Target-object positioning method executed by target object, and positioning apparatus

Abstract

A target-object positioning method executed by a target object, and a positioning apparatus and a motor vehicle comprising the positioning apparatus. The method (100) comprises: sending a first-satellite-ephemeris acquisition request to an ephemeris server (S110); in response to having obtained a first satellite ephemeris, using the first satellite ephemeris as an initial satellite ephemeris and storing same in a target object (S120); on the basis of the first satellite ephemeris, determining the position of a satellite (S130); on the basis of the position of the satellite, sending a first-ranging-signal acquisition request to the satellite (S140); in response to having obtained a first ranging signal, determining first positioning information of the target object on the basis of the first ranging signal (S150); sending a second-satellite-ephemeris acquisition request to the satellite (S160); and in response to having obtained a second satellite ephemeris, using the second satellite ephemeris as the initial satellite ephemeris and storing same in the target object (S170).

Description

Method and device for positioning a target object executed by the target object Technical Field

[0001] The present disclosure relates to a method for locating a target object performed by the target object, a positioning device, and a motor vehicle including the positioning device. Background Art

[0002] Vehicle positioning is crucial for modern driving, navigation, and assisted / autonomous driving. The speed and accuracy of vehicle positioning impact the driving experience and the reliability of assisted / autonomous driving. Widely used positioning solutions include GNSS (Global Navigation Satellite System), IMU (Inertial Measurement Unit), sensor fusion, cameras, and their combination. GNSS is the most widely used and well-known of these.

[0003] In GNSS positioning technology, a target object, such as a vehicle, first searches for satellites, then receives location information from multiple, for example, four, satellites, along with the timestamp of when the satellites sent the location information. Finally, the target object's location coordinates, such as latitude, longitude, and altitude, as well as the time of reception, can be determined based on this information.

[0004] However, after the vehicle has been parked for a long time, and when the satellite signal is blocked or weakened by environmental obstructions, it usually takes a long time for the vehicle to search for satellites, which causes the vehicle to be unable to obtain positioning for a long time, thereby affecting the vehicle's navigation and the use of self-assisted / automatic driving functions. Summary of the Invention

[0005] The present disclosure provides a method for locating a target object, which can quickly and accurately locate the target object.

[0006] The present disclosure provides a method for positioning a target object, performed by a target object, the method comprising: sending a first satellite ephemeris acquisition request to an ephemeris server, and in response to obtaining the first satellite ephemeris, storing the first satellite ephemeris as initial satellite ephemeris in the target object, and determining the position of a satellite based on the first satellite ephemeris; sending a first ranging signal acquisition request to a satellite based on the position of the satellite, and in response to obtaining the first ranging signal, determining first positioning information of the target object based on the first ranging signal; sending a second satellite ephemeris acquisition request to the satellite, and in response to obtaining the second satellite ephemeris, storing the second satellite ephemeris as initial satellite ephemeris in the target object.

[0007] In an embodiment of the present disclosure, the method further includes: in response to obtaining a second satellite ephemeris, updating the position of the satellite according to the second satellite ephemeris; and sending a second ranging signal acquisition request to the satellite according to the position of the satellite; and in response to obtaining the second ranging signal, determining second positioning information of the target object according to the second ranging signal.

[0008] In an embodiment according to the present disclosure, the method further includes: receiving a navigation message from the satellite; and in response to receiving the navigation message, determining the position of the satellite according to the navigation message.

[0009] In an embodiment according to the present disclosure, the method further includes: requesting timing information and updating the time of the target object in response to obtaining the timing information.

[0010] In an embodiment according to the present disclosure, the method further includes: updating the time of the target object according to the second satellite ephemeris.

[0011] In an embodiment of the present disclosure, receiving a navigation message from the satellite includes: receiving a navigation message from the satellite and storing the navigation message as an initial satellite ephemeris in the target object; and / or updating the time of the target object according to the navigation message.

[0012] In an embodiment of the present disclosure, the method further includes: determining whether the initial satellite ephemeris is invalid, and in response to the initial satellite ephemeris being invalid, sending a first satellite ephemeris acquisition request to the ephemeris server.

[0013] In an embodiment of the present disclosure, the initial satellite ephemeris stored later in time updates the initial satellite ephemeris stored earlier. If the time interval between the updates exceeds a predetermined time interval threshold, it is determined that the initial satellite ephemeris is invalid.

[0014] In an embodiment of the present disclosure, the method further includes: requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining first positioning reference information from the reference station; and determining the first positioning information of the target object based on the first ranging signal includes: determining the first positioning information of the target object based on the first ranging signal and the first positioning reference information.

[0015] In an embodiment of the present disclosure, the method further includes: requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining second positioning reference information from the reference station; and determining the second positioning information of the target object based on the second ranging signal includes: determining the second positioning information of the target object based on the second ranging signal and the second positioning reference information.

[0016] In an embodiment according to the present disclosure, the method further includes: requesting to establish a communication connection to an auxiliary positioning server, and in response to establishing the communication connection, sending first positioning information and / or second positioning information to the auxiliary positioning server; receiving first positioning correction information and / or second positioning correction information from the auxiliary positioning server; and correcting the first positioning information and / or the second positioning information based on the first positioning correction information and / or the second positioning correction information.

[0017] In an embodiment of the present disclosure, the first positioning correction information and / or the second positioning correction information are generated using a real-time kinematic carrier phase differential method (RTK) or a pseudorange differential method (RTD).

[0018] The present disclosure also provides a positioning device, which is used to execute the above-mentioned method.

[0019] In an embodiment of the present disclosure, the positioning device is a remote communication terminal.

[0020] The present disclosure also provides a motor vehicle, which includes the positioning device described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some exemplary embodiments of the present disclosure, and those skilled in the art can derive other embodiments based on these embodiments without inventive effort.

[0022] Herein, in the accompanying drawings:

[0023] FIG1 shows a flow chart of a method for locating a target object performed by a target object according to an embodiment of the present disclosure;

[0024] FIG2 shows a flow chart of a method for locating a target object performed by a target object according to another embodiment of the present disclosure;

[0025] FIG3 shows a flowchart of a method for locating a target object performed by a target object according to another embodiment of the present disclosure; and

[0026] FIG4 shows a flowchart of a positioning method executed by a positioning device in a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present disclosure more apparent, the following will describe in detail exemplary embodiments of the present disclosure with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described herein.

[0028] Furthermore, in this specification and the drawings, steps and elements having substantially the same or similar features are denoted by the same or similar reference numerals, and repeated descriptions of these steps and elements will be omitted.

[0029] In addition, in this specification and the drawings, elements are described in singular or plural form, depending on the embodiment. However, the singular and plural forms are appropriately selected for the situations presented merely for convenience of explanation and are not intended to limit the present disclosure thereto. Therefore, the singular form may include the plural form, and the plural form may also include the singular form, unless the context clearly indicates otherwise.

[0030] In addition, in this specification and the drawings, the terms "first / second" are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first / second" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0031] Furthermore, in this specification and the accompanying drawings, terms such as "upper," "lower," "vertical," and "horizontal" that relate to orientation or positional relationships are used merely to facilitate description of the embodiments of the present disclosure and are not intended to limit the present disclosure thereto. Therefore, they should not be construed as limiting the present disclosure.

[0032] Furthermore, in this specification and the drawings, unless expressly stated otherwise, “connection” does not necessarily mean “direct connection” or “direct contact”; here, “connection” may refer to both a fixed function and electrical connectivity.

[0033] On Earth, the positioning of objects is typically achieved using the Global Navigation Satellite System (GNSS). GNSS is a general term for satellite-based navigation and positioning systems such as GPS, GLONASS, and Galileo, and can also refer to a combination of all of these systems. GNSS is a star-level radio navigation system that uses artificial satellites as navigation stations. It provides position, velocity, and time information to various devices and vehicles on land, at sea, in the air, and in space around the world.

[0034] The GNSS system locates the target object based on the three-point positioning method. Specifically, a sphere is constructed with the distance from the satellite to the target object as the radius, and the position of the target object can be clearly determined by determining the intersection point of the spheres constructed with the four satellites as the center. When using additional positioning conditions, that is, when the target object is located on the earth, theoretically, three satellites can be used to determine the position of the target object on the earth. The distance from the satellite to the target object can be determined by multiplying the electromagnetic wave emitted by the satellite by the propagation time of the electromagnetic wave from the satellite to the target object. In the actual application of positioning using GNSS, in addition to the distance from the three satellites to the target object as a variable, there is also the clock difference between the time of the target object and the time of the satellite as another variable. Therefore, in order to solve the position of the target object, it is necessary to use four satellites and their satellite signals.

[0035] Therefore, to locate the target object, the positions of multiple satellites, typically four, must be known. When the target object's satellite signal receiver is cold-started, the satellite ephemeris—that is, the current available satellites and their positions in the sky—is unknown. Therefore, it is necessary to search for satellite positions or obtain navigation messages from satellites. This typically takes a significant amount of time.

[0036] The present disclosure provides a method for positioning a target object, performed by a target object. FIG1 shows a flowchart of the method. In method 100, the target object sends a first satellite ephemeris acquisition request to the ephemeris server (step S110), and in response to obtaining the first satellite ephemeris, the first satellite ephemeris is stored in the target object as an initial satellite ephemeris (step S120), and the position of the satellite is determined based on the first satellite ephemeris (step S130). The target object then sends a first ranging signal acquisition request to the satellite based on the position of the satellite (step S140), and in response to obtaining the first ranging signal, the first positioning information of the target object is determined based on the first ranging signal (step S150). Method 100 also includes: the target object sends a second satellite ephemeris acquisition request to the satellite (step S160), and in response to obtaining the second satellite ephemeris, the second satellite ephemeris is stored in the target object as the initial satellite ephemeris (step S170).

[0037] In an embodiment of the present disclosure, communication between the target object and the ephemeris server can be achieved, for example, via a wired connection or a wireless connection. Wireless connections may include, in particular, mobile communication connections, such as cellular communication connections, WiFi, Zigbee, and Bluetooth. The target object can directly and quickly obtain first satellite ephemeris from the ephemeris server. Using the first satellite ephemeris, the target object can obtain the positions of currently available or currently optimal satellites and perform positioning by receiving satellite signals from the corresponding satellites. In contrast, when the first satellite ephemeris is unknown, the target object must first search for satellites to determine which satellites are available, such as which satellites are located in the sky above the target object. This satellite search process typically takes a long time, resulting in delayed satellite positioning. In an embodiment of the present disclosure, the target object may be, for example, a motor vehicle. When a motor vehicle is parked for an extended period and then restarted, it must re-search for satellites before positioning can be performed. When a vehicle is parked for an extended period or obscured by buildings, the satellite search may take a long time or fail to successfully find a satellite. The motor vehicle can directly obtain the first satellite ephemeris from the ephemeris server using the method according to the present disclosure to quickly perform positioning, thereby avoiding searching for satellites, which may not be successful or may take a long time to succeed in the current scenario.

[0038] Using the satellite position determined based on the first satellite ephemeris or the position of the searched satellite, the target object can also send a second satellite ephemeris request to the satellite. Upon receiving the second satellite ephemeris, the second satellite ephemeris is stored in the target object as the initial satellite ephemeris. The second satellite ephemeris obtained from the satellite is more timely, thus more accurately determining the position of the corresponding satellite. Over time, the target object can receive the second satellite ephemeris in real time and update the satellite's position in real time.

[0039] FIG2 illustrates a flowchart of a method 200 for positioning a target object, performed by a target object, according to another embodiment of the present disclosure. Compared to the method 100 shown in FIG1 , steps S210, S220, and S230 are added to method 200. In method 200, the target object may, in response to obtaining a second satellite ephemeris, update the position of the satellite based on the second satellite ephemeris (step S210); and send a second ranging signal acquisition request to the satellite based on the satellite's position (step S220); and, in response to obtaining the second ranging signal, determine second positioning information of the target object based on the second ranging signal (step S230). The target object may determine the position of the satellite based on the second satellite ephemeris obtained from the satellite, and over time, the target object may receive the second satellite ephemeris in real time and update the satellite's position in real time.

[0040] In an embodiment of the present disclosure, the target object may further receive a navigation message from the satellite, and in response to receiving the navigation message, determine the position of the satellite based on the navigation message. In an embodiment of the present disclosure, receiving the navigation message from the satellite may further include receiving the navigation message from the satellite and storing the navigation message in the target object as initial satellite ephemeris.

[0041] When a target object, such as a vehicle, exits a garage or is no longer obstructed by obstacles, it can receive a second satellite ephemeris or navigation message from the satellite. The target object can determine the satellite's position based on this second satellite ephemeris or navigation message. Over time, the target object can update the satellite's position in real time. Compared to the first satellite ephemeris obtained from an ephemeris server, the second satellite ephemeris or navigation message obtained directly from the satellite is more timely and can provide a more accurate satellite position.

[0042] Satellite ephemeris is also known as two-line orbital data (Two-Line Orbital Element, abbreviated as TLE). Satellite ephemeris is a trajectory table or time function of the satellite's position and velocity. Satellite ephemeris can accurately calculate, predict, depict, and track the satellite's time, position, velocity, and other operating conditions. The time of the satellite ephemeris is calculated according to the Universal Time Coordinated (UTC) and is updated regularly, so the satellite ephemeris can stereoscopically depict the past, present, and future of the satellite. In an embodiment according to the present disclosure, the satellite ephemeris includes broadcast satellite ephemeris and precise satellite ephemeris. The broadcast satellite ephemeris has poor accuracy, so the position of the satellite determined by the broadcast satellite ephemeris has a large deviation from the actual position of the satellite. Precise satellite ephemeris can provide satellite orbit information used for precise satellite positioning. In an embodiment according to the present disclosure, the ephemeris server can, for example, provide satellite ephemeris, especially precise satellite ephemeris, in real time.

[0043] In an embodiment of the present disclosure, the ephemeris server may be, for example, various organizations in the IGS (International GNSS Service) organization and enterprises that provide ephemeris acquisition services, such as Qianxun and Qualcomm.

[0044] In an embodiment of the present disclosure, the target object determining the positioning information of the target object based on the first ranging signal may, for example, include: the target object determining the distances from the four satellites to the target object respectively based on the first ranging signals from the four satellites; and the target object then determining the positioning information of the target object, especially the longitude and latitude of the target object on the earth, based on the distances from the four satellites to the target object.

[0045] The distance from the satellite to the target object can be determined by multiplying the time difference between the target object receiving the first ranging signal and the time the satellite transmits the first ranging signal by the propagation speed of the first ranging signal (which can be approximately the speed of light). In an embodiment of the present disclosure, the first ranging signal may include, for example, a carrier, such as an L1 carrier, an L2 carrier, and a frame structure, a data stream, a PRN code, such as a C / A code, a P code, etc. on the carrier. In an embodiment of the present disclosure, the target object can, for example, determine the time difference between sending and receiving based on the code chip difference between the frame structure, data stream, and PRN code in the first ranging signal, thereby determining the distance from the target object to the satellite. The target object can also determine the distance from the target object to the satellite based on the phase difference of the carrier between sending and receiving the first ranging signal. Specifically, the distance from the target object to the satellite can be determined by multiplying the sum of the integer ambiguity and the phase difference of the carrier signal by the carrier wavelength.

[0046] Since the satellite's ephemeris is a function that changes over time, in order to accurately determine the current satellite ephemeris, the target object needs to have accurate time. In addition, since satellite positioning is achieved based on the time difference between sending and receiving the ranging signal of the satellite, the time of the target object needs to be as accurate as possible. In order to obtain precise time, in an embodiment according to the present disclosure, the target object can request timing and update the time of the target object in response to obtaining timing information. The method for obtaining timing information is known. The timing information can be obtained from a timing server or an observatory, for example. In another embodiment, the target object can also receive a second satellite ephemeris or navigation message from the satellite and update the time of the target object based on the second satellite ephemeris or navigation message.

[0047] FIG3 illustrates a flow chart of a method 300 for locating a target object, performed by the target object, according to another embodiment of the present disclosure. Similar to method 100, method 300 may begin with initial satellite ephemeris. The initial satellite ephemeris may be, for example, first satellite ephemeris obtained and stored from an ephemeris server, or second satellite ephemeris obtained and stored from a satellite. The initial satellite ephemeris can be used to directly determine the position of a satellite when a target object, such as a vehicle or positioning device, is restarted, thereby eliminating the need for a communication connection with an ephemeris server or satellite.

[0048] Since the satellite's ephemeris is a function that changes over time, the initial satellite ephemeris stored in the target object may not be valid or available when the target object, such as a vehicle or positioning device, is started. In order to determine whether the initial satellite ephemeris is currently valid, in an embodiment according to the present disclosure, a method step S310 is added to method 300. In step S310, the target object determines whether the initial satellite ephemeris is invalid / valid. If the initial satellite ephemeris is valid, the target object can, for example, determine the position of the satellite based on the initial satellite ephemeris (step S330). If the initial satellite ephemeris is invalid, the target object can, for example, send a first satellite ephemeris acquisition request to the ephemeris server.

[0049] Another embodiment of the present disclosure provides a method for determining whether initial satellite ephemeris is invalid. Regardless of whether the initial satellite ephemeris is stored in step S120 or step S170, the initial satellite ephemeris stored later in time will update the earlier stored initial satellite ephemeris. For example, a time interval threshold can be set for updating the initial satellite ephemeris. If the update time interval exceeds the predetermined time interval threshold, the initial satellite ephemeris is determined to have lost its timeliness, i.e., it is determined to be invalid. If the initial satellite ephemeris is invalid, the target object needs to establish a communication connection with the ephemeris server to obtain the satellite ephemeris for the current time point as quickly as possible.

[0050] When using GNSS alone for positioning, accuracy is often insufficient. This is due to potential time errors within the satellite itself, the target object, errors in the satellite's ephemeris and position information, and atmospheric influences that can cause errors in satellite signals, such as refraction as they pass through the ionosphere and troposphere. For more precise positioning, auxiliary positioning methods are needed to eliminate these errors.

[0051] In an embodiment of the present disclosure, assisted positioning means may include, for example, a real-time kinematic carrier phase differential method (RTK) and a pseudorange differential method (RTD). When assisted positioning means are used, in addition to the steps in method 100, the method according to an embodiment of the present disclosure may further include: the target object requests a reference station to establish a communication connection, and in response to the communication connection being established, obtains first positioning reference information from the reference station; and determines the first positioning information of the target object based on the first ranging signal and the first positioning reference information. In the case where the target object determines the second positioning information of the target object based on the second ranging signal (method 200), the method according to another embodiment of the present disclosure may further include: the target object requests a reference station to establish a communication connection, and in response to the communication connection being established, obtains second positioning reference information from the reference station; and determines the second positioning information of the target object based on the second ranging signal and the second positioning reference information.

[0052] In an embodiment of the present disclosure, the first and second positioning reference information include, for example, the position information of the reference station and the satellite signals received by the reference station. When using assisted positioning methods such as RTK or RTD, the position of the reference station on the earth, such as its longitude and latitude, is known, and the reference station simultaneously receives ranging signals from the same satellite.

[0053] When using RTD, the base station calculates the pseudorange from the satellite to the base station based on the ranging signals received from the satellites. It also calculates the true distance from each satellite to the base station based on the known position of the base station and the satellites. The true distance is subtracted from the pseudorange to obtain pseudorange correction information. This pseudorange correction information can eliminate the time error of the satellite signal, the satellite's ephemeris error, and the error in the satellite signal propagation in the atmosphere. This pseudorange correction information is broadcast, and a target object, such as a vehicle or positioning device, obtains this pseudorange correction information from the base station as positioning reference information. The target object can use the pseudorange correction information to correct the target object's positioning information previously determined by the GNSS system, thereby obtaining accurate positioning information for the target object.

[0054] When using RTK, the base station directly broadcasts the ranging signals it receives from satellites, along with the known base station's position information. Target objects, such as vehicles and positioning devices, obtain this information from the base station as a positioning reference. The target object then uses the ranging signals received from the base station and its own first ranging signal to resolve double-difference ambiguities and settle baseline vectors, thereby accurately determining the relative spatial position of the target object and the base station. Ultimately, the target object's precise positioning can be determined based on the known base station's position information.

[0055] In an embodiment of the present disclosure, a real-time kinematic carrier phase differential method (RTK) may include, for example, a network real-time kinematic carrier phase differential method (NRTK). In NRTK, ordinary reference stations are replaced with continuously operating reference stations (CORS) to form a CORS system. The CORS in the system transmits observation values ​​to one or more data processing centers via a data communication network, and the data processing centers simulate a "virtual reference station" closest to the target object.

[0056] In another embodiment of the present disclosure, the assisted positioning method can also be performed in an assisted positioning server. The method according to this embodiment includes: the target object requests the assisted positioning server to establish a communication connection, and in response to the communication connection being established, sends first positioning information and / or second positioning information to the assisted positioning server; receives first positioning correction information and / or second positioning correction information from the assisted positioning server; and corrects the first positioning information and / or second positioning information based on the first positioning correction information and / or second positioning correction information.

[0057] The implementation of the method according to this embodiment is based on another auxiliary positioning server. The first positioning correction information and / or the second positioning correction information are generated in the auxiliary positioning server. The calculation of generating the first positioning correction information and / or the second positioning correction information requires a lot of computing resources and a lot of computing power. By using the method according to this embodiment, the computing performance of the target object or the positioning device of the target object can be reduced. The target object or the positioning device of the target object only needs to correct the first positioning information and / or the second positioning information of the target object previously determined based on the first positioning correction information and / or the second positioning correction information provided by the auxiliary positioning server.

[0058] When using RTD, the auxiliary positioning server obtains the ranging signals it receives and the true position information of the reference station from the reference station. Based on the ranging signals, the auxiliary positioning server calculates the pseudorange from the satellite to the reference station. Based on the known position information of the reference station and the satellite's position information, the server calculates the true distance from each satellite to the reference station. The difference between the true distance and the pseudorange is used to generate positioning correction information. This positioning correction information can eliminate the time error of the satellite signal, the satellite's ephemeris error, and the error in the satellite signal propagation during atmospheric propagation. This positioning correction information is sent by the auxiliary positioning server to the target object, which uses the positioning correction information to correct the target object's positioning information determined by the GNSS system, thereby obtaining the target object's accurate positioning information.

[0059] When using RTK, the assisted positioning server receives ranging signals and the actual position of a base station or virtual base station. Based on this information, the assisted positioning server calculates differential data, particularly differential data from base stations near the target object. The target object can then use this differential data to process or correct its position, determined solely by the GNSS system, to obtain its precise location.

[0060] Figure 4 shows a flowchart of a positioning method executed by a positioning device in a vehicle according to an embodiment of the present disclosure. The vehicle's positioning device may, for example, be a telematics box (Tbox) module in the vehicle. The Tbox integrates vehicle body network and wireless communication functions. When the vehicle starts, the Tbox module starts (step S401). After the Tbox module starts, the GNSS service used for vehicle positioning is activated and begins searching for satellites. After the vehicle has been parked for an extended period of time, or when satellite signals are shielded or weakened by environmental obstructions, the vehicle's satellite search typically takes a significant amount of time, typically several minutes. Simultaneously, the Tbox module connects to the network (step S402), activates the RTK service, logs in to the RTK server, and enters a waiting state. The Tbox module then obtains or updates the precise time from a timing server (step S403) and obtains satellite ephemeris for the current time from an ephemeris server (step S404), for example, by downloading satellite ephemeris using the Qualcomm Xtra service. In step S405, the GNSS service can quickly determine the vehicle's position based on the known satellite ephemeris. For example, the GNSS service can determine the position of satellites and, based on the frame structure, data stream, PRN code, and carrier wave in the satellite signals, determine the distance from the target object to the satellites, and thereby determine the vehicle's position. The vehicle's position can be, for example, its longitude and latitude. This position information is not yet sufficiently precise. In step S406, the vehicle's position is provided to the RTK server. In step S407, the RTK server calculates differential data based on the provided vehicle position information and related satellite signals received by the reference station closest to the vehicle, particularly the known position of the reference station. In step S408, this differential data is provided to a satellite signal carrier integer cycle calculation unit, such as the Qianxun PPE service. The satellite signal carrier integer cycle calculation unit can use this differential data to determine the integer cycle ambiguity of the satellite signal carrier, i.e., the number of integer cycles that the satellite signal carrier wave undergoes from the satellite's transmission to the vehicle's TBox reception. Finally, in step S409, the GNSS service calculates the vehicle's high-precision position based on the determined integer cycle ambiguity and the phase difference between the transmitted and received satellite signals.

[0061] This disclosure uses specific terms to describe the embodiments of the present disclosure. For example, "first / second embodiment," "one embodiment," and / or "some embodiments" refer to a certain feature, structure, or characteristic associated with at least one embodiment of the present disclosure. Therefore, it should be emphasized and noted that "one embodiment," "an embodiment," or "an alternative embodiment" mentioned two or more times in different locations in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of the present disclosure may be appropriately combined.

[0062] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and should not be interpreted in an idealized or highly formal sense, unless explicitly defined as such herein.

[0063] The above is illustrative of the present disclosure and should not be considered as limiting thereof. Although several exemplary embodiments of the present disclosure have been described, those skilled in the art will readily appreciate that many modifications may be made to the exemplary embodiments without departing from the novel teachings and advantages of the present disclosure. Therefore, all such modifications are intended to be included within the scope of the present disclosure as defined by the claims. It should be understood that the above is illustrative of the present disclosure and should not be considered as limiting the specific embodiments disclosed, and modifications to the disclosed embodiments and other embodiments are intended to be included within the scope of the appended claims. The present disclosure is defined by the claims and their equivalents.

Claims

1. A method for locating a target object, performed by the target object, comprising: sending a first satellite ephemeris obtaining request to the ephemeris server, and in response to obtaining the first satellite ephemeris, storing the first satellite ephemeris as initial satellite ephemeris in the target object, and determining a position of a satellite according to the first satellite ephemeris; sending a first ranging signal acquisition request to the satellite according to the position of the satellite, and in response to obtaining the first ranging signal, determining first positioning information of the target object according to the first ranging signal; A second satellite ephemeris acquisition request is sent to the satellite, and in response to obtaining the second satellite ephemeris, the second satellite ephemeris is stored in the target object as initial satellite ephemeris.

2. The method according to claim 1, further comprising: In response to obtaining a second satellite ephemeris, updating the position of the satellite according to the second satellite ephemeris; as well as sending a second ranging signal to the satellite according to the position of the satellite to obtain a request; And in response to obtaining the second ranging signal, second positioning information of the target object is determined according to the second ranging signal.

3. The method according to claim 1, further comprising: receiving a navigation message from the satellite; as well as In response to receiving the navigation message, the position of the satellite is determined according to the navigation message.

4. The method according to claim 1, further comprising: Requesting timing information and updating the time of the target object in response to obtaining the timing information.

5. The method according to claim 1, further comprising: The time of the target object is updated according to the second satellite ephemeris.

6. The method according to claim 3, wherein: Receiving a navigation message from the satellite, comprising: Receive a navigation message from the satellite and store the navigation message in the target object as initial satellite ephemeris; and / or The time of updating the target object according to the navigation message.

7. The method according to claim 1, further comprising: It is determined whether the initial satellite ephemeris is invalid, and in response to the initial satellite ephemeris being invalid, a first satellite ephemeris acquisition request is sent to the ephemeris server.

8. The method according to claim 7, wherein: The initial satellite ephemeris stored later in time updates the initial satellite ephemeris stored earlier. If the time interval exceeds a predetermined time interval threshold, it is determined that the initial satellite ephemeris is invalid.

9. The method according to claim 1, further comprising: requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining first positioning reference information from the reference station; as well as Determining first positioning information of the target object according to the first ranging signal includes: First positioning information of the target object is determined according to the first ranging signal and the first positioning reference information.

10. The method according to claim 2, further comprising: requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining second positioning reference information from the reference station; as well as Determining second positioning information of the target object according to the second ranging signal includes: Second positioning information of the target object is determined according to the second ranging signal and the second positioning reference information.

11. The method according to claim 1 , further comprising: Requesting the auxiliary positioning server to establish a communication connection, and in response to establishing the communication connection, sending the first positioning information and / or the second positioning information to the auxiliary positioning server; receiving first positioning correction information and / or second positioning correction information from the auxiliary positioning server; and Correct the first positioning information and / or the second positioning information according to the first positioning correction information and / or the second positioning correction information.

12. The method according to claim 11, wherein The first positioning correction information and / or the second positioning correction information are generated using a real-time kinematic carrier phase differential method (RTK) or a pseudorange differential method (RTD).

13. A positioning device for performing the method according to any one of the preceding claims. The positioning device according to claim 13 , wherein the positioning device is a remote communication terminal.

15. A motor vehicle comprising a positioning device according to claim 13 or 14.

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