Vehicle positioning method and apparatus, and terminal device and storage medium

Abstract

A vehicle positioning method and apparatus, and a terminal device and a storage medium, which relate to the field of high-precision positioning, and are applied to satellite devices. The method comprises: receiving vehicle-side positioning data sent by an in-vehicle device when determining that a network condition satisfies a preset data transmission condition (S30); and on the basis of the vehicle-side positioning data, acquiring positioning calibration data by means of a core network, and sending the positioning calibration data to the in-vehicle device (S50).

Description

Vehicle positioning method, device, terminal equipment and storage medium

[0001] Related applications

[0002] This application claims priority to Chinese patent application No. 202410378549.8 filed on March 29, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the field of high-precision positioning, and in particular to a vehicle positioning method, apparatus, terminal device, and storage medium. Background Art

[0004] With the continuous development and progress of society, whether it is the logistics industry's need to track cargo transportation in real time, or the public security department's need to effectively manage and dispatch emergency vehicles such as police cars and ambulances, people's demand for vehicle positioning has shown a continuous growth trend. Accurate and timely understanding of vehicle location has become an important demand in various fields. Therefore, a highly accurate vehicle positioning method is needed to provide vehicles with high-precision vehicle location information.

[0005] The currently commonly used vehicle positioning method is relatively traditional, that is, the vehicle mainly communicates with the base station through the network and obtains the verified vehicle position information sent by the base station. However, since the vehicle has high requirements for network signals in the process of obtaining position information, when the vehicle is in an environment with poor network signals such as urban canyons, remote mountainous areas or tunnels, the vehicle cannot obtain accurate vehicle position information through the network. Therefore, the traditional vehicle positioning method still has the problem of poor vehicle positioning accuracy when the vehicle lacks network signals. Summary of the Invention

[0006] The main purpose of this application is to provide a vehicle positioning method, apparatus, terminal device and storage medium, which can solve the problem of poor vehicle positioning accuracy when the vehicle lacks a network signal.

[0007] To achieve the above objectives, the present application provides a vehicle positioning method, which is applied to satellite equipment and includes:

[0008] Receive vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions;

[0009] According to the vehicle-side positioning data, positioning calibration data is obtained through the core network, and the positioning calibration data is sent to the vehicle-mounted device.

[0010] In one embodiment, before the step of receiving the vehicle-side positioning data sent by the vehicle-mounted device when it is determined that the network conditions meet the preset data transmission conditions, the step includes:

[0011] Receiving a satellite positioning data request instruction sent by the vehicle-mounted device;

[0012] The satellite positioning data is acquired according to the satellite positioning data request instruction, and the satellite positioning data is sent to the vehicle-mounted device so that the vehicle-mounted device can determine the network condition.

[0013] In one embodiment, before the step of obtaining positioning calibration data through a core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device, the following steps are included:

[0014] The satellite positioning data is sent to a reference station, which sends the satellite positioning data to a core network. The core network verifies the satellite positioning data to obtain a verification result.

[0015] In one embodiment, the step of obtaining positioning calibration data through a core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device includes:

[0016] The vehicle-side positioning data is sent to a core network through a preset protocol gateway, and the core network verifies the vehicle-side positioning data according to the verification result to obtain positioning calibration data;

[0017] Receive positioning calibration data returned by the core network via the protocol gateway, and send the positioning calibration data to the vehicle-mounted device.

[0018] In one embodiment, the vehicle positioning method is applied to an on-vehicle device, and the method includes:

[0019] Obtain vehicle-side positioning data;

[0020] When it is determined that the network conditions meet the preset data transmission conditions, the vehicle-side positioning data is sent to the satellite device, and the positioning calibration data returned by the satellite device is received;

[0021] The vehicle-side positioning data is calibrated according to the positioning calibration data to obtain a positioning result.

[0022] In one embodiment, the step of obtaining vehicle-side positioning data includes:

[0023] Get satellite positioning data request instruction;

[0024] Sending the positioning data request instruction to the satellite device, and receiving the satellite positioning data returned by the satellite device;

[0025] Generate vehicle-side positioning data based on the satellite positioning data.

[0026] In one embodiment, when it is determined that the network condition meets the preset data transmission condition, before the step of sending the vehicle-side positioning data to the satellite device, the step includes:

[0027] Sending the vehicle-side positioning data to the core network, and determining a sending result of the vehicle-side positioning data, wherein the sending result includes a sending success or a sending failure;

[0028] If the sending result is a sending failure, it is determined whether the network condition meets the preset data transmission condition.

[0029] The present application also provides a vehicle positioning device, which includes:

[0030] The data receiving module is used to receive the vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions;

[0031] The data sending module is used to obtain positioning calibration data through the core network according to the vehicle-side positioning data, and send the positioning calibration data to the vehicle-mounted device.

[0032] An embodiment of the present application further proposes a terminal device, which includes a memory, a processor, and a vehicle positioning program stored in the memory and executable on the processor. When the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method described above are implemented.

[0033] An embodiment of the present application further provides a computer-readable storage medium, on which a vehicle positioning program is stored. When the vehicle positioning program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0034] The vehicle positioning method, apparatus, terminal device, and storage medium proposed in the embodiments of the present application receive vehicle-side positioning data sent by the on-board device when it determines that the network conditions meet the preset data transmission conditions; obtain positioning calibration data through the core network based on the vehicle-side positioning data, and send the positioning calibration data to the on-board device. Since the vehicle cannot obtain high-precision vehicle positioning when there is no network signal, when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send the vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is in a location with poor network signal. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, it can still obtain a high-precision vehicle positioning result, which greatly ensures the driver's driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic diagram of the functional modules of a terminal device to which the vehicle positioning device of the present application belongs;

[0036] FIG2 is a flow chart of a first exemplary embodiment of a vehicle positioning method of the present application;

[0037] FIG3 is a flow chart of a second exemplary embodiment of a vehicle positioning method of the present application;

[0038] FIG4 is a flow chart of a third exemplary embodiment of a vehicle positioning method of the present application;

[0039] FIG5 is a flow chart of a fourth exemplary embodiment of a vehicle positioning method of the present application;

[0040] FIG6 is a flow chart of a fifth exemplary embodiment of a vehicle positioning method of the present application;

[0041] FIG7 is a flow chart of a sixth exemplary embodiment of a vehicle positioning method of the present application;

[0042] FIG8 is a flow chart of a seventh exemplary embodiment of the vehicle positioning method of the present application;

[0043] FIG9 is a schematic diagram of the technical process of the vehicle positioning method of the present application when the vehicle network is normal;

[0044] FIG10 is a schematic diagram of the technical process when the vehicle network is abnormal in the vehicle positioning method of the present application.

[0045] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] The main solution of the embodiment of the present application is: by receiving the vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions; obtaining positioning calibration data through the core network based on the vehicle-side positioning data, and sending the positioning calibration data to the vehicle-mounted device. Since the vehicle cannot obtain high-precision vehicle positioning when there is no network signal, when the vehicle-mounted device determines that the current network conditions meet the preset data transmission conditions, the vehicle-mounted device will send the vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the vehicle-mounted device, it can be determined that the vehicle is in a location with poor network signal. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the vehicle-mounted device. After receiving the calibrated positioning calibration data, the vehicle-mounted device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, it can still obtain a high-precision vehicle positioning result, which greatly ensures the driver's driving safety.

[0048] This embodiment takes into account that with the continuous development and progress of society, people's demand for vehicle positioning has shown a continuous growth trend, and accurate and timely understanding of vehicle location has become an important demand in various fields. The currently commonly used vehicle positioning methods are relatively traditional, that is, the vehicle mainly contacts the base station through the network and obtains the verified vehicle location information sent by the base station. However, since the vehicle has high requirements for network signals in the process of obtaining location information, when the vehicle is in an environment with poor network signals such as urban canyons, remote mountainous areas or tunnels, the vehicle cannot obtain accurate vehicle location information through the network. Therefore, the traditional vehicle positioning method still has the problem of poor vehicle positioning accuracy when the vehicle lacks network signals.

[0049] Based on this, an embodiment of the present application proposes a solution. When the vehicle is in an area lacking network signals, when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is currently in an area with poor network signals. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain high-precision vehicle positioning results. Through this method, when the vehicle enters an area with poor network signals, high-precision vehicle positioning results can still be obtained, which greatly ensures the driver's driving safety.

[0050] Specifically, referring to Figure 1, which is a functional module diagram of a terminal device to which the vehicle positioning device of the present application belongs, the vehicle positioning device can be a device independent of the terminal device and capable of processing data, or it can be hosted on the terminal device in the form of hardware or software.

[0051] In this embodiment, the terminal device to which the vehicle positioning apparatus belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0052] Memory 130 stores an operating system and a vehicle positioning program. It receives vehicle-side positioning data sent by the onboard device when it determines that network conditions meet preset data transmission conditions. Based on this vehicle-side positioning data, it obtains positioning calibration data through the core network and sends this positioning calibration data to the onboard device. The positioning results are stored in memory 130. Output module 110 can be a display screen, speaker, etc. Communication module 140 can include a Wi-Fi module, a mobile communication module, and a Bluetooth module, etc., and communicates with external devices or servers through communication module 140.

[0053] When the vehicle positioning program in the memory 130 is executed by the processor, the following steps are implemented:

[0054] Receive vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions; obtain positioning calibration data through the core network based on the vehicle-side positioning data, and send the positioning calibration data to the vehicle-mounted device.

[0055] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0056] Receiving a satellite positioning data request instruction sent by the vehicle-mounted device;

[0057] The satellite positioning data is acquired according to the satellite positioning data request instruction, and the satellite positioning data is sent to the vehicle-mounted device so that the vehicle-mounted device can determine the network condition.

[0058] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0059] The satellite positioning data is sent to a reference station, which sends the satellite positioning data to a core network. The core network verifies the satellite positioning data to obtain a verification result.

[0060] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0061] The vehicle-side positioning data is sent to a core network through a preset protocol gateway, and the core network verifies the vehicle-side positioning data according to the verification result to obtain positioning calibration data;

[0062] Receive positioning calibration data returned by the core network via the protocol gateway, and send the positioning calibration data to the vehicle-mounted device.

[0063] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0064] Obtain vehicle-side positioning data;

[0065] When it is determined that the network conditions meet the preset data transmission conditions, the vehicle-side positioning data is sent to the satellite device, and the positioning calibration data returned by the satellite device is received;

[0066] The vehicle-side positioning data is calibrated according to the positioning calibration data to obtain a positioning result.

[0067] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0068] Get satellite positioning data request instruction;

[0069] Sending the positioning data request instruction to the satellite device, and receiving the satellite positioning data returned by the satellite device;

[0070] Generate vehicle-side positioning data based on the satellite positioning data.

[0071] In one embodiment, when the vehicle positioning program in the memory 130 is executed by the processor, the following steps are further implemented:

[0072] Sending the vehicle-side positioning data to the core network, and determining a sending result of the vehicle-side positioning data, wherein the sending result includes a sending success or a sending failure;

[0073] If the sending result is a sending failure, it is determined whether the network condition meets the preset data transmission condition.

[0074] This embodiment, through the above-mentioned scheme, receives vehicle-side positioning data sent by the on-board device when it determines that the network conditions meet the preset data transmission conditions; obtains positioning calibration data through the core network based on the vehicle-side positioning data, and sends the positioning calibration data to the on-board device. Since the vehicle cannot obtain high-precision vehicle positioning when there is no network signal, when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send the vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is in a location with poor network signal. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, it can still obtain a high-precision vehicle positioning result, greatly ensuring the driver's driving safety.

[0075] 2 , which is a flow chart of a first exemplary embodiment of a vehicle positioning method of the present application.

[0076] An embodiment of the present application provides a vehicle positioning method, the method comprising:

[0077] Step S30, receiving vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions;

[0078] Vehicle-mounted equipment refers to various electronic devices and devices installed on the vehicle, which can be used to provide functions such as vehicle-mounted entertainment, vehicle safety, vehicle positioning and navigation. Among them, the vehicle-mounted equipment used to send vehicle-side positioning data or request positioning instructions to satellite equipment can be a vehicle-mounted positioning terminal. Specifically, a vehicle-mounted positioning terminal refers to a device that integrates the global satellite positioning system (GPS), communication and computer technology. It can determine the vehicle's position, speed and direction by receiving satellite signals, and finally transmit this information to the background server or satellite equipment through the communication module to realize the tracking, monitoring and management of the vehicle.

[0079] The functions and components of the vehicle positioning terminal may include:

[0080] GPS receiver: Determines the vehicle's location, speed, and direction by receiving signals from satellites. The vehicle positioning terminal can be mounted outside the vehicle for better signal reception.

[0081] Communication module: responsible for communicating with the background server or satellite equipment. The communication module can upload the vehicle's location and status information to the server or satellite or receive instructions from the server and satellite, such as issuing navigation routes, querying vehicle status, etc.

[0082] Control unit: The control unit is responsible for processing and managing the transmission and processing of vehicle positioning information, and can also control paging, alarm, recording and other functions.

[0083] Display screen: used to display the vehicle's current location, navigation instructions and other relevant information, helping the driver to better understand the vehicle's location status.

[0084] External antenna: used to receive satellite signals and improve positioning accuracy. Common ones include GPS antennas and GSM antennas.

[0085] Storage device: used to store map data, historical location records and other information. Generally, there are two types of storage: internal storage and external storage.

[0086] User interface: This includes buttons and a touch screen, used for user input and interaction. Through the user interface, the driver can set up and operate the vehicle positioning terminal, such as querying historical tracks and activating alarms.

[0087] In one embodiment, the vehicle-mounted positioning terminal can send vehicle-side positioning data including vehicle identification information to the satellite device through the communication module, wherein the vehicle-side positioning data can be understood as satellite positioning data with vehicle identification information. In this way, the satellite device can accurately send positioning calibration data to the corresponding vehicle through the vehicle identification information, thereby realizing high-precision positioning and navigation functions of the vehicle.

[0088] Among them, network conditions refer to some specific situations and constraints that exist in the network environment when the vehicle or on-board equipment uses a network connection. Since these specific situations and constraints will affect the speed, stability and reliability of data transmission, when the vehicle needs to obtain high-precision positioning results, the on-board equipment can analyze the current network conditions. The analysis results can determine whether the vehicle is in an area with no network or poor network signal. When the on-board equipment determines that the vehicle is in an area with no network or poor network signal, the on-board equipment can send vehicle-side positioning data to the satellite equipment to obtain high-precision positioning results.

[0089] Data transmission conditions refer to the specific values ​​or conditions of various specific situations and constraints when the vehicle is in an area with no network or poor network signal. For example, when the vehicle enters an area with poor network signal, the vehicle's data transmission speed will slow down, and the data transmission conditions further limit the lower limit of this data transmission speed for the on-board equipment to judge the current network conditions. For example, when the on-board equipment detects that the current vehicle's data transmission speed slows down to the lower limit of the data transmission speed in the data transmission conditions or is lower than the lower limit, the on-board equipment can consider that the vehicle is in an area with poor network signal at this time.

[0090] Specifically, the various data types used to determine network conditions may also include:

[0091] Bandwidth: refers to the maximum data transmission capacity of a network connection, usually measured in Mbps or Gbps. By analyzing the network bandwidth, you can determine the current data transmission speed.

[0092] Latency: refers to the time required for network data transmission from sending to receiving. The shorter the latency, the faster the data transmission speed. Low latency is very important for application scenarios with high real-time requirements, such as video calls and online games. Therefore, on-board equipment can determine whether the vehicle's current network conditions meet the preset data transmission conditions by detecting latency.

[0093] Packet loss rate: Packet loss rate refers to the probability that some data packets fail to be successfully transmitted to the target device during data transmission due to network congestion, transmission errors, or poor network signals. The higher the packet loss rate, the poorer the data transmission quality, which may lead to data transmission failure or incomplete information.

[0094] By limiting the numerical content of the above data types, it can help the on-board device to determine whether the current vehicle network conditions meet the preset data transmission conditions. When it is determined that the current vehicle network conditions meet the preset data transmission conditions, the on-board device can send vehicle-side positioning data to the satellite device to request high-precision positioning results.

[0095] Vehicle-side positioning data refers to the location information data obtained on the vehicle, which may contain the vehicle identification number information. The identification number information can be used to query the corresponding vehicle information. Vehicle-side positioning data can be obtained through the Global Positioning System (GPS) and Beidou Satellite Navigation System. These positioning data may include the vehicle's latitude and longitude coordinates, altitude, speed, heading and other information.

[0096] As an implementation method, a time interval for determining network conditions may be set in the vehicle-mounted device to regularly monitor the current network status and make corresponding decisions. Specifically, the time interval may include:

[0097] Set a default time interval: Set a default time interval, for example, the vehicle-mounted device analyzes and judges the network conditions every 5 minutes, and uses this as the benchmark time interval to ensure that the vehicle-mounted device can monitor the network status in a timely manner.

[0098] Adaptive adjustment: Based on actual conditions, the on-board equipment uses adaptive adjustment to dynamically change the reference time interval. For example, if the vehicle enters an area with poor signal coverage, the 5-minute reference time interval can be shortened to 1 minute and used as the reference time interval. In this way, the frequency of network status monitoring can be increased when the vehicle enters an area with poor signal coverage.

[0099] Low power consumption strategy: On the contrary, when the network conditions are good and frequent monitoring is not required, the reference time interval can be extended to 10 minutes or longer to reduce power consumption.

[0100] Event-driven triggering: In addition to scheduled time interval monitoring, you can also consider setting up an event-driven trigger mechanism. For example, when the network status suddenly changes or exceeds the set threshold, network condition analysis is immediately triggered to respond to network changes in a timely manner.

[0101] Step S50: acquiring positioning calibration data through a core network based on the vehicle-side positioning data, and sending the positioning calibration data to the vehicle-mounted device;

[0102] After the satellite device receives the vehicle-side positioning data sent by the vehicle-mounted device, the satellite device can obtain positioning calibration data in the core network based on the vehicle-side positioning data.

[0103] Specifically, after the satellite equipment uses non-terrestrial network technology to access the core network and obtains calibrated positioning calibration data related to the vehicle-side positioning data in the core network, the satellite equipment returns the positioning calibration data to the CPE (Customer Premises Equipment, end user) through non-terrestrial network technology, helping end users in an offline state to obtain positioning calibration data.

[0104] Specifically, in this communication system, the satellite acts as a relay site to receive data sent by the end user and forwards it to the ground site or other destinations, and CPE can refer to the equipment located at the user, such as vehicle-mounted equipment, satellite phone or other related equipment. The user's equipment communicates with other locations via satellite, and its application scenario can be remote areas where there is no traditional communication infrastructure.

[0105] Satellite backhaul communications for CPE involve satellites, CPE devices, ground sites, communication links, frequency bands, and modulation methods.

[0106] Among them, the communication link refers to the physical and logical path connecting the user's CPE device, satellite and ground station. The user sends data to the satellite through the CPE device, the satellite receives and forwards the data to the ground station, and then sends the response data back to the user from the ground station. The frequency band and modulation method can include C band, Ku band and Ka band, etc.

[0107] Among them, non-ground network technology refers to the use of non-ground networks, such as satellite communications or drones, to provide network connectivity and communication services. By using non-ground network technology, high-precision positioning data of vehicles, that is, accurate location information, can be obtained by communicating with non-ground networks in areas not covered by traditional ground networks.

[0108] The core network is a key component of a mobile communications network and the central processing unit of the entire mobile communications system, responsible for processing user data and control signaling. The core network connects external networks such as the wireless access network and the Internet, and is the infrastructure that enables global services within the mobile communications network. Specifically, the subsystems within the core network include:

[0109] Business support subsystem: provides functions such as user authentication, billing, and account management.

[0110] Transmission control subsystem: responsible for signaling transmission, including call establishment, SMS transmission, etc.

[0111] Mobility management entity: responsible for mobility management, including location management, paging, etc.

[0112] Session management subsystem: provides multimedia service support, including voice and video calls.

[0113] User data management subsystem: stores user information, including user identity, service charges, etc.

[0114] The above subsystems together constitute the core network of the mobile communication network and realize various functions of mobile communication services.

[0115] When a vehicle enters an area with no network or poor network signal and the on-board device determines that the network conditions meet the preset data transmission conditions, the on-board device will send the vehicle-side positioning data to the satellite device. The satellite device is connected to the 5G core network through non-terrestrial network technology, and obtains positioning calibration data in the 5G core network through the vehicle-side positioning data and returns the positioning calibration data to the corresponding on-board device based on the vehicle identification information in the vehicle-side positioning data, helping the vehicle to verify its vehicle-side positioning data to obtain high-precision vehicle positioning results, avoiding the situation where the vehicle cannot connect to the core network to obtain high-precision vehicle positioning data when there is no network.

[0116] In one embodiment, the satellite can be directly connected to the user's mobile phone, and a signal gateway station is set up on the ground as a gateway, and finally connected to the 5G core network. The satellite can act as a base station to directly transmit 5G signals to connect with the terminal, or it can act as a transparent forwarding node to transmit the signals sent by the ground station to the vehicle.

[0117] Specifically, as an implementation method, a method for achieving vehicle positioning without a network may include:

[0118] Vehicle-mounted device initialization: Vehicle-mounted device initialization includes connecting and configuring the satellite communication module. The vehicle-mounted device can be a GPS navigation system or other positioning device installed on the vehicle.

[0119] Satellite connection: The on-board equipment establishes a connection with the satellite communication module and communicates through satellite communication cards, antennas and other equipment.

[0120] Network condition determination: The vehicle-mounted equipment can detect the current mobile network and satellite signals by detecting the signal strength of mobile phone signals, Wi-Fi signals, satellite communication modules and other devices. By determining the network conditions, the vehicle can choose an appropriate method to transmit the vehicle's positioning information.

[0121] Positioning data transmission: When the vehicle determines that the current network is poor or even unavailable, the on-board equipment sends the vehicle's positioning data such as GPS coordinates, speed, direction and other information to the satellite communication module.

[0122] Satellite transmission: The satellite communication module transmits the received positioning data to the 5G core network through non-terrestrial network technology. This involves communication between the satellite and the ground gateway, as well as data transmission between the gateway and the core network. Specifically, the ground gateway can transmit the received data to the operator's core network through wired or wireless transmission methods such as optical fiber and microwave links.

[0123] Core network processing: The 5G core network processes and calculates the received positioning data through calibration, filtering and other processing operations to obtain accurate vehicle positioning results.

[0124] Positioning calibration data return: The core network returns the processed positioning calibration data to the satellite communication module along the original information path.

[0125] Reception and application by on-board equipment: The satellite communication module transmits the positioning calibration data back to the on-board equipment along the original information route. After the on-board equipment receives the positioning calibration data, it verifies and corrects the vehicle's positioning data to obtain a calibrated and accurate vehicle positioning result.

[0126] It should be noted that non-terrestrial network technologies can be combined with other technologies in 5G systems, such as millimeter wave communication and multiplexing, to achieve more efficient and reliable wireless communications.

[0127] The vehicle positioning method proposed in the embodiment of the present application receives vehicle-side positioning data sent by the on-board device when it determines that the network conditions meet the preset data transmission conditions; obtains positioning calibration data through the core network based on the vehicle-side positioning data, and sends the positioning calibration data to the on-board device. Since the vehicle cannot obtain high-precision vehicle positioning when there is no network signal, when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send the vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is in a location with poor network signal. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, it can still obtain a high-precision vehicle positioning result, which greatly ensures the driver's driving safety.

[0128] 3 , which is a flow chart of a second exemplary embodiment of a vehicle positioning method of the present application.

[0129] Based on the first embodiment, a second embodiment of the present application is proposed. The difference between the second embodiment of the present application and the first embodiment is that:

[0130] In this embodiment, before receiving the vehicle-side positioning data sent by the vehicle-mounted device when it is determined that the network condition meets the preset data transmission condition in step S30, the method further includes:

[0131] Step S10, receiving a satellite positioning data request instruction sent by the vehicle-mounted device;

[0132] During navigation using satellites, the on-board device can send a request command to the satellite to request the satellite to transmit positioning data. This is because the satellite navigation system uses a passive reception method. Only when the on-board device issues a request will the satellite return its corresponding location information to the on-board device.

[0133] Therefore, before obtaining satellite positioning data, the on-board device needs to send a special command to the satellite. This command contains relevant information about the on-board device, such as the vehicle's identification information, current location, and speed. When the satellite device receives this command, it calculates the vehicle's precise location based on the information provided by the on-board device and transmits the positioning data back to the corresponding on-board device based on the vehicle's identification information.

[0134] Step S20, acquiring satellite positioning data according to the vehicle-side positioning information request instruction, and sending the satellite positioning data to the vehicle-mounted device for the vehicle-mounted device to determine the network condition;

[0135] After the satellite device receives the satellite positioning data request instruction sent by the vehicle-mounted device, the satellite device may obtain satellite positioning data according to the satellite positioning data request instruction.

[0136] Specifically, the steps of the satellite device acquiring satellite positioning data and sending the satellite positioning data back to the vehicle-mounted device may include:

[0137] Receiving instructions: The satellite device receives and parses the satellite positioning data request instruction sent by the vehicle-mounted device. The instruction contains relevant information of the vehicle-mounted device, such as the vehicle's identification information, the vehicle's current location and speed, etc.

[0138] Positioning calculation: The satellite device uses the information received from the vehicle's onboard equipment, combined with its own navigation algorithm and satellite signal reception mechanism, to perform positioning calculations. This calculation process may involve techniques such as time difference measurement of satellite signals and the Doppler effect to determine the vehicle's precise location.

[0139] Data transmission: After the satellite device calculates the vehicle's positioning information, it encodes the positioning data and transmits it back to the on-board device. The transmission can be carried out via satellite signals. The satellite encapsulates the positioning data into a signal in a specific format and transmits it to the on-board device via a satellite channel.

[0140] On-board device reception: After receiving the positioning data transmitted by the satellite, the on-board device decodes and processes it. Based on the received positioning data, the on-board device can accurately determine its own position and perform corresponding navigation or positioning operations.

[0141] During the entire process, the satellite device can locate the vehicle and generate its positioning data based on the satellite positioning data request instruction sent by the on-board device. Finally, the satellite device can transmit the generated satellite positioning data back to the on-board device, ultimately achieving accurate positioning of the vehicle.

[0142] The vehicle positioning method proposed in the embodiment of the present application receives a satellite positioning data request instruction sent by the on-board device; obtains satellite positioning data according to the satellite positioning data request instruction, and sends the satellite positioning data to the on-board device for the on-board device to judge the network conditions. When the satellite device receives the satellite positioning data request instruction sent by the on-board device, the satellite device can obtain the satellite positioning data according to the instruction and return it to the corresponding on-board device in a timely manner for the on-board device to judge the network conditions. Through this method, the satellite device can provide the on-board device with high-precision, all-weather, global coverage real-time positioning services. The on-board device can also obtain the latest positioning information through the request instruction and judge the network conditions based on these data to select a suitable communication method.

[0143] 4 , which is a flow chart of a third exemplary embodiment of a vehicle positioning method of the present application.

[0144] Based on the second embodiment, the third embodiment of the present application is proposed. The difference between the third embodiment of the present application and the second embodiment is that:

[0145] In this embodiment, in step S50, before obtaining positioning calibration data through the core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device, the method further includes:

[0146] Step S40: sending the satellite positioning data to a reference station, which sends the satellite positioning data to a core network, and the core network verifies the satellite positioning data to obtain a verification result;

[0147] A base station refers to a fixed location point in a global satellite positioning system (such as GPS, Beidou, GLONASS, etc.) used to provide precision measurement and position calibration. Its position coordinates have been measured and determined with high precision.

[0148] When the satellite device receives the satellite positioning data request instruction sent by the vehicle-mounted device and obtains the satellite positioning data according to the satellite positioning data request instruction, the satellite device sends the satellite positioning data to the vehicle-mounted device and can also send it to the base station for subsequent data verification by the base station, where there can be multiple base stations.

[0149] In one embodiment, after a plurality of reference stations receive satellite positioning data sent by satellite devices, the reference stations may send the satellite positioning data to a core network, and the core network may verify the satellite positioning data.

[0150] The process of several base stations receiving and sending satellite positioning data may include:

[0151] Base stations receive satellite positioning data: Different base stations are distributed in different geographical locations to receive satellite positioning data from satellites. These base stations have high-precision measurement equipment and position reference points.

[0152] The base station sends the satellite positioning data to the core network: The base station sends the received satellite positioning data to the core network. Specifically, the data transmission can be carried out through the Internet or a dedicated network.

[0153] The core network verifies satellite positioning data: After receiving satellite positioning data from multiple reference stations, the core network verifies and authenticates the data.

[0154] The process of multiple base stations verifying satellite positioning data through the core network may include:

[0155] Multiple base stations receive satellite positioning data: Multiple base stations receive satellite signals simultaneously and record their own satellite positioning data.

[0156] Uploading base station data to the core network: Each base station uploads the received satellite positioning data to the core network server.

[0157] The core network server performs differential processing: After receiving data uploaded by multiple reference stations, the core network server performs differential processing on these data. The purpose of differential processing is to eliminate the errors between multiple reference stations and obtain differential corrections relative to the reference station.

[0158] Generate differential correction data: The core network server generates differential correction data based on the results of differential processing. The differential correction data includes the differential correction amount of each base station relative to the reference station. The differential correction data can be understood as the verification result.

[0159] This differential positioning method can utilize the relative differential information between multiple reference stations to provide more accurate positioning results. The core network plays a role in data processing and transmission in this process, coordinating data exchange and correction between multiple reference stations.

[0160] The vehicle positioning method proposed in the embodiment of the present application is that multiple base stations send the collected satellite positioning data to the core network for data interconnection and perform differential verification on the satellite positioning data in the core network based on the interconnection results. This method can effectively eliminate the influence of error factors such as atmospheric delay and clock error on satellite positioning data. Satellite equipment can obtain more reliable, more accurate and verified data to meet the vehicle's needs for high-precision positioning.

[0161] 5 , which is a flow chart of a fourth exemplary embodiment of a vehicle positioning method of the present application.

[0162] Based on the third embodiment, a fourth embodiment of the present application is proposed. The difference between the fourth embodiment of the present application and the third embodiment is that:

[0163] In this embodiment, step S50 is further refined by obtaining positioning calibration data through the core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device, wherein the refining steps may include:

[0164] Step S51, sending the vehicle-side positioning data to the core network through a preset protocol gateway, and the core network verifies the vehicle-side positioning data according to the verification result to obtain positioning calibration data;

[0165] After the satellite device obtains the vehicle-side positioning data, it can send the vehicle-side positioning data to a preset protocol gateway, and then send the vehicle-side positioning data to the core network through the gateway for the core network to perform differential verification on the vehicle-side positioning data.

[0166] Among them, the protocol gateway refers to a node for data transmission and exchange, which is used to handle communication protocol conversion and data exchange between different devices or systems, ensuring that data can be transmitted and parsed between different protocols. Specifically, the protocol gateway can be located inside or near the vehicle, and the satellite equipment can send the vehicle-side positioning data to the protocol gateway for the protocol gateway to collect, store and forward the data.

[0167] Specifically, the functions of the protocol gateway may include:

[0168] Specifically, the main functions of the gateway include:

[0169] Data collection: Receive vehicle-side positioning data from satellite equipment.

[0170] Data storage: Temporarily store vehicle-side positioning data for subsequent transmission or processing.

[0171] Data processing: Perform necessary processing on the vehicle-side positioning data, such as format conversion, encryption and decryption, etc.

[0172] Network connection: Establish and manage communication connections with the core network to ensure that vehicle-side positioning data can be transmitted to the core network securely and stably.

[0173] Data forwarding: The vehicle-side positioning data is sent to the core network for differential verification.

[0174] In summary, the protocol gateway acts as a bridge between satellite equipment and the core network, ensuring that the satellite equipment can effectively transmit vehicle-side positioning data to the core network for the core network to process the data.

[0175] Specifically, after the core network receives the vehicle-side positioning data, the core network can verify the vehicle-side positioning data based on the previous verification results of multiple reference stations on the satellite positioning data in the core network to obtain positioning calibration data. The positioning calibration data is obtained by verifying the vehicle-side positioning data through the core network.

[0176] Step S52: receiving positioning calibration data returned by the core network via the protocol gateway, and sending the positioning calibration data to the vehicle-mounted device;

[0177] After the satellite device sends the vehicle-side positioning data to the core network, the satellite device obtains the positioning calibration data returned by the core network after the core network completes the differential verification of the vehicle-side positioning data.

[0178] The satellite device receives the positioning calibration data returned by the core network through the protocol gateway.

[0179] Specifically, since the protocol gateway provides a specific interface or protocol, the method for the satellite device to obtain positioning calibration data can be to interact with the protocol gateway through a predefined communication protocol and interface. The specific steps may include:

[0180] Send request: The satellite device will send a request to the protocol gateway according to the pre-defined communication protocol to request positioning calibration data.

[0181] Data transmission: After receiving the request, the protocol gateway will communicate with the core network according to the agreed protocol and interface to obtain the corresponding positioning calibration data.

[0182] Data return: When the protocol gateway obtains positioning calibration data from the core network, it will return the data to the satellite device according to the predetermined communication protocol.

[0183] Processing data: After receiving the positioning calibration data, the satellite device will parse and process the data according to the method specified in the protocol to complete the data reception.

[0184] The vehicle positioning method proposed in the embodiment of the present application is that the satellite equipment can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the vehicle-mounted equipment. After receiving the calibrated positioning calibration data, the vehicle-mounted equipment can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, a high-precision vehicle positioning result can still be obtained, which greatly ensures the driver's driving safety.

[0185] 6 , which is a flow chart of a fifth exemplary embodiment of a vehicle positioning method of the present application.

[0186] A fifth embodiment of the present application provides a vehicle positioning method, the method comprising:

[0187] Step S11, obtaining vehicle-side positioning data;

[0188] Vehicle-side positioning data refers to the location information data obtained on the vehicle, which may contain the vehicle's identification number information. The identification number information can be used to query the corresponding vehicle information. The vehicle-side positioning data can be obtained through the Global Positioning System (GPS) and the Beidou Satellite Navigation System. Among them, the vehicle-side positioning data may include the vehicle's latitude and longitude coordinates, altitude, speed, heading and other information.

[0189] Step S12: When it is determined that the network condition meets the preset data transmission condition, the vehicle-side positioning data is sent to the satellite device, and the positioning calibration data returned by the satellite device is received;

[0190] After the on-board device obtains the vehicle-side positioning data, the on-board device can judge the network conditions. If it is judged that the network conditions meet the data transmission conditions, the vehicle-side positioning data including the vehicle identification information can be sent to the satellite device through the communication module. In order to obtain high-precision vehicle positioning data, when the on-board device determines that the vehicle is in an area with no network or poor network signal, the on-board device can establish two-way communication with the satellite device to obtain high-precision positioning calibration data.

[0191] Among them, network conditions refer to some specific situations and constraints that exist in the network environment when the vehicle or on-board equipment uses a network connection. Since these specific situations and constraints will affect the speed, stability and reliability of data transmission, when the vehicle needs to obtain high-precision positioning results, the on-board equipment can analyze the current network conditions. The analysis results can determine whether the vehicle is in an area with no network or poor network signal. When the on-board equipment determines that the vehicle is in an area with no network or poor network signal, the on-board equipment can send vehicle-side positioning data to the satellite equipment to obtain high-precision positioning results.

[0192] Data transmission conditions refer to the specific values ​​or conditions of various specific situations and constraints when the vehicle is in an area with no network or poor network signal. For example, when the vehicle enters an area with poor network signal, the vehicle's delay value will increase, and the data transmission conditions can further limit the upper limit of this delay value so that the on-board equipment can judge the current network conditions. For example, for the delay value in the data transmission conditions, when the on-board equipment detects that the current vehicle's delay value rises to the upper limit of the data transmission speed in the data transmission conditions or is higher than the upper limit, the on-board equipment can consider that the vehicle is in an area with poor network signal or no network.

[0193] Step S13, calibrating the vehicle-side positioning data according to the positioning calibration data to obtain a positioning result;

[0194] After the vehicle-mounted device receives the positioning calibration data returned by the satellite device, the vehicle-mounted device can calibrate the previously acquired vehicle-side positioning data according to the positioning calibration data to obtain a positioning result.

[0195] Specifically, the calibration process may include:

[0196] Receiving positioning calibration data: The vehicle-mounted device receives positioning calibration data returned by the satellite device. This data may include correction information for the previously acquired vehicle-side positioning data.

[0197] Data analysis: The on-board equipment analyzes the received positioning calibration data and extracts correction information, such as position offset and clock error.

[0198] Calibration calculation: Based on the correction information received, the on-board equipment performs calibration calculations on the previously acquired vehicle-side positioning data to correct possible positioning errors or drifts.

[0199] Positioning result: After calibration calculation, the on-board equipment obtains a corrected positioning result, which should more accurately reflect the current position and status of the vehicle.

[0200] In practical applications, the calibration process involves complex mathematical models, algorithms, and signal processing techniques, of which the above calibration process is just one example.

[0201] The vehicle positioning method proposed in the embodiment of the present application is that when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is in a location with poor network signals. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain high-precision vehicle positioning results. Through this method, when the vehicle enters an area with poor network signals, high-precision vehicle positioning results can still be obtained, which greatly ensures the driver's driving safety.

[0202] 7 , which is a flow chart of a sixth exemplary embodiment of a vehicle positioning method of the present application.

[0203] Based on the fifth embodiment, a sixth embodiment of the present application is proposed. The difference between the sixth embodiment of the present application and the fifth embodiment is that:

[0204] In this embodiment, step S11 of obtaining vehicle-side positioning data is refined, wherein the refinement steps may include:

[0205] Step S111, obtaining a satellite positioning data request instruction;

[0206] Specifically, the method for the vehicle-mounted device to obtain a satellite positioning data request instruction may include:

[0207] User input: In-vehicle devices are typically equipped with a user interface, such as a touchscreen, buttons, or knobs, through which users can input requests. For example, in a navigation system, a user can use a touchscreen to select a destination and confirm a request. Once the user enters the relevant information, the in-vehicle device can generate a corresponding satellite positioning data request based on the user's input.

[0208] External device connection: The in-vehicle device can connect to other external devices, such as mobile phones, tablets, or computers. By connecting to these devices, the in-vehicle device can receive requests from external devices. For example, a mobile phone app can send a destination request to the in-vehicle navigation system.

[0209] Voice control: Some in-vehicle devices support voice control, allowing users to send requests through voice commands. This requires the in-vehicle device to have built-in voice recognition technology and be able to understand and respond to user voice commands.

[0210] Communicating with a server using a specific protocol: In some cases, in-vehicle devices may communicate with a server using a specific protocol to obtain requested instructions. For example, a vehicle remote monitoring system may communicate with a vehicle management server to receive remote control instructions.

[0211] The above are some of the methods for vehicle-mounted equipment to obtain satellite positioning data request instructions. The methods to be used can be determined based on the specific vehicle-mounted equipment type and application scenario.

[0212] Step S112, sending the positioning data request instruction to the satellite device, and receiving the satellite positioning data returned by the satellite device;

[0213] Since the satellite navigation system adopts a passive reception mode, the satellite will only transmit its position information back to the on-board device when the on-board device issues a request. Therefore, before obtaining the satellite positioning data, the on-board device needs to send a satellite positioning data request instruction to the satellite to request the satellite to send relevant satellite positioning data.

[0214] After the vehicle-mounted device sends the positioning data request instruction to the satellite device, the vehicle-mounted device can prepare to receive the satellite positioning data returned by the satellite device.

[0215] Step S113, generating vehicle-side positioning data based on the satellite positioning data;

[0216] After the vehicle-mounted device receives the satellite positioning data sent by the satellite device, the vehicle-mounted device can obtain the vehicle identification information for subsequent generation of vehicle-side positioning data with the vehicle identification information.

[0217] Among them, vehicle identification information refers to relevant data used to uniquely identify and describe a vehicle. Vehicle identification information may include a vehicle identifier, such as a license plate number.

[0218] The steps of generating vehicle-side positioning data based on satellite positioning data may include:

[0219] Parsing satellite positioning data: The on-board equipment first needs to parse the received satellite positioning data to obtain relevant information such as latitude and longitude, speed, and direction.

[0220] Obtain vehicle identification information: The on-board device obtains vehicle identification information, such as the vehicle identifier.

[0221] Synthesize vehicle-side positioning data: Combine satellite positioning data and vehicle identification information to generate vehicle-side positioning data. The vehicle-side positioning data can be a data structure or message that can contain information such as the vehicle's location, speed, and direction.

[0222] Storing or transmitting vehicle-side positioning data: The vehicle-mounted device can store the generated vehicle-side positioning data in local storage or transmit the data to a satellite via satellite communication, and the satellite will further process the data.

[0223] It should be noted that the specific vehicle-side positioning data format and data processing logic may vary depending on the vehicle-mounted equipment.

[0224] When the on-board device receives the satellite positioning data sent by the satellite device, the on-board device will add the acquired vehicle identification information to the satellite positioning data to generate vehicle-side positioning data with vehicle identification information, so that the subsequent satellite can return the positioning calibration data to the on-board device based on the vehicle identification information.

[0225] The vehicle positioning method proposed in the embodiment of the present application can obtain the satellite positioning data returned by the satellite device by sending a satellite positioning data request instruction to the satellite device when the vehicle needs to obtain satellite positioning data. However, since the satellite positioning data returned by the satellite device does not contain vehicle identification information, it cannot provide specific vehicle information for subsequent data calibration. Therefore, after the on-board device receives the satellite positioning data, the vehicle identification information can be combined with the satellite positioning data to generate vehicle-side positioning data with vehicle identification information for subsequent sending to the core network through the satellite device for relevant verification processing.

[0226] 8 , which is a flow chart of a seventh exemplary embodiment of a vehicle positioning method of the present application.

[0227] Based on the sixth embodiment, a seventh embodiment of the present application is proposed. The difference between the seventh embodiment of the present application and the sixth embodiment is that:

[0228] In this embodiment, in step S12, before sending the vehicle-side positioning data to the satellite device and receiving the positioning calibration data returned by the satellite device when it is determined that the network condition meets the preset data transmission condition, the following steps are further included:

[0229] Step S121, sending the vehicle-side positioning data to the core network, and determining the sending result of the vehicle-side positioning data, wherein the sending result includes sending success and sending failure;

[0230] In order for the on-board equipment to obtain high-precision positioning results in real time, the on-board equipment will send the vehicle-side positioning data to the core network in real time for high-precision data verification. When the vehicle enters an area with no network or poor network signal, the on-board equipment will cause the vehicle-side positioning data transmission to fail due to network problems. Therefore, in order to determine whether the vehicle has entered an area with no network or poor network signal, the on-board equipment will judge its sending results in real time when sending the vehicle-side positioning data to the core network to determine whether the vehicle-side positioning data is sent successfully. If it is determined that the vehicle-side positioning data is sent successfully, the vehicle-side equipment can determine that the vehicle is in an area with a good network and can directly send the vehicle-side positioning data to the core network for data verification. If it is determined that the vehicle-side positioning data fails to be sent, the vehicle-side equipment can determine that the vehicle is in an area with no network or poor network signal. The vehicle-side equipment can further determine whether the network conditions meet the preset data transmission conditions for subsequent processing of the vehicle-side positioning data.

[0231] After the vehicle generates vehicle-side positioning data, it can choose to send the vehicle-side positioning data directly to the core network for data verification or choose to send the vehicle-side positioning data to the satellite device, which will process the vehicle-side positioning data. The specific data transmission object can be determined based on the sending result. That is, when the vehicle is in an area with a good network, the on-board device can directly send the vehicle-side positioning signal to the core network, and when the vehicle is in an area with a poor network or even no network, the on-board device can send the vehicle-side positioning signal to the satellite device.

[0232] FIG9 is a schematic diagram of the technical process of the vehicle positioning method of the present application when the vehicle network is normal.

[0233] As shown in FIG9 , when the vehicle is connected to the core network normally, the steps of the vehicle positioning method may include:

[0234] 1. The vehicle and base station receive satellite positioning data;

[0235] 2. The base station accesses the 5G core network, transmits the satellite positioning data to the core network, and verifies the satellite positioning data through the core network;

[0236] 3. The 5G core network checks and verifies the received satellite positioning data to obtain high-precision positioning calibration data;

[0237] 4. The 5G core network will feed back the obtained high-precision positioning calibration data to the on-board equipment.

[0238] It should be noted that in order for the 5G core network to better check and verify satellite positioning data, the number of base stations can be multiple. Connecting multiple base stations to the 5G core network for joint checking and verification can improve the accuracy of positioning calibration data.

[0239] In one embodiment, the vehicle-mounted equipment can synchronously send the vehicle-side positioning data to the 5G core network, and perform real-time calculations on the vehicle-side positioning data containing vehicle identification information and the satellite positioning data fed back by multiple base stations, ultimately obtaining positioning calibration data containing vehicle identification information and accurately transmitting the data back to the corresponding vehicle-mounted equipment based on the vehicle identification information to avoid mistransmission or omission.

[0240] Step S122: If the sending result is determined to be a sending failure, then continue to determine whether the network condition meets the preset data transmission condition;

[0241] When the on-board device determines that the vehicle-side positioning data has failed to be sent, it means that the vehicle has entered an area with no network or a poor network signal. At this time, the on-board device continues to determine whether the current network conditions meet the preset data transmission conditions.

[0242] In one embodiment, if it is determined that the network conditions meet the preset data transmission conditions, it indicates that the current vehicle may have lost the network connection with the core network. At this time, the on-board device can send the vehicle-side positioning data to the satellite device, and the satellite device transmits the vehicle-side positioning data to the core network through the protocol gateway.

[0243] If it is determined that the network conditions do not meet the preset data transmission conditions, it means that the current vehicle may have a slow transmission speed or has only temporarily lost network connection with the core network. At this time, the on-board equipment can resend the vehicle-side positioning data to the core network and judge the sending results again to confirm whether the previous failure to send the vehicle-side positioning data was an occasional failure.

[0244] Optionally, if the on-board device determines that the network conditions do not meet the preset data transmission conditions, the on-board device can also send the vehicle-side positioning data to the satellite device at the same time as an alternative solution, avoiding the large amount of time wasted in multiple determinations and sending results, which may cause the vehicle to seriously yaw.

[0245] FIG10 is a schematic diagram of the technical process when the vehicle network is abnormal in the vehicle positioning method of the present application.

[0246] As shown in FIG10 , when the connection between the vehicle and the core network is abnormal, the vehicle positioning method may include the following steps:

[0247] 1. The vehicle and base station receive satellite positioning data;

[0248] 2. When the on-board device determines that the vehicle-side positioning data has failed to be sent and the vehicle has lost the network connection with the 5G core network, the on-board device will feed back the vehicle-side positioning data to the satellite device via the satellite link;

[0249] 3. The base station feeds back cellular network satellite positioning data to the 5G core network;

[0250] 4. The satellite device forwards the vehicle-side positioning data to the gateway;

[0251] 5. The gateway transmits the vehicle-side positioning data received from the satellite device to the 5G core network;

[0252] 6. Access the server through the 5G core network to check and verify the collected positioning data;

[0253] 7. Feedback accurate positioning calibration data to the vehicle via satellite link.

[0254] Through the above steps, when the vehicle is in an area with no network or poor network signal, the on-board equipment can still send data to external devices through satellite communication, making up for the problem of inaccurate high-precision positioning in areas without simultaneous base station and network coverage.

[0255] The vehicle positioning method proposed in the embodiment of the present application sends the vehicle-side positioning data to the core network, and determines the sending result of the vehicle-side positioning data, wherein the sending result includes sending success and sending failure; if the sending result is sending failure, it determines whether the network conditions meet the preset data transmission conditions, and when it is determined that the network conditions meet the preset data transmission conditions, the vehicle-side positioning data is sent to the satellite device and the positioning calibration data returned by the satellite device is received; the vehicle-side positioning data is calibrated according to the positioning calibration data to obtain a positioning result, and the vehicle-side positioning data can be judged by the vehicle-mounted device on the sending result of the vehicle-side positioning data and the network conditions, and the vehicle-mounted device can select a better processing result for the vehicle-side positioning information, thereby saving the cost of data transmission and improving the efficiency of data transmission, so that the vehicle can still obtain high-precision positioning calibration data in areas without network or with poor network, and obtain high-precision positioning results.

[0256] In addition, an embodiment of the present application further provides a vehicle positioning device, the vehicle positioning device comprising:

[0257] The data receiving module is used to receive the vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions;

[0258] The data sending module is used to obtain positioning calibration data through the core network according to the vehicle-side positioning data, and send the positioning calibration data to the vehicle-mounted device.

[0259] The principle and implementation process of vehicle positioning in this embodiment can be found in the above embodiments and will not be described in detail here.

[0260] In addition, an embodiment of the present application also proposes a terminal device, which includes a memory, a processor, and a vehicle positioning program stored in the memory and runnable on the processor. When the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method described above are implemented.

[0261] Since the vehicle positioning program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0262] In addition, an embodiment of the present application also proposes a terminal device, which includes a memory, a processor, and a vehicle positioning program stored in the memory and runnable on the processor. When the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method described above are implemented.

[0263] Since the vehicle positioning program adopts all the technical solutions of all the aforementioned embodiments when executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0264] Compared to the prior art, the vehicle positioning method proposed in the embodiment of the present application receives vehicle-side positioning data sent by the on-board device when it determines that the network conditions meet the preset data transmission conditions; based on the vehicle-side positioning data, it obtains positioning calibration data through the core network and sends the positioning calibration data to the on-board device. Since the vehicle cannot obtain high-precision vehicle positioning when there is no network signal, when the on-board device determines that the current network conditions meet the preset data transmission conditions, the on-board device will send the vehicle-side positioning data to the satellite device. When the satellite device receives the vehicle-side positioning data sent by the on-board device, it can be determined that the vehicle is in a location with poor network signal. At this time, the satellite device can obtain calibrated positioning calibration data by accessing the core network and send the positioning calibration data directly to the on-board device. After receiving the calibrated positioning calibration data, the on-board device can calibrate its own vehicle-side positioning data. Finally, the vehicle can obtain a high-precision vehicle positioning result. Through this method, when the vehicle enters an area with poor network signal, it can still obtain a high-precision vehicle positioning result, which greatly ensures the driver's driving safety.

[0265] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0266] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0267] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0268] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle positioning method, wherein: The vehicle positioning method is applied to satellite equipment, and the method comprises: Receive vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions; According to the vehicle-side positioning data, positioning calibration data is obtained through the core network, and the positioning calibration data is sent to the vehicle-mounted device.

2. The vehicle positioning method according to claim 1, wherein: Before the step of receiving vehicle-side positioning data sent by the vehicle-mounted device when it is determined that the network conditions meet the preset data transmission conditions, the method includes: Receiving a satellite positioning data request instruction sent by the vehicle-mounted device; The satellite positioning data is acquired according to the satellite positioning data request instruction, and the satellite positioning data is sent to the vehicle-mounted device so that the vehicle-mounted device can determine the network condition.

3. The vehicle positioning method according to claim 2, wherein: Before the step of acquiring positioning calibration data through a core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device, the method includes: The satellite positioning data is sent to a reference station, which sends the satellite positioning data to a core network. The core network verifies the satellite positioning data to obtain a verification result.

4. The vehicle positioning method according to claim 3, wherein: The step of obtaining positioning calibration data through a core network based on the vehicle-side positioning data and sending the positioning calibration data to the vehicle-mounted device includes: The vehicle-side positioning data is sent to a core network through a preset protocol gateway, and the core network verifies the vehicle-side positioning data according to the verification result to obtain positioning calibration data; Receive positioning calibration data returned by the core network via the protocol gateway, and send the positioning calibration data to the vehicle-mounted device.

5. A vehicle positioning method, wherein: The vehicle positioning method is applied to a vehicle-mounted device, and the method includes: Obtain vehicle-side positioning data; When it is determined that the network conditions meet the preset data transmission conditions, the vehicle-side positioning data is sent to the satellite device, and the positioning calibration data returned by the satellite device is received; The vehicle-side positioning data is calibrated according to the positioning calibration data to obtain a positioning result.

6. The vehicle positioning method according to claim 5, wherein: The step of obtaining vehicle-side positioning data includes: Get satellite positioning data request instruction; Sending the positioning data request instruction to the satellite device, and receiving the satellite positioning data returned by the satellite device; Generate vehicle-side positioning data based on the satellite positioning data.

7. The vehicle positioning method according to claim 6, wherein: The step of generating vehicle-side positioning data according to the satellite positioning data includes: Parsing the received satellite positioning data; Combining the satellite positioning data and vehicle identification information to generate the vehicle-side positioning data; The vehicle-side positioning data is stored in a local memory or transmitted to a satellite via satellite communication, and the satellite further processes the data.

8. The vehicle positioning method according to claim 6, wherein: Before the step of sending the vehicle-side positioning data to the satellite device when it is determined that the network condition meets the preset data transmission condition, the step includes: Sending the vehicle-side positioning data to the core network, and determining a sending result of the vehicle-side positioning data, wherein the sending result includes a sending success or a sending failure; If the sending result is a sending failure, it is determined whether the network condition meets the preset data transmission condition.

9. A vehicle positioning device, wherein: The vehicle positioning device comprises: The data receiving module is used to receive the vehicle-side positioning data sent by the vehicle-mounted device when it determines that the network conditions meet the preset data transmission conditions; The data sending module is used to obtain positioning calibration data through the core network according to the vehicle-side positioning data, and send the positioning calibration data to the vehicle-mounted device.

10. A terminal device, wherein: The terminal device includes a memory, a processor, and a vehicle positioning program stored in the memory and executable on the processor. When the vehicle positioning program is executed by the processor, the steps of the vehicle positioning method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium, wherein: The computer-readable storage medium stores a vehicle positioning program, which, when executed by a processor, implements the steps of the vehicle positioning method according to any one of claims 1 to 8.

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