WO2022100388A1

WO2022100388A1 - Assisted positioning method, apparatus and device based on reference point location

Info

Publication number: WO2022100388A1
Application number: PCT/CN2021/124975
Authority: WO
Inventors: 赵悟; 蒋鑫; 邹华; 敖婷; 徐宏亮
Original assignee: 中移(上海)信息通信科技有限公司; 中移智行网络科技有限公司; ***通信集团有限公司
Priority date: 2020-11-13
Filing date: 2021-10-20
Publication date: 2022-05-19
Also published as: CN113075714A; CN113075714B

Abstract

An assisted positioning method, apparatus and device based on a reference point location. The method comprises: acquiring observation data of a reference station network (S110); generating a first assisted positioning model according to the observation data (S120); acquiring location information of a reference point (S130); matching the location information of the reference point with the first assisted positioning model so as to obtain a second assisted positioning model (S140); sending the second assisted positioning model to a terminal device located within the communication coverage range of the reference point, such that the terminal device is used to perform positioning error correction according to the second assisted positioning model (S150). In the method, since it is not necessary for a user to upload his/her own location information, the location privacy of the user is protected while ensuring the effectiveness of an assisted positioning model for the user location; in addition, it is not necessary to deploy both a communication unit and a satellite signal transceiving unit for a reference point, thereby avoiding electromagnetic interference between communication signals and satellite signals, ensuring the accuracy of the obtained assisted positioning model, and improving the positioning precision of a terminal device.

Description

一种基于参考点位置的辅助定位方法、装置及设备A kind of auxiliary positioning method, device and equipment based on reference point position

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请基于申请号为202011267808.8、申请日为2020年11月13日，申请名称为“一种基于参考点位置的辅助定位方法、装置及设备”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此以引入方式结合在本申请中。This application is based on the Chinese patent application with the application number of 202011267808.8 and the application date of November 13, 2020, and the application title is "A reference point position-based auxiliary positioning method, device and equipment", and requires the Chinese patent application Priority, the entire content of this Chinese patent application is hereby incorporated by reference into this application.

技术领域technical field

本申请实施例涉及高精度定位技术领域，尤其涉及一种基于参考点位置的辅助定位方法、装置及设备。The embodiments of the present application relate to the technical field of high-precision positioning, and in particular, to an assisted positioning method, device, and device based on the position of a reference point.

背景技术Background technique

卫星定位技术是指终端通过接收卫星广播的导航信号计算其坐标位置，该定位技术的精度受电离层、对流层、钟差等因素影响，通常采用辅助定位***辅助终端进行快速精准定位。Satellite positioning technology means that the terminal calculates its coordinate position by receiving the navigation signal broadcast by the satellite. The accuracy of this positioning technology is affected by factors such as the ionosphere, troposphere, clock error, etc. The auxiliary positioning system is usually used to assist the terminal to perform fast and accurate positioning.

现有技术中，通过在基站设备中集成差分解算单元和移动通信发射单元计算发射差分改正信息。其中，差分解算单元接收并处理可见卫星的卫星信号，从处理后的卫星信号中解析出测量的伪距值并对可见卫星进行定位。然后，该单元根据载波相位平滑伪距算法对测量的伪距值进行优化，根据加权最小二乘法对定位数据进行优化，并根据优化后的伪距值和定位数据生成差分改正信息。移动通信发射单元对差分改正信息进行处理以生成差分电文，并将差分电文发射给终端。In the prior art, the transmission difference correction information is calculated and transmitted by integrating the difference decomposing unit and the mobile communication transmitting unit in the base station equipment. Wherein, the differential calculation unit receives and processes the satellite signals of the visible satellites, analyzes the measured pseudorange values from the processed satellite signals, and locates the visible satellites. Then, the unit optimizes the measured pseudorange value according to the carrier phase smoothing pseudorange algorithm, optimizes the positioning data according to the weighted least squares method, and generates differential correction information according to the optimized pseudorange value and the positioning data. The mobile communication transmitting unit processes the differential correction information to generate a differential message, and transmits the differential message to the terminal.

然而，基站的导航定位单元与移动通信发射单元之间会存在杂散干扰和阻塞干扰的问题，对定位信号的接收、处理造成影响，从而影响差分改正信息的精确性导致终端定位精度降低。However, there will be stray interference and blocking interference between the navigation and positioning unit of the base station and the mobile communication transmitting unit, which will affect the reception and processing of the positioning signal, thereby affecting the accuracy of the differential correction information and reducing the terminal positioning accuracy.

发明内容SUMMARY OF THE INVENTION

本申请实施例提供一种基于参考点位置的辅助定位方法、装置及设备，不需要同时部署导航定位单元与移动通信发射单元，避免出现通信信号与卫星导航信号之间的电磁干扰，保证了辅助定位信息的精确性，从而提升了终端的定位精度。The embodiments of the present application provide an assisted positioning method, device, and device based on the position of a reference point, which does not need to deploy a navigation positioning unit and a mobile communication transmitting unit at the same time, avoids electromagnetic interference between communication signals and satellite navigation signals, and ensures the assistance of The accuracy of the positioning information, thereby improving the positioning accuracy of the terminal.

为解决上述问题，本申请是这样实现的：In order to solve the above problems, this application is implemented as follows:

第一方面，本申请实施例提供了一种基于参考点位置的辅助定位方法，所述方法包括：In a first aspect, an embodiment of the present application provides an assisted positioning method based on a reference point position, and the method includes:

获取基准站网的观测数据；Obtain observational data from the base station network;

根据观测数据生成第一辅助定位模型；generating a first auxiliary positioning model according to the observation data;

获取参考点的位置信息；Obtain the location information of the reference point;

将位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型；Matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;

向位于所述参考点的通信覆盖范围内的终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正；sending the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model;

所述第二辅助定位模型包括所述参考点的位置的差分改正模型、区域可见卫星、参考时间、参考位置和星历。The second assisted positioning model includes a differential correction model of the position of the reference point, regional visible satellites, reference time, reference position and ephemeris.

在一种可能的实现方式中，根据观测数据生成第一辅助定位模型，包括：根据观测数据将基准站网的网络覆盖区域划分为多个网格区域，计算多个网络区域的辅助定位信息；In a possible implementation manner, generating the first auxiliary positioning model according to the observation data includes: dividing the network coverage area of the reference station network into multiple grid areas according to the observation data, and calculating the auxiliary positioning information of the multiple network areas;

根据辅助定位信息生成第一辅助定位模型。A first auxiliary positioning model is generated according to the auxiliary positioning information.

在一种可能的实现方式中，第一辅助定位模型包括多个网格差分改正模型；将位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型，包括：In a possible implementation manner, the first auxiliary positioning model includes a plurality of grid differential correction models; the position information is matched with the first auxiliary positioning model to obtain a second auxiliary positioning model, including:

根据位置信息从第一辅助定位模型选取与参考点相邻的至少一个网格差分改正模型，得到第二辅助定位模型。At least one grid differential correction model adjacent to the reference point is selected from the first auxiliary positioning model according to the position information to obtain a second auxiliary positioning model.

在一种可能的实现方式中，该方法还包括：获取参考点的编号；In a possible implementation, the method further includes: acquiring the reference point number;

通过编号，以及预存参考点的编号与位置信息对照表进行匹配，得到位置信息。The location information is obtained by matching the number and the number of the pre-stored reference point with the location information comparison table.

在一种可能的实现方式中，向终端设备发送第二辅助定位模型，包括：通过参考点通信单元向终端设备发送第二辅助定位模型。In a possible implementation manner, sending the second assisted positioning model to the terminal device includes: sending the second assisted positioning model to the terminal device through a reference point communication unit.

第二方面，本申请实施例还提供一种基于参考点位置的辅助定位装置，所述装置包括：In a second aspect, an embodiment of the present application further provides an auxiliary positioning device based on a reference point position, the device comprising:

第一获取单元，用于获取基准站网的观测数据；a first acquiring unit, used for acquiring the observation data of the reference station network;

生成单元，用于根据观测数据生成第一辅助定位模型；a generating unit, configured to generate a first auxiliary positioning model according to the observation data;

第二获取单元，用于获取参考点的位置信息；a second acquisition unit, used for acquiring the position information of the reference point;

所述生成单元，还用于将位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型；The generating unit is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;

发送单元，用于向位于所述参考点的通信覆盖范围内的终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正；a sending unit, configured to send the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model;

在一种可能的实现方式中，生成单元具体用于：根据观测数据将基准站网的网络覆盖区域划分为多个网格区域，计算多个网络区域的辅助定位信息；根据辅助定位信息生成第一辅助定位模型。In a possible implementation manner, the generating unit is specifically configured to: divide the network coverage area of the reference station network into multiple grid areas according to the observation data, and calculate the auxiliary positioning information of the multiple network areas; An auxiliary positioning model.

在一种可能的实现方式中，第一辅助定位模型包括网格差分改正模型；生成单元具体用于：根据位置信息从第一辅助定位模型中选取与参考点相邻的至少一个网格差分改正模型，得到第二辅助定位模型。In a possible implementation manner, the first auxiliary positioning model includes a grid differential correction model; the generating unit is specifically configured to: select at least one grid differential correction adjacent to the reference point from the first auxiliary positioning model according to the position information model to obtain a second auxiliary positioning model.

第三方面，本申请实施例提供了一种基于参考点位置的辅助定位设备，设备包括：处理器，以及存储有计算机程序指令的存储器；处理器读取并执行计算机程序指令，以实现第一方面或者第一方面任意一项可能的实现方式的基于参考点位置的辅助定位方法。In a third aspect, an embodiment of the present application provides an auxiliary positioning device based on a reference point position. The device includes: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions to realize the first Aspect or an assisted positioning method based on a reference point position in any possible implementation manner of the first aspect.

第四方面，本申请实施例提供了一种计算机存储介质，计算机存储介质上存储有计算机程序指令，计算机程序指令被处理器执行时实现第一方面或者第一方面任意一项可能的实现方式的基于参考点位置的辅助定位方法。In a fourth aspect, an embodiment of the present application provides a computer storage medium, where computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by a processor, the first aspect or any possible implementation manner of the first aspect is implemented. Auxiliary positioning method based on reference point position.

本申请实施例的基于参考点位置的辅助定位方法、装置及设备，其中，方法包括：通过获取基准站网的观测数据，根据观测数据生成第一辅助定位模型，获取参考点的位置信息，不需要用户上传自己的位置信息，将参考点的位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型，在保证用户位置的辅助定位模型有效性的同时，保护了用户的位置隐私。向终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正，不需要参考点同时部署参考点通信单元与卫星信号收发单元，避免出现通信信号与卫星信号之间的电磁干扰，保证得到的辅助定位模型的精确性，从而提升了终端设备定位的精度。The method, device, and device for assisted positioning based on the position of the reference point according to the embodiments of the present application, wherein the method includes: by obtaining the observation data of the reference station network, generating a first assisted positioning model according to the observation data, obtaining the position information of the reference point, and not The user needs to upload their own location information, match the location information of the reference point with the first auxiliary positioning model, and obtain the second auxiliary positioning model, which protects the user's location privacy while ensuring the validity of the auxiliary positioning model for the user's location. Send the second auxiliary positioning model to the terminal device, so that the terminal device can correct the positioning error according to the second auxiliary positioning model. It does not need the reference point to deploy the reference point communication unit and the satellite signal transceiver unit at the same time, so as to avoid the occurrence of the communication signal and the satellite signal. The electromagnetic interference between them ensures the accuracy of the obtained auxiliary positioning model, thereby improving the positioning accuracy of the terminal equipment.

由于本申请实施例在位置已知的参考点上布设参考点通信单元，为其范围内终端进行辅助定位服务，不需要参考点具备卫星信号接收能力，提升了整个辅助定位***的灵活性与可移植性，降低设备复杂度与成本。Since the embodiment of the present application arranges the reference point communication unit on the reference point whose position is known to perform assisted positioning service for the terminals within its range, it is not necessary for the reference point to have satellite signal reception capability, which improves the flexibility and availability of the entire assisted positioning system. Portability, reducing equipment complexity and cost.

附图说明Description of drawings

为了更清楚地说明本申请实施例的技术方案，下面将对本申请实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

图1是本申请实施例提供的一种基于参考点位置的辅助定位方法的流程示意图；1 is a schematic flowchart of an assisted positioning method based on a reference point position provided by an embodiment of the present application;

图2是本申请实施例提供的一种基于参考点位置的辅助定位的信息交互示意图；2 is a schematic diagram of information interaction for assisted positioning based on a reference point position provided by an embodiment of the present application;

图3是本申请实施例提供的一种基于参考点位置的辅助定位的信息交互示意图；3 is a schematic diagram of information interaction for assisted positioning based on a reference point position provided by an embodiment of the present application;

图4是本申请实施例提供的一种基于参考点位置的辅助定位装置的结构示意图；4 is a schematic structural diagram of an auxiliary positioning device based on a reference point position provided by an embodiment of the present application;

图5是本申请实施例提供的一种基于参考点位置的辅助定位设备的结构示意图。FIG. 5 is a schematic structural diagram of an auxiliary positioning device based on a reference point position provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将详细描述本申请的各个方面的特征和示例性实施例，为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及具体实施例，对本申请进行进一步详细描述。应理解，此处所描述的具体实施例仅被配置为解释本申请，并不被配置为限定本申请。对于本领域技术人员来说，本申请可以在不需要这些具体细节中的一些细节的情况下实施。下面对实施例的描述仅仅是为了通过示出本申请的示例来提供对本申请更好的理解。The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application, and are not configured to limit the present application. It will be apparent to those skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating examples of the present application.

需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprises" does not preclude the presence of additional identical elements in a process, method, article, or device that includes the element.

为了减少电离层、对流层、钟差等因素对定位技术的影响，采用不同的辅助定位方法提高终端设备定位的精准度。例如，网络实时动态(Real-time Kinematic，RTK)服务器根据通信基站的位置信息检索该基站附近的RTK物理基站或者根据所述位置信息生成的RTK虚拟基站，将RTK基站的差分改正数播发给用户终端；或者通信基站根据其自身接收的卫星信号信息计算码相位，并与定位终端根据其卫星观测信息计算出的码相位进行差分计算，判断终端是否处于通信基站附近，相应地，基站根据判断结果将较为精确的码相位信息发给终端以提升定位精度。这就要求基站不仅具备卫星信号的接收能力与差分解算能力以计算出其布设的真实位置以及该位置上的卫星差分改正信息，还需要具备单播或广播的通信能力将这些消息传输给用户终端。然而在实际应用中，同时具备导航定位、差分解算以及通信功能的设备不仅体积笨重而且制造工艺要求较高，难度较大导致其制造成本、运维成本较高不宜推广使用。In order to reduce the influence of factors such as ionosphere, troposphere and clock error on positioning technology, different auxiliary positioning methods are used to improve the positioning accuracy of terminal equipment. For example, the Real-time Kinematic (RTK) server searches for the RTK physical base station near the base station or the RTK virtual base station generated according to the position information according to the position information of the communication base station, and broadcasts the differential correction number of the RTK base station to the user. terminal; or the communication base station calculates the code phase according to the satellite signal information received by itself, and performs differential calculation with the code phase calculated by the positioning terminal according to its satellite observation information to determine whether the terminal is near the communication base station, and accordingly, the base station is based on the judgment result. The more accurate code phase information is sent to the terminal to improve the positioning accuracy. This requires the base station not only to have the ability to receive satellite signals and the ability to decompose and calculate the difference to calculate the real position of its deployment and the satellite differential correction information at this position, but also to have the ability to unicast or broadcast the communication to transmit these messages to users. terminal. However, in practical applications, equipment with functions of navigation and positioning, differential decomposition and communication at the same time is not only bulky but also requires high manufacturing process.

除此之外，辅助终端进行快速精准定位还可以采用通过终端上报移动通信基站ID到服务端，而不是上报其位置信息数据，服务端预先建立移动通信基站ID与移动通信基站位置的对应关系，存放到基站ID与位置数据库中，服务端根据终端上报的移动通信基站ID，找到移动通信基站位置，服务端根据移动通信基站位置，匹配到对应的虚拟参考站网格，服务端根据匹配到的虚拟参考站网格，给终端设备播发虚拟参考站网格对应的差分改正数据，由于需要上报通信基站ID，会存在暴露用户位置隐私的风险。In addition, to assist the terminal to perform fast and accurate positioning, the terminal can also report the ID of the mobile communication base station to the server instead of reporting its location information. The server pre-establishes the correspondence between the ID of the mobile communication base station and the location of the mobile communication base station. Stored in the base station ID and location database, the server finds the location of the mobile communication base station according to the mobile communication base station ID reported by the terminal, the server matches the corresponding virtual reference station grid according to the location of the mobile communication base station, and the server matches the The virtual reference station grid broadcasts the differential correction data corresponding to the virtual reference station grid to the terminal device. Since the ID of the communication base station needs to be reported, there is a risk of exposing the privacy of the user's location.

终端设备通过对导航卫星***进行伪距码和载波相位进行二维搜索以确定其可见卫星，并基于卫星导航信号中的星历信息获取可见卫星的位置，计算出其自身位置。观测卫星导航信号并接收其所在区域的位置修正信息，可计算出其高精度的位置信息。而当终端设备首次开机或者没有有效星历时，终端设备需要对所有的卫星进行捕捉接收，其搜索空间较大导致定位时间较长，定位速度慢。The terminal device determines its visible satellites by performing a two-dimensional search on the pseudo-range code and carrier phase of the navigation satellite system, and obtains the position of the visible satellites based on the ephemeris information in the satellite navigation signal, and calculates its own position. Observing satellite navigation signals and receiving the position correction information of the area in which it is located can calculate its high-precision position information. When the terminal device is powered on for the first time or has no valid ephemeris, the terminal device needs to capture and receive all satellites, and the large search space leads to a long positioning time and a slow positioning speed.

为了解决这个技术问题，本申请实施例提供了一种基于参考点位置的辅助定位方法、装置及设备。In order to solve this technical problem, embodiments of the present application provide an assisted positioning method, apparatus, and device based on a reference point position.

在本申请实施例中，高精度定位平台根据基准站网的观测数据生成第一辅助定位模型，并根据高精度定位平台获取的参考点的位置信息生成该参考点位位置的第二辅助定位模型，传送给参考点布设的通信单元，通信单元通过广播的方式下发给终端设备。终端设备根据第二辅助定位模型进行相应范围的卫星搜索，在快速捕获到卫星导航电文信息后计算出自身的概略位置，再根据第二辅助定位模型中差分改正模型进行定位结果修正，以获得高精度的位置信息。通过在位置已知的参考点上布设通信单元，为通信单元覆盖范围内的终端进行辅助定位服务，不需要参考点具备卫星信号收发能力，不仅避免了通信信号与卫星导航信号之间的电磁干扰，保证参考点位置的辅助定位模型的精确，而且提升了整个辅助***的灵活性与可移植性，降低设备复杂度与成本。由于使用离终端设备更近的参考点作为终端设备的辅助定位模型的锚点，不需要用户上传位置信息，在保证用户位置的辅助定位模型有效性的同时，保护了用户的位置隐私。In the embodiment of the present application, the high-precision positioning platform generates the first auxiliary positioning model according to the observation data of the reference station network, and generates the second auxiliary positioning model of the reference point position according to the position information of the reference point obtained by the high-precision positioning platform. , which is transmitted to the communication unit set up at the reference point, and the communication unit sends it to the terminal equipment by way of broadcasting. The terminal device performs a satellite search in the corresponding range according to the second auxiliary positioning model, calculates its approximate position after quickly capturing the satellite navigation message information, and then corrects the positioning result according to the differential correction model in the second auxiliary positioning model to obtain high accuracy. Accurate location information. By arranging a communication unit on a reference point with a known location, it provides assisted positioning services for terminals within the coverage area of the communication unit, without the need for the reference point to have the ability to send and receive satellite signals, which not only avoids electromagnetic interference between communication signals and satellite navigation signals , to ensure the accuracy of the auxiliary positioning model of the reference point position, and to improve the flexibility and portability of the entire auxiliary system, reducing equipment complexity and cost. Since the reference point closer to the terminal device is used as the anchor point of the auxiliary positioning model of the terminal device, the user does not need to upload the location information, and the user's location privacy is protected while ensuring the validity of the auxiliary positioning model of the user's location.

下面首先对本申请实施例所提供的基于参考点位置的辅助定位方法进行介绍。The following first introduces the assisted positioning method based on the reference point position provided by the embodiment of the present application.

图1示出了本申请一个实施例提供的基于参考点位置的辅助定位方法的流程示意图。如图1所示，该方法可以包括以下步骤：FIG. 1 shows a schematic flowchart of an assisted positioning method based on a reference point position provided by an embodiment of the present application. As shown in Figure 1, the method may include the following steps:

S110、获取基准站网的观测数据。S110. Acquire observation data of the base station network.

基准站网由分布在定位服务区域的多个基准站组成，通过大范围部署导航卫星信号接收机，对导航卫星信号进行观测搜索，接收卫星导航电文信息并回传给高精度定位平台。为了计算差分改正模型，高精度定位平台接收基准站网传送的卫星导航电文信息，从卫星导航电文信息中获取基准站网中各个基准站的卫星观测数据包，解算出各个基准站的观测数据。The base station network consists of multiple base stations distributed in the positioning service area. By deploying a wide range of navigation satellite signal receivers, the navigation satellite signals are observed and searched, and the satellite navigation message information is received and transmitted back to the high-precision positioning platform. In order to calculate the differential correction model, the high-precision positioning platform receives the satellite navigation message information transmitted by the reference station network, obtains the satellite observation data packets of each reference station in the reference station network from the satellite navigation message information, and solves the observation data of each reference station.

S120、根据观测数据生成第一辅助定位模型。S120. Generate a first auxiliary positioning model according to the observation data.

高精度定位平台根据观测数据计算得到第一辅助定位模型，该第一辅助定位模型包括整个基准站网的差分改正模型、区域可见卫星、参考时间、参考位置、星历等辅助定位信息，用于与参考点的位置信息进行匹配，以获得参考点位置的辅助定位模型。The high-precision positioning platform calculates and obtains a first auxiliary positioning model according to the observation data. The first auxiliary positioning model includes the differential correction model of the entire reference station network, regional visible satellites, reference time, reference position, ephemeris and other auxiliary positioning information. It is matched with the position information of the reference point to obtain an auxiliary positioning model of the position of the reference point.

S130、获取参考点的位置信息。S130. Acquire position information of the reference point.

为了计算参考点位置上的辅助定位模型，高精度定位平台获取参考点的位置信息，该位置信息可以由通信单元发送给高精度定位平台，通过专业的测绘类卫星定位设备在通信单元部署后进行测定，或者是先测定参考点的位置坐标再部署通信单元。除此之外，还可以先获取参考点的编号，根据高精度定位平台预先存储的参考点编号与位置对应表，通过匹配参考点编号得出参考的位置。上述位置信息也可以通过其他定位技术手段获得，此处不做限定。In order to calculate the auxiliary positioning model at the position of the reference point, the high-precision positioning platform obtains the position information of the reference point, and the position information can be sent by the communication unit to the high-precision positioning platform. Determine, or first determine the position coordinates of the reference point and then deploy the communication unit. In addition, the reference point number can also be obtained first, and the reference position can be obtained by matching the reference point number according to the reference point number and position correspondence table pre-stored by the high-precision positioning platform. The above location information can also be obtained by other positioning technical means, which is not limited here.

参考点的布设方式可以根据用户的位置服务需求区域，选取视野开阔、无遮挡的环境部署通信单元，也可以是提前部署好的通信基站或者固定电台等通信单元，测定其位置记录入高精度定位平台。同时参考点部署的通信单元具有较高的灵活性，例如移动电台会跟随定位服务区域而时常更换位置，因此参考点的通信单元会定期或由位置移动触发向高精度定位平台更新其自身位置。The layout of the reference point can be based on the user's location service demand area, select a wide field of vision, unobstructed environment to deploy the communication unit, or it can be a communication unit such as a communication base station or a fixed radio station deployed in advance, and its position is measured and recorded in the high-precision positioning. platform. At the same time, the communication unit deployed at the reference point has high flexibility. For example, the mobile station will frequently change its position following the positioning service area. Therefore, the communication unit at the reference point will update its own position to the high-precision positioning platform periodically or triggered by position movement.

S140、将位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型。S140. Match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model.

高精度定位平台根据参考点的位置信息匹配该位置对应的第一辅助定位模型，得到第二辅助定位模型，该第二辅助定位模型包括参考点位置的差分改正模型、区域可见卫星、参考时间、参考位置、星历等辅助定位信息，有助于终端设备快速锁定搜星范围，从而提升用户的定位速度。The high-precision positioning platform matches the first auxiliary positioning model corresponding to the position according to the position information of the reference point, and obtains the second auxiliary positioning model. Auxiliary positioning information such as reference position and ephemeris helps the terminal device to quickly lock the star search range, thereby improving the user's positioning speed.

S150、向位于参考点的通信覆盖范围内的终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正。S150. Send the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model.

高精度定位平台向终端设备发送参考点位置的差分改正模型、区域可见卫星、参考时间、参考位置、星历等辅助定位信息，以用于终端设备根据上述辅助定位信息进行相应范围的卫星搜索，在快速捕获到卫星导航电文后计算出自身的概略位置，再根据辅助定位信息中的定位误差修正信息进行定位结果修正，以获得高精度的位置信息。终端设备包括手机、对讲机等移动设备，还包括货车、挖掘机等车辆，但不仅限于此。The high-precision positioning platform sends the differential correction model of the reference point position, regional visible satellites, reference time, reference position, ephemeris and other auxiliary positioning information to the terminal equipment, so that the terminal equipment can perform satellite search in the corresponding range according to the above-mentioned auxiliary positioning information. After quickly capturing the satellite navigation message, it calculates its approximate position, and then corrects the positioning result according to the positioning error correction information in the auxiliary positioning information to obtain high-precision position information. Terminal equipment includes mobile devices such as mobile phones and walkie-talkies, and also includes vehicles such as trucks and excavators, but is not limited to this.

在本申请实施例中，通过获取基准站网的观测数据，根据观测数据生成第一辅助定位模型，获取参考点的位置信息，将参考点的位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型，不需要用户上传自己的位置信息，在保证用户位置的辅助定位模型有效性的同时，保护了用户的位置隐私。向终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正，不需要参考点同时部署参考点通信单元与卫星信号收发单元，避免出现通信信号与卫星信号之间的电磁干扰，保证得到的辅助定位模型的精确性，从而提升了定位的精度。In the embodiment of the present application, by obtaining the observation data of the reference station network, generating the first auxiliary positioning model according to the observation data, obtaining the position information of the reference point, and matching the position information of the reference point with the first auxiliary positioning model, the first auxiliary positioning model is obtained. The second auxiliary positioning model does not require users to upload their own location information, which protects the user's location privacy while ensuring the effectiveness of the auxiliary positioning model for the user's location. Send the second auxiliary positioning model to the terminal device for the terminal device to correct the positioning error according to the second auxiliary positioning model, without the need for the reference point to deploy the reference point communication unit and the satellite signal transceiver unit at the same time, to avoid the occurrence of communication signals and satellite signals. The electromagnetic interference between them ensures the accuracy of the obtained auxiliary positioning model, thereby improving the positioning accuracy.

在一些实施例中，高精度定位平台将基准站网覆盖的区域划分为多个网格区域，每个网格区域内包括至少一个基准站，结合各个网格区域内基准站的观测数据及其真实坐标进行计算，得到各个网格区域的差分改正模型、该格网区域的可见卫星状况及星历等辅助定位信息，其中，差分改正模型包括电离层差分改正模型、对流层差分改正模型、钟差差分改正模型等，根据上述辅助定位信息生成第一辅助定位模型。通过对基准站覆盖的区域划分为多个网格区域，并计算各个网格区域的第一辅助定位模型，有利于更准确地匹配参考点位置的第二辅助定位模型。In some embodiments, the high-precision positioning platform divides the area covered by the reference station network into a plurality of grid areas, each grid area includes at least one reference station, and combines the observation data of the reference station in each grid area and its Calculate the real coordinates to obtain the differential correction model of each grid area, the visible satellite status and ephemeris and other auxiliary positioning information in the grid area. The differential correction model includes the ionospheric differential correction model, the tropospheric differential correction model, and the clock error A differential correction model, etc., generates a first auxiliary positioning model according to the above-mentioned auxiliary positioning information. By dividing the area covered by the reference station into a plurality of grid areas, and calculating the first auxiliary positioning model of each grid area, it is beneficial to match the second auxiliary positioning model of the reference point position more accurately.

在一些实施例中，当高精度定位平台接收参考点的位置信息时，根据参考点的位置信息，将参考点的位置与基准站网覆盖区域内的所有网格区域进行匹配，确定与参考点的位置相邻的网格区域，选取相邻的网格区域内至少一个差分改正模型，用于计算该参考点位置上的第二辅助定位模型。在与参考点位置比较近的网格区域内选取差分改正模型，能够最大程度上减少计算辅助定位信息的误差，使得第二辅助定位模型更加准确。In some embodiments, when the high-precision positioning platform receives the position information of the reference point, according to the position information of the reference point, the position of the reference point is matched with all the grid areas in the coverage area of the reference station network, and the position of the reference point is determined to match the reference point. In the adjacent grid area, at least one differential correction model in the adjacent grid area is selected for calculating the second auxiliary positioning model at the position of the reference point. Selecting the differential correction model in a grid area that is relatively close to the reference point can reduce the error of calculating the auxiliary positioning information to the greatest extent, and make the second auxiliary positioning model more accurate.

高精度定位平台将第二辅助定位模型发送给参考点通信单元，参考点通信单元以单播、组播、广播等播发方式向其覆盖区域内的终端设备提供第二辅助定位模型。播发方式可以是由终端设备主动向参考点通信单元发起辅助定位请求，参考点通信单元进行响应向该用户播发第二辅助定位模型。或者由参考点通信单元以按固定时间间隔主动广播当前时刻参考点位置的第二辅助定位模型，终端设备在需要辅助定位服务时接入广播信道获取第二辅助定位模型。The high-precision positioning platform sends the second auxiliary positioning model to the reference point communication unit, and the reference point communication unit provides the second auxiliary positioning model to the terminal equipment in its coverage area by means of unicast, multicast, broadcast, etc. The broadcasting mode may be that the terminal device actively initiates an auxiliary positioning request to the reference point communication unit, and the reference point communication unit responds by broadcasting the second auxiliary positioning model to the user. Alternatively, the reference point communication unit actively broadcasts the second assisted positioning model of the current reference point position at fixed time intervals, and the terminal device accesses the broadcast channel to obtain the second assisted positioning model when the assisted positioning service is required.

事实上，通信单元的通信覆盖范围往往有限，而与导航卫星观测位置相关的差分改正模型、星历等辅助定位模型在较大范围内的数据差异不大。例如，5G基站的覆盖范围为1-2公里，基于参考点位置的差分改正模型有效参考范围为10-20公里，因此，基于参考点位置的差分改正模型以及星历等辅助信息对于其通信覆盖区域内的终端设备具有较强的相关性与可参考性。本申请实施例根据参考点位置匹配相应的第二辅助定位模型，通过参考点通信单元播发第二辅助定位模型，其通信覆盖范围内的终端不需要上报与自身位置相关的任何信息就可以获得较高精度的辅助定位信息，从而提高了用户位置信息的保密性。In fact, the communication coverage of the communication unit is often limited, and the differential correction model, ephemeris and other auxiliary positioning models related to the observation position of the navigation satellite have little difference in the data in a large range. For example, the coverage of a 5G base station is 1-2 kilometers, and the effective reference range of the differential correction model based on the reference point location is 10-20 kilometers. Therefore, the differential correction model based on the reference point location and auxiliary information such as ephemeris are important for its communication coverage. The terminal equipment in the area has strong correlation and reference. This embodiment of the present application matches the corresponding second auxiliary positioning model according to the position of the reference point, and broadcasts the second auxiliary positioning model through the reference point communication unit. High-precision auxiliary positioning information, thereby improving the confidentiality of user location information.

由于本申请实施例在组网结构上更靠近用户，在服务部署上选取更为灵活的参考点作为辅助定位模型获取的锚定信源，使得本申请实施例既可以满足广域的快速精准定位需求也可以灵活的满足局域性的、封闭性的、移动性的快速精准定位需求，例如矿区、林区。Since the embodiment of the present application is closer to the user in terms of networking structure, a more flexible reference point is selected as the anchor source obtained by the auxiliary positioning model in the service deployment, so that the embodiment of the present application can meet the requirements of fast and accurate positioning in a wide area. The needs can also flexibly meet the local, closed, and mobile fast and accurate positioning needs, such as mining areas and forest areas.

在一个可选的实施例中，在广域快速定位需求下，即存在1个终端接收到多个参考点的辅助定位信息。终端可以根据自身的概略位置信息与参考点位置的远近或参考点通信信号强弱等判决方法选取其中的1个参考点再根据该参考点的辅助定位信息进行快速搜星与辅助定位或者选取多个参考点中某几个参考点的辅助定位信息进行数据综合处理，计算出其快速精准定位所需的辅助定位模型。In an optional embodiment, under the requirement of wide-area fast positioning, that is, there is one terminal that receives auxiliary positioning information of multiple reference points. The terminal can select one of the reference points according to its own approximate position information and the distance of the reference point position or the strength of the reference point communication signal, and then perform fast satellite search and auxiliary positioning according to the auxiliary positioning information of the reference point, or select more than one reference point. The auxiliary positioning information of some reference points in each reference point is processed comprehensively, and the auxiliary positioning model required for fast and accurate positioning is calculated.

在一个可选的实施例中，在局域快速定位需求下，即存在1个终端仅接受到1个参考点的辅助定位信息，终端直接根据该参考点的辅助信息进行相应的卫星信号检索与定位误差修正。In an optional embodiment, under the requirement of local fast positioning, that is, there is one terminal that only receives the auxiliary positioning information of one reference point, the terminal directly performs the corresponding satellite signal retrieval and analysis according to the auxiliary information of the reference point. Positioning error correction.

通过终端设备结合参考点位置的可见卫星以及星历、参考时间等辅助信息计算出频率与码相位等搜星检索范围，根据搜星检索范围进行卫星信号搜索与捕获，解析出卫星导航电文。结合参考点位置的差分改正模型以及其接收到的卫星导航电文，终端设备对自身定位结果进行计算与误差修正，从而快速、准确的获取自身位置。Through the terminal equipment, the visible satellites at the reference point position and auxiliary information such as ephemeris and reference time are used to calculate the frequency and code phase and other satellite search range. According to the search range, the satellite signal is searched and captured, and the satellite navigation message is parsed. Combined with the differential correction model of the reference point position and the satellite navigation message it receives, the terminal device calculates and corrects the error of its own positioning result, so as to obtain its own position quickly and accurately.

在一个具体实施例中，如图2所示，基准站网220由4个基准站221组成，每个基准站221对卫星导航信号进行观测搜索，并将接收到的卫星导航信息回传给高精度定位平台210。如图3所示，高精度定位平台210包括卫星导航信息接收模块211、辅助定位信息计算模块212、服务区域匹配模型213、辅助定位模型播发模块214。卫星导航信息接收模块211接收到卫星导航信息后，搜集基准站网220中各个基准站221的卫星导航信息中的卫星观测数据包，解算出各个基准站221的观测数据并传送给辅助定位信息计算模块212。辅助定位信息计算模块212将基准站网220的覆盖区域按网格进行划分，得到多个网格区域，并结合各网格区域中基准站221的观测数据及其真实坐标进行计算，生成各个网格的差分改正模型、该网格区域的可见卫星状况及星历等辅助定位信息，并传送给服务区域匹配模块213。当服务区域匹配模块213接收到通信单元240发送的参考点230的位置信息时，选取与参考点230相邻的1个或者多个网格区域的差分改正模型计算出该参考点230位置上的辅助定位模型，完成参考点230位置与网格区域的匹配，上述辅助定位模型包括该参考点230的差分改正模型、可见卫星状况及星历、参考时间等辅助定位信息。通过辅助定位模型播发模块214以单播、组播、广播等传输方式向其覆盖区域内的终端250提供辅助定位模型。通信单元240可以是通信基站，也可以是电台或者其他通信设备，根据用户的需求进行设置，此处不做限定。终端250包括通信模块251、卫星导航信息接收模块252、卫星定位计算模块253，通信模块251接收由通信单元240发送的辅助定位模型，卫星导航信息接收模块252根据辅助定位模型计算出搜星检索范围，并根据搜星检索范围进行卫星信号搜索与捕获，解析出终端250的卫星导航信息，卫星定位计算模块253结合辅助定位模型中的差分改正模型和接收到的卫星导航信息进行计算与误差修正，从而快速、准确地获取自身位置，并且保证了自身位置的隐私性。终端250可以是手机、对讲机等移动终端设备，根据辅助定位模型计算用户的地理位置，为用户的行程提供更加准确地导航服务，也可以是施工场地的挖掘机、运土机以及货车，通过接收辅助定位模型精准定位，安全高效地完成施工作业。终端250还可以是参考点230布设的通信单元240覆盖区域的任意具备定位功能的设备，此处不做限定。In a specific embodiment, as shown in FIG. 2 , the reference station network 220 is composed of four reference stations 221 , each reference station 221 observes and searches for satellite navigation signals, and transmits the received satellite navigation information back to high Precision positioning platform 210 . As shown in FIG. 3 , the high-precision positioning platform 210 includes a satellite navigation information receiving module 211 , an auxiliary positioning information calculation module 212 , a service area matching model 213 , and an auxiliary positioning model broadcasting module 214 . After receiving the satellite navigation information, the satellite navigation information receiving module 211 collects the satellite observation data packets in the satellite navigation information of each reference station 221 in the reference station network 220, and calculates the observation data of each reference station 221 and transmits it to the auxiliary positioning information calculation. module 212. The auxiliary positioning information calculation module 212 divides the coverage area of the reference station network 220 into grids to obtain a plurality of grid areas, and performs calculation in combination with the observation data of the reference station 221 in each grid area and its real coordinates to generate each grid area. The differential correction model of the grid, the visible satellite status and ephemeris and other auxiliary positioning information in the grid area are sent to the service area matching module 213 . When the service area matching module 213 receives the position information of the reference point 230 sent by the communication unit 240 , it selects the differential correction model of one or more grid areas adjacent to the reference point 230 to calculate the position of the reference point 230 . The auxiliary positioning model completes the matching between the position of the reference point 230 and the grid area. The above-mentioned auxiliary positioning model includes the differential correction model of the reference point 230, visible satellite status, ephemeris, reference time and other auxiliary positioning information. The assisted positioning model is provided to the terminals 250 within its coverage area through the assisted positioning model broadcasting module 214 in a transmission manner such as unicast, multicast, and broadcast. The communication unit 240 may be a communication base station, or a radio station or other communication equipment, which is set according to the needs of the user, which is not limited here. The terminal 250 includes a communication module 251, a satellite navigation information receiving module 252, and a satellite positioning calculation module 253. The communication module 251 receives the auxiliary positioning model sent by the communication unit 240, and the satellite navigation information receiving module 252 calculates the satellite search retrieval range according to the auxiliary positioning model. , and carry out satellite signal search and capture according to the search range of satellite search, parse out the satellite navigation information of the terminal 250, and the satellite positioning calculation module 253 combines the differential correction model in the assisted positioning model and the received satellite navigation information to perform calculation and error correction, Thus, the location of the self can be obtained quickly and accurately, and the privacy of the location of the self can be ensured. The terminal 250 can be a mobile terminal device such as a mobile phone and a walkie-talkie, which calculates the user's geographic location according to the auxiliary positioning model, and provides more accurate navigation services for the user's itinerary. The auxiliary positioning model is accurately positioned to complete the construction work safely and efficiently. The terminal 250 may also be any device with a positioning function in the coverage area of the communication unit 240 deployed at the reference point 230, which is not limited here.

在本申请实施例中，通过将基准站网对卫星导航信号进行持续观测并将观测数据回传给高精度定位平台，高精度定位平台基于观测数据和通信单元发送的参考点的位置信息计算出该参考点的辅助定位模型，经由该参考点上布设的通信单元向终端设备提供辅助定位模型。该方法简化了对参考点部署设备的功能需求，使得参考点仅需要通信功能就可以辅助终端设备进行快速精准定位，降低了制造和运维成本，由于参考点与基准站相距较远，因此不存在信号之间的干扰问题。而且根据参考点的位置信息就能匹配相应的辅助定位模型，参考点布设的通信单元覆盖范围内的终端设备不需要上报与自身位置相关的任何信息就可以获得较高精度的辅助定位信息，从而提高了用户位置信息的保密性；同时终端设备根据匹配的辅助定位模型进行定位解算，避免了其对卫星信号的全频段大范围搜索，提升了搜星与定位的收敛速度，显著降低了终端的定位时间。图4是本申请实施例提供的一种装置结构示意图。如图4所示，该装置可以包括第一获取单元410，生成单元420，第二获取单元430和发送单元440。In the embodiment of the present application, by continuously observing the satellite navigation signals from the reference station network and returning the observation data to the high-precision positioning platform, the high-precision positioning platform calculates the position information based on the observation data and the position information of the reference point sent by the communication unit. The auxiliary positioning model of the reference point provides the terminal equipment with the auxiliary positioning model via the communication unit arranged on the reference point. The method simplifies the functional requirements for the reference point deployment equipment, so that the reference point only needs the communication function to assist the terminal equipment to perform fast and accurate positioning, and reduces the manufacturing and operation and maintenance costs. There is an interference problem between the signals. Moreover, the corresponding auxiliary positioning model can be matched according to the position information of the reference point. The terminal equipment within the coverage area of the communication unit laid out by the reference point can obtain the auxiliary positioning information with higher precision without reporting any information related to its own position. The confidentiality of the user's location information is improved; at the same time, the terminal device performs the positioning solution according to the matching auxiliary positioning model, which avoids the full-band and wide-range search of the satellite signal, improves the convergence speed of satellite search and positioning, and significantly reduces the terminal speed. positioning time. FIG. 4 is a schematic structural diagram of a device provided by an embodiment of the present application. As shown in FIG. 4 , the apparatus may include a first obtaining unit 410 , a generating unit 420 , a second obtaining unit 430 and a sending unit 440 .

第一获取单元410，用于获取基准站网的观测数据；a first obtaining unit 410, configured to obtain the observation data of the reference station network;

生成单元420，用于根据观测数据生成第一辅助定位模型；a generating unit 420, configured to generate a first auxiliary positioning model according to the observation data;

第二获取单元430，用于获取参考点的位置信息；a second obtaining unit 430, configured to obtain the position information of the reference point;

所述生成单元420，还用于将位置信息与第一辅助定位模型进行匹配，得到第二辅助定位模型；The generating unit 420 is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;

发送单元440，用于向位于参考点的通信覆盖范围内的终端设备发送第二辅助定位模型，以用于终端设备根据第二辅助定位模型进行定位误差修正。The sending unit 440 is configured to send the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment can correct the positioning error according to the second auxiliary positioning model.

在一个可选的实施例中，生成单元420具体用于：根据观测数据将基准站网的网络覆盖区域划分为多个网格区域，计算多个网络区域的辅助定位信息；根据辅助定位信息生成第一辅助定位模型。In an optional embodiment, the generating unit 420 is specifically configured to: divide the network coverage area of the reference station network into multiple grid areas according to the observation data, and calculate the auxiliary positioning information of the multiple network areas; generate according to the auxiliary positioning information The first auxiliary positioning model.

在一个可选的实施例中，第一辅助定位模型包括网格差分改正模型；生成单元420具体用于：根据位置信息从第一辅助定位模型中选取与参考点的位置相邻的网格区域对应的至少一个网格差分改正模型，得到第二辅助定位模型In an optional embodiment, the first auxiliary positioning model includes a grid differential correction model; the generating unit 420 is specifically configured to: select a grid area adjacent to the position of the reference point from the first auxiliary positioning model according to the position information Corresponding at least one grid differential correction model to obtain a second auxiliary positioning model

在一个可选的实施例中，第二获取单元430还用于获取参考点的编号，通过编号，以及预存参考点的编号与位置信息对照表进行匹配，得到位置信息。In an optional embodiment, the second obtaining unit 430 is further configured to obtain the serial number of the reference point, and obtain the location information by matching the serial number and the serial number of the pre-stored reference point with the position information comparison table.

在一个可选的实施例中，发送单元440具体用于：通过参考点通信单元向终端设备发送第二辅助定位模型。In an optional embodiment, the sending unit 440 is specifically configured to: send the second assisted positioning model to the terminal device through the reference point communication unit.

图4所示装置中的单元具有实现图1中各个步骤的功能，并能达到其相应的技术效果，为简洁描述，在此不再赘述。The units in the device shown in FIG. 4 have the functions of implementing the steps in FIG. 1 and can achieve their corresponding technical effects. For the sake of brevity, they will not be repeated here.

图5示出了本申请实施例提供的基于参考点位置的辅助定位设备的硬件结构示意图。FIG. 5 shows a schematic diagram of a hardware structure of an auxiliary positioning device based on a reference point position provided by an embodiment of the present application.

基于参考点位置的辅助定位设备可以包括处理器501以及存储有计算机程序指令的存储器502。The assisted positioning device based on the location of the reference point may include a processor 501 and a memory 502 storing computer program instructions.

具体地，上述处理器501可以包括中央处理器(Central Processing Unit，CPU)，或者特定集成电路(Application Specific Integrated Circuit，ASIC)，或者可以被配置成实施本申请实施例的一个或多个集成电路。Specifically, the above-mentioned processor 501 may include a central processing unit (Central Processing Unit, CPU), or a specific integrated circuit (Application Specific Integrated Circuit, ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application .

存储器502可以包括用于数据或指令的大容量存储器。举例来说而非限制，存储器502可包括硬盘驱动器(Hard Disk Drive，HDD)、软盘驱动器、闪存、光盘、磁光盘、磁带或通用串行总线(Universal Serial Bus，USB)驱动器或者两个或更多个以上这些的组合。在一个实例中，存储器502可以包括可移除或不可移除(或固定)的介质，或者存储器502是非易失性固态存储器。存储器502可在综合网关容灾设备的内部或外部。 Memory 502 may include mass storage for data or instructions. By way of example and not limitation, memory 502 may include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a Universal Serial Bus (USB) drive or two or more A combination of more than one of the above. In one example, memory 502 may include removable or non-removable (or fixed) media, or memory 502 may be non-volatile solid-state memory. The memory 502 may be internal or external to the integrated gateway disaster recovery device.

在一个实例中，存储器502可以是只读存储器(Read Only Memory，ROM)。在一个实例中，该ROM可以是掩模编程的ROM、可编程ROM(PROM)、可擦除PROM(EPROM)、电可擦除PROM(EEPROM)、电可改写ROM(EAROM)或闪存或者两个或更多个以上这些的组合。In one example, the memory 502 may be a read only memory (ROM). In one example, the ROM may be a mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically rewritable ROM (EAROM), or flash memory or both A combination of one or more of the above.

处理器501通过读取并执行存储器502中存储的计算机程序指令，以实现图1所示实施例中的方法/步骤S110至S150，并达到图1所示实例执行其方法/步骤达到的相应技术效果，为简洁描述在此不再赘述。The processor 501 reads and executes the computer program instructions stored in the memory 502 to realize the methods/steps S110 to S150 in the embodiment shown in FIG. 1 , and achieve the corresponding technology achieved by the example shown in FIG. 1 by executing its method/steps The effect is not repeated here for the sake of brevity.

在一个示例中，基于参考点位置的辅助定位设备还可包括通信接口503和总线510。其中，如图5所示，处理器501、存储器502、通信接口503通过总线510连接并完成相互间的通信。In one example, the reference point location-based assisted positioning device may further include a communication interface 503 and a bus 510 . Among them, as shown in FIG. 5 , the processor 501 , the memory 502 , and the communication interface 503 are connected through the bus 510 and complete the mutual communication.

通信接口503，主要用于实现本申请实施例中各模块、装置、单元和/或设备之间的通信。The communication interface 503 is mainly used to implement communication between modules, apparatuses, units and/or devices in the embodiments of the present application.

总线510包括硬件、软件或两者，将基于参考点位置的辅助定位设备的部件彼此耦接在一起。举例来说而非限制，总线可包括加速图形端口(Accelerated Graphics Port，AGP)或其他图形总线、增强工业标准架构(Extended Industry Standard Architecture，EISA)总线、前端总线(Front Side Bus，FSB)、超传输(Hyper Transport，HT)互连、工业标准架构(Industry Standard Architecture，ISA)总线、无限带宽互连、低引脚数(LPC)总线、存储器总线、微信道架构(MCA)总线、***组件互连(PCI)总线、PCI-Express(PCI-X)总线、串行高级技术附件(SATA)总线、视频电子标准协会局部(VLB)总线或其他合适的总线或者两个或更多个以上这些的组合。在合适的情况下，总线510可包括一个或多个总线。尽管本申请实施例描述和示出了特定的总线，但本申请考虑任何合适的总线或互连。The bus 510 includes hardware, software, or both, coupling the components of the assisted positioning device to each other based on the position of the reference point. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Super Transport (Hyper Transport, HT) interconnect, Industry Standard Architecture (ISA) bus, Infiniband interconnect, Low Pin Count (LPC) bus, Memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect Connectivity (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association Local (VLB) bus or other suitable bus or two or more of these combination. Bus 510 may include one or more buses, where appropriate. Although embodiments herein describe and illustrate a particular bus, this application contemplates any suitable bus or interconnect.

该基于参考点位置的辅助定位设备可以基于参考点的位置信息以及高精度定位平台发送的第二辅助定位模型执行本申请实施例中的基于参考点位置的辅助定位方法，从而实现结合图1描述的基于参考点位置的辅助定位方法和装置。The auxiliary positioning device based on the position of the reference point can execute the auxiliary positioning method based on the position of the reference point in the embodiment of the present application based on the position information of the reference point and the second auxiliary positioning model sent by the high-precision positioning platform, so as to realize the description in conjunction with FIG. 1 . The assisted positioning method and device based on the reference point position.

另外，结合上述实施例中的基于参考点位置的辅助定位方法，本申请实施例可提供一种计算机存储介质来实现。该计算机存储介质上存储有计算机程序指令；该计算机程序指令被处理器执行时实现上述实施例中的任意一种基于参考点位置的辅助定位方法。In addition, in combination with the assisted positioning method based on the reference point position in the above embodiment, the embodiment of the present application may provide a computer storage medium for implementation. Computer program instructions are stored on the computer storage medium; when the computer program instructions are executed by the processor, any one of the reference point position-based assisted positioning methods in the foregoing embodiments is implemented.

需要明确的是，本申请并不局限于上文所描述并在图中示出的特定配置和处理。为了简明起见，这里省略了对已知方法的详细描述。在上述实施例中，描述和示出了若干具体的步骤作为示例。但是，本申请的方法过程并不限于所描述和示出的具体步骤，本领域的技术人员可以在领会本申请的精神后，作出各种改变、修改和添加，或者改变步骤之间的顺序。To be clear, the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above-described embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the sequence of steps after comprehending the spirit of the present application.

以上所述的结构框图中所示的功能块可以实现为硬件、软件、固件或者它们的组合。当以硬件方式实现时，其可以例如是电子电路、专用集成电路(Application Specific Integrated Circuit，ASIC)、适当的固件、插件、功能卡等等。当以软件方式实现时，本申请的元素是被用于执行所需任务的程序或者代码段。程序或者代码段可以存储在机器可读介质中，或者通过载波中携带的数据信号在传输介质或者通信链路上传送。“机器可读介质”可以包括能够存储或传输信息的任何介质。机器可读介质的例子包括电子电路、半导体存储器设备、ROM、闪存、可擦除ROM(EROM)、软盘、CD-ROM、光盘、硬盘、光纤介质、射频(Radio Frequency，RF)链路，等等。代码段可以经由诸如因特网、内联网等的计算机网络被下载。The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, and the like. When implemented in software, elements of the present application are programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted over a transmission medium or communication link by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, etc. Wait. The code segments may be downloaded via a computer network such as the Internet, an intranet, or the like.

还需要说明的是，本申请中提及的示例性实施例，基于一系列的步骤或者装置描述一些方法或***。但是，本申请不局限于上述步骤的顺序，也就是说，可以按照实施例中提及的顺序执行步骤，也可以不同于实施例中的顺序，或者若干步骤同时执行。It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.

上面参考根据本公开的实施例的方法、装置(***)和计算机程序产品的流程图和/或框图描述了本公开的各方面。应当理解，流程图和/或框图中的每个方框以及流程图和/或框图中各方框的组合可以由计算机程序指令实现。这些计算机程序指令可被提供给通用计算机、专用计算机、或其它可编程数据处理装置的处理器，以产生一种机器，使得经由计算机或其它可编程数据处理装置的处理器执行的这些指令使能对流程图和/或框图的一个或多个方框中指定的功能/动作的实现。这种处理器可以是但不限于是通用处理器、专用处理器、特殊应用处理器或者现场可编程逻辑电路。还可理解，框图和/或流程图中的每个方框以及框图和/或流程图中的方框的组合，也可以由执行指定的功能或动作的专用硬件来实现，或可由专用硬件和计算机指令的组合来实现。Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that execution of the instructions via the processor of the computer or other programmable data processing apparatus enables the Implementation of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. Such processors may be, but are not limited to, general purpose processors, special purpose processors, application specific processors, or field programmable logic circuits. It will also be understood that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can also be implemented by special purpose hardware that performs the specified functions or actions, or that special purpose hardware and/or A combination of computer instructions is implemented.

以上所述，仅为本申请的具体实施方式，所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的***、模块和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。应理解，本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本申请的保护范围之内。The above are only specific implementations of the present application. Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working process of the above-described systems, modules and units may refer to the foregoing method embodiments. The corresponding process in , will not be repeated here. It should be understood that the protection scope of this application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should all cover within the scope of protection of this application.

Claims

一种基于参考点位置的辅助定位方法，所述方法由一种基于参考点位置的辅助定位装置执行，所述方法包括：An auxiliary positioning method based on a reference point position, the method is performed by an auxiliary positioning device based on a reference point position, and the method includes:

获取基准站网的观测数据；Obtain observational data from the base station network;

根据所述观测数据生成第一辅助定位模型；generating a first auxiliary positioning model according to the observation data;

获取参考点的位置信息；Get the location information of the reference point;

将所述位置信息与所述第一辅助定位模型进行匹配，得到第二辅助定位模型；Matching the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;

向位于所述参考点的通信覆盖范围内的终端设备发送所述第二辅助定位模型，使得所述终端设备根据所述第二辅助定位模型进行定位误差修正；sending the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment performs positioning error correction according to the second auxiliary positioning model;

所述第二辅助定位模型包括所述参考点的位置的差分改正模型、区域可见卫星、参考时间、参考位置和星历。The second assisted positioning model includes a differential correction model of the position of the reference point, regional visible satellites, reference time, reference position and ephemeris.
根据权利要求1所述的方法，其中，所述根据所述观测数据生成第一辅助定位模型，包括：The method according to claim 1, wherein the generating a first auxiliary positioning model according to the observation data comprises:

根据所述观测数据将所述基准站网的网络覆盖区域划分为多个网格区域，计算多个所述网格区域的辅助定位信息；Divide the network coverage area of the reference station network into a plurality of grid areas according to the observation data, and calculate the auxiliary positioning information of the plurality of grid areas;

根据所述辅助定位信息生成所述第一辅助定位模型。The first auxiliary positioning model is generated according to the auxiliary positioning information.
根据权利要求1或2所述的方法，其中，所述第一辅助定位模型包括多个网格差分改正模型；所述将所述位置信息与所述第一辅助定位模型进行匹配，得到第二辅助定位模型，包括：The method according to claim 1 or 2, wherein the first auxiliary positioning model comprises a plurality of grid differential correction models; and the matching of the position information with the first auxiliary positioning model to obtain the second auxiliary positioning model Assisted positioning models, including:

根据所述位置信息从所述第一辅助定位模型选取与所述参考点的位置相邻的网格区域对应的至少一个所述网格差分改正模型，得到所述第二辅助定位模型。According to the position information, at least one of the grid differential correction models corresponding to the grid area adjacent to the position of the reference point is selected from the first auxiliary positioning model to obtain the second auxiliary positioning model.
根据权利要求1所述的方法，其中，所述方法还包括：The method of claim 1, wherein the method further comprises:

获取参考点的编号；Get the number of the reference point;

通过所述编号，以及预存所述参考点的编号与位置信息对照表进行匹配，得到所述位置信息。The location information is obtained by matching the number and the pre-stored number of the reference point with the location information comparison table.
根据权利要求1所述的方法，其中，所述向终端设备发送所述第二辅助定位模型，包括：The method according to claim 1, wherein the sending the second auxiliary positioning model to the terminal device comprises:

通过所述参考点通信单元向所述终端设备发送所述第二辅助定位模型。The second assisted positioning model is sent to the terminal device through the reference point communication unit.
一种基于参考点位置的辅助定位装置，包括：An auxiliary positioning device based on a reference point position, comprising:

第一获取单元，配置为获取基准站网的观测数据；a first acquisition unit, configured to acquire the observation data of the reference station network;

生成单元，配置为根据所述观测数据生成第一辅助定位模型；a generating unit, configured to generate a first auxiliary positioning model according to the observation data;

第二获取单元，配置为获取参考点的位置信息；a second obtaining unit, configured to obtain the position information of the reference point;

所述生成单元，还配置为将所述位置信息与所述第一辅助定位模型进行匹配，得到第二辅助定位模型；The generating unit is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model;

发送单元，配置为向位于所述参考点的通信覆盖范围内的终端设备发送所述第二辅助定位模型，使得所述终端设备根据所述第二辅助定位模型进行定位误差修正；a sending unit, configured to send the second auxiliary positioning model to the terminal equipment located within the communication coverage of the reference point, so that the terminal equipment performs positioning error correction according to the second auxiliary positioning model;

所述第二辅助定位模型包括所述参考点的位置的差分改正模型、区域可见卫星、参考时间、参考位置和星历。The second assisted positioning model includes a differential correction model of the position of the reference point, regional visible satellites, reference time, reference position and ephemeris.
根据权利要求6所述的装置，其中，所述生成单元具体配置为：根据所述观测数据将所述基准站网的网络覆盖区域划分为多个网格区域，计算多个所述网络区域的辅助定位信息；根据所述辅助定位信息生成所述第一辅助定位模型。The device according to claim 6, wherein the generating unit is specifically configured to: divide the network coverage area of the reference station network into a plurality of grid areas according to the observation data, and calculate the auxiliary positioning information; generating the first auxiliary positioning model according to the auxiliary positioning information.
根据权利要求6所述的装置，其中，所述第一辅助定位模型包括网格差分改正模型；所述生成单元具体配置为：根据所述位置信息从所述第一辅助定位模型中选取与所述参考点的位置相邻的网格区域对应的至少一个所述网格差分改正模型，得到所述第二辅助定位模型。The device according to claim 6, wherein the first auxiliary positioning model comprises a grid differential correction model; and the generating unit is specifically configured to: select the first auxiliary positioning model from the first auxiliary positioning model according to the position information. at least one of the grid differential correction models corresponding to grid areas adjacent to the reference point, to obtain the second auxiliary positioning model.
一种基于参考点位置的辅助定位设备，其中，所述基于参考点位置的辅助定位包括：处理器，以及存储有计算机程序指令的存储器；所述处理器读取并执行所述计算机程序指令，实现如权利要求1-5任意一项所述的基于参考点位置的辅助定位方法。An auxiliary positioning device based on the position of a reference point, wherein the auxiliary positioning based on the position of the reference point comprises: a processor, and a memory storing computer program instructions; the processor reads and executes the computer program instructions, The assisted positioning method based on the position of the reference point according to any one of claims 1-5 is implemented.
一种计算机存储介质，其中，所述计算机存储介质上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现如权利要求1-5任意一项所述的基于参考点位置的辅助定位方法。A computer storage medium, wherein computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by a processor, the assisted positioning based on the reference point position according to any one of claims 1-5 is realized method.