CN117991307A - Method and device for solving displacement of navigation receiver - Google Patents
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Abstract
The present disclosure relates to a method and apparatus for solving displacement of navigation receiver. The method for solving the displacement of the navigation receiver comprises the following steps: constructing a displacement solving model of the navigation receiver; acquiring a current positioning resolving condition of a navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition; and solving the displacement solving model by utilizing the current satellite position information of a plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver. The present disclosure is capable of fully utilizing observed data of a plurality of valid satellites associated with a navigation receiver to solve for a displacement of the navigation receiver for improving accuracy and effectiveness of a positioning solution of the navigation receiver.
Description
Technical Field
The disclosure relates to the technical field of navigation, in particular to a method and a device for solving displacement of a navigation receiver.
Background
In recent years, with the continuous development of navigation technology, navigation technology is applied to more and more fields.
In the related art, when a satellite navigation receiver performs positioning calculation, the conventional calculation method obtains the position and the speed of each positioning calculation moment without calculating the displacement of the satellite navigation receiver, so that the accuracy and the effectiveness of the positioning calculation result of the satellite navigation receiver are affected.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method and an apparatus for solving the displacement of a navigation receiver, so as to solve the problems in the related art.
In a first aspect of an embodiment of the present disclosure, a method for solving a displacement of a navigation receiver is provided, including:
Constructing a displacement solving model of the navigation receiver;
acquiring a current positioning resolving condition of the navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition;
And solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver.
In a second aspect of the embodiments of the present disclosure, there is provided a solution apparatus for a displacement of a navigation receiver, including:
The construction module is used for constructing a displacement solving model of the navigation receiver;
The acquisition module is used for acquiring the current positioning resolving condition of the navigation receiver and acquiring the current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets the preset positioning resolving condition;
And the solving module is used for solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver.
In a third aspect of the disclosed embodiments, there is provided an electronic device, including:
At least one processor;
a memory for storing at least one processor-executable instruction;
Wherein the at least one processor is configured to execute instructions to implement the steps of the above-described method.
In a fourth aspect of the disclosed embodiments, a computer-readable storage medium is provided, which when executed by a processor of an electronic device, enables the electronic device to perform the steps of the above-described method.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: a displacement solving model of the navigation receiver is constructed; acquiring a current positioning resolving condition of a navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition; and solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver, and solving the displacement of the navigation receiver by fully utilizing the observed quantity data (the current satellite position information) of the plurality of effective satellites associated with the navigation receiver so as to improve the accuracy and the effectiveness of the positioning solving result of the navigation receiver.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 illustrates a flow diagram of a method for solving a displacement of a navigation receiver provided by an exemplary embodiment of the present disclosure;
FIG. 2 shows a schematic diagram of a solution for displacement of a navigation receiver provided by an exemplary embodiment of the present disclosure;
fig. 3 illustrates a schematic structural diagram of an electronic device provided in an exemplary embodiment of the present disclosure;
fig. 4 shows a schematic structural diagram of a computer system provided in an exemplary embodiment of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure have been shown in the accompanying drawings, it is to be understood that the present disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustration purposes only and are not intended to limit the scope of the present disclosure.
It should be understood that the various steps recited in the method embodiments of the present disclosure may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present disclosure is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like in this disclosure are merely used to distinguish between different devices, modules, or units and are not used to define an order or interdependence of functions performed by the devices, modules, or units.
It should be noted that references to "one", "a plurality" and "a plurality" in this disclosure are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be understood as "one or more" unless the context clearly indicates otherwise.
The names of messages or information interacted between the various devices in the embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.
The satellite navigation receiver typically uses carrier phase to smooth the code pseudoranges when performing position resolution. Moreover, the satellite navigation receiver displacement generally does not need to be output externally, that is, the general satellite navigation receiver does not need to calculate the receiver displacement, so the satellite navigation receiver for calculating the receiver displacement is relatively few. The displacement of the receiver calculated by some satellite navigation receivers is obtained by directly subtracting the last positioning result from the current positioning result, and the observed quantity data of the satellite is not used, so that the calculation result of the displacement of the receiver is inaccurate.
Therefore, in order to solve the above-mentioned problems, the embodiments of the present disclosure provide a method for solving the displacement of the navigation receiver, which is designed by an algorithm and calculated to obtain the displacement of the navigation receiver. After the displacement of the receiver is calculated, the displacement of the navigation receiver can be used for smoothing the positioning result of the navigation receiver, the displacement of the navigation receiver can be used for calculating the instantaneous speed of the navigation receiver, and the displacement of the navigation receiver can be used for judging the effectiveness of the positioning result. Based on this, the exemplary embodiments of the present disclosure may improve the accuracy and effectiveness of the navigation receiver positioning solution result by calculating and using the displacement of the navigation receiver.
The method for solving the displacement of the navigation receiver provided by the embodiment of the disclosure can be executed by a terminal or a chip applied to the terminal.
By way of example, the above-described terminals may include one or more of a cell phone, a tablet computer, a wearable device, a vehicle-mounted device, a notebook computer, an ultra-mobile Personal computer (ultra-mobile Personal computer, UMPC), a netbook, a palm DIGITAL ASSISTANT, PDA, and a wearable device based on augmented reality (augmented reality, AR) and/or Virtual Reality (VR) technology, etc., to which the exemplary embodiments of the present disclosure are not particularly limited.
Fig. 1 shows a flow chart of a method for solving a displacement of a navigation receiver according to an exemplary embodiment of the present disclosure. As shown in fig. 1, the method for solving the displacement of the navigation receiver includes:
S101, constructing a displacement solving model of a navigation receiver;
s102, acquiring a current positioning resolving condition of a navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition;
and S103, solving a displacement solving model by utilizing the current satellite position information of a plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver.
Specifically, the exemplary embodiments of the present disclosure may pre-construct a displacement solution model of a navigation receiver through an algorithm design, where an unknown parameter of the displacement solution model is current satellite position information of a plurality of valid satellites at a current time. The current satellite position information of the plurality of valid satellites at the current time may be three-dimensional coordinates of the plurality of valid satellites at the current time. Here, a plurality of active satellites associated with the navigation receiver belong to a satellite reception range of the navigation receiver.
Before solving the displacement solving model, the current positioning solving condition of the navigation receiver needs to be judged. If the current positioning resolving condition meets the preset positioning resolving condition, acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment; and if the current positioning resolving condition does not meet the preset positioning resolving condition, ending resolving the displacement solving model. Here, the preset positioning solution condition may be set according to an actual application scenario, which is not particularly limited by the exemplary embodiments of the present disclosure.
After the current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment is obtained, the current satellite position information of the plurality of effective satellites at the current moment is substituted into a displacement solving model of the navigation receiver to be solved (such as least square solving), so that the displacement of the navigation receiver is obtained.
In practical application, after the displacement of the navigation receiver is determined, the displacement of the navigation receiver can be used for smoothing the positioning result of the navigation receiver, the instantaneous speed of the navigation receiver can be calculated by using the displacement of the navigation receiver, and the effectiveness of the positioning result can be judged by using the displacement of the navigation receiver. Based on this, exemplary embodiments of the present disclosure may leverage observed data of a plurality of valid satellites associated with a navigation receiver to solve for a displacement of the navigation receiver for improving accuracy and validity of a positioning solution of the navigation receiver.
According to the technical scheme of the example embodiment of the disclosure, a displacement solving model of a navigation receiver is constructed; acquiring a current positioning resolving condition of a navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition; and solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver, and solving the displacement of the navigation receiver by fully utilizing the observed quantity data (the current satellite position information) of the plurality of effective satellites associated with the navigation receiver so as to improve the accuracy and the effectiveness of the positioning solving result of the navigation receiver.
In some embodiments, constructing a displacement solution model of a navigation receiver may include:
Acquiring historical pseudo-range information of a plurality of effective satellites at the last moment and historical receiver position information of a navigation receiver at the last moment;
constructing a receiver position prediction model of the navigation receiver, and determining predicted receiver position information of the navigation receiver at the current moment based on historical receiver position information by utilizing the receiver position prediction model;
And constructing a displacement solving model of the navigation receiver based on the historical pseudo-range information, the time interval between the last moment and the current moment, the historical receiver position information, the predicted receiver position information and the receiver clock difference of the navigation receiver.
Specifically, the above-mentioned historical pseudo-range information can be pseudo-range of effective satellite at last time point by using ""Indicates the pseudorange to the ith active satellite at the last time instant. The historical receiver position information can be three-dimensional coordinates of the navigation receiver at the last moment, and the method uses "/>"Means.
Exemplary, if the navigation receiver is displaced at the current time byHistorical receiver position information is/>Predicting receiver location information as/>The receiver position prediction model can be expressed by the following formula:
，
Based on this, the predicted receiver position information is represented as . Here, the predicted receiver position information may be predicted three-dimensional coordinates of the navigation receiver at the current time calculated based on the history receiver position information and the displacement of the navigation receiver at the current time after substituting the history receiver position information into the receiver position prediction model.
At this time, the exemplary embodiments of the present disclosure may construct a displacement solution model of the navigation receiver based on the historical pseudo-range information, the time interval between the last time and the current time, the historical receiver position information, the predicted receiver position information, and the receiver clock difference of the navigation receiver.
Illustratively, the displacement solving model of the navigation receiver is represented by the following formula:
，
Wherein, Representing the current satellite position information of the ith valid satellite at the current moment, c representing the speed of light,/>Representing receiver clock skew,/>Historical pseudo-range information representing the ith valid satellite at the last time instant,/>Representing the time interval between the last time instant and the current time instant.
Here, it can be seen from the displacement solution model of the navigation receiver that the left and right sides of "=" are two calculation modes of the current pseudo-range information of the i-th valid satellite at the current moment, so that the exemplary embodiment of the present disclosure can determine the displacement solution model of the navigation receiver in two calculation modes of the current pseudo-range information of the i-th valid satellite at the current moment.
In some embodiments, the method for solving the displacement solving model by using the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver may include:
Acquiring initial resolving displacement of a navigation receiver;
Solving a displacement solving model by utilizing the current satellite position information of a plurality of effective satellites at the current moment to obtain the current solving displacement of the navigation receiver;
If the current iteration solution times of the displacement solution model are smaller than or equal to the preset iteration solution times, and the current displacement correction amount determined based on the current solution displacement and the initial solution displacement is smaller than the preset correction amount, determining that the current solution displacement is the displacement of the navigation receiver; otherwise, the initial resolving displacement is updated to the current resolving displacement.
Specifically, in the method of the exemplary embodiments of the present disclosure, the solution process of the displacement of the navigation receiver is essentially an iterative solution process of the displacement solution model.
According to the method and the device, the initial solution displacement of the navigation receiver can be used as a displacement solution of a displacement solution model, and then the displacement solution model is subjected to iterative solution by utilizing the current satellite position information of a plurality of effective satellites at the current moment to obtain the current solution displacement of the navigation receiver; and in the iterative solution process of the displacement solution model, updating the displacement solution of the displacement solution model by utilizing the current solution displacement until the current iteration solution frequency is smaller than or equal to the preset iteration solution frequency and the current displacement correction amount determined based on the current solution displacement and the initial solution displacement is smaller than the preset correction amount, and determining the displacement solution (the current solution displacement) of the displacement solution model as the displacement of the navigation receiver.
Here, the preset iteration solution times and the specific values of the preset correction amounts may be set according to the actual application scenario, which is not specifically limited in the exemplary embodiment of the present disclosure. In the method of the exemplary embodiment of the present disclosure, the preset iteration solution number is 8, and the preset correction amount is 0.001 meters.
Illustratively, obtaining an initial resolved displacement of the navigation receiver may include:
acquiring historical receiver position information of a navigation receiver at the last moment and current receiver position information at the current moment;
An initial solution displacement of the navigation receiver is calculated based on the historical receiver position information and the current receiver position information.
Specifically, exemplary embodiments of the present disclosure may directly acquire historical receiver position information of a navigation receiver at a previous time (i.e., three-dimensional coordinates of the navigation receiver at the previous time) and current receiver position information at a current time (i.e., three-dimensional coordinates of the navigation receiver at the current time); then, a difference between the three-dimensional coordinates of the navigation receiver at the previous time and the three-dimensional coordinates of the navigation receiver at the current time is calculated, and the difference is used as an initial solution displacement of the navigation receiver.
After the initial solution displacement of the navigation receiver is determined, the initial solution displacement is used as a displacement solution of a displacement solution model, and the displacement solution model is iteratively solved by utilizing the current satellite position information of a plurality of effective satellites at the current moment.
In some embodiments, the current positioning solution conditions include a current solution satellite range, a current solution state, a current number of continuous positioning times, and a current number of effective satellites, and the preset positioning solution conditions include a preset solution satellite range, a preset solution state, a preset number of continuous positioning times, and a preset number of effective satellites; the method may further comprise:
and if any current positioning resolving condition does not meet the preset positioning resolving condition, executing the step of acquiring the current positioning resolving condition of the navigation receiver.
Specifically, the current positioning solution condition may include a current solution satellite range, a current solution state, a current continuous positioning number and a current effective satellite number, and the preset positioning solution condition may include a preset solution satellite range, a preset solution state, a preset continuous positioning number and a preset effective satellite number. The specific value of the preset positioning calculation condition may be set according to an actual application scenario, which is not specifically limited in the exemplary embodiment of the present disclosure.
For example, when the navigation receiver is a navigation receiver of a satellite positioning system, the preset resolving satellite range may be set to a satellite number range (e.g., no. 1 to No. 32) of an effective satellite included in the satellite positioning system, the preset resolving state may be set to a normal resolving state, the preset continuous positioning times may be set to be greater than or equal to 2 times, and the preset effective satellite number may be set to be greater than or equal to 4.
And if the plurality of current positioning resolving conditions meet the preset positioning resolving conditions, executing the step of acquiring the current satellite position information of the plurality of effective satellites associated with the navigation receiver at the current moment.
And if any current positioning resolving condition does not meet the preset positioning resolving condition, executing the step of acquiring the current positioning resolving condition of the navigation receiver.
Based on this, according to the exemplary embodiment of the disclosure, by setting the preset positioning solution condition, under the condition that any one of the current positioning solution conditions does not meet the preset positioning solution condition, the solution to the displacement solution model is ended, and the current positioning solution condition of the navigation receiver is re-executed, so that the solution efficiency of the displacement solution model can be improved, and unnecessary solution errors are avoided.
The above-mentioned at least one technical scheme that the embodiment of the disclosure adopted can reach following beneficial effect: a displacement solving model of the navigation receiver is constructed; acquiring a current positioning resolving condition of a navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition; and solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver, and solving the displacement of the navigation receiver by fully utilizing the observed quantity data (the current satellite position information) of the plurality of effective satellites associated with the navigation receiver so as to improve the accuracy and the effectiveness of the positioning solving result of the navigation receiver.
The foregoing has been mainly presented in terms of the teachings of the presently disclosed embodiments. It will be appreciated that, in order to achieve the above-described functions, the electronic device includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.
The embodiment of the disclosure may divide the functional units of the electronic device according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present disclosure, the division of the modules is merely a logic function division, and other division manners may be implemented in actual practice.
In the case of dividing each functional module by corresponding each function, exemplary embodiments of the present disclosure provide a solving apparatus of a displacement of a navigation receiver, which may be an electronic device or a chip applied to the electronic device. Fig. 2 shows a schematic structural diagram of a device for solving a displacement of a navigation receiver according to an exemplary embodiment of the present disclosure. As shown in fig. 2, the apparatus 200 includes:
A construction module 201, configured to construct a displacement solution model of the navigation receiver;
an obtaining module 202, configured to obtain a current positioning solution condition of the navigation receiver, and obtain current satellite position information of a plurality of valid satellites associated with the navigation receiver at a current moment when the current positioning solution condition meets a preset positioning solution condition;
And the solving module 203 is configured to solve the displacement solving model by using current satellite position information of the plurality of effective satellites at a current moment, so as to obtain the displacement of the navigation receiver.
In some embodiments, the acquiring module 202 is further configured to acquire historical pseudo-range information of the plurality of valid satellites at a previous time and historical receiver position information of the navigation receiver at the previous time;
The construction module 201 is further configured to construct a receiver position prediction model of the navigation receiver;
The apparatus 200 further comprises: a processing module 204 for determining predicted receiver position information for the navigation receiver at a current time based on the historical receiver position information using the receiver position prediction model;
The construction module 201 is further configured to construct a displacement solution model of the navigation receiver based on the historical pseudo-range information, the time interval between the previous time and the current time, the historical receiver position information, the predicted receiver position information, and the receiver clock difference of the navigation receiver.
In some embodiments, if the navigation receiver is displaced at the current time byThe historical receiver location information is/>The predicted receiver location information is/>The receiver position prediction model is expressed by the following formula:
，
Based on this, the predicted receiver position information is expressed as 。
In some embodiments, the displacement solution model of the navigation receiver is represented by the following formula:
，
Wherein, Representing the current satellite position information of the ith valid satellite at the current moment, c representing the speed of light,/>Representing receiver clock skew,/>Historical pseudo-range information representing the ith valid satellite at the last time instant,/>Representing the time interval between the last time instant and the current time instant.
In some embodiments, the acquisition module 202 is further configured to acquire an initial solution displacement of the navigation receiver;
the solving module 203 is further configured to solve the displacement solving model by using current satellite position information of the plurality of effective satellites at a current moment, so as to obtain a current solution displacement of the navigation receiver;
The processing module 204 is further configured to determine that the current solution displacement is the displacement of the navigation receiver if the current iteration solution number of the displacement solution model is less than or equal to a preset iteration solution number and a current displacement correction amount determined based on the current solution displacement and the initial solution displacement is less than a preset correction amount; otherwise, updating the initial resolving displacement to the current resolving displacement.
In some embodiments, the obtaining module 202 is further configured to obtain historical receiver position information of the navigation receiver at a previous time and current receiver position information at a current time;
The processing module 204 is further configured to calculate an initial solution displacement of the navigation receiver based on the historical receiver position information and the current receiver position information.
In some embodiments, the current positioning solution condition includes a current solution satellite range, a current solution state, a current number of continuous positioning times, and a current number of valid satellites, and the preset positioning solution condition includes a preset solution satellite range, a preset solution state, a preset number of continuous positioning times, and a preset number of valid satellites; the processing module 204 is further configured to execute the step of obtaining the current positioning solution condition of the navigation receiver if any of the current positioning solution conditions does not meet the preset positioning solution condition.
The embodiment of the disclosure also provides an electronic device, including: at least one processor; a memory for storing at least one processor-executable instruction; wherein at least one processor is configured to execute instructions to implement the steps of the above-described methods disclosed in embodiments of the present disclosure.
Fig. 3 shows a schematic structural diagram of an electronic device provided in an exemplary embodiment of the present disclosure. As shown in fig. 3, the electronic device 300 includes at least one processor 301 and a memory 302 coupled to the processor 301, the processor 301 being capable of performing the respective steps of the above-described methods disclosed in the embodiments of the present disclosure.
The processor 301 may also be referred to as a central processing unit (Central Processing Unit, CPU), which may be an integrated circuit chip with signal processing capabilities. The steps of the above-described methods disclosed in the embodiments of the present disclosure may be accomplished by instructions in the form of integrated logic circuits or software of hardware in the processor 301. The processor 301 may be a general purpose processor, a digital signal processor (DIGITAL SIGNAL Processing, DSP), an ASIC, an off-the-shelf programmable gate array (Field-programmable GATE ARRAY, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present disclosure may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in memory 302, such as random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, and the like, as well known in the art. The processor 301 reads the information in the memory 302 and, in combination with its hardware, performs the steps of the method described above.
In addition, various operations/processes according to the present disclosure, in the case of being implemented by software and/or firmware, may be installed from a storage medium or network to a computer system having a dedicated hardware structure, for example, the computer system 400 shown in fig. 4, which is capable of performing various functions including functions such as those described above, and the like, when various programs are installed. Fig. 4 shows a schematic structural diagram of a computer system provided in an exemplary embodiment of the present disclosure.
Computer system 400 is intended to represent various forms of digital electronic computing devices, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 4, the computer system 400 includes a computing unit 401, and the computing unit 401 may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM) 402 or a computer program loaded from a storage unit 408 into a Random Access Memory (RAM) 403. In RAM 403, various programs and data required for the operation of computer system 400 may also be stored. The computing unit 401, ROM 402, and RAM 403 are connected to each other by a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Various components in computer system 400 are connected to I/O interface 405, including: an input unit 406, an output unit 407, a storage unit 408, and a communication unit 409. The input unit 406 may be any type of device capable of inputting information to the computer system 400, and the input unit 406 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device. The output unit 407 may be any type of device capable of presenting information and may include, but is not limited to, a display, speakers, video/audio output terminals, vibrators, and/or printers. Storage unit 408 may include, but is not limited to, magnetic disks, optical disks. The communication unit 409 allows the computer system 400 to exchange information/data with other devices over a network, such as the internet, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers and/or chipsets, e.g., bluetooth (TM) devices, wiFi devices, wiMax devices, cellular communication devices, and/or the like.
The computing unit 401 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 401 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 401 performs the respective methods and processes described above. For example, in some embodiments, the above-described methods disclosed by embodiments of the present disclosure may be implemented as a computer software program tangibly embodied on a machine-readable medium, e.g., the storage unit 408. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device via the ROM 402 and/or the communication unit 409. In some embodiments, the computing unit 401 may be configured to perform the above-described methods of the disclosed embodiments of the present disclosure by any other suitable means (e.g., by means of firmware).
The disclosed embodiments also provide a computer-readable storage medium, wherein instructions in the computer-readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the above-described method disclosed by the disclosed embodiments.
A computer readable storage medium in embodiments of the present disclosure may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium described above can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specifically, the computer-readable storage medium described above may include one or more wire-based electrical connections, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the above-described methods of the disclosed embodiments.
In an embodiment of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to an object oriented programming language such as Java, smalltalk, C ++, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of remote computers, the remote computers may be connected to the user computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to external computers.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules, components or units referred to in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of a module, component or unit does not in some cases constitute a limitation of the module, component or unit itself.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The above description is merely illustrative of some embodiments of the present disclosure and of the principles of the technology applied. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in this disclosure is not limited to the specific combinations of features described above, but also covers other embodiments which may be formed by any combination of features described above or equivalents thereof without departing from the spirit of the disclosure. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A method for solving for a displacement of a navigation receiver, comprising:
Constructing a displacement solving model of the navigation receiver;
acquiring a current positioning resolving condition of the navigation receiver, and acquiring current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets a preset positioning resolving condition;
And solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver.
2. The method of claim 1, wherein said constructing a displacement solution model of a navigation receiver comprises:
Acquiring historical pseudo-range information of the plurality of effective satellites at the last moment and historical receiver position information of the navigation receiver at the last moment;
constructing a receiver position prediction model of the navigation receiver, and determining predicted receiver position information of the navigation receiver at the current moment based on the historical receiver position information by utilizing the receiver position prediction model;
And constructing a displacement solving model of the navigation receiver based on the historical pseudo-range information, the time interval between the last time and the current time, the historical receiver position information, the predicted receiver position information and the receiver clock difference of the navigation receiver.
3. The method of claim 2, wherein if the navigation receiver is displaced at the current time byThe historical receiver location information is/>The predicted receiver position information isThe receiver position prediction model is expressed by the following formula:
，
Based on this, the predicted receiver position information is expressed as 。
4. A method according to claim 3, wherein the displacement solving model of the navigation receiver is represented by the following formula:
，
Wherein, Representing current satellite position information of the ith active satellite at the current time, c represents the speed of light,Representing receiver clock skew,/>Historical pseudo-range information representing the ith valid satellite at the last time instant,/>Representing the time interval between the last time instant and the current time instant.
5. The method of claim 1, wherein solving the displacement solution model using current satellite position information of the plurality of active satellites at a current time to obtain the displacement of the navigation receiver comprises:
acquiring an initial solution displacement of the navigation receiver;
Solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the current solving displacement of the navigation receiver;
if the current iteration solution times of the displacement solution model are smaller than or equal to the preset iteration solution times, and the current displacement correction amount determined based on the current solution displacement and the initial solution displacement is smaller than the preset correction amount, determining that the current solution displacement is the displacement of the navigation receiver; otherwise, updating the initial resolving displacement to the current resolving displacement.
6. The method of claim 5, wherein the obtaining the initial solution displacement of the navigation receiver comprises:
Acquiring historical receiver position information of the navigation receiver at the last moment and current receiver position information at the current moment;
An initial solution displacement of the navigation receiver is calculated based on the historical receiver position information and the current receiver position information.
7. The method according to any one of claims 1 to 6, wherein the current positioning solution condition includes a current solution satellite range, a current solution state, a current continuous positioning number and a current effective satellite number, and the preset positioning solution condition includes a preset solution satellite range, a preset solution state, a preset continuous positioning number and a preset effective satellite number; the method further comprises the steps of:
and if any one of the current positioning resolving conditions does not meet the preset positioning resolving condition, executing the step of acquiring the current positioning resolving condition of the navigation receiver.
8. A device for solving a displacement of a navigation receiver, comprising:
The construction module is used for constructing a displacement solving model of the navigation receiver;
The acquisition module is used for acquiring the current positioning resolving condition of the navigation receiver and acquiring the current satellite position information of a plurality of effective satellites associated with the navigation receiver at the current moment under the condition that the current positioning resolving condition meets the preset positioning resolving condition;
And the solving module is used for solving the displacement solving model by utilizing the current satellite position information of the plurality of effective satellites at the current moment to obtain the displacement of the navigation receiver.
9. An electronic device, comprising:
At least one processor;
a memory for storing the at least one processor-executable instruction;
Wherein the at least one processor is configured to execute the instructions to implement the steps of the method according to any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that instructions in the computer readable storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the steps of the method according to any one of claims 1-7.
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