Mobile device positioning method, mobile device and storage medium

Abstract

A mobile device positioning method, a mobile device, and a storage medium. The positioning method comprises: when a positioning system is powered on and started, determining first position information by means of a self-differential positioning mode, and performing calculation by means of a precise point positioning mode to obtain second position information. Because the calculation speed of the self-differential positioning mode is relatively fast, when the precise point positioning mode has not yet successfully completed the calculation, the first position information calculated by means of the self-differential positioning mode is used as target position information of a mobile device, thereby ensuring the positioning efficiency of the mobile device; and when the precise point positioning method successfully completes the calculation, position processing is performed on the basis of the second position information, thereby achieving high-precision positioning and high-precision operations in a no-network or weak network environment.

Description

Positioning method of mobile device, mobile device and storage medium

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 2024113869019, filed on September 30, 2024, entitled "Positioning method of mobile device, mobile device and storage medium", the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of unmanned equipment, in particular to a positioning method of mobile device, mobile device and storage medium. BACKGROUND

[0004] With the development of unmanned equipment technology, more and more unmanned equipment is applied to various plots for high-altitude operation. Before operating the plot, the plot is surveyed by the unmanned equipment or surveying equipment to obtain the position of the plot. Whether operating the plot or surveying, the unmanned equipment or surveying equipment needs to confirm its own position information through a positioning system to fly or determine the position information of the plot according to its own position information.

[0005] In the prior art, the positioning system adopts carrier phase difference technology (RTK) for positioning. The positioning system can calculate the centimeter-level high-precision coordinates of the unmanned equipment or surveying equipment through RTK. However, RTK needs to set up a reference station, which has high cost and small coverage range. The unmanned equipment or surveying equipment may exceed the coverage range of the reference station. Moreover, the reference station transmits satellite data to the unmanned equipment or surveying equipment through a network. When the network is unreliable (such as no network environment or weak network environment), the positioning cannot be performed based on RTK, which affects the operation efficiency or surveying efficiency. Meanwhile, the existing RTK positioning technology needs extremely high investment and operation costs due to its high infrastructure requirements and network dependence, which is obviously different from the green technology development goals of relevant countries (such as Brazil) in terms of energy saving and emission reduction, resource utilization efficiency, and ecological protection. Therefore, it is necessary to improve the RTK positioning technology to meet the increasingly stringent environmental protection regulations and sustainable development requirements of relevant countries (such as Brazil). SUMMARY

[0006] The present application provides a positioning method of mobile device, device, mobile device and storage medium, which can determine the target position information of the mobile device through self-difference positioning after the positioning system is powered on, and at the same time, the precise point positioning is used for calculation. After the calculation is successful, the precise point positioning is used for position processing, so that high-precision positioning operation can be performed without reference station or network.

[0007] In a first aspect, the present application provides a positioning method of a mobile device, comprising: after a positioning system of the mobile device is powered on, determining first position information by a self-differential positioning mode, and performing calculation by a precise point positioning mode to obtain second position information; in a case where the second position information is not calculated, determining the first position information as target position information of the mobile device; in a case where the second position information is calculated, performing position processing based on the second position information.

[0008] In a second aspect, the present application provides a mobile device, comprising: one or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method of the mobile device as any of the embodiments of the first aspect.

[0009] In a third aspect, the present application provides a storage medium storing computer executable instructions, when the computer executable instructions are executed by a computer processor, the computer executable instructions are used to execute the positioning method of the mobile device as any of the embodiments of the first aspect.

[0010] In the embodiments of the present application, after the positioning system is powered on, the position of the mobile device is calculated by the self-differential positioning mode and the precise point positioning mode respectively. Since the calculation speed of the self-differential positioning mode is faster, in a case where the precise point positioning mode has not been successfully calculated, the first position information calculated by the self-differential positioning mode is taken as the target position information of the mobile device, which can ensure the positioning efficiency of the mobile device. In a case where the precise point positioning mode is successfully calculated, position processing is performed based on the second position information, which can realize high-precision positioning and high-precision operation in a network-free or weak network environment.

[0011] In addition, from the perspective of green technology and environmental protection, the technical solution also has the following significant advantages, which fully comply with relevant national (such as Brazil) green technology regulations and sustainable development requirements:

[0012] 1. Energy efficiency optimization, which is embodied as follows: on the one hand, when the precise point positioning mode has not been successfully calculated, the mobile device can perform positioning operation by the self-differential positioning mode, which shortens the working time of the mobile device and indirectly reduces carbon emissions; on the other hand, after the precise point positioning mode is successfully calculated, the mobile device can perform positioning operation by the precise point positioning mode, which realizes high-precision positioning and high-precision operation, and ensures that the mobile device can accurately apply agricultural materials such as pesticides and fertilizers to target farmland, reducing pollution to the environment; thus, both of them can optimize energy efficiency to comply with relevant national energy efficiency certification standards (such as Brazil INMETRO energy efficiency certification standards);

[0013] 2. Equipment durability is improved, which is embodied as follows: accurate positioning of the mobile equipment can reduce the frequency of repeated operation of the mobile equipment and the probability of damage caused by collision with obstacles due to inaccurate positioning, thereby prolonging the service life of the mobile equipment, reducing the generation of electronic waste, and meeting the relevant national (such as Brazil) "National Solid Waste Policy";

[0014] 3. Adaptability advantage, which is embodied as follows: the mobile equipment can still work efficiently (i.e., high-precision positioning and high-precision operation) in a non-network or weak network environment, which can reduce the demand for network base station construction and the impact of infrastructure on the environment, and is particularly suitable for remote agricultural areas in relevant countries (such as Brazil);

[0015] 4. Data-driven sustainability, which is embodied as follows: the accurate positioning data of the mobile equipment can support digital agricultural management, realize optimal allocation of resources, and provide basic data for agricultural carbon emission monitoring in relevant countries (such as Brazil).

[0016] In summary, the technical scheme of the present application intelligently switches between the self-difference positioning method and the precise point positioning method, which not only improves the work efficiency and positioning accuracy, but also makes important contributions in energy saving and emission reduction, equipment durability, etc., fully meeting the requirements of relevant national (such as Brazil) green technology certification, especially highly consistent with the ABC+ low-carbon agricultural plan and the INMETRO energy efficiency standard. The technology is expected to provide strong technical support for the sustainable development of agriculture in relevant countries (such as Brazil). BRIEF DESCRIPTION OF DRAWINGS

[0017] FIG. 1 is a hardware overall block diagram of an unmanned equipment according to an embodiment of the present application;

[0018] FIG. 2 is a schematic diagram of an RTK positioning method according to another embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the purposes, technical solutions and advantages of the present application clearer, the following further describes the specific embodiments of the present application with reference to the drawings. It should be understood that the specific embodiments described herein are merely intended to explain the present application, but not to limit the present application. In addition, it should be noted that, for the purpose of description, only the parts related to the present application are shown in the drawings, but not all. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when the operations are completed, but can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, etc.

[0020] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind, and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the objects before and after are in a "or" relationship.

[0021] The positioning method of the mobile device provided in the embodiment can be executed by a mobile device, which can be implemented by software and / or hardware, and can be composed of two or more physical entities or one physical entity. For example, the mobile device can be an unmanned device or a surveyor, the surveyor refers to a terminal device for dotting a land plot to generate position information of the land plot, the unmanned device refers to a flying device or a ground platform operating according to remote control instructions or preset instructions, and the mobile device can also be a positioning system of the unmanned device or the surveyor.

[0022] The mobile device is installed with at least one type of operating system, and the mobile device can install at least one application program based on the operating system, which can be an application program provided by the operating system or downloaded from a third-party device or server. In the embodiment, the mobile device has at least an application program that can execute the positioning method of the mobile device.

[0023] In an embodiment, before working on the land, the land is surveyed by a surveyor or a unmanned device to obtain the position of the land. The unmanned device plans a flight route according to the position of the land and performs flight work according to the flight route. Whether it is working on the land or surveying, the surveyor or the unmanned device needs to confirm its own position information through a positioning system to fly or determine the position information of the land according to its own position information. The existing positioning system generally uses RTK to position to calculate the centimeter-level high-precision coordinates of the surveyor or the unmanned device. When using RTK technology for positioning, a reference station is set up in advance, and the reference station transmits its own reference coordinates and real-time received satellite data to the surveyor or the unmanned device through a network, and the surveyor or the unmanned device calculates its own centimeter-level high-precision positioning coordinates based on the reference coordinates of the reference station, the satellite data received by the reference station, and the satellite data received by itself. However, the cost of the reference station is relatively high and the coverage range is relatively small, and the surveyor or the unmanned device may exceed the signal coverage range of the reference station, resulting in the inability to use RTK for positioning. Moreover, when the network of the surveyor or the unmanned device is unreliable, RTK cannot be used for positioning. When RTK cannot be used for positioning, the surveyor or the unmanned device cannot successfully complete the surveying or working on the land, affecting the working efficiency or the surveying efficiency.

[0024] To solve the problem of high-precision positioning of the unmanned device or the surveyor in the prior art without a network or a reference station, the embodiment provides a positioning method of a mobile device, including the following steps:

[0025] After the positioning system of the mobile device is powered on, the first position information is determined by a self-difference positioning method, and the second position information is calculated by a precise single-point positioning method;

[0026] In the case where the second position information is not calculated, the first position information is determined as the target position information of the mobile device;

[0027] In the case where the second position information is calculated, the position is processed based on the second position information.

[0028] The self-difference positioning can be referred to as VRTK positioning, and V represents virtual, i.e., the VRTK positioning can also be referred to as virtual RTK positioning. The precise single-point positioning can be referred to as PPP positioning. The mobile device can be a surveyor or a unmanned device, such as a unmanned aerial vehicle.

[0029] The scheme does not need to rely on an external network, i.e., it does not need to have a mobile network, so it can be used in a network-free environment or a weak network environment.

[0030] The mobile device positioning system is powered on, and VRTK positioning and PPP positioning are simultaneously solved. The VRTK positioning can be basically solved without waiting, and a relatively accurate position can be obtained immediately. The PPP positioning needs a long time to converge. When the PPP positioning has not been solved, the position information obtained by the VRTK positioning is used as the position information of the mobile device. When the PPP positioning is solved and the second position information is obtained, the position processing can be performed based on the second position information.

[0031] In an embodiment, the position processing based on the second position information includes:

[0032] The surveying position information of the to-be-worked land plot is corrected based on the second position information. The surveying position information of the to-be-worked land plot is obtained by self-difference positioning before the second position information is solved.

[0033] When the PPP positioning has not been solved, the VRTK positioning is available. At this time, the user can use the mobile device to survey the to-be-worked land plot based on the VRTK positioning. If the mobile device is a surveyor, the user can hold the surveyor to move around the to-be-worked land plot and mark points during the movement, for example, mark points at the boundary points of the to-be-worked land plot. At this time, the position information recorded by the marking points is the position information obtained by the VRTK positioning, for example, four points ABCD are marked, and the position information of the four points is obtained by the VRTK positioning. The mobile device can also be a drone, and the user can control the drone to fly and mark points by using a remote controller.

[0034] The position obtained by the VRTK positioning is a relative position, has a certain deviation, and can only maintain a certain accuracy for a short time. The position will diverge and the deviation will be larger over time.

[0035] When the user completes the surveying of the to-be-worked land plot based on the VRTK positioning, since the surveying process is also solved by the PPP, the PPP positioning can be successfully solved after the surveying is completed, or the user only needs to wait for a moment, and the PPP positioning can be successfully solved.

[0036] After the PPP positioning is successfully solved, since the position obtained by the PPP positioning is an absolute position, and the position obtained by the VRTK positioning is a relative position, there is a deviation between the position obtained by the VRTK positioning and the true position. Therefore, the surveying position information of the to-be-worked land plot obtained by the VRTK positioning can be corrected based on the second position information obtained by the PPP positioning.

[0037] In an embodiment, the position processing based on the second position information includes:

[0038] A first offset between the second position information corresponding to the same position point and the first position information is determined, and the surveying position information of the work area is corrected according to the first offset.

[0039] Here, the same position point can be the same boundary point of the work area or the same other position point, which is not limited in the patent. The second position information obtained by the PPP positioning of the same position point and the first position information obtained by the VRTK positioning are used to calculate the offset therebetween, and the surveying position information is corrected by using the offset.

[0040] In an embodiment, the surveying position information of the work area includes a plurality of boundary point positions of the work area, and the surveying position information of the work area is corrected according to the first offset, including:

[0041] The boundary point positions of the work area are corrected according to the first offset.

[0042] In an embodiment, the surveying position information of the work area includes a plurality of boundary point positions of the work area, and the surveying position information of the work area is corrected according to the first offset, including:

[0043] When the mobile device moves to the boundary point of the work area, the first position information obtained by the mobile device in the differential positioning mode is obtained, and the obtained first position information is used as the position information of the boundary point.

[0044] In an embodiment, the position processing based on the second position information includes:

[0045] The calculated second position information is used as the target position information of the mobile device.

[0046] If the mobile device is a UAV, the UAV uses the VRTK positioning in the work process, and switches to the PPP positioning directly when the PPP positioning is successfully calculated, so that reliable, long-term and effective high-precision positioning in a network-free environment can be achieved.

[0047] In an embodiment, the positioning method of the mobile device includes:

[0048] When the convergence precision of the PPP positioning mode reaches a set threshold, the second position information is determined to be calculated.

[0049] The convergence precision of the PPP positioning may be, for example, 25 cm, 20 cm, or other specific parameters. The set threshold may be that the convergence precision of the PPP positioning is less than or equal to the set threshold, and the smaller the convergence precision, the higher the positioning precision. When the convergence precision of the PPP positioning mode reaches the set threshold, the second position information is determined to be calculated.

[0050] In an embodiment, the positioning method of the mobile device further includes:

[0051] According to the corrected surveying position information, a work path of the mobile device is planned, and the mobile device is controlled to move along the work path to perform work on the to-be-worked land.

[0052] After the positioning system of the mobile device is powered on, the first position information is determined by using a self-differential positioning method, and the second position information is obtained by solving by using a precise point positioning method.

[0053] For example, when the unmanned device needs to work or survey the land, the unmanned device is started to power on the positioning system of the mobile device. After the positioning system of the mobile device is powered on, the position information of the unmanned device is solved by using the self-differential positioning method and the precise point positioning method, respectively.

[0054] The first position information is the coordinate of the unmanned device relative to the reference point obtained by using the self-differential positioning method. When the self-differential positioning method is used for solving, the differential correction value used by the self-differential positioning method can be determined first. Thus, after the pseudo-range measurement value of the unmanned device relative to the satellite at the current time is obtained, the coordinate of the unmanned device at the current time can be determined according to the pseudo-range measurement value and the first differential correction value. The solving process of the self-differential positioning method is simple, and the solving speed is fast, so that the coordinate of the unmanned device at the current time can be quickly calculated.

[0055] The second position information is the coordinate of the unmanned device obtained by using the precise point positioning method (PPP). Currently, the GPS (Global Positioning System) and the Beidou system support the PPP service. The PPP service supported by the Beidou system is taken as an example for description. The Beidou satellite system uses the PPP-B2b signal as the data broadcast channel, and the three GEO (Geosynchronous Earth Orbit) satellites of the Beidou III broadcast the orbit and clock error correction information of other global satellite navigation systems of the Beidou III system, so as to provide public and free high-precision positioning services for the unmanned device. When the precise point positioning method is used for solving, the correction information sent by the GEO satellite through the PPP-B2b signal is received by the unmanned device, and the coordinate of the unmanned device at the current time is determined according to the correction information.

[0056] In the case where the high-precision second position information is not solved, the first position information is determined as the target position information of the unmanned device.

[0057] In the embodiment, the target position information refers to the high-precision positioning coordinates of the unmanned device during operation, deviation correction or mapping. Although the unmanned device is powered on on the positioning system and simultaneously calculates by the self-differential positioning method and the precise point positioning method (PPP, Precise Point Positioning), the convergence time required for calculation by the precise point positioning method is about 18-20 minutes, i.e., the precise point positioning method cannot quickly calculate the centimeter-level high-precision positioning coordinates of the unmanned device. If the unmanned device directly uses the precise point positioning method for positioning, it needs to wait for a long time to enter the operation state or the mapping state, which affects the operation efficiency or the mapping efficiency of the unmanned device. Therefore, in the case where the centimeter-level high-precision second position information is not calculated, the first position information calculated by the self-differential positioning method is determined as the target position information of the unmanned device, so that the unmanned device operates or maps based on the target position information.

[0058] The self-differential positioning method can quickly determine the high-precision coordinates of the unmanned device at the current time, and can maintain the relative positioning within 20 cm in a short time. With the passage of time, the difference between the error caused by the change of satellite movement and the atmosphere and the first differential correction value gradually increases, resulting in the error of the first position information calculated by the self-differential positioning method gradually increasing. After a certain period of time, the error of the self-differential positioning method will reach more than one meter, which cannot be used for high-precision positioning of the unmanned device. Therefore, after the high-precision second position information is calculated by the precise point positioning method, the target position information of the unmanned device is determined based on the high-precision second position information, so as to ensure that the unmanned device can maintain high-precision positioning for a long time.

[0059] It is worth mentioning that the self-difference positioning mode is a relative positioning mode, and the precise point positioning mode is an absolute positioning mode, so the reference of the self-difference positioning mode and the precise point positioning mode is different. After the unmanned equipment switches from the self-difference positioning mode to the precise point positioning mode, the first offset of the first position information and the second position information obtained at the same time can be obtained, the second position information is converted to the reference of the self-difference positioning mode based on the first offset, and the target position information is obtained. For example, at the moment when the high-precision second position information is obtained based on the precise point positioning mode, the first position information is (lat1, log1, alt1), the second position information is (lat2, log2, alt2), and the first offset (lat1-lat2, log1-log2, alt1-alt2) is obtained by subtracting the second position information from the first position information. At this time, the unmanned equipment determines the first position information (lat1, log1, alt1) as the target position information of the unmanned equipment, and in the future time, the second position information calculated based on the precise point positioning mode is added to the first offset (lat1-lat2, log1-log2, alt1-alt2) to obtain the target position information under the reference of the self-difference positioning mode, so that the target position information of the unmanned equipment at different times is under the same reference. Under normal circumstances, the time required to obtain the second position information by the precise point positioning mode is less than half an hour, and within half an hour, the error of the first position information obtained by the self-difference positioning mode of the unmanned equipment is still maintained at the centimeter level. When the unmanned equipment calculates the high-precision second position information by the precise point positioning mode, the reference error of the precise point positioning mode and the self-difference positioning mode can be determined, and the high-precision relative positioning of the unmanned equipment is performed based on the reference error by the precise point positioning mode. In the case that the unmanned equipment cannot connect to the network or cannot connect to the reference station, the unmanned equipment can also quickly perform high-precision relative positioning after the positioning system is powered on, and can maintain high-precision relative positioning for a long time, thereby ensuring the work efficiency or mapping efficiency of the unmanned equipment.

[0060] On the basis of the above-mentioned embodiments, another embodiment of the positioning method of the mobile device is provided, which comprises:

[0061] S210, after the positioning system of the mobile device is powered on, it is judged whether the mobile device meets the preset positioning condition. If the mobile device meets the preset positioning condition, step S220 is executed, and if the mobile device does not meet the preset positioning condition, step S230 is executed.

[0062] The preset positioning condition includes existing network and being located in the coverage range of the preset reference station. For example, when the unmanned device determines its own coordinates by using the RTK positioning mode, the preset reference station is searched. If the unmanned device is located in the range of the reference station, the unmanned device can establish a communication connection with the reference station. After the unmanned device establishes the communication connection with the preset reference station, the reference station forwards its accurate reference coordinates and satellite data received in real time to the unmanned device in the RTCM format through the network. The unmanned device determines the positioning error of the reference station by using the reference coordinates of the reference station and the satellite data received in real time by the reference station. The unmanned device determines its own centimeter-level high-precision coordinates according to the positioning error and the satellite data received in real time by the unmanned device.

[0063] As can be seen from the above, the condition required for the unmanned device to use the RTK positioning mode is to be located in the range of the preset reference station and to have network. The preset reference station can be a self-built reference station or other shared reference station. The coverage range of the shared reference station is large, and the unmanned device generally does not exceed the coverage range. Therefore, if the preset reference station is a shared reference station, the condition required for the unmanned device to use the RTK positioning mode can be reduced to the unmanned device having network.

[0064] In the embodiment, when the unmanned device is not located in the coverage range of the reference station or does not have network, it can be determined that the unmanned device does not meet the condition of using the RTK positioning mode. At this time, the unmanned device can use the self-difference positioning mode and the precise point positioning mode to combine positioning, so as to realize rapid positioning and maintain long-time high-precision positioning. When the unmanned device is located in the coverage range of the reference station and has network, it can be determined that the unmanned device meets the condition of RTK positioning. At this time, the unmanned device can use the RTK positioning mode to realize high-precision positioning.

[0065] In an embodiment, FIG. 1 is a hardware overall block diagram of the unmanned device provided by the embodiments of the present application. As shown in FIG. 1, the unmanned device comprises a pilot lamp, an IMU (Inertia Measurement Unit), a positioning system, a cellular network module, a wifi (wireless fidelity) module and a flight control module, and the positioning system comprises an RTK module, a self-differential positioning module and a precise point positioning module. The pilot lamp is used to indicate the positioning state of the unmanned device, the wifi module is used to communicate with the ground remote control device, the cellular network module is used for cloud server communication, the IMU is used to provide attitude data for the flight control module, and the positioning system is used to provide coordinate data for the flight control module. After the unmanned device is started, the unmanned device is powered on to the positioning system, and whether the network of the preset reference station and the cellular network module is normal is confirmed. If the unmanned device cannot search for the preset reference station or confirm that the network of the cellular network module is not normal, the self-differential positioning module and the precise point positioning module are notified to start solving the coordinates of the unmanned device; if the unmanned device can search for the preset reference station and confirm that the network of the cellular network module is normal, the RTK module is notified to start solving the coordinates of the unmanned device.

[0066] S220, determining the target position information of the mobile device by a carrier phase difference method.

[0067] FIG. 2 is a principle diagram of an RTK positioning method provided by the embodiments of the present application. As shown in FIG. 2, the unmanned device is connected to a cloud server through a 4G network, the cloud server is connected to a preset reference station through a 4G network, the reference station receives first satellite data sent by a satellite in real time, and the first satellite data and the reference coordinates of the reference station are forwarded to the unmanned device through the cloud server. The unmanned device solves the positioning error of the reference station according to the reference coordinates of the reference station and the first satellite data. The unmanned device receives second satellite data sent by the satellite in real time, and solves the target position information of the unmanned device at the current time according to the second satellite data and the positioning error.

[0068] S230, determining the first position information by a self-differential positioning method, and solving the second position information by a precise point positioning method.

[0069] S240, in the case where the high-precision second position information is not solved, determining the first position information as the target position information of the mobile device.

[0070] When the unmanned device is in a state without network or cannot search for the preset reference station and cannot adopt RTK for positioning, the self-differential positioning method and the precise point positioning method described in the above embodiments can be combined for positioning.

[0071] On the basis of the above-mentioned embodiments, the unmanned device can determine the target position information of the unmanned device by using the positioning method described in the above-mentioned embodiments when performing work on the to-be-worked land, and control the unmanned device to perform work on the to-be-worked land according to the target position information of the unmanned device and the high-precision position information of the to-be-worked land.

[0072] In this embodiment, when the unmanned device receives the first dotting instruction and determines the target position information of the unmanned device at the current time through the positioning system, the target position information of the unmanned device at the current time is determined through the positioning method provided in the above-mentioned embodiments. That is, if the positioning system satisfies the preset positioning condition required for using the RTK positioning method when the unmanned device is powered on, the RTK positioning method is used for real-time calculation to obtain the target position information of the unmanned device. If the positioning system does not satisfy the preset positioning condition required for using the RTK positioning method when the unmanned device is powered on, the first position information obtained through the self-difference positioning method is determined as the target position information of the unmanned device in the case that the second position information obtained through the precise point positioning method is not high-precision, and the position is processed based on the second position information in the case that the second position information obtained through the precise point positioning method is high-precision.

[0073] According to the work position information of the to-be-worked land, the work path of the mobile device is planned.

[0074] Based on the positioning system of the mobile device, the mobile device is controlled to move and work on the to-be-worked land along the work path.

[0075] For example, the flight control module plans the flight route of the unmanned device according to the work position information of the work land, and controls the unmanned device to fly and work along the flight route according to the attitude data collected by the IMU in real time and the target position information collected by the positioning system in real time.

[0076] In summary, in this application, the position of the mobile device is calculated by using the self-difference positioning method and the precise point positioning method after the positioning system is powered on. Since the calculation speed of the self-difference positioning method is faster, the first position information obtained by the self-difference positioning method is used as the target position information of the mobile device in the case that the precise point positioning method has not been successfully calculated, so as to ensure the positioning efficiency of the mobile device. In the case that the precise point positioning method is successfully calculated, the position is processed based on the second position information, so as to realize high-precision positioning and high-precision work in the case of no network or weak network environment.

[0077] The mobile device includes a processor, a memory, a communication device, an input device and an output device. The number of processors in the mobile device can be one or more, and the number of memories in the mobile device can be one or more. The processor, the memory, the communication device, the input device and the output device of the mobile device can be connected through a bus or other means.

[0078] The memory, as a computer readable storage medium, can be used to store software programs, computer executable programs and modules, such as program instructions / modules corresponding to the positioning method of the mobile device of any embodiment of the present application (for example, the positioning start module, the first positioning module and the second positioning module in the positioning device of the mobile device). The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state memory device. In some examples, the memory can further include a memory remotely arranged with respect to the processor, which can be connected to the device through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0079] The communication device is used for data transmission.

[0080] The processor executes the software programs, instructions and modules stored in the memory, thereby performing various functional applications and data processing of the device, i.e. implementing the positioning method of the mobile device as described above.

[0081] The input device can be used to receive input digital or character information, and to generate key signal input related to user settings and function control of the device. The output device can include a display device such as a display screen.

[0082] The mobile device provided above can be used to execute the positioning method of the mobile device provided in the above embodiments, and has corresponding functions and beneficial effects.

[0083] The embodiment of the present application further provides a storage medium containing computer executable instructions, which are used to execute a positioning method of a mobile device when executed by a computer processor, and the positioning method of the mobile device comprises the following steps: after the positioning system of the mobile device is powered on, determining first position information by using a self-difference positioning mode, and calculating by using a precise point positioning mode to obtain second position information; in the case that the second position information with high precision is not calculated, determining the first position information as target position information of the mobile device; in the case that the second position information with high precision is calculated, determining a first offset between the second position information and the first position information, and determining the target position information of the mobile device according to the first offset and the second position information.

[0084] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include an installation medium, e.g., a CD-ROM, floppy disks, or tape device; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; or a non-volatile memory such as a magnetic medium (e.g., a hard disk drive), optical storage (e.g., a CD-ROM), flash memory, a program cartridge, a cartridge, a cassette, an EPROM, EEPROM, a DVD-ROM, a Blu-ray, a ROM, a PROM, and / or a memory stick. A storage medium can further include a non-tangible medium such as a

[0085] Of course, the storage medium containing computer executable instructions provided by the embodiment of the present application is not limited to the positioning method of the mobile device as above, and can also execute the related operations in the positioning method of the mobile device provided by any embodiment of the present application.

[0086] The positioning device of the mobile device, the storage medium and the mobile device provided in the above embodiments can execute the positioning method of the mobile device provided by any embodiment of the present application, and the technical details not described in the above embodiments can be referred to the positioning method of the mobile device provided by any embodiment of the present application.

[0087] The above merely describes the preferred embodiments of the present application and the technical principles applied. The present application is not limited to the specific embodiments herein, and various obvious changes, modifications and replacements made by those skilled in the art without departing from the scope of the present application shall not be excluded. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and more other equivalent embodiments can be included without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A positioning method of a mobile device, comprising: after a positioning system of the mobile device is powered on, determining first position information by a self-differential positioning mode and calculating second position information by a precise point positioning mode; in a case where the second position information is not calculated, determining the first position information as target position information of the mobile device; in a case where the second position information is calculated, performing position processing based on the second position information.

2. The positioning method of a mobile device according to claim 1, wherein, The position processing based on the second position information comprises: correcting a surveying position information of a to-be-worked land block based on the second position information, the surveying position information of the to-be-worked land block being obtained by the self-differential positioning mode before the second position information is calculated.

3. The positioning method of a mobile device according to claim 2, wherein, The correcting the surveying position information of the to-be-worked land block based on the second position information comprises: determining a first offset between the second position information and the first position information corresponding to a same position point, and correcting the surveying position information of the to-be-worked land block according to the first offset.

4. The positioning method of a mobile device according to claim 3, wherein, The surveying position information of the to-be-worked land block comprises a plurality of boundary point positions of the to-be-worked land block, and the correcting the surveying position information of the to-be-worked land block according to the first offset comprises: correcting each boundary point position of the to-be-worked land block according to the first offset.

5. The positioning method of a mobile device according to claim 2, wherein, The obtaining the surveying position information of the to-be-worked land block comprises: when the mobile device moves to a boundary point of the to-be-worked land block, obtaining the first position information of the mobile device positioned by the self-differential positioning mode, and taking the obtained first position information as position information of the boundary point.

6. The positioning method of a mobile device according to any one of claims 1 to 5, wherein, The position processing based on the second position information comprises: taking the calculated second position information as the target position information of the mobile device. 7.The positioning method of the mobile device according to any one of claims 1 to 6, further comprising: in a case where a convergence precision of the precise point positioning mode reaches a set threshold, determining that the second position information is calculated.

8. The positioning method of a mobile device according to any one of claims 1 to 7, wherein, After the positioning system of the mobile device is powered on, the positioning method further comprises: judging whether the mobile device satisfies a preset positioning condition, the preset positioning condition comprising that there is a network and the mobile device is located in a coverage range of a preset reference station; in a case where the preset positioning condition is satisfied, determining target position information of the mobile device by a carrier phase differential mode. 9.The positioning method of the mobile device according to any one of claims 2 to 5, further comprising: planning a work path of the mobile device according to the corrected surveying position information, and controlling the mobile device to move and work on the to-be-worked land block along the work path.

10. The positioning method of a mobile device according to any one of claims 1 to 9, wherein, The mobile device is an unmanned device or a surveying device. 11.A mobile device, comprising: one or more processors; a memory storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement a positioning method of the mobile device according to any one of claims 1 to 10.

12. A storage medium storing computer-executable instructions that, when executed by a computer processor, implement a positioning method of a mobile device as claimed in any one of claims 1 to 10.

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