaneously accessing NRTK service and PPP-RTK service, and utilizing the technology of converting SSR correction numbers to OSR correction numbers, achieves the compatible use of NRTK service and PPP-RTK service; thereby increasing the flexibility and compatibility of terminal algorithm adaptation services, and improving the performance and reliability of high-precision positioning of the terminal; and ensuring the consistency of the server and terminal models through the service SDK plug-in provided by the server, which is more suitable for application implementation and mass production as a whole.

[0198] An embodiment of the present application also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program run by the processor, and when the computer program is run by the processor, the device equipped with the processor executes the positioning method of the terminal device of any embodiment of the first aspect above.

[0199] An embodiment of the present application also provides a vehicle, comprising the above electronic device.

[0200] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely illustrative and are not intended to limit the scope of the present invention. Various changes and modifications may be made therein by those skilled in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as claimed in the appended claims.

[0201] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0202] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units described is merely a logical function division. In actual implementation, other division methods may be used, such as combining or integrating multiple units or components into another device, or ignoring or not performing some features.

[0203] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0204] Similarly, it should be understood that in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the description of exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this approach to the present invention should not be interpreted as reflecting the intention that the claimed invention requires more features than those explicitly recited in each claim. More precisely, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with fewer features than all the features of a single disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim itself serving as a separate embodiment of the present invention.

[0205] It will be understood by those skilled in the art that, except where mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstract, and drawings) and all processes or units of any method or apparatus disclosed herein may be combined in any combination. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying claims, abstract, and drawings) may be replaced by an alternative feature providing the same, equivalent, or similar purpose.

[0206] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, combinations of features from different embodiments are intended to be within the scope of the present invention and to form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

[0207] The various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules in the article analysis device according to an embodiment of the present invention. The present invention may also be implemented as a device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such a signal may be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0208] It should be noted that the above embodiments illustrate rather than limit the invention, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising several different elements and by means of appropriately programmed computers. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0209] The foregoing description is merely a specific embodiment of the present invention or an illustration of a specific embodiment. The scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be readily conceived by a person skilled in the art within the technical scope disclosed in the present invention are intended to be encompassed by the scope of protection of the present invention. The scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A positioning method for a terminal device, characterized in that, The positioning method includes: Receiving satellite signals and receiving first correction information sent by a first server device, where the first correction information includes correction data for correcting error losses in the satellite signal transmission process; Converting the first correction information to obtain second correction information, where the second correction information includes correction data for correcting errors in the observed values of the satellite signals; Determining a first position of the terminal device based on the satellite signals and the second correction information.

2. The positioning method of the terminal device according to claim 1, wherein, The correction data in the first correction information includes satellite orbit correction data and satellite clock error correction data; The converting the first correction information to obtain second correction information includes: Obtaining precise satellite clock error and the distance between the terminal device and the satellite based on the satellite signals, the satellite orbit correction data, and the satellite clock error correction data; Correcting the distance between the terminal device and the satellite based on the precise satellite clock error and the first correction information to obtain the second correction information, where the second correction information includes virtual reference station pseudorange calculation values and virtual reference station phase calculation values.

3. The positioning method of the terminal device according to claim 2, characterized in that, Obtaining precise satellite clock error and the distance between the terminal device and the satellite based on the satellite signals, the satellite orbit correction data, and the satellite clock error correction data includes: Extracting broadcast ephemeris from the satellite signals and calculating a rough position of the terminal device; Determining a precise satellite orbit position based on the broadcast ephemeris and the satellite orbit correction data; Determining precise satellite clock error based on the broadcast ephemeris and the satellite clock error correction data; Determining the distance between the terminal device and the satellite based on the precise satellite orbit position and the rough position.

4. The positioning method of the terminal device according to claim 2, characterized in that, Before obtaining the second correction information, it further includes: converting the correction data in the first correction information to obtain converted first correction information.

5. The positioning method of the terminal device according to claim 4, characterized in that, The first correction information further includes tropospheric correction data, ionospheric correction data, pseudorange deviation data, and phase deviation data; the converting the correction data in the first correction information to obtain converted first correction information includes: Converting the tropospheric correction data to obtain slant-path tropospheric delay error; Converting the ionospheric correction data to obtain slant-path ionospheric delay error; Obtaining pseudorange hardware delay and phase hardware delay based on the pseudorange deviation data and the phase deviation data.

6. The positioning method of the terminal device according to claim 5, characterized in that, The second correction information includes virtual reference station pseudorange calculation values and virtual reference station phase calculation values. Correcting the distance between the terminal device and the satellite based on the precise satellite clock error and the first correction information to obtain the second correction information includes: Correcting the distance between the terminal device and the satellite based on the precise satellite clock error, the slant-path tropospheric delay error, the slant-path ionospheric delay error, and the pseudorange hardware delay to obtain the virtual reference station pseudorange calculation values; Based on the precise satellite clock error, the slant-path tropospheric delay error, the slant-path ionospheric delay error, and the phase hardware delay, the distance between the terminal device and the satellite is corrected to obtain the virtual reference station phase calculation value.

7. The positioning method of the terminal device as described in claim 6, characterized in that, The calculation formulas for the pseudorange calculation value of the virtual reference station and the phase calculation value of the virtual reference station are as follows: Among them, is the calculated pseudorange value of the virtual reference station, is the phase calculation value of the virtual reference station, and j is the satellite signal frequency code. is the geometric distance from the terminal device i to the satellite m; c is the speed of light in vacuum; t m is the satellite clock error of the satellite m; Τ i is the slant path tropospheric delay error; λ j = c / f j is the frequency f j corresponding to the satellite signal wavelength; is the first-order inclined path ionospheric delay error, and the ionospheric influence of the higher-order terms is ignored here; is the pseudorange observation value Hardware delay error at the satellite m terminal; is the pseudorange observation Hardware delay error at the m-terminal of the satellite; And They are respectively the partial model error of the pseudorange observation value and the partial model error of the phase observation value.

8. The positioning method of the terminal device according to any one of claims 1-7, characterized in that, The determining the first position of the terminal device based on the satellite signal and the second correction information includes: Based on the satellite signal, determining the initial position of the terminal device; Based on the second correction information, correcting the initial position to obtain the first position of the terminal device.

9. The positioning method of the terminal device according to claim 8, characterized in that, The determining the initial position of the terminal device based on the satellite signal includes: Based on the satellite signal, using the double-difference relative positioning method to determine the initial position of the terminal device.

10. The positioning method of the terminal device according to claim 8 or 9, characterized in that, The correcting the initial position based on the second correction information to obtain the first position of the terminal device includes: Based on the second correction information, determining the double-difference slant-path tropospheric delay error and the double-difference slant-path ionospheric delay error; Based on the double-difference slant-path tropospheric delay error, the double-difference slant-path ionospheric delay error, and the initial position, obtaining the first position of the terminal device.

11. The positioning method of the terminal device according to claim 10, characterized in that, Determine the double-difference slant-path tropospheric delay error and the double-difference slant-path ionospheric delay error based on the second correction information through the following formula: Among them, is the double-difference slant-path tropospheric delay error between satellite m and satellite n and between terminal device i and terminal device k Perform double-difference slant-path ionospheric delay errors between satellite m and satellite n and between terminal device i and terminal device k for satellite signal observations. They are the slant path tropospheric delay errors between satellite m, satellite n, and terminal device i respectively. They are the slant path tropospheric delay errors between satellite m, satellite n and terminal device k respectively, are the slant-path ionospheric delay errors between satellite m, satellite n, and terminal device i, respectively, They are respectively the slant-path ionospheric delay errors between satellite m, satellite n, and terminal device k.

12. The positioning method of the terminal device according to any one of claims 1-11, characterized in that, The positioning method further includes: Receiving third correction information sent by the second server device; wherein, the third correction information includes correction data for correcting the error of the observation value of the satellite signal; Based on the third correction information, positioning the position of the terminal device to obtain the second position of the terminal device; Based on the first position and / or the second position, determining the final positioning result of the terminal device.

13. The positioning method of the terminal device according to claim 12, characterized in that, Based on the first position and / or the second position, determining the final positioning result of the terminal device includes: When the positioning accuracy of the second position is higher than or equal to the preset accuracy, taking the second position as the final positioning result; When the positioning accuracy of the second position is lower than the preset accuracy and the positioning accuracy of the first position is higher than or equal to the preset accuracy, taking the first position as the final positioning result; When the positioning accuracies of both the first position and the second position are lower than the preset accuracy, the final positioning result is a positioning failure.

14. The positioning method of the terminal device according to claim 12 or 13, characterized in that, After receiving the first correction information sent by the first server device, the terminal positioning method further includes: Based on a first preset time threshold, judging the validity of the first correction information to obtain valid first correction information; After the terminal device receives the third correction information sent by the second server device, the terminal positioning method further includes: Based on a second preset time threshold, judging the validity of the third correction information to obtain valid third correction information.

15. The positioning method of the terminal device according to any one of claims 12-14, characterized in that, Before receiving the satellite signal, the positioning method further includes: Sending an authentication request to the first server device and the second server device; After authentication is passed, sending a positioning request to the first server device and the second server device.

16. An electronic device, characterized in that, The electronic device includes a memory and a processor, and a computer program run by the processor is stored on the memory. When the computer program is run by the processor, the device equipped with the processor executes the positioning method of the terminal device described in any one of claims 1-15.

17. A vehicle, characterized in that, Including the electronic device described in claim 16.

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