WO2022100388A1 - Procédé, appareil et dispositif de positionnement assisté sur la base d'un emplacement de point de référence - Google Patents

Procédé, appareil et dispositif de positionnement assisté sur la base d'un emplacement de point de référence Download PDF

Info

Publication number
WO2022100388A1
WO2022100388A1 PCT/CN2021/124975 CN2021124975W WO2022100388A1 WO 2022100388 A1 WO2022100388 A1 WO 2022100388A1 CN 2021124975 W CN2021124975 W CN 2021124975W WO 2022100388 A1 WO2022100388 A1 WO 2022100388A1
Authority
WO
WIPO (PCT)
Prior art keywords
auxiliary positioning
reference point
model
positioning model
information
Prior art date
Application number
PCT/CN2021/124975
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 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 filed Critical 中移(上海)信息通信科技有限公司
Publication of WO2022100388A1 publication Critical patent/WO2022100388A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an embodiment of the present application provides an assisted positioning method based on a reference point position, and the method includes:
  • 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.
  • 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;
  • a first auxiliary positioning model is generated according to the auxiliary positioning information.
  • 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:
  • 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.
  • the method further includes: acquiring the reference point number;
  • the location information is obtained by matching the number and the number of the pre-stored reference point with the location information comparison table.
  • 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.
  • an embodiment of the present application further provides an auxiliary positioning device based on a reference point position, the device comprising:
  • a first acquiring unit used for acquiring the observation data of the reference station network
  • a generating unit configured to generate a first auxiliary positioning model according to the observation data
  • a second acquisition unit used for acquiring the position information of the reference point
  • the generating unit is further configured to match the position information with the first auxiliary positioning model to obtain a second auxiliary positioning model
  • 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the method, device, and device for assisted positioning based on the position of the reference point 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.
  • 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.
  • FIG. 1 is a schematic flowchart of an assisted positioning method based on a reference point position provided by an embodiment of the present application
  • FIG. 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
  • FIG. 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
  • FIG. 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
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the terminal device 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.
  • embodiments of the present application provide an assisted positioning method, apparatus, and device based on a reference point position.
  • 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.
  • a communication unit 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.
  • 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:
  • the base station network consists of multiple base stations distributed in the positioning service area.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • auxiliary positioning information of multiple reference points 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.
  • the terminal 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.
  • 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.
  • the satellite signal is searched and captured, and the satellite navigation message is parsed.
  • the terminal device calculates and corrects the error of its own positioning result, so as to obtain its own position quickly and accurately.
  • 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 .
  • 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 .
  • 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.
  • 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 .
  • 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,
  • 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.
  • 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.
  • the corresponding auxiliary positioning model can be matched according to the position information of the reference point.
  • FIG. 4 is a schematic structural diagram of a device provided by an embodiment of the present application.
  • the apparatus may include a first obtaining unit 410 , a generating unit 420 , a second obtaining unit 430 and a sending unit 440 .
  • a first obtaining unit 410 configured to obtain the observation data of the reference station network
  • a generating unit 420 configured to generate a first auxiliary positioning model according to the observation data
  • a second obtaining unit 430 configured to obtain the position information of the reference point
  • 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;
  • 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.
  • 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.
  • 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
  • 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.
  • the sending unit 440 is specifically configured to: send the second assisted positioning model to the terminal device through the reference point communication unit.
  • 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.
  • 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.
  • 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.
  • 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 .
  • CPU Central Processing Unit
  • ASIC Application Specific Integrated Circuit
  • Memory 502 may include mass storage for data or instructions.
  • 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.
  • HDD Hard Disk Drive
  • floppy disk drive a flash memory
  • optical disk a magneto-optical disk
  • magnetic tape magnetic tape
  • USB Universal Serial Bus
  • USB Universal Serial Bus
  • 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.
  • the memory 502 may be a read only memory (ROM).
  • 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.
  • 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.
  • the reference point location-based assisted positioning device may further include a communication interface 503 and a bus 510 .
  • the processor 501 , the memory 502 , and the communication interface 503 are connected through the bus 510 and complete the mutual communication.
  • the communication interface 503 is mainly used to implement communication between modules, apparatuses, units and/or devices in the embodiments of the present application.
  • 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.
  • 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.
  • 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 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 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 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.
  • the functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof.
  • 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.
  • ASIC application specific integrated circuit
  • 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.
  • machine-readable media examples 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé, un appareil et un dispositif de positionnement assisté sur la base d'un emplacement de point de référence. Le procédé consiste à : acquérir des données d'observation d'un réseau de stations de référence (S110) ; générer un premier modèle de positionnement assisté en fonction des données d'observation (S120) ; acquérir des informations d'emplacement d'un point de référence (S130) ; mettre en correspondance les informations d'emplacement du point de référence avec le premier modèle de positionnement assisté de façon à obtenir un second modèle de positionnement assisté (S140) ; envoyer le second modèle de positionnement assisté à un dispositif terminal situé à l'intérieur de la plage de couverture de communication du point de référence, de telle sorte que le dispositif terminal est utilisé pour effectuer une correction d'erreur de positionnement en fonction du second modèle de positionnement assisté (S150). Grâce au procédé, puisqu'il n'est pas nécessaire pour un utilisateur de télécharger ses propres informations de localisation, la confidentialité de l'emplacement de l'utilisateur est protégée tout en garantissant l'efficacité d'un modèle de positionnement assisté pour l'emplacement de l'utilisateur ; en outre, il n'est pas nécessaire de déployer à la fois une unité de communication et une unité d'émission-réception de signal satellite pour un point de référence, ce qui permet d'éviter une interférence électromagnétique entre des signaux de communication et des signaux satellites, d'assurer la précision du modèle de positionnement assisté obtenu et d'améliorer la précision de positionnement d'un dispositif terminal.
PCT/CN2021/124975 2020-11-13 2021-10-20 Procédé, appareil et dispositif de positionnement assisté sur la base d'un emplacement de point de référence WO2022100388A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011267808.8 2020-11-13
CN202011267808.8A CN113075714B (zh) 2020-11-13 2020-11-13 一种基于参考点位置的辅助定位方法、装置及设备

Publications (1)

Publication Number Publication Date
WO2022100388A1 true WO2022100388A1 (fr) 2022-05-19

Family

ID=76609145

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/124975 WO2022100388A1 (fr) 2020-11-13 2021-10-20 Procédé, appareil et dispositif de positionnement assisté sur la base d'un emplacement de point de référence

Country Status (2)

Country Link
CN (1) CN113075714B (fr)
WO (1) WO2022100388A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114980142A (zh) * 2022-06-10 2022-08-30 未岚大陆(北京)科技有限公司 基站安装位置的推荐方法、装置、存储介质及割草机
CN115175095A (zh) * 2022-07-20 2022-10-11 Oppo广东移动通信有限公司 室内定位方法、装置、存储介质及终端
CN115575991A (zh) * 2022-11-11 2023-01-06 北京航天长城卫星导航科技有限公司 一种卫星导航可信位置服务方法
CN116208933A (zh) * 2022-12-16 2023-06-02 中国铁建电气化局集团有限公司 差分信息传输、装置、设备和存储介质
CN117098116A (zh) * 2023-10-18 2023-11-21 湖北省国土测绘院 一种基于cors的gnss用户终端位置隐私保护方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113075714B (zh) * 2020-11-13 2021-12-21 中移(上海)信息通信科技有限公司 一种基于参考点位置的辅助定位方法、装置及设备
CN113687399B (zh) * 2021-10-26 2022-02-18 中移(上海)信息通信科技有限公司 一种定位方法、***、终端设备及卫星
CN116346258A (zh) * 2021-12-22 2023-06-27 华为技术有限公司 通信方法及通信装置
CN116699661A (zh) * 2022-02-24 2023-09-05 腾讯科技（深圳）有限公司 数据处理方法、装置、设备及存储介质
CN114966775A (zh) * 2022-07-22 2022-08-30 福建鼎旸信息科技股份有限公司 一种基于中国北斗卫星定位数据差分修正方法及***

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100473958B1 (ko) * 2004-12-08 2005-03-14 (주)아세아항측 Ｇｐｓ 단일 기준점을 이용한 고정확도의 ｒｐｃ 데이터 갱신방법
CN103344976A (zh) * 2013-07-05 2013-10-09 东莞市泰斗微电子科技有限公司 一种辅助卫星导航定位方法及相应的定位终端
CN104793219A (zh) * 2015-01-15 2015-07-22 深圳市观复北斗航电仪器有限公司 卫星导航地面差分参考站及其***
CN104796982A (zh) * 2015-03-19 2015-07-22 天津七一二通信广播有限公司 一种提升pdt终端定位精度的方法
CN107872516A (zh) * 2017-10-23 2018-04-03 千寻位置网络有限公司 基于混合云的厘米级实时定位***及实现方法
CN110082803A (zh) * 2019-05-10 2019-08-02 广东星舆科技有限公司 多端协同定位的方法、***以及移动设备
US20190302220A1 (en) * 2018-03-28 2019-10-03 Qualcomm Incorporated Method and apparatus for v2x assisted positioning determination using positioning reference signal signals
CN110895343A (zh) * 2019-08-19 2020-03-20 腾讯科技（深圳）有限公司 一种数据处理方法、***以及相关设备
CN110907968A (zh) * 2018-09-14 2020-03-24 电信科学技术研究院有限公司 卫星差分辅助数据的传输、定位方法及装置
CN111373285A (zh) * 2018-11-30 2020-07-03 深圳市大疆创新科技有限公司 Rtk基准站的坐标标定方法、设备及存储介质
CN111781619A (zh) * 2020-08-17 2020-10-16 深圳华大北斗科技有限公司 基于近距离通信网络的定位方法、装置、设备和存储介质
CN113075714A (zh) * 2020-11-13 2021-07-06 中移(上海)信息通信科技有限公司 一种基于参考点位置的辅助定位方法、装置及设备

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003108609A (ja) * 2001-09-26 2003-04-11 Mazda Motor Corp 構造体形状のモーフィング方法及びそのコンピュータ・プログラム、並びにコンピュータ読み取り可能な記憶媒体
US8624779B2 (en) * 2010-05-18 2014-01-07 Trimble Navigation Limited Global navigation satellite system (GNSS) reference station integrity monitoring and assurance
JP6543520B2 (ja) * 2015-07-02 2019-07-10 株式会社トプコン 測量データ処理装置、測量データ処理方法および測量データ処理用プログラム
CN105068096B (zh) * 2015-07-21 2017-10-10 上海司南卫星导航技术股份有限公司 基于参考站接收机的非差改正数分布式处理***与方法
CN110221325B (zh) * 2019-04-23 2021-06-04 和芯星通科技(北京)有限公司 一种用于伪距差分定位的误差修正方法及装置
CN110602635B (zh) * 2019-08-16 2020-12-29 中国地质大学（武汉） 一种室内地图匹配增强定位方法、设备及存储设备
CN110967035B (zh) * 2020-02-28 2020-09-04 杭州云动智能汽车技术有限公司 一种提高车载v2x车道匹配度方法

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100473958B1 (ko) * 2004-12-08 2005-03-14 (주)아세아항측 Ｇｐｓ 단일 기준점을 이용한 고정확도의 ｒｐｃ 데이터 갱신방법
CN103344976A (zh) * 2013-07-05 2013-10-09 东莞市泰斗微电子科技有限公司 一种辅助卫星导航定位方法及相应的定位终端
CN104793219A (zh) * 2015-01-15 2015-07-22 深圳市观复北斗航电仪器有限公司 卫星导航地面差分参考站及其***
CN104796982A (zh) * 2015-03-19 2015-07-22 天津七一二通信广播有限公司 一种提升pdt终端定位精度的方法
CN107872516A (zh) * 2017-10-23 2018-04-03 千寻位置网络有限公司 基于混合云的厘米级实时定位***及实现方法
US20190302220A1 (en) * 2018-03-28 2019-10-03 Qualcomm Incorporated Method and apparatus for v2x assisted positioning determination using positioning reference signal signals
CN110907968A (zh) * 2018-09-14 2020-03-24 电信科学技术研究院有限公司 卫星差分辅助数据的传输、定位方法及装置
CN111373285A (zh) * 2018-11-30 2020-07-03 深圳市大疆创新科技有限公司 Rtk基准站的坐标标定方法、设备及存储介质
CN110082803A (zh) * 2019-05-10 2019-08-02 广东星舆科技有限公司 多端协同定位的方法、***以及移动设备
CN110895343A (zh) * 2019-08-19 2020-03-20 腾讯科技（深圳）有限公司 一种数据处理方法、***以及相关设备
CN111781619A (zh) * 2020-08-17 2020-10-16 深圳华大北斗科技有限公司 基于近距离通信网络的定位方法、装置、设备和存储介质
CN113075714A (zh) * 2020-11-13 2021-07-06 中移(上海)信息通信科技有限公司 一种基于参考点位置的辅助定位方法、装置及设备

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114980142A (zh) * 2022-06-10 2022-08-30 未岚大陆(北京)科技有限公司 基站安装位置的推荐方法、装置、存储介质及割草机
CN114980142B (zh) * 2022-06-10 2023-05-12 未岚大陆(北京)科技有限公司 基站安装位置的推荐方法、装置、存储介质及割草机
CN115175095A (zh) * 2022-07-20 2022-10-11 Oppo广东移动通信有限公司 室内定位方法、装置、存储介质及终端
CN115175095B (zh) * 2022-07-20 2024-05-07 Oppo广东移动通信有限公司 室内定位方法、装置、存储介质及终端
CN115575991A (zh) * 2022-11-11 2023-01-06 北京航天长城卫星导航科技有限公司 一种卫星导航可信位置服务方法
CN116208933A (zh) * 2022-12-16 2023-06-02 中国铁建电气化局集团有限公司 差分信息传输、装置、设备和存储介质
CN116208933B (zh) * 2022-12-16 2024-03-19 中国铁建电气化局集团有限公司 差分信息传输、装置、设备和存储介质
CN117098116A (zh) * 2023-10-18 2023-11-21 湖北省国土测绘院 一种基于cors的gnss用户终端位置隐私保护方法
CN117098116B (zh) * 2023-10-18 2023-12-26 湖北省国土测绘院 一种基于cors的gnss用户终端位置隐私保护方法

Also Published As

Publication number Publication date
CN113075714B (zh) 2021-12-21
CN113075714A (zh) 2021-07-06

Similar Documents

Publication Publication Date Title
WO2022100388A1 (fr) Procédé, appareil et dispositif de positionnement assisté sur la base d'un emplacement de point de référence
Khalife et al. Navigation with cellular CDMA signals—Part II: Performance analysis and experimental results
RU2327303C2 (ru) Определение местоположения оконечного устройства беспроводной связи в смешанной системе определения местоположения
US9354321B2 (en) Method for position determination with measurement stitching
US20150219769A1 (en) Method and apparatus for determining a position of a gnss receiver
EP3189349B1 (fr) Procédé de détermination collaborative d'erreurs de positionnement d'un système de navigation par satellite
EP3408686B1 (fr) Rtk hybride
Maaref et al. Measurement characterization and autonomous outlier detection and exclusion for ground vehicle navigation with cellular signals
JP2017133896A (ja) 情報処理装置、演算方法、測位システム
JP6165430B2 (ja) 衛星システムからの精確な絶対時刻の転送
US10732295B2 (en) Positioning and navigation receiver with a confidence index
CN103582121A (zh) 基于虚拟北斗卫星导航信号的室内定位***和方法
JP6061316B2 (ja) Ｇｎｓｓ受信機の位置を決定する方法及び装置
WO2020084888A1 (fr) Serveur, système de positionnement par satellite et procédé de positionnement par satellite
WO2017187681A1 (fr) Dispositif, système et procédé de positionnement
KR20160017216A (ko) 포터블 dgps 기준국
JP2009079975A (ja) 測位システム
US11047992B2 (en) Positioning method and positioning terminal
KR101502363B1 (ko) 위성항법시스템의 가시 위성 예상도 및 위성 정보 비교를 이용한 사용자 위치 결정 시스템 및 그 방법
CN114966787A (zh) 定位方法、装置、设备及存储介质
KR20150012754A (ko) 항공기 위치정보 획득 시스템
Musumeci et al. OSNMA User Performance Assessment at ESA/ESTEC–System Qualifications Tools and Methodologies
EP4365635A1 (fr) Calcul de position de vehicule à l'aide de données sécurisées
US20240007861A1 (en) Method and apparatus for providing signal intelligence and security
EP3790328A1 (fr) Points d'accès sans fil de géolocalisation

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21890915

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21890915

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 21890915

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 10/11/2023)