Method and apparatus for determining quality of positioning signal, and medium, device and program product

Abstract

A method and apparatus for determining the quality of a positioning signal, and a computer-readable medium and an electronic device. The method for determining the quality of a positioning signal comprises: acquiring positioning signal information observed by a terminal device; on the basis of the positioning signal information, evaluating positioning signal analysis quality parameters of the terminal device (S220); on the basis of the position where the terminal device is located, determining positioning signal shielding parameters of the terminal device; and on the basis of the positioning signal analysis quality parameters and the positioning signal shielding parameters, determining the quality of the positioning signal information. The solution can more effectively determine whether the quality of positioning signal information is normal, thereby improving the accuracy of quality evaluation of the positioning signal information, and thus facilitating the provision of a more reliable and accurate navigation service for a user.

Description

Method, device, medium, equipment and program product for determining the quality of positioning signal

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 7, 2024, with application number 2024101739086 and application name “Positioning Signal Processing Method, Device, Computer-Readable Medium and Electronic Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of computers and communications technology, and in particular to a method, device, computer-readable medium, and electronic device for determining the quality of a positioning signal. Background Art

[0003] In navigation scenarios, the quality of the positioning signal affects the accuracy of the positioning results, which in turn has a significant impact on the navigation process. Therefore, it is necessary to evaluate the positioning signal quality. However, the evaluation schemes proposed in related technologies suffer from inaccurate results, which affects the accuracy and reliability of the navigation process. Summary of the Invention

[0004] The embodiments of the present application provide a method, apparatus, computer-readable medium, and electronic device for determining the quality of a positioning signal, which can more effectively determine whether the quality of a positioning signal is normal, improve the accuracy of positioning signal quality assessment, and facilitate providing users with more reliable and accurate navigation services.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] According to one aspect of an embodiment of the present application, a method for determining the quality of a positioning signal is provided, including: obtaining positioning signal information, the positioning signal information being obtained by a terminal device based on a positioning signal analysis for the terminal device; evaluating a positioning signal analysis quality parameter of the terminal device based on the positioning signal information; determining a positioning signal obstruction parameter of the terminal device based on the position information of the terminal device; and determining the signal quality of the positioning signal based on the positioning signal analysis quality parameter and the positioning signal obstruction parameter.

[0007] According to one aspect of an embodiment of the present application, a device for determining the quality of a positioning signal is provided, including: an acquisition unit, configured to acquire positioning signal information, the positioning signal information being obtained by a terminal device based on a positioning signal analysis for the terminal device; an evaluation unit, configured to evaluate a positioning signal analysis quality parameter of the terminal device based on the positioning signal information; a processing unit, configured to determine a positioning signal obstruction parameter of the terminal device based on the position information of the terminal device; and a determination unit, configured to determine the signal quality of the positioning signal based on the positioning signal analysis quality parameter and the positioning signal obstruction parameter.

[0008] According to one aspect of an embodiment of the present application, a computer-readable medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for determining the quality of a positioning signal as described in the above embodiment is implemented.

[0009] According to one aspect of an embodiment of the present application, an electronic device is provided, comprising: one or more processors; and a storage device for storing one or more computer programs, wherein when the one or more computer programs are executed by the one or more processors, the electronic device implements the method for determining the quality of a positioning signal as described in the above embodiments.

[0010] According to one aspect of an embodiment of the present application, a computer program product is provided, comprising a computer program stored in a computer-readable storage medium. A processor of an electronic device reads and executes the computer program from the computer-readable storage medium, causing the electronic device to perform the positioning signal quality determination method provided in the various optional embodiments described above.

[0011] In the technical solutions provided in some embodiments of the present application, a positioning signal analysis quality parameter of a terminal device can be evaluated based on the positioning signal information observed by the terminal device, and a positioning signal obstruction parameter of the terminal device can be determined based on the location of the terminal device, so as to determine the quality of the positioning signal based on the positioning signal analysis quality parameter and the positioning signal obstruction parameter. It can be seen that the technical solutions of the embodiments of the present application can evaluate the quality of the positioning signal by combining the positioning signal analysis quality parameter and the positioning signal obstruction parameter, thereby more effectively determining whether the quality of the positioning signal is normal, improving the accuracy of the positioning signal quality assessment, and facilitating the provision of more reliable and accurate navigation services to users.

[0012] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG1 is a schematic diagram showing an exemplary system architecture to which the technical solutions of the embodiments of the present application can be applied;

[0014] FIG2 shows a flow chart of a method for determining the quality of a positioning signal according to an embodiment of the present application;

[0015] FIG3 shows a flowchart of calculating a current positioning signal evaluation score of a terminal device based on positioning signal information according to an embodiment of the present application;

[0016] FIG4 shows a flowchart of determining whether there is an obstruction at the location of a terminal device according to an embodiment of the present application;

[0017] FIG5 shows a flow chart of a method for determining the quality of a positioning signal according to an embodiment of the present application;

[0018] FIG6 shows a flowchart of evaluating the observation quality of GNSS signals based on GSV information of a terminal device according to an embodiment of the present application;

[0019] FIG7 shows a block diagram of an apparatus for determining the quality of a positioning signal according to an embodiment of the present application;

[0020] FIG8 shows a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0021] Example embodiments will now be described in a more complete manner with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to these examples; rather, these embodiments are provided to make this application more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art.

[0022] In addition, the features, structures or characteristics described in the present application may be combined in one or more embodiments in any suitable manner. In the following description, there are many specific details so that the embodiments of the present application can be fully understood. However, it will be appreciated by those skilled in the art that when implementing the technical solution of the present application, it is not necessary to use all the detailed features in the embodiments, one or more specific details may be omitted, or other methods, elements, devices, steps, etc. may be adopted.

[0023] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0024] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0026] It should be noted that the term "plurality" used in this document refers to two or more. "And / or" describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. The character " / " generally indicates an "or" relationship between the associated objects.

[0027] It is understandable that this application can display a prompt interface or pop-up window before collecting relevant data (such as positioning signal information observed by the terminal device, road network data at the location of the terminal device, etc.) and during the process of collecting relevant data. The prompt interface or pop-up window is used to prompt the user that relevant data is currently being collected, so that this application only starts to execute the relevant steps of obtaining relevant data after obtaining the user's confirmation operation on the prompt interface or pop-up window. Otherwise (that is, when the user's confirmation operation on the prompt interface or pop-up window is not obtained), the relevant steps of obtaining relevant data are terminated, that is, the relevant data is not obtained. In other words, all data collected by this application are collected with the consent and authorization of the user, and the collection, use and processing of relevant data need to comply with the relevant laws, regulations and standards of relevant countries and regions.

[0028] With the continuous increase in the number of cars and mobile devices, the demand for map navigation services is also growing. When users use map navigation services and drive on the road, the quality of the positioning signal affects the accuracy of the positioning results, which in turn has a significant impact on the navigation process. Therefore, it is necessary to evaluate the quality of the positioning signal.

[0029] The solutions proposed in related technologies for evaluating the quality of Global Navigation Satellite System (GNSS) positioning signals are mainly based on the GNSS positioning signals themselves, using the consistency of the direction and speed of continuous GNSS positioning signals to judge the quality of the GNSS positioning signals; or using the observation information of the GNSS positioning signals, namely the visible satellite information (GNSS Satellites in View, GSV). This is because the GSV information contains the observed satellite number, altitude angle, azimuth angle, signal-to-noise ratio and other information, and the quality of the GNSS positioning signal can be indirectly judged based on the GSV information.

[0030] However, the direction and speed consistency of the GNSS positioning signal can only be used to judge low-quality GNSS positioning signals with cluttered trajectories. It is impossible to judge GNSS positioning signals with good trajectory consistency but overall positioning drift. In addition, using only the GSV information of the GNSS positioning signal to judge the quality of the GNSS positioning signal is prone to misjudgment and missed judgment. This is because the observation quality of the GNSS positioning signal does not completely correspond to the signal quality. The correspondence between the GSV information and the observation quality of different positioning terminals is often different. Even with good observation quality, GNSS positioning signals with positioning drift may be generated. It can be seen that the evaluation scheme proposed in the relevant technology has the problem of inaccurate evaluation results, which in turn affects the accuracy and reliability of the navigation process.

[0031] Based on this, the embodiment of the present application proposes a new positioning signal processing solution, which can comprehensively evaluate the quality of the positioning signal analysis quality parameters and the positioning signal obstruction parameters, and thus can more effectively determine whether the quality of the positioning signal is normal, thereby improving the accuracy of the positioning signal quality assessment, which is conducive to providing users with more reliable and accurate navigation services.

[0032] The application scenario of the technical solution of the embodiment of the present application is described below in conjunction with Figure 1. As shown in Figure 1, an electronic map application is installed in the vehicle terminal 101, which can travel according to the navigation route in the electronic map, such as automatic driving, assisted driving, etc. A positioning device is deployed in the vehicle terminal 101, and the positioning device can be a satellite positioning device, which can obtain the observed positioning signal information. Among them, the satellite positioning device is used to follow and process satellite signals, and measure the geometric distance between the device and the satellite (pseudorange observation value) and the Doppler effect of the satellite signal (Doppler observation value). The satellite positioning device generally includes modules such as an antenna, a satellite signal following loop, and a baseband signal processing. The terminal device integrated with the satellite positioning device can calculate the current position coordinates of the terminal device based on the pseudorange observation value and the Doppler observation value.

[0033] Optionally, the satellite positioning device may obtain a received GNSS positioning signal, such as receiving a positioning signal from one or more positioning satellites among the positioning satellites 103a and 103b shown in FIG1 . The GNSS positioning signal may be, for example, a Global Positioning System (GPS) positioning signal, a BeiDou Navigation Satellite System (BDS) positioning signal, a GLONASS satellite navigation system positioning signal, or a Galileo satellite navigation system positioning signal.

[0034] In some optional embodiments, after obtaining the observed positioning signal information, the vehicle terminal 101 can evaluate the positioning signal analysis quality parameter of the vehicle terminal 101 based on the positioning signal information, and can also determine the positioning signal blocking parameter of the vehicle terminal 101 based on the location of the vehicle terminal 101. Then, the vehicle terminal 101 can determine the quality of the positioning signal information based on the positioning signal analysis quality parameter and the positioning signal blocking parameter. For example, if the vehicle terminal 101 determines that the positioning signal observation quality is poor based on the positioning signal analysis quality parameter, and determines that the positioning signal of the vehicle terminal 101 is blocked based on the positioning signal blocking parameter, it can be determined that the quality of the positioning signal information is abnormal.

[0035] In some optional embodiments, after obtaining the observed positioning signal information, the vehicle terminal 101 may also send the observed positioning signal information to the server 102. The server 102 may also determine the positioning signal blocking parameters of the vehicle terminal 101 based on the location of the vehicle terminal 101. Then, the server 102 may determine the quality of the positioning signal observed by the vehicle terminal 101 based on the positioning signal analysis quality parameters and the positioning signal blocking parameters.

[0036] In one embodiment of the present application, after determining the quality of the positioning signal, yaw identification can be performed based on the quality of the positioning signal. Specifically, when the vehicle terminal 101 is traveling according to the navigation route in the electronic map, accurate yaw identification is very important, so that the problem of vehicle driving errors can be identified in time, and accurate and reasonable driving guidance can be given quickly to bring a more comfortable driving experience. In yaw identification, the quality of the positioning signal is a very important reference factor. If the quality of the positioning signal is poor, there may be a problem of yaw misidentification. Therefore, when it is determined that the quality of the positioning signal is poor (such as below a certain quality threshold), even if the vehicle terminal 101 is identified as yawed by map matching or other means, no yaw reminder is given, and after the quality of the positioning signal is restored (such as above a certain quality threshold), it can be determined whether the vehicle terminal 101 has actually yawed.

[0037] It should be noted that the server 102 can be an independent physical server, or a server cluster or distributed system composed of at least two physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The vehicle terminal 101 can specifically refer to a smart phone with in-vehicle functions, a smart speaker, a speaker with a screen, a smart watch, a sensor, etc., but is not limited to this. For example, the vehicle terminal 101 can also be replaced by a mobile terminal such as an aircraft. Each vehicle terminal and server can be directly or indirectly connected through wired or wireless communication. At the same time, the number of vehicle terminals and servers can be one or at least two, and this application does not limit this.

[0038] The following is a detailed description of the implementation details of the technical solution of the embodiment of the present application:

[0039] FIG2 shows a flowchart of a method for determining the quality of a positioning signal according to an embodiment of the present application. The method for determining the quality of a positioning signal can be performed by an electronic device with computing and processing capabilities, such as a terminal device that performs positioning functions (such as a vehicle terminal or a mobile terminal), or by a server that communicates with the terminal device. Referring to FIG2 , the method for determining the quality of a positioning signal includes at least steps S210 to S240, which are described in detail as follows:

[0040] In step S210, positioning signal information is acquired.

[0041] The positioning signal information is obtained by the terminal device based on the positioning signal analysis for the terminal device.

[0042] Optionally, the terminal device may be an object that needs to be positioned, such as a vehicle terminal, a mobile terminal (such as a smart phone, a smart watch), etc.

[0043] The positioning signal in the embodiment of the present application may be a satellite positioning signal, such as a GNSS positioning signal, and the positioning signal information may be GSV information, etc. The GNSS positioning signal may be, for example, one or more of a GPS positioning signal, a BDS positioning signal, a GLONASS satellite navigation system positioning signal, and a Galileo satellite navigation system positioning signal.

[0044] Optionally, the positioning signal in the embodiments of the present application may also be a positioning signal from an auxiliary positioning device, such as a positioning signal provided by a base station device or a roadside device (such as a road side unit (RSU)). It should be noted that if the positioning signal provided by the auxiliary positioning device indicates the relative position of the positioning object and the auxiliary positioning device, the absolute position of the positioning object itself can be determined based on the relative position and the absolute position of the auxiliary positioning device.

[0045] As previously mentioned, the positioning signal acquired by the terminal device is provided by a positioning device, such as a satellite or base station. Positioning signal information identifies the device information used when providing the positioning signal. This positioning signal information can also indicate the accuracy of the positioning service provided by the positioning device. For example, if the positioning device is a satellite, the positioning signal information may include information such as the satellite number, altitude angle, azimuth angle, and signal-to-noise ratio.

[0046] In step S220, the positioning signal analysis quality parameter of the terminal device is evaluated based on the positioning signal information.

[0047] In some optional embodiments, evaluating the positioning signal analysis quality parameter of the terminal device according to the positioning signal information mainly involves preliminarily estimating the quality of the positioning signal based on the observed positioning signal information to obtain the positioning signal analysis quality parameter.

[0048] Optionally, the current positioning signal evaluation score of the terminal device can be calculated based on the observed positioning signal information, and then the positioning signal analysis quality parameter of the terminal device can be determined based on the historical positioning signal evaluation score and the current positioning signal evaluation score. For example, a time window of length n (n is a value greater than 0) can be set, and then the mean of the historical positioning signal evaluation scores of the previous n seconds can be calculated. If the difference between the mean and the current positioning signal evaluation score is greater than or equal to a second set threshold, the positioning signal analysis quality parameter of the terminal device is determined to be poor positioning signal observation quality; otherwise, the positioning signal analysis quality parameter of the terminal device can be determined to be relatively good positioning signal observation quality. The second set threshold can be set according to actual needs, for example, it can be half or one-third of the mean. The technical solution of this embodiment makes it possible to determine the observation result of the current positioning signal based on the historical positioning signal evaluation score, which can improve the generalization of the algorithm to ensure that different terminal devices can have a higher evaluation accuracy.

[0049] In other embodiments of the present application, the positioning signal analysis quality parameter of the terminal device can also be directly determined based on the current positioning signal evaluation score of the terminal device. For example, when the current positioning signal evaluation score is greater than a certain threshold, the positioning signal analysis quality parameter of the terminal device can be determined as the positioning signal observation quality is better; when the current positioning signal evaluation score is less than a certain threshold, the positioning signal analysis quality parameter of the terminal device can be determined as the positioning signal observation quality is poor.

[0050] In some optional embodiments, before calculating the current positioning signal evaluation score of the terminal device based on the positioning signal information, the positioning signal information may be filtered. For example, positioning signal information whose elevation angle is not within a set angle range may be filtered out. This is because under normal circumstances, the elevation angle of the positioning satellite observed by the terminal device is within a set angle range (e.g., 0-90°). Altitude angles that are not within this set angle range are considered abnormal data. Therefore, positioning signal information whose elevation angle is not within the set angle range can be filtered out.

[0051] In some optional embodiments, positioning signal information with a signal-to-noise ratio outside a set signal-to-noise ratio range may also be filtered out. This is because, under normal circumstances, the signal-to-noise ratio of the positioning satellite signal observed by the terminal device is within a set signal-to-noise ratio range (e.g., 20dB-40dB). Signal-to-noise ratio data outside this set signal-to-noise ratio range is considered abnormal data. Therefore, positioning signal information with a signal-to-noise ratio outside this set signal-to-noise ratio range may be filtered out.

[0052] In some optional embodiments, if positioning signal information observed by a terminal device at multiple frequencies is obtained, the positioning signal information observed at one of the frequencies may be retained, and the positioning signal information observed at the other frequencies may be filtered out. This is because some terminal devices have multi-frequency reception capabilities, but positioning signal information observed at multiple frequencies may contain duplicate data. Therefore, the positioning signal information observed at one of the frequencies may be retained, for example, the positioning signal information observed at the first frequency.

[0053] It should be noted that the positioning signal information may be filtered using one or more of the above filtering methods, or may be filtered using other methods.

[0054] In some optional embodiments, as shown in FIG3 , the process of calculating the current positioning signal evaluation score of the terminal device based on the positioning signal information may include the following steps S310 to S330 . Detailed description is as follows:

[0055] In step S310, a geometric factor for characterizing the geometric distribution of positioning satellites is calculated based on the satellite observation information contained in the positioning signal information.

[0056] It should be noted that the geometric dilution of precision (GDOP) is a metric used to describe positioning accuracy. It reflects the degree to which the geometric position of the positioning satellite affects positioning accuracy. The smaller the GDOP, the less influence the satellite's geometric position has on positioning accuracy, indicating higher positioning accuracy. GDOP includes four parameters: position, horizontal, vertical, and temporal dilution of precision (PDOP, HDOP, VDOP, and TDOP). PDOP is the most commonly used parameter for evaluating positioning accuracy, while the other three parameters (HDOP, VDOP, and TDOP) are used to evaluate horizontal, vertical, and temporal positioning accuracy, respectively.

[0057] In some optional embodiments, the satellite observation matrix corresponding to the positioning satellite can be calculated based on the altitude angle and azimuth angle of the positioning satellite contained in the positioning signal information, and then the covariance matrix of the satellite observation matrix can be generated based on the satellite observation matrix, and then the geometric factors used to characterize the geometric distribution of the positioning satellite can be generated based on the diagonal elements contained in the covariance matrix.

[0058] Optionally, the satellite observation matrix G corresponding to the positioning satellite can be expressed as follows:

[0059] Among them, el n represents the altitude angle of satellite n; az n represents the azimuth of satellite n.

[0060] Alternatively, the covariance matrix Q of the satellite observation matrix can be expressed as follows:

[0061] Among them, q xx ,q xy ,q xz ,q xt ,q yy ,q yz ,q yt ,q zz ,q zt ,q tt are all elements in the covariance matrix Q, which can be specifically determined based on the satellite observation matrix G and the formula Q = (G T G) -1 Obtain.

[0062] Optionally, when generating a geometric factor for characterizing the geometric distribution of positioning satellites, the diagonal elements in the covariance matrix may be summed, and then the square root of the sum may be taken as the geometric factor. That is, the geometric factor GDOP may be expressed as follows:

[0063] Continuing with FIG. 3 , in step S320 , the attenuation factor of the satellite positioning signal is calculated based on the signal-to-noise ratio information of the positioning satellite.

[0064] In some optional embodiments, the process of calculating the attenuation factor of the satellite positioning signal based on the signal-to-noise ratio information of the positioning satellite may be: based on the signal-to-noise ratio information of the positioning satellite, determining the target positioning satellites whose signal-to-noise ratio is less than or equal to the first set threshold from the positioning satellites observed by the terminal device, and then calculating the attenuation factor of the satellite positioning signal based on the number of target positioning satellites and the total number of positioning satellites observed by the terminal device.

[0065] Optionally, the attenuation factor SnrDecrease of the satellite positioning signal can be calculated according to the following formula:

[0066] Wherein, nLow represents the number of target positioning satellites whose signal-to-noise ratio is less than or equal to the first set threshold; nAll represents the total number of positioning satellites observed by the terminal device.

[0067] Optionally, the parameters in the above formula for calculating the attenuation factor may also be adjusted according to actual conditions, such as adjusting specific values ​​or adding correction values.

[0068] It should be noted that there is no strict order of execution between step S310 and step S320, that is, as shown in Figure 3, step S310 can be executed first and then step S320; step S320 can also be executed first and then step S310; step S310 and step S320 can also be executed simultaneously.

[0069] In step S330, the current positioning signal evaluation score of the terminal device is calculated according to the geometric factor and the attenuation factor.

[0070] In some optional embodiments, the process of calculating the current positioning signal evaluation score of the terminal device based on the geometry factor and the attenuation factor may include calculating the ratio of the attenuation factor to the geometry factor, and then using the minimum of the ratio and a set value as the current positioning signal evaluation score of the terminal device. That is, the minimum of the ratio and the set value is selected as the current positioning signal evaluation score. Optionally, the set value may be 1, or other values.

[0071] The geometry factor is an indicator of positioning accuracy, reflecting the degree to which the positioning satellite's geometric position affects positioning accuracy. The attenuation factor, an indicator of positioning quality, is a calculated result that estimates the position accuracy that can be achieved using each satellite, taking into account its position relative to the other satellites in the geometry factor. The magnitude of the attenuation factor indicates the accuracy of the satellite's positioning signal. Therefore, combining the geometry factor and the attenuation factor can determine an accurate current positioning signal evaluation score.

[0072] Continuing to refer to FIG. 2 , in step S230 , the positioning signal shielding parameter of the terminal device is determined according to the location information of the terminal device.

[0073] The location information of the terminal device is used to identify the current location of the terminal device, so as to determine the current physical environment of the terminal device, and thus determine the obstruction of the physical environment on the terminal device receiving the positioning signal.

[0074] In some optional embodiments, whether the location of the terminal device is obstructed can be determined based on road network data at the location of the terminal device. If obstruction exists, it indicates that the positioning signal of the terminal device is obstructed. Alternatively, image recognition technology can be used to determine whether the location of the terminal device is obstructed based on image data collected by the terminal device at the location. Alternatively, pre-stored obstruction data can be used to determine whether the location of the terminal device is obstructed.

[0075] In an embodiment of the present application, a positioning signal blocking parameter is used to identify whether the location of the terminal device is blocked, and if so, the degree of the blockage.

[0076] In some optional embodiments, the method of determining whether there is an obstruction at the location of the terminal device based on the road network data at the location of the terminal device is used as an example. Specifically, as shown in FIG4 , the method may include the following steps S410 to S430 . Detailed description is as follows:

[0077] In step S410 , the road network data at the location of the terminal device is obtained, and the road network data includes the road section data at the location of the terminal device.

[0078] Alternatively, road network data is a type of geographic information data used to represent a road system. It typically contains basic elements such as roads, intersections, bridges, and tunnels, as well as attribute information related to these elements, such as road name, type, width, starting and ending point coordinates, speed limit, etc. The most basic component of road network data is a road segment (Geo Segment). Several connected road segments together form a link (Link). A link is connected to other links only through its starting and ending points. Within this link, it can be divided into different road segments based on its shape, and multiple connected links can form a path (Route).

[0079] In some optional embodiments, when obtaining road network data at the location of the terminal device, the road network data within a set range (e.g., a range of 100 meters) around the location of the terminal device can be obtained. The location of the terminal device can be determined based on the positioning signal information of the terminal device.

[0080] In step S420, based on the road segment data at the location of the terminal device, a target road segment that overlaps with the road segment where the terminal device is located is detected.

[0081] In some optional embodiments, since different road sections may intersect or overlap, the target road section that overlaps with the road section where the terminal device is located can be detected based on the road section data at the location of the terminal device. Optionally, the first starting point coordinates and the first ending point coordinates of the road section where the terminal device is located can be obtained, and the second starting point coordinates and the second ending point coordinates of other road sections at the location of the terminal device can be obtained; then, based on the first starting point coordinates, the first ending point coordinates, the second starting point coordinates and the second ending point coordinates, the first distance from the starting point of the road section where the terminal device is located to the other road sections, the second distance from the ending point of the road section where the terminal device is located to the other road sections, the third distance from the starting point of the other road sections to the road section where the terminal device is located, and the fourth distance from the ending point of the other road sections to the road section where the terminal device is located can be calculated; and then, based on the first distance, the second distance, the third distance and the fourth distance, it can be determined whether the other road sections have an overlapping relationship with the road section where the terminal device is located.

[0082] It should be noted that the road section where the terminal device is located is the road section where the terminal device is currently located, such as the road section where a vehicle terminal is traveling, or the road section where a mobile terminal is located. The first distance, the second distance, the third distance, and the fourth distance can be directional distance values. Other road sections where the terminal device is located refer to road sections other than the road section where the terminal device is located. In this embodiment, other road sections where the terminal device is located can be traversed to determine road sections that overlap with the road section where the terminal device is located.

[0083] In some optional embodiments, the process of determining whether other road sections have an overlapping relationship with the road section where the terminal device is located based on the first distance, the second distance, the third distance and the fourth distance may be: if the absolute value of the first distance, the absolute value of the second distance, the absolute value of the third distance and the absolute value of the fourth distance are all less than the fourth set threshold, and the product of the first distance and the second distance is less than 0, and the product of the third distance and the fourth distance is less than 0, then it is determined that the other road sections have an overlapping relationship with the road section where the terminal device is located.

[0084] In step S430, if the difference between the elevation value of the target road section and the elevation value of the road section where the terminal device is located is greater than or equal to the third set threshold, it is determined that the positioning signal of the terminal device is blocked.

[0085] Specifically, if the difference between the elevation values ​​of two road sections is greater than or equal to a third set threshold, it means that one of the two road sections is located above the other. If the two road sections also overlap, it means that the lower road section (i.e., the road section with the smaller elevation value) is blocked by the upper road section (i.e., the road section with the larger elevation value). In this case, if the target road section that overlaps with the road section where the terminal device is located is above the road section where the terminal device is located, it can be determined that there is an obstruction at the location of the terminal device, which means that there is an obstruction in the positioning signal of the terminal device.

[0086] In some optional embodiments, if the road network data at the location of the terminal device is not obtained, or the obtained road network data is not updated within a set time period, it can be determined that the positioning signal of the terminal device is not blocked.

[0087] It should be noted that there is no strict order of execution between step S220 and step S230, that is, as shown in Figure 2, step S220 can be executed first and then step S230; step S230 can also be executed first and then step S220; step S220 and step S230 can also be executed simultaneously.

[0088] 2 , in step S240 , the signal quality of the positioning signal is determined based on the positioning signal analysis quality parameter and the positioning signal shielding parameter.

[0089] In some optional embodiments, if the positioning signal observation quality is poor according to the positioning signal analysis quality parameter, and the positioning signal of the terminal device is blocked according to the positioning signal blocking parameter, it is determined that the quality of the positioning signal is abnormal.

[0090] Optionally, if the positioning signal observation quality is determined to be poor based on the positioning signal analysis quality parameter, and the positioning signal of the terminal device is determined to be unobstructed based on the positioning signal blocking parameter, then it can be determined that the quality of the positioning signal may indeed be poor, but there is no abnormality.

[0091] Optionally, if the positioning signal observation quality is determined to be better based on the positioning signal analysis quality parameter, and the positioning signal of the terminal device is determined to be not blocked based on the positioning signal blocking parameter, then it can be determined that the quality of the positioning signal may indeed be better and there is no abnormality.

[0092] Optionally, if the positioning signal observation quality is determined to be better based on the positioning signal analysis quality parameter, and the positioning signal of the terminal device is determined to be blocked based on the positioning signal blocking parameter, then it can also be determined that the quality of the positioning signal may indeed be better and there is no abnormality.

[0093] The technical solution of the above-mentioned embodiment of the present application can comprehensively evaluate the quality of the positioning signal analysis quality parameters and the positioning signal blocking parameters, and thus can more effectively determine whether the quality of the positioning signal is normal, thereby improving the accuracy of the positioning signal quality assessment, and is conducive to providing users with more reliable and accurate navigation services.

[0094] The following is a detailed description of the implementation details of the technical solution of the embodiment of the present application in conjunction with Figures 5 and 6:

[0095] In one embodiment of the present application, the GNSS signal observation quality is evaluated based on the GSV information of the terminal device, and then the GNSS signal quality is evaluated by combining the GNSS signal observation quality with the road network data. Specifically, as shown in Figure 5, the following steps S501 to S503 are included, and the details are as follows:

[0096] In step S501 , the observation quality of the GNSS signal is evaluated based on the GSV information of the terminal device.

[0097] It is worth noting that the GNSS positioning of the terminal device comes from the received satellite pseudorange and carrier phase observations. Therefore, the signal quality, geometric distribution of the positioning satellite, and the obstruction of surrounding buildings and roads are of great significance to the positioning accuracy of the terminal device. The GSV information contains information about the currently visible satellites, including satellite number, satellite altitude angle, satellite azimuth angle, and satellite signal-to-noise ratio. Therefore, the observation quality of the GNSS signal can be evaluated based on the GSV information of the terminal device. Specifically, as shown in Figure 6, it includes the following steps:

[0098] Step S601: After obtaining the GSV information of the terminal device, data cleaning is performed.

[0099] Optionally, because the elevation angle, azimuth angle, signal-to-interference plus noise ratio (SNR) and other data in the terminal device's GSV information contain abnormal values, such as the elevation angle not being within the set angle range or the signal-to-noise ratio not being within the set signal-to-noise ratio range, filtering processing is required first. In addition, some terminal devices may obtain data at multiple frequencies (such as dual-frequency data), so filtering processing is also required to retain data at a single frequency.

[0100] Specifically, under normal circumstances, the elevation angle of the positioning satellite observed by the terminal device is within a set angle range (e.g., 0-90°), and elevation angles outside this set angle range are considered abnormal data. Therefore, positioning signal information with elevation angles outside the set angle range can be filtered out. Furthermore, under normal circumstances, the signal-to-noise ratio of the positioning satellite signal observed by the terminal device is within a set signal-to-noise ratio range (e.g., 20dB-40dB), and signal-to-noise ratio data outside this set signal-to-noise ratio range is considered abnormal data. Therefore, positioning signal information with a signal-to-noise ratio outside the set signal-to-noise ratio range can be filtered out.

[0101] Step S602: Calculate the satellite's geometric factor based on the satellite's altitude angle and azimuth angle.

[0102] Optionally, the satellite observation matrix G corresponding to the positioning satellite can be calculated based on the altitude angle and azimuth angle, which can be specifically expressed as follows:

[0103] Among them, el n represents the altitude angle of satellite n; az n represents the azimuth of satellite n.

[0104] Then, based on the satellite observation matrix, the covariance matrix Q of the satellite observation matrix is ​​generated, which can be expressed as follows:

[0105] Among them, qxx ,q xy ,q xz ,q xt ,q yy ,q yz ,q yt ,q zz ,q zt ,q tt are all elements in the covariance matrix Q, which can be specifically determined based on the satellite observation matrix G and the formula Q = (G T G) -1 Obtain.

[0106] Then, the geometric factor GDOP used to characterize the geometric distribution of positioning satellites can be generated based on the diagonal elements contained in the covariance matrix. It can be expressed as follows:

[0107] Step S603: Calculate the satellite attenuation factor based on the satellite's SNR information.

[0108] Specifically, according to the SNR information of the satellite and the set SNR threshold, the satellites can be divided into two parts: high signal quality and low signal quality (for example, an SNR threshold is set, and satellites with SNR information greater than or equal to the SNR threshold are defined as satellites with high signal quality, and satellites with SNR information less than the SNR threshold are defined as satellites with low signal quality). Alternatively, the satellites can be divided into three parts: high signal quality, medium signal quality, and low signal quality (for example, two SNR thresholds are set, namely SNR threshold 1 and SNR threshold 2, and SNR threshold 1 is less than SNR threshold 2, and then satellites with SNR information greater than or equal to SNR threshold 2 are defined as satellites with high signal quality, satellites with SNR information between SNR threshold 1 and SNR threshold 2 are defined as satellites with medium signal quality, and satellites with SNR information less than or equal to SNR threshold 1 are defined as satellites with low signal quality). Then, the number of satellites with different signal qualities is counted to calculate the attenuation factor SnrDecrease. Optionally, the attenuation factor SnrDecrease of the satellite positioning signal can be calculated according to the following formula:

[0109] Among them, nLow represents the number of satellites with low signal quality; nAll represents the total number of positioning satellites observed by the terminal device.

[0110] After calculating the satellite's geometric factor and the satellite's attenuation factor, the satellite's observation quality score can be calculated accordingly. Alternatively, the satellite's observation quality score SnrDecrease can be calculated according to the following formula:

[0111] After calculating the satellite's observation quality score, SnrDecrease, the GNSS signal's observation quality can be determined. Optionally, a time window of n seconds can be set to calculate the average score, score_mean, of SnrDecrease over that n-second period. If the current SnrDecrease is less than 50% of the historical n-second average (this is an example only; other values ​​are possible in other embodiments of this application), the current GNSS signal's observation quality is considered poor. This improves the algorithm's generalizability, ensuring good accuracy across different terminal devices and reflecting relative changes in GNSS observation quality.

[0112] Continuing with FIG. 5 , in step S502 , it is evaluated based on the road network data whether the GNSS signal is in an obstructed environment.

[0113] In some optional embodiments, since an evaluation result of the GNSS signal observation quality can be obtained through GSV information, but this evaluation result can only reflect the possible changes in the GNSS observation quality to a certain extent, its accuracy is not high. Therefore, it is possible to combine the road network data to determine whether there is any obstruction in the current environment, and then assist in determining the quality of the GNSS signal.

[0114] Specifically, when using a terminal device for navigation, relevant information about the road where the terminal device is currently located can generally be obtained, such as the starting and ending point coordinates and elevation values ​​of the road, road direction, road width, etc., so that it can be determined whether there is any obstruction in the current environment of the terminal device.

[0115] Optionally, it may be determined whether the acquired road network data is empty. If the acquired road network data is empty, it is considered that there is no obstruction in the current environment of the terminal device.

[0116] Optionally, it may be determined whether the acquired road network data is timely. If the acquired road network data has not been updated for a long time / long distance, it is considered that there is no obstruction in the current environment of the terminal device.

[0117] Optionally, if road network data can be obtained, all road data contained in the road network data within a set range (such as 100 meters) around the current GNSS signal of the terminal device can be traversed to determine whether the road data is above the road where the terminal device is located and whether there is an overlapping relationship.

[0118] Alternatively, the following method can be used to determine whether two roads have an overlapping relationship. Assume that the starting point coordinates and the end point coordinates of road A are (pA1 x , pA1 y )、(pA2 x , pA2 y), the starting point coordinates and the end point coordinates of road B are (pB1 x , pB1 y ), (pB2 x , pB2 y ), then the distances from the start and end points of road A to road B, and the distances from the start and end points of road B to road A can be calculated separately, with positive and negative numbers indicating the direction:

[0119] Among them, dist1 represents the distance from the starting point of road B to road A; dist2 represents the distance from the end point of road B to road A; dist3 represents the distance from the starting point of road A to road B; and dist4 represents the distance from the end point of road A to road B.

[0120] If the absolute values ​​of dist1, dist2, dist3, and dist4 are all less than the set threshold minDist, and dist1·dist2<0 and dist3·dist4<0, then Road A is considered to overlap with Road A. Optionally, minDist can be set according to actual needs, for example, it can be set to 3m.

[0121] In the above manner, all road data included in the acquired road network data can be traversed to determine the road data that has an overlapping relationship with the road where the terminal device is located.

[0122] In some optional embodiments, whether one road is located above another road can be determined based on the road's elevation. Specifically, the difference between the road's elevation and the elevation of the road where the terminal device is located can be calculated. If the difference is greater than a set threshold value, minHeight, then the road is located above the road where the terminal device is located. Optionally, minHeight can be set to 3 meters or other values.

[0123] In an embodiment of the present application, if there is one or more roads in the road network data that intersect and overlap with the road where the terminal device is located, and are located above the road where the terminal device is located, it can be determined that the environment in which the terminal device is located is obstructing GNSS positioning, that is, the GNSS signal is in an obstructed environment; otherwise, it is considered that there is no obstruction interference with the GNSS signal.

[0124] Continuing with FIG. 5 , in step S503 , the GNSS signal quality is evaluated.

[0125] In some optional embodiments, if it is determined in step S501 that the observation quality of the current GNSS signal is poor, and it is determined in step S502 that the GNSS signal is in an obstructed environment, it is considered that there is an abnormality in the GNSS signal quality (eg, the GNSS signal quality is poor).

[0126] Optionally, if it is determined in step S501 that the observation quality of the current GNSS signal is poor, and it is determined in step S502 that the GNSS signal is not in an obstructed environment, it can be determined that the GNSS signal quality may indeed be poor, but there is no abnormality.

[0127] Optionally, if it is determined in step S501 that the observation quality of the current GNSS signal is relatively good, and it is determined in step S502 that the GNSS signal is not in an obstructed environment, then it can be determined that the GNSS signal quality may indeed be relatively good and there is no abnormality.

[0128] Optionally, if it is determined in step S501 that the observation quality of the current GNSS signal is relatively good, and it is determined in step S502 that the GNSS signal is in an obstructed environment, then it can also be determined that the GNSS signal quality may indeed be relatively good and there is no abnormality.

[0129] It can be seen that based on the road network data, the occlusion relationship between the terminal device's location and the surrounding area can be determined, so as to accurately determine the positioning signal occlusion parameters for the terminal device, and then combine the accurate positioning signal occlusion parameters to evaluate the quality of the terminal device's current positioning signal.

[0130] The technical solution of the above-mentioned embodiment of the present application can use the GSV information of the terminal device and the road network data to determine whether there is any obstruction in the GNSS observation during navigation, and then evaluate the quality of the GNSS signal in the navigation scenario (such as driving navigation) in real time. Specifically, the GSV information of the terminal device can be used to obtain a result of the GNSS observation quality, and then combined with the road network data to determine whether there is any obstruction, so as to obtain the evaluation result of the GNSS signal quality. It can be seen that the technical solution of the embodiment of the present application can more effectively determine whether the GNSS signal quality is normal or not, and can effectively solve the problem that the GNSS signal may be interfered with or blocked in complex urban driving environments, such as under elevated roads, under overpasses, etc., thereby improving the user experience of mobile phone driving navigation users in the case of abnormal GNSS signal quality.

[0131] The following describes an apparatus embodiment of the present application, which can be used to perform the positioning signal quality determination method described in the above-mentioned embodiments of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the embodiment of the positioning signal quality determination method described in the above-mentioned embodiments of the present application.

[0132] Figure 7 shows a block diagram of a positioning signal quality determination device according to an embodiment of the present application. The positioning signal quality determination device can be applied to an electronic device with computing and processing functions. The electronic device can be, for example, a terminal device that performs a positioning function (such as a vehicle terminal, a mobile terminal), or a server that communicates with the terminal device.

[0133] 7 , a positioning signal quality determination apparatus 700 according to an embodiment of the present application includes: an acquisition unit 702 , an evaluation unit 704 , a processing unit 706 , and a determination unit 708 .

[0134] Among them, the acquisition unit 702 is used to obtain positioning signal information, and the positioning signal information is obtained by the terminal device based on the positioning signal analysis of the terminal device; the evaluation unit 704 is used to evaluate the positioning signal analysis quality parameter of the terminal device according to the positioning signal information; the processing unit 706 is used to determine the positioning signal blocking parameter of the terminal device according to the location information of the terminal device; the determination unit 708 is used to determine the signal quality of the positioning signal based on the positioning signal analysis quality parameter and the positioning signal blocking parameter.

[0135] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: calculate the current positioning signal evaluation score of the terminal device based on the positioning signal information; and determine the positioning signal analysis quality parameter of the terminal device based on the historical positioning signal evaluation score and the current positioning signal evaluation score.

[0136] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: calculate a geometric factor used to characterize the geometric distribution of positioning satellites based on the satellite observation information contained in the positioning signal information; calculate the attenuation factor of the satellite positioning signal based on the signal-to-noise ratio information of the positioning satellite; and calculate the current positioning signal evaluation score of the terminal device based on the geometric factor and the attenuation factor.

[0137] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: calculate the satellite observation matrix corresponding to the positioning satellite according to the altitude angle and azimuth angle of the positioning satellite contained in the positioning signal information; generate the covariance matrix of the satellite observation matrix according to the satellite observation matrix; and generate a geometric factor for characterizing the geometric distribution of the positioning satellite according to the diagonal elements contained in the covariance matrix.

[0138] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: determine, based on the signal-to-noise ratio information of the positioning satellite, target positioning satellites whose signal-to-noise ratio is less than or equal to a first set threshold from the positioning satellites observed by the terminal device; and calculate the attenuation factor of the satellite positioning signal based on the number of the target positioning satellites and the total number of positioning satellites observed by the terminal device.

[0139] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: calculate the ratio between the attenuation factor and the geometric factor; and use the minimum value between the ratio and the set value as the current positioning signal evaluation score of the terminal device.

[0140] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is used to: obtain the average of the historical positioning signal evaluation scores of the previous n seconds according to a time window with a set length of n, where n is greater than 0; if the difference between the average and the current positioning signal evaluation score is greater than or equal to a second set threshold, then determine that the positioning signal analysis quality parameter of the terminal device is the positioning signal observation quality difference.

[0141] In some embodiments of the present application, based on the aforementioned scheme, the evaluation unit 704 is further used to: before calculating the current positioning signal evaluation score of the terminal device based on the positioning signal information, filter the acquired positioning signal information according to at least one of the following methods: filter out positioning signal information whose altitude angle is not within the set angle range; filter out positioning signal information whose signal-to-noise ratio is not within the set signal-to-noise ratio range; if positioning signal information observed by the terminal device through multiple frequency points is acquired, retain the positioning signal information observed through one of the frequency points, and filter out the positioning signal information observed through other frequency points.

[0142] In some embodiments of the present application, based on the aforementioned scheme, the processing unit 706 is used to: obtain road network data at the location of the terminal device, the road network data including road section data at the location of the terminal device; detect a target road section that overlaps with the road section where the terminal device is located based on the road section data at the location of the terminal device; if the difference between the elevation value of the target road section and the elevation value of the road section where the terminal device is located is greater than or equal to a third set threshold, it is determined that the positioning signal of the terminal device is blocked.

[0143] In some embodiments of the present application, based on the aforementioned scheme, the processing unit 706 is used to: obtain the first starting point coordinates and the first ending point coordinates of the road section where the terminal device is located, and obtain the second starting point coordinates and the second ending point coordinates of other road sections at the location of the terminal device; calculate the first distance from the starting point of the road section where the terminal device is located to the other road sections, the second distance from the ending point of the road section where the terminal device is located to the other road sections, the third distance from the starting point of the other road sections to the road section where the terminal device is located, and the fourth distance from the ending point of the other road sections to the road section where the terminal device is located according to the first starting point coordinates, the first ending point coordinates, the second starting point coordinates and the second ending point coordinates; determine whether the other road sections have an overlapping relationship with the road section where the terminal device is located according to the first distance, the second distance, the third distance and the fourth distance.

[0144] In some embodiments of the present application, based on the aforementioned scheme, the processing unit 706 is used to: if the absolute value of the first distance, the absolute value of the second distance, the absolute value of the third distance and the absolute value of the fourth distance are all less than a fourth set threshold, and the product of the first distance and the second distance is less than 0, and the product of the third distance and the fourth distance is less than 0, then determine that the other road sections have an overlapping relationship with the road section where the terminal device is located.

[0145] In some embodiments of the present application, based on the aforementioned scheme, the processing unit 706 is also used to: if the road network data at the location of the terminal device is not obtained, or the obtained road network data is not updated within a set time period, determine that the positioning signal of the terminal device is not blocked.

[0146] In some embodiments of the present application, based on the aforementioned scheme, the determination unit 708 is used to: if it is determined that the positioning signal observation quality is poor according to the positioning signal analysis quality parameter, and it is determined that the positioning signal of the terminal device is blocked according to the positioning signal blocking parameter, then it is determined that there is an abnormality in the quality of the positioning signal.

[0147] FIG8 shows a schematic structural diagram of a computer system suitable for implementing an electronic device according to an embodiment of the present application.

[0148] It should be noted that the computer system 800 of the electronic device shown in FIG8 is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0149] As shown in Figure 8, the computer system 800 may include a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 into the random access memory (RAM) 803, such as the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 803. The CPU 801, ROM 802 and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0150] The following components can be connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, etc.; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including a hard disk; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. Removable media 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed in the drive 810 as needed, so that computer programs read from the removable media can be installed into the storage section 808 as needed.

[0151] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program is used to perform the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the various functions defined in the system of the present application are performed.

[0152] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a computer program that can be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and a computer program.

[0154] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0155] As another aspect, the present application further provides a computer-readable medium, which may be included in the electronic device described in the above embodiments, or may exist independently without being incorporated into the electronic device. The computer-readable medium carries one or more computer programs, and when the one or more computer programs are executed by the electronic device, the electronic device implements the method described in the above embodiments.

[0156] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0157] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the embodiment of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, USB flash drive, mobile hard disk, etc.) or on a network, and includes several instructions to enable an electronic device to execute the method according to the embodiment of the present application. For example, the electronic device can execute the method for determining the quality of the positioning signal shown in Figure 2.

[0158] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed herein.

[0159] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A method for determining the quality of a positioning signal, the method being performed by an electronic device, the method comprising: Acquire positioning signal information, where the positioning signal information is obtained by the terminal device based on a positioning signal analysis for the terminal device; Evaluate the positioning signal analysis quality parameter of the terminal device according to the positioning signal information; Determining a positioning signal shielding parameter of the terminal device according to the location information of the terminal device; The signal quality of the positioning signal is determined according to the positioning signal analysis quality parameter and the positioning signal shielding parameter.

2. The method for determining the quality of a positioning signal according to claim 1, wherein evaluating the positioning signal analysis quality parameter of the terminal device based on the positioning signal information comprises: Calculating a current positioning signal evaluation score of the terminal device according to the positioning signal information; The positioning signal analysis quality parameter of the terminal device is determined according to the historical positioning signal evaluation score and the current positioning signal evaluation score.

3. The method for determining the quality of a positioning signal according to claim 2, wherein the step of calculating the current positioning signal evaluation score of the terminal device based on the positioning signal information comprises: Calculating a geometric factor for characterizing the geometric distribution of positioning satellites based on the satellite observation information contained in the positioning signal information; Calculate the attenuation factor of the satellite positioning signal based on the signal-to-noise ratio information of the positioning satellite; A current positioning signal evaluation score of the terminal device is calculated according to the geometric factor and the attenuation factor.

4. The method for determining the quality of a positioning signal according to claim 3, wherein the step of calculating a geometric factor for characterizing the geometric distribution of positioning satellites based on satellite observation information contained in the positioning signal information comprises: Calculating a satellite observation matrix corresponding to the positioning satellite according to the altitude angle and azimuth angle of the positioning satellite contained in the positioning signal information; Generating a covariance matrix of the satellite observation matrix according to the satellite observation matrix; A geometric factor for characterizing the geometric distribution of positioning satellites is generated according to the diagonal elements contained in the covariance matrix.

5. The method for determining the quality of a positioning signal according to claim 3, wherein the step of calculating the attenuation factor of the satellite positioning signal based on the signal-to-noise ratio information of the positioning satellite comprises: Determining, based on the signal-to-noise ratio information of the positioning satellite, a target positioning satellite having a signal-to-noise ratio less than or equal to a first set threshold from the positioning satellites observed by the terminal device; The attenuation factor of the satellite positioning signal is calculated according to the number of the target positioning satellites and the total number of positioning satellites observed by the terminal device.

6. The method for determining the quality of a positioning signal according to claim 3, wherein the step of calculating the current positioning signal evaluation score of the terminal device based on the geometric factor and the attenuation factor comprises: calculating a ratio between the attenuation factor and the geometric factor; The minimum value between the ratio and the set value is used as the current positioning signal evaluation score of the terminal device.

7. The method for determining the quality of a positioning signal according to claim 2, wherein determining the positioning signal analysis quality parameter of the terminal device based on the historical positioning signal evaluation score and the current positioning signal evaluation score comprises: Obtain the average of the historical positioning signal evaluation scores for the previous n seconds according to a time window of a set length n, where n is greater than 0; If the difference between the mean and the current positioning signal evaluation score is greater than or equal to a second set threshold, the positioning signal analysis quality parameter of the terminal device is determined to be a positioning signal observation quality difference.

8. The method for determining the quality of a positioning signal according to claim 2, further comprising: Filter the acquired positioning signal information according to at least one of the following methods: Filter out positioning signal information whose elevation angle is not within the set angle range; Filter out positioning signal information whose signal-to-noise ratio is not within the set signal-to-noise ratio range; If the positioning signal information observed by the terminal device through multiple frequency points is obtained, the positioning signal information observed through one of the frequency points is retained, and the positioning signal information observed through other frequency points is filtered out.

9. The method for determining the quality of a positioning signal according to claim 1, wherein determining the positioning signal shielding parameter of the terminal device according to the location information of the terminal device comprises: Acquire road network data at the location of the terminal device, wherein the road network data includes road section data at the location of the terminal device; Detecting a target road section that overlaps with the road section where the terminal device is located based on the road section data at the location of the terminal device; If the difference between the elevation value of the target road section and the elevation value of the road section where the terminal device is located is greater than or equal to a third set threshold, it is determined that the positioning signal of the terminal device is blocked.

10. The method for determining the quality of a positioning signal according to claim 9, wherein the detecting, based on the road section data at the location information of the terminal device, a target road section that overlaps with the road section where the terminal device is located comprises: Obtaining first starting point coordinates and first ending point coordinates of the road segment where the terminal device is located, and obtaining second starting point coordinates and second ending point coordinates of other road segments where the terminal device is located; Calculate, based on the first starting point coordinates, the first ending point coordinates, the second starting point coordinates, and the second ending point coordinates, a first distance from the starting point of the section where the terminal device is located to the other section, a second distance from the ending point of the section where the terminal device is located to the other section, a third distance from the starting point of the other section to the section where the terminal device is located, and a fourth distance from the ending point of the other section to the section where the terminal device is located; It is determined whether the other road sections have an overlapping relationship with the road section where the terminal device is located according to the first distance, the second distance, the third distance and the fourth distance.

11. The method for determining the quality of a positioning signal according to claim 10, wherein determining whether the other road segments overlap with the road segment where the terminal device is located based on the first distance, the second distance, the third distance, and the fourth distance comprises: If the absolute value of the first distance, the absolute value of the second distance, the absolute value of the third distance and the absolute value of the fourth distance are all less than the fourth set threshold, and the product of the first distance and the second distance is less than 0, and the product of the third distance and the fourth distance is less than 0, then it is determined that the other road sections overlap with the road section where the terminal device is located.

12. The method for determining the quality of a positioning signal according to claim 9, further comprising: If the road network data at the location of the terminal device is not obtained, or the obtained road network data is not updated within a set time period, it is determined that the positioning signal of the terminal device is not blocked.

13. The method for determining the quality of a positioning signal according to any one of claims 1 to 12, wherein determining the signal quality of the positioning signal based on the positioning signal analysis quality parameter and the positioning signal shielding parameter comprises: If the positioning signal observation quality is poor according to the positioning signal analysis quality parameter, and if the positioning signal blocking parameter determines that the positioning signal of the terminal device is blocked, it is determined that the quality of the positioning signal is abnormal.

14. A device for determining the quality of a positioning signal, comprising: an acquiring unit, configured to acquire positioning signal information, the positioning signal information being obtained by a terminal device based on an analysis of a positioning signal for the terminal device; An evaluation unit, configured to evaluate a positioning signal analysis quality parameter of the terminal device based on the positioning signal information; a processing unit, configured to determine a positioning signal shielding parameter of the terminal device according to the location information of the terminal device; A determination unit is configured to determine the signal quality of the positioning signal according to the positioning signal analysis quality parameter and the positioning signal shielding parameter.

15. A computer-readable medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the method for determining the quality of a positioning signal according to any one of claims 1 to 13 is implemented.

16. An electronic device comprising: one or more processors; A memory for storing one or more computer programs, which, when executed by the one or more processors, enables the electronic device to implement the method for determining the quality of a positioning signal according to any one of claims 1 to 13.

17. A computer program product, comprising a computer program, wherein the computer program is stored in a computer-readable storage medium, and a processor of an electronic device reads and executes the computer program from the computer-readable storage medium, so that the electronic device performs the method for determining the quality of a positioning signal according to any one of claims 1 to 13.

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