CN119045022B - A positioning method, positioning device, equipment, medium and product - Google Patents
A positioning method, positioning device, equipment, medium and product Download PDFInfo
- Publication number
- CN119045022B CN119045022B CN202411166887.1A CN202411166887A CN119045022B CN 119045022 B CN119045022 B CN 119045022B CN 202411166887 A CN202411166887 A CN 202411166887A CN 119045022 B CN119045022 B CN 119045022B
- Authority
- CN
- China
- Prior art keywords
- result
- antenna
- positioning
- main antenna
- ambiguity
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 52
- 238000007667 floating Methods 0.000 claims abstract description 166
- 230000004044 response Effects 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 14
- 238000004891 communication Methods 0.000 claims description 7
- 238000012795 verification Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 4
- 230000000875 corresponding effect Effects 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 6
- 238000004422 calculation algorithm Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000010998 test method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002431 foraging effect Effects 0.000 description 1
- 239000005433 ionosphere Substances 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000000819 phase cycle Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000005436 troposphere Substances 0.000 description 1
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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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
The application discloses a positioning method, a positioning device, equipment, a medium and a product. The method is used for positioning a target to be positioned and comprises the steps of respectively carrying out differential positioning on a main antenna and a secondary antenna based on base station observation data to obtain a floating solution of the position of the main antenna and a floating solution of the position of the antenna, carrying out orientation based on the observation data of the main antenna and the secondary antenna to obtain a floating solution of an orientation result, carrying out ambiguity fixing on the floating solution of the position of the main antenna, the floating solution of the position of the secondary antenna and the floating solution of the orientation result, and confirming the positioning result based on the ambiguity fixing result. According to the technical scheme of the application, the differential positioning result and the orientation result can be mapped mutually, the positioning accuracy is maintained, the positioning reliability is greatly improved, and the situation of unreliable or inaccurate positioning caused by the error of the ambiguity fixing result is effectively avoided.
Description
Technical Field
The application relates to the technical field of satellite positioning, in particular to a positioning method, a positioning device, equipment, a medium and a product.
Background
The current common positioning technology is differential positioning technology, which mainly obtains a high-precision position by performing differential calculation on a local satellite main antenna observation value and a reference station satellite observation value.
However, in the existing actual scene of positioning by using the differential technology, the process is easily affected by factors such as antenna shielding, phase cycle slip, multipath effect and the like, so that the fixation of the ambiguity in the positioning process is failed or wrong, and the precision and reliability of the final positioning result are greatly reduced.
Therefore, how to ensure the accuracy and reliability of the final positioning when positioning by using the differential technique becomes a problem to be solved in the art.
Disclosure of Invention
In view of the above, the present application provides a positioning method, a positioning device, a medium and a product, so as to improve the accuracy and reliability of the positioning result.
In a first aspect, the present application proposes a positioning method for positioning an object to be positioned, the method comprising:
differential positioning is carried out on the main antenna and the auxiliary antenna based on base station observation data, so that a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna are obtained;
Orientation based on the observed data of the main antenna and the auxiliary antenna to obtain a floating solution of the orientation result, and
Respectively carrying out ambiguity fixing on the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result, and confirming the orientation result based on the ambiguity fixing result,
Determining a positioning result based on the ambiguity fixing result comprises the steps of responding to the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation, and judging whether the coordinate difference between the differential positioning result and the orientation is within a threshold value or not;
And updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain main antenna coordinates and positioning the target to be positioned based on the main antenna coordinates in response to the coordinate difference between the differential positioning result and the orientation result being within a threshold value.
Preferably, the determining the positioning result based on the ambiguity fixing result further includes:
judging whether the main antenna coordinates are reliable or not in response to the coordinate difference between the differential positioning result and the orientation result not being within the threshold value;
and responding to the main antenna coordinate to be reliable, and positioning the target to be positioned based on the main antenna coordinate.
Further preferably, the determining the positioning result based on the ambiguity fixing result further includes:
Responding to unsuccessful ambiguity fixing of the main antenna and successful ambiguity fixing of the auxiliary antenna and orientation, or responding to unreliable coordinates of the main antenna;
Respectively updating corresponding floating solutions based on the auxiliary antenna and the directional ambiguity fixing result to obtain an auxiliary antenna coordinate and a directional result;
And calculating the main antenna coordinates based on the auxiliary antenna coordinates, the orientation result and the coordinate difference between the main antenna and the auxiliary antenna, and positioning the target to be positioned based on the calculated main antenna coordinates.
Preferably, the determining the positioning result based on the ambiguity fixing result further includes:
in response to unsuccessful ambiguity fixing of the primary antenna and orientation, positioning is performed based on a floating solution of the primary antenna position.
Preferably, the determining the positioning result based on the ambiguity fixing result further includes:
And in response to the successful ambiguity fixing of the main antenna and the unsuccessful ambiguity fixing of at least one of the auxiliary antenna and the orientation, updating a floating solution of the position of the main antenna based on an ambiguity fixing result of the main antenna to obtain main antenna coordinates, and positioning the target to be positioned based on the main antenna coordinates.
Preferably, said differential positioning and said orienting comprise:
and carrying out differential positioning and directional floating solution by using extended Kalman filtering to obtain a floating solution of the main antenna position, a floating solution of the auxiliary antenna position and a floating solution of the directional result.
Preferably, the ambiguity fixing includes:
And respectively carrying out ambiguity fixing on the floating solution of the position of the main antenna, the floating solution of the position of the auxiliary antenna and the floating solution of the orientation result according to the satellite altitude angle to obtain an ambiguity fixing result of the main antenna, an ambiguity fixing result of the auxiliary antenna and an ambiguity fixing result of the orientation.
Further preferably, the satellite altitude angle comprises:
Determining a set of floating solutions for all satellites in communication with the primary antenna and the secondary antenna;
judging whether the ambiguity ratio value of the floating solution set is larger than a preset value or not;
responding to the ambiguity ratio value being greater than the first preset value, and fixing the ambiguity successfully;
in response to the ambiguity ratio value not being greater than the first preset value and the number of floating solutions in the floating solution set being greater than the set number, sequentially eliminating the floating solution with the lowest satellite altitude angle from the floating solution set, performing ambiguity fixing on the remaining floating solutions in the set, and judging whether the ambiguity ratio value of the floating solution set is greater than the first preset value again;
And responding to the ambiguity ratio value not larger than the first preset value and the number of floating solutions in the floating solution set not larger than the set number, and unsuccessfully fixing the ambiguity.
In a second aspect, the present application proposes a positioning device for positioning an object to be positioned, the device comprising:
the differential positioning module is configured to perform differential positioning on the main antenna and the auxiliary antenna based on the base station observation data respectively to obtain a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna;
an orientation module configured to orient based on the observation data of the main antenna and the auxiliary antenna to obtain a floating solution of an orientation result, and
The verification settlement module is configured to fix ambiguity of the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result respectively, and confirm the orientation result based on the ambiguity fixing result,
The verification settlement module is further configured to determine whether a coordinate difference between a differential positioning result and an orientation result is within a threshold value in response to success of the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation;
And updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain main antenna coordinates and positioning the target to be positioned based on the main antenna coordinates in response to the coordinate difference between the differential positioning result and the orientation result being within a threshold value.
In a third aspect, the present application proposes an electronic device comprising:
A processor;
a memory for storing the processor-executable instructions;
The processor is configured to read the executable instructions from the memory and execute the instructions to implement the method in the first aspect.
In a fourth aspect, the present application proposes a computer readable storage medium storing a computer program for performing the method of the first aspect described above.
In a fifth aspect, the application proposes a computer program product comprising a computer program or instructions, characterized in that the computer program or instructions, when executed by a computer, implement the method of the first aspect described above.
According to the technical scheme, the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result are obtained firstly, then the ambiguity fixing is carried out on each floating solution, and finally the positioning result is confirmed based on the ambiguity fixing result, wherein the coordinate difference between the differential positioning result and the orientation result is judged whether to be within a threshold value or not according to the success of the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation result, and the positioning is carried out according to the main antenna coordinate within the threshold value according to the response, so that the differential positioning result and the orientation result can be mapped mutually, the positioning accuracy is maintained, the positioning reliability is greatly improved, and the situation of unreliable or inaccurate positioning caused by the error of the ambiguity fixing result is effectively avoided.
Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 is a flow chart of a positioning method according to a preferred embodiment of the present application;
FIG. 2 is a diagram showing the relationship between various conditions and positioning results according to a preferred embodiment of the present application;
FIG. 3 is a schematic view of a positioning device according to a preferred embodiment of the present application;
fig. 4 is a schematic structural view of an electronic device according to a preferred embodiment of the present application.
Detailed Description
The technical scheme of the present application will be described in detail below with reference to the accompanying drawings in combination with embodiments.
Firstly, the positioning method provided by the application is used for positioning the target to be positioned. Wherein the object to be positioned may be a device or other mechanism comprising a primary antenna and a secondary antenna. As shown in fig. 1, the positioning method provided by the present application includes steps 110-130:
Step 110, differential positioning is carried out on the main antenna and the auxiliary antenna based on the base station observation data, so as to obtain a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna;
Specifically, the differential positioning technology mainly performs differential calculation on the local satellite main antenna, the auxiliary antenna observation value and the base station satellite observation value to obtain a high-precision position. In the differential solution process, a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna are obtained, then ambiguity fixing is carried out on the floating solution, and if the ambiguity fixing is successful, the floating solution can be updated by using an ambiguity fixing result so as to obtain accurate positioning coordinates. A floating point solution is understood to mean that in the baseline solution process, the ambiguity is not fixed to an integer, but the floating point result obtained by directly using the least-squares solution is usually represented as a Double-type solution with a decimal number.
In the step, the floating solution process is obtained by broadcasting relevant information such as pseudo range, carrier observation value, base station coordinates and the like to a target to be positioned by a base station through a data link, wherein the target to be positioned utilizes observation data of a main antenna and a secondary antenna of the target to be positioned and base station data to form a differential observation equation, so that the floating solution of the position of the main antenna and the floating solution of the position of the secondary antenna are obtained.
In a specific embodiment, the differential positioning in the application can be specifically Real-time dynamic carrier phase differential positioning (Real-TIME KINEMATIC, RTK), and can specifically utilize extended kalman filtering to perform floating solution of differential positioning, so as to obtain floating solution of the position of the main antenna and floating solution of the position of the auxiliary antenna.
Step 120, performing orientation based on the observation data of the main antenna and the auxiliary antenna to obtain a floating solution of the orientation result;
Specifically, the method comprises the step of differential positioning and the step of orientation. It should be noted that, the execution sequence of the step 120 and the step 110 is not limited, that is, the execution sequence of the differential positioning step and the orientation step is not limited, and the two steps are executed simultaneously or sequentially, which does not affect the implementation of the present application, and are all within the protection scope of the present application.
The orientation technology is to obtain vector values between the main antenna and the auxiliary antenna with high precision by differential solution of the observed values of the main antenna and the auxiliary antenna. In the differential resolving process, a floating solution of the orientation result is obtained, the floating solution is subjected to ambiguity fixing, and if the ambiguity fixing is successful, the floating solution of the orientation result can be updated by using the ambiguity fixing result to obtain an accurate orientation result.
In a specific embodiment, the orientation may be embodied as a global navigation satellite system (Global Navigation SATELLITE SYSTEM, GNSS) orientation, i.e., a GNSS orientation, and the floating solution of the orientation may likewise be embodied using extended kalman filtering to obtain a floating solution of the orientation result.
Step 130, respectively performing ambiguity fixing on the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result, and confirming the positioning result based on the ambiguity fixing result;
Specifically, with respect to the concept and meaning of ambiguity fixing, ambiguity can be understood as integer ambiguity (ambiguity of whole cycles), which is an integer unknown number corresponding to the first observed value of the phase difference between the carrier phase and the reference phase when the carrier phase of the global positioning system technology is measured. The ambiguity fixing can be understood as determining the integer ambiguity by adopting a certain mathematical method, and fixing the integer ambiguity parameter from a floating solution to an integer solution, so that the distance measurement from the satellite to the target to be positioned can be accurate to less than one wavelength, and can reach the centimeter level generally.
Therefore, the relation between the ambiguity fixing and the accuracy and the reliability of the positioning result is highly positively correlated, and the ambiguity fixing result can greatly influence whether the final positioning is accurate and reliable. Once the ambiguity fixing fails, the final positioning accuracy may diverge from the centimeter level to the decimeter level or even the meter level, resulting in a great reduction in the positioning accuracy, or although the ambiguity fixing is successful, the fixing result is wrong, resulting in a final positioning result that is also wrong, and reducing the reliability of the final positioning result.
The two techniques of orientation and differential positioning related by the application all eliminate errors such as ionosphere delay, troposphere delay, orbit error, satellite clock error, satellite end hardware delay, receiver end hardware delay and the like through carrier phase difference, and all the techniques need and combine an algorithm for resolving ambiguity to solve the problem of fixing integer ambiguity so as to improve the accuracy and reliability of positioning.
In the prior art, positioning is performed only by relying on the ambiguity fixing results of the main antenna and the auxiliary antenna, and particularly, the final positioning result is determined by relying on the ambiguity fixing results of the main antenna excessively, which is necessarily inaccurate, unreliable and unstable. The problem that positioning fails or accuracy is reduced due to unsuccessful fixation of the ambiguity of at least one of the main antenna and the auxiliary antenna is included, and the situation that the ambiguity of the main antenna and the auxiliary antenna is successful is included. In the case that the ambiguity of the main antenna and the auxiliary antenna is fixed successfully, the final positioning results of the main antenna and the auxiliary antenna are not necessarily reliable, and the problems of ambiguity fixing errors, position abnormality and the like can occur, so that the positioning results of the main antenna and the auxiliary antenna are not reliable.
In the following, in a specific embodiment, ambiguity fixing may be performed on the floating solutions of the main antenna position, the floating solutions of the auxiliary antenna position, and the floating solutions of the directional results according to the satellite altitude angle, so as to obtain an ambiguity fixing result of the main antenna, an ambiguity fixing result of the auxiliary antenna, and an ambiguity fixing result of the directional.
Wherein, the application relates to the Least square drop correlation adjustment algorithm (Least-squares Ambiguity Decorrelation Adjustment, LAMBDA) in combination with satellite culling rules, comprising steps 210-250:
step 210, determining a floating solution set for all satellites in communication with the primary antenna and the secondary antenna;
In particular, in general, there is typically more than one satellite communicating with the target to be located, and there is typically more than one floating solution and ambiguity corresponding to the primary antenna and the secondary antenna. That is, the floating solution for the primary antenna position, the floating solution for the secondary antenna position, and the floating solution for the directional result may mean a set of floating solutions, but may be ambiguity-fixed either one or both.
It should be noted that the expression of the floating solution in steps 110-130 includes two cases where the floating solution is a floating solution and where the floating solution is a set of floating solutions, and steps 210-250 are embodiments where the floating solution is a set of floating solutions.
Step 220, judging whether the ambiguity ratio value of the floating solution set is larger than a first preset value;
Specifically, the present application may utilize the LAMBDA algorithm to determine whether the ambiguity ratio value of the set of floating solutions is greater than a first preset value, which, of course, also includes a case where only one floating solution is included in the set of floating solutions.
The method for solving the integer ambiguity comprises the steps of real number least square solution, matrix decomposition foraging to reduce a correlation transformation matrix, integer ambiguity searching, ambiguity accuracy checking and the like. In the process of ambiguity accuracy test, a common method is to test an ambiguity Ratio value (Ratio), wherein the ambiguity Ratio value can be understood as the Ratio of a fixed optimal solution to a suboptimal solution, and the larger the Ratio is, the more reliable the optimal solution is, and the more reliable the ambiguity fixing result is reflected to a certain extent.
It will be appreciated that steps 210-250 may be employed in ambiguity fixing the primary antenna, secondary antenna, and orientation, i.e., in ambiguity fixing each of the above-mentioned floating solutions, to produce corresponding ambiguity ratio values, i.e., in ambiguity fixing the primary antenna, secondary antenna, and orientation. If the ambiguity ratio value is greater than the first preset value, step 230 is performed, and if not, step 240 is performed.
Step 230, responding to the ambiguity ratio value being larger than a first preset value, and fixing the ambiguity successfully;
specifically, if the ambiguity ratio value is greater than a first preset value, determining that the corresponding ambiguity fixing is successful, and updating the corresponding differential positioning (positioning of the main antenna and the auxiliary antenna)/orientation result by using the ambiguity fixing result. This process is described in step 130 below and is not described in detail herein.
Step 240, in response to the ambiguity ratio value not being greater than the first preset value and the number of the floating solutions in the floating solution set being greater than the set number, sequentially eliminating the floating solutions of the satellite ambiguity parameters with the lowest altitude angle from the set, performing ambiguity fixing on the remaining floating solutions in the set, and judging again whether the ambiguity ratio value is greater than the first preset value;
In particular, the altitude of a satellite, also known as Elevation Angle, refers to the Angle between the direction from the earth's surface target, i.e. the target to be positioned, to the satellite and the horizon. It shows the observation angle of the satellite above or below the earth's surface.
In the case of multi-satellite communication, the method sorts the altitude angles of all satellites communicating with the target to be positioned from low to high, if the ambiguity ratio value is not greater than a first preset value and the number of floating solutions in the floating solution set is greater than a set number, then in the floating solution set, the floating solution corresponding to the satellite with the lowest current altitude angle is removed, and the ambiguity fixing is tried again for the remaining floating solutions in the set, and whether the ambiguity ratio value is greater than the first preset value is determined, namely, the step 220 is executed again. Generally, the ambiguity fixing has a lower limit on the number of communication satellites, and no single satellite fixing is possible. The set number is understood herein to be the number of satellites in the floating solution set that at least require communication, i.e., the preset fixed number of satellites for ambiguity.
Step 250, responding to the condition that the ambiguity ratio value is not greater than a first preset value and the number of floating solutions in the floating solution set is not greater than a set number, and then the ambiguity fixing is unsuccessful;
Specifically, if after the satellites with the lowest altitude angles are sequentially removed, the ambiguity ratio value of the floating solution is still not greater than the first preset value, and meanwhile, the number of floating solutions in the floating solution set exceeds the lower limit, the ambiguity fixing is directly failed.
The significance of the ambiguity fixing on the positioning precision and reliability and the ambiguity fixing method are explained above, but the key logic in the application is that compared with the differential positioning, the carrier phase difference performed by the method can better eliminate various environmental errors due to the shorter length distance of the base lines of the main antenna and the auxiliary antenna in the orientation process, and generally can realize better ambiguity fixing result than the differential positioning. Therefore, the mutual accounting and mapping are carried out between the better oriented ambiguity fixing result and the ambiguity fixing results of the main antenna and the auxiliary antenna, so that whether the differential positioning result and the orientation result are accurate or not can be judged, and the accuracy and the reliability of the final positioning result are improved.
Finally, the difference of the positioning result under various conditions in the present application will be specifically described with reference to fig. 1 and 2.
The application is further divided into the following three different cases A1, A2 and A3 in case of successful response to the ambiguity fixing results of the primary antenna, the secondary antenna and the orientation:
Confirming that the positioning and orientation result comprises a first case A1 that the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation are all successful and the coordinate difference between the differential positioning result and the orientation result is within a threshold value (the 'inner' in the application contains the number), updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain the coordinates of the main antenna, and positioning the target to be positioned based on the coordinates of the main antenna.
Further specifically, the coordinate difference between the differential positioning result and the orientation result can be understood as a three-dimensional coordinate difference between the relative position between the main antenna and the auxiliary antenna and the orientation result obtained based on the current differential positioning, and the relative position between the main antenna and the auxiliary antenna can be obtained by updating the difference between the main antenna coordinate and the auxiliary antenna coordinate obtained by respective floating solutions after the ambiguity fixing of the main antenna and the auxiliary antenna is successful.
In addition, as described above, in the case where the ambiguity of the main antenna and the sub-antenna is successfully fixed, the final positioning results of the main antenna and the sub-antenna are not necessarily reliable, and the problems of ambiguity fixing errors, position anomalies and the like may occur, so that it is still necessary to further verify whether the positioning of the main antenna and the sub-antenna is reliable. The verification method judges whether the coordinate difference between the differential positioning result and the orientation result is within a threshold value. If the coordinate difference does not exceed the set threshold, namely the case A1, the ambiguity fixing results of the main antenna and the auxiliary antenna and the ambiguity fixing results of the orientation are considered to be mutually mapped, and further the differential positioning result and the orientation result are considered to be mutually mapped, and then the positioning is performed based on the main antenna coordinate with the highest precision in the differential positioning result. If the coordinate difference exceeds the set threshold, it is the case of A2 and A3 described below.
In the first case A1, the differential positioning result and the orientation result can be mapped mutually, which greatly improves the reliability of positioning and effectively avoids unreliable positioning caused by that the ambiguity can be fixed but the fixed result is wrong.
And the confirmation of the positioning and orientation result based on the fixed result also comprises a second case A2, wherein the target to be positioned is positioned based on the main antenna coordinate as in the case A1 in response to the success of the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation, the fact that the coordinate difference between the differential positioning result and the orientation result is not within the threshold value and the main antenna coordinate is reliable.
More specifically, in the case of A2, the ambiguity of the main antenna and the auxiliary antenna and the ambiguity of the orientation result are all successful, but the positioning and the orientation result of the main antenna and the auxiliary antenna cannot be mapped to each other, which means that at least one of the differential positioning result and/or the orientation result is unreliable. In general, positioning is mainly performed by the main antenna, so that whether the positioning result of the main antenna is reliable or not, that is, whether the coordinates of the main antenna are reliable or not can be determined. If the main antenna coordinates are reliable, the auxiliary antenna positioning result and the auxiliary antenna orientation result are not needed to be considered any more, and the target to be positioned can be positioned directly based on the main antenna coordinates. If the primary antenna coordinates are unreliable, it is the case A3 below.
In a specific embodiment, how to determine whether the positioning result of the primary antenna is reliable may be determined by confirming the inter-epoch consistency of the primary antenna coordinates. After the main antenna coordinates are fixed in ambiguity, updating a differential positioning result obtained by floating solution. If the epochs of the main antenna coordinates are smooth, the main antenna coordinates obtained by differential positioning are considered to be reliable, and conversely, if the epochs of the main antenna coordinates are not smooth, the main antenna coordinates obtained by differential positioning are considered to be unreliable.
In another specific embodiment, how to determine whether the positioning result of the main antenna is reliable may also be determined by confirming the ambiguity ratio value corresponding to the main antenna. Specifically, whether the ambiguity ratio corresponding to the main antenna is larger than a second preset value or not is confirmed, and if so, the coordinate is confirmed to be reliable. The second preset value is higher than the first preset value here, because in this case the ambiguity fixing of the primary antenna, the secondary antenna and the orientation is successful, and the ambiguity ratio value should be greater than the first preset value. The second preset value may be understood as an ambiguity ratio value used to determine which result is more reliable in case the ambiguity fixing is successful.
It can be understood that the above two embodiments for determining whether the positioning result of the main antenna is reliable may be alternatively performed, or may be performed simultaneously or sequentially, and those skilled in the art may select a specific implementation manner according to their own needs. Furthermore, by using the methods of the above two embodiments, it is also possible to determine whether the secondary antenna coordinates and the orientation result are reliable. If one or more of the primary antenna coordinates, the secondary antenna coordinates or the orientation results are determined to be unreliable, a relevant unreliable flag bit can be output to determine whether the final positioning result needs to be trimmed or not according to the flag bit later.
In the second case A2, although the differential positioning result and the orientation result are not mutually mappable, the differential positioning result of the main antenna can be determined to be reliable, the output positioning result is the same as the case of A1, and the output positioning result can be determined to be the highest in accuracy and very reliable by utilizing the known condition to the greatest extent.
And determining a positioning and orientation result based on the fixed result, wherein the third case A3 is that in response to the fact that the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation are successful, the coordinate difference between the differential positioning result and the orientation result is not within a threshold value, and the main antenna coordinate is unreliable, the floating solutions of the auxiliary antenna position and the orientation result are respectively updated based on the ambiguity fixing results of the auxiliary antenna and the orientation so as to obtain the auxiliary antenna coordinate and the orientation result, and then the main antenna coordinate is calculated according to the coordinate difference between the main antenna and the auxiliary antenna, the auxiliary antenna coordinate and the orientation result, and the target to be positioned is positioned based on the calculated main antenna coordinate.
Further specifically, in the case of A3, although the ambiguity fixing of the main antenna, the secondary antenna and the ambiguity fixing of the orientation result are successful, the positioning and orientation results of the main antenna and the secondary antenna cannot be mapped to each other, and it is determined that the main antenna coordinates are unreliable and cannot be used to output the final positioning result, but since the ambiguity fixing of the secondary antenna and the orientation is successful and as described above, the ambiguity fixing result of the orientation is generally better, the main antenna high-precision position, that is, the calculated main antenna coordinates, can be obtained by recursively using the secondary antenna coordinates plus the orientation result.
Specifically, the coordinate difference between the primary and secondary antennas can be understood as the above relative position between the primary and secondary antennas, and can be obtained from the difference between the primary and secondary antenna coordinates. The orientation result is a vector value representing the space between the main antenna and the auxiliary antenna, so that the main antenna coordinate can be calculated according to the coordinate difference between the main antenna and the auxiliary antenna, the auxiliary antenna coordinate and the orientation result.
In the third case A3, although the differential positioning result and the orientation result are not mutually mappable and the differential positioning result of the main antenna is also unreliable, the main antenna coordinate can be calculated by combining the relatively reliable orientation result with the auxiliary antenna coordinate, so that the situation that the main antenna cannot be used for positioning is avoided, the final positioning precision presents the result of reduced cliff property, and when the main antenna coordinate is determined to be unreliable, the calculated main antenna coordinate can still be used for obtaining high-precision positioning.
The respective different positioning results corresponding to the case where the ambiguity fixing results of the main antenna, the sub antenna, and the orientation are all successful have been described above, and the respective different positioning results corresponding to the case where at least one of the ambiguity fixing results of the main antenna, the sub antenna, and the orientation is unsuccessful are described below.
And confirming the positioning and orientation result based on the fixed result, wherein the fourth case B also comprises the steps of responding to the condition that the ambiguity fixing of the main antenna is unsuccessful and the ambiguity fixing of the auxiliary antenna and the orientation result is successful, respectively updating floating solutions of the auxiliary antenna position and the orientation result based on the ambiguity fixing results of the auxiliary antenna and the orientation as in the case A3 to obtain auxiliary antenna coordinates and the orientation result, calculating the main antenna coordinates according to the coordinate difference between the main antenna and the auxiliary antenna, the auxiliary antenna coordinates and the orientation result, and positioning the target to be positioned based on the calculated main antenna coordinates.
More specifically, when the ambiguity fixing of the main antenna is unsuccessful, the main antenna cannot be positioned based on the main antenna, the positioning results of the main antenna and the auxiliary antenna cannot be mapped to each other, and the positioning results cannot be used alone to perform positioning, but the auxiliary antenna coordinates and the positioning results can be used for recursion to obtain the main antenna high-precision position, namely the calculated main antenna coordinates.
In the fourth case B, although the ambiguity fixing of the main antenna is unsuccessful, the ambiguity fixing of the auxiliary antenna and the orientation is successful, the auxiliary antenna coordinates and the orientation results can be used to calculate the main antenna coordinates, and as in the case A3, the situation that the main antenna cannot be used for positioning is avoided, the final positioning accuracy shows the result of reduced cliff, and when the main antenna coordinates are determined to be unreliable, the calculated main antenna coordinates can be used to obtain high-accuracy positioning.
Confirming the positioning and orientation result based on the fixing result further includes a fifth case C of performing positioning based on a floating solution of the position of the main antenna in response to unsuccessful fixation of the ambiguity of the main antenna and the orientation.
More specifically, since the ambiguity fixing of the main antenna and the orientation is unsuccessful, the main antenna coordinates after the ambiguity fixing cannot be used, and the main antenna coordinates cannot be calculated by combining the orientation result and the sub-antenna, so that it is not possible to determine whether the ambiguity fixing of the sub-antenna is successful, but in the step 110, the floating solution of the main antenna is successful, and there is one floating solution of the main antenna position, so that the positioning of the target to be positioned is a reliable choice directly based on the floating solution of the main antenna position.
In the fifth case C, although the accuracy of positioning based on the floating solution of the main antenna position may be relatively low, the accuracy thereof is still superior to the result of positioning with only the sub-antenna, and also superior to the result of failing to output one positioning, which is the case of outputting the optimal result using the known condition to the maximum.
In addition, as a supplementary case, if the floating solution for the main antenna is unsuccessful in the above-described step 110 at the beginning, corresponding to the case C, there is a sixth case E in which the floating solution for the main antenna is unsuccessful but the floating solution for the sub antenna is successful, and positioning is performed based on the floating solution for the sub antenna.
It will be appreciated that if the floating solution of the secondary antenna is also unsuccessful, no possible positioning result can be output.
In the sixth case E, although the accuracy of positioning based on the secondary antenna coordinates may be relatively low, it is preferable to be able to output one positioning result, which is the case where the optimum result is output using the known condition to the maximum.
And confirming the positioning and orientation result based on the fixed result further comprises a seventh case D, wherein in response to the fact that the ambiguity fixing of the main antenna is successful and the ambiguity fixing of at least one of the auxiliary antenna and the orientation is unsuccessful, the floating solution of the position of the main antenna is updated based on the ambiguity fixing result of the main antenna so as to obtain main antenna coordinates, and the target to be positioned is positioned based on the main antenna coordinates.
Further specifically, if the ambiguity fixing of at least one of the secondary antenna and the orientation is unsuccessful, the "three mutual mapping" cannot be achieved, and therefore other logic needs to be considered. And because the ambiguity fixing of the main antenna is successful no matter the ambiguity fixing of the auxiliary antenna is unsuccessful or the ambiguity fixing of the orientation result is unsuccessful, the obtained main antenna coordinates are not affected, and therefore, the main antenna coordinates can be directly used for positioning.
In the seventh case D, the positioning is performed based on the main antenna coordinates with high accuracy, mainly in addition to the case where the three cannot mutually reflect, and the optimal result is outputted by using the known condition to the maximum extent.
The positioning method comprises the steps of firstly obtaining a floating solution of a main antenna position, a floating solution of a secondary antenna position and a floating solution of a directional result, then carrying out ambiguity fixing on each floating solution, and finally confirming a positioning result based on the ambiguity fixing result, wherein a threshold value of a coordinate difference between a differential positioning result and the directional result is judged in response to success of the ambiguity fixing results of the main antenna, the secondary antenna and the directional result, and positioning is carried out based on the main antenna coordinate in response to the threshold value, so that the differential positioning result and the directional result can be mapped mutually, positioning accuracy is maintained, positioning reliability is greatly improved, and positioning unreliability or inaccuracy caused by error of the ambiguity fixing result is effectively avoided.
In a second aspect, the present application further provides a positioning device, for positioning an object to be positioned, as shown in fig. 3, the device includes:
The differential positioning module 1 is configured to perform differential positioning on the main antenna and the auxiliary antenna based on base station observation data respectively to obtain a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna;
an orientation module 2 configured to orient based on the observation data of the main antenna and the sub-antenna to obtain a floating solution of the orientation result, and
A verification settlement module 3 configured to fix ambiguity for the floating solution of the main antenna position, the floating solution of the sub antenna position, and the floating solution of the orientation result, respectively, and confirm the orientation result based on the ambiguity fixing result, wherein,
The verification settlement module is further configured to determine whether a coordinate difference between the differential positioning result and the orientation result is within a threshold value in response to success of the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation;
And in response to the coordinate difference between the differential positioning result and the orientation result being within the threshold, updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain the coordinates of the main antenna, and positioning the target to be positioned based on the coordinates of the main antenna.
The specific principle, the preferred embodiments, the technical problems that can be solved and the technical effects that can be brought about in the steps in the second aspect of the present application, such as the positioning method in the first aspect, are not described herein again.
Next, an electronic device 11 according to an embodiment of the present application is described with reference to fig. 4. Fig. 4 shows a block diagram of an electronic device according to an embodiment of the application.
As shown in fig. 4, the electronic device 11 includes one or more processors 111 and a memory 112.
The processor 111 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 11 to perform desired functions.
Memory 112 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer readable storage medium and the processor 111 may execute the program instructions to implement the test methods and/or other desired functions of the various embodiments of the present application above. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 11 may also include an input device 113 and an output device 114, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
The input device 113 may include, for example, a keyboard, a mouse, and the like.
The output device 114 may output various information to the outside, including the determined distance information, direction information, and the like. The output device 114 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 11 relevant to the present application are shown in fig. 4 for simplicity, components such as buses, input/output interfaces, etc. being omitted. In addition, the electronic device 11 may include any other suitable components depending on the particular application.
Furthermore, embodiments of the application may also be a computer-readable storage medium, on which computer program instructions are stored which, when executed by a processor, cause the processor to perform steps in a test method according to various embodiments of the application described in the "exemplary method" section of the description above.
A computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of a readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
In addition to the methods, apparatus, devices and media described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a test method according to various embodiments of the application described in the "exemplary methods" section of this specification.
The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The preferred embodiments of the present application have been described in detail above, but the present application is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present application within the scope of the technical concept of the present application, and all the simple modifications belong to the protection scope of the present application.
In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further.
Moreover, any combination of the various embodiments of the application can be made without departing from the spirit of the application, which should also be considered as disclosed herein.
Claims (12)
1. A positioning method, wherein the positioning method is used for positioning a target to be positioned, the method comprising:
differential positioning is carried out on the main antenna and the auxiliary antenna based on base station observation data, so that a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna are obtained;
Orientation based on the observed data of the main antenna and the auxiliary antenna to obtain a floating solution of the orientation result, and
Respectively carrying out ambiguity fixing on the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result, and confirming the orientation result based on the ambiguity fixing result,
Determining a positioning result based on the ambiguity fixing result comprises the steps of responding to the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation, and judging whether the coordinate difference between the differential positioning result and the orientation is within a threshold value or not;
And updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain main antenna coordinates and positioning the target to be positioned based on the main antenna coordinates in response to the coordinate difference between the differential positioning result and the orientation result being within a threshold value.
2. The method of claim 1, wherein the validating the positioning result based on the ambiguity fixing result further comprises:
judging whether the main antenna coordinates are reliable or not in response to the coordinate difference between the differential positioning result and the orientation result not being within the threshold value;
and responding to the main antenna coordinate to be reliable, and positioning the target to be positioned based on the main antenna coordinate.
3. The method of claim 2, wherein the validating the positioning result based on the ambiguity fixing result further comprises:
Responding to unsuccessful ambiguity fixing of the main antenna and successful ambiguity fixing of the auxiliary antenna and orientation, or responding to unreliable coordinates of the main antenna;
Respectively updating corresponding floating solutions based on the auxiliary antenna and the directional ambiguity fixing result to obtain an auxiliary antenna coordinate and a directional result;
And calculating the main antenna coordinates based on the auxiliary antenna coordinates, the orientation result and the coordinate difference between the main antenna and the auxiliary antenna, and positioning the target to be positioned based on the calculated main antenna coordinates.
4. The method of claim 1, wherein the validating the positioning result based on the ambiguity fixing result further comprises:
in response to unsuccessful ambiguity fixing of the primary antenna and orientation, positioning is performed based on a floating solution of the primary antenna position.
5. The method of claim 1, wherein the validating the positioning result based on the ambiguity fixing result further comprises:
And in response to the successful ambiguity fixing of the main antenna and the unsuccessful ambiguity fixing of at least one of the auxiliary antenna and the orientation, updating a floating solution of the position of the main antenna based on an ambiguity fixing result of the main antenna to obtain main antenna coordinates, and positioning the target to be positioned based on the main antenna coordinates.
6. The method of claim 1, wherein the differential positioning and the orienting comprise:
and carrying out differential positioning and directional floating solution by using extended Kalman filtering to obtain a floating solution of the main antenna position, a floating solution of the auxiliary antenna position and a floating solution of the directional result.
7. The method of claim 1, wherein the ambiguity is fixed, comprising:
And respectively carrying out ambiguity fixing on the floating solution of the position of the main antenna, the floating solution of the position of the auxiliary antenna and the floating solution of the orientation result according to the satellite altitude angle to obtain an ambiguity fixing result of the main antenna, an ambiguity fixing result of the auxiliary antenna and an ambiguity fixing result of the orientation.
8. The method of claim 7, wherein the ambiguity fixing based on the satellite altitude angle comprises:
Determining a set of floating solutions for all satellites in communication with the primary antenna and the secondary antenna;
Judging whether the ambiguity ratio value of the floating solution set is larger than a first preset value or not;
responding to the ambiguity ratio value being greater than the first preset value, and fixing the ambiguity successfully;
In response to the ambiguity ratio value not being greater than the first preset value and the number of floating solutions in the floating solution set being greater than the set number, sequentially eliminating the floating solution with the lowest satellite altitude angle from the floating solution set, performing ambiguity fixing on the remaining floating solutions in the floating solution set, and judging whether the ambiguity ratio value of the floating solution set is greater than the first preset value again;
And responding to the ambiguity ratio value not larger than the first preset value and the number of floating solutions in the floating solution set not larger than the set number, and unsuccessfully fixing the ambiguity.
9. A positioning device for positioning an object to be positioned, the device comprising:
the differential positioning module is configured to perform differential positioning on the main antenna and the auxiliary antenna based on the base station observation data respectively to obtain a floating solution of the position of the main antenna and a floating solution of the position of the auxiliary antenna;
an orientation module configured to orient based on the observation data of the main antenna and the auxiliary antenna to obtain a floating solution of an orientation result, and
The verification settlement module is configured to fix ambiguity of the floating solution of the main antenna position, the floating solution of the auxiliary antenna position and the floating solution of the orientation result respectively, and confirm the orientation result based on the ambiguity fixing result,
The verification settlement module is further configured to determine whether a coordinate difference between a differential positioning result and an orientation result is within a threshold value in response to success of the ambiguity fixing results of the main antenna, the auxiliary antenna and the orientation;
And updating a floating solution of the position of the main antenna based on the ambiguity fixing result of the main antenna to obtain main antenna coordinates and positioning the target to be positioned based on the main antenna coordinates in response to the coordinate difference between the differential positioning result and the orientation result being within a threshold value.
10. An electronic device, comprising:
A processor;
a memory for storing the processor-executable instructions;
The processor being configured to read the executable instructions from the memory and execute the instructions to implement the method of any of the preceding claims 1-8.
11. A computer readable storage medium storing a computer program for performing the method of any one of the preceding claims 1-8.
12. A computer program product comprising a computer program or instructions, characterized in that the computer program or instructions, when executed by a computer, implement the method of any of the preceding claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411166887.1A CN119045022B (en) | 2024-08-23 | 2024-08-23 | A positioning method, positioning device, equipment, medium and product |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411166887.1A CN119045022B (en) | 2024-08-23 | 2024-08-23 | A positioning method, positioning device, equipment, medium and product |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN119045022A CN119045022A (en) | 2024-11-29 |
| CN119045022B true CN119045022B (en) | 2025-02-25 |
Family
ID=93577475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202411166887.1A Active CN119045022B (en) | 2024-08-23 | 2024-08-23 | A positioning method, positioning device, equipment, medium and product |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN119045022B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113970774A (en) * | 2021-12-22 | 2022-01-25 | 广东汇天航空航天科技有限公司 | Ambiguity fixing method and device of navigation system |
| CN114488235A (en) * | 2022-01-26 | 2022-05-13 | 武汉梦芯科技有限公司 | Double-antenna satellite orientation method, system, storage medium and electronic equipment |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115480278B (en) * | 2022-08-01 | 2024-06-14 | 北方雷科(安徽)科技有限公司 | Double-antenna directional robust algorithm suitable for complex multipath environment |
| CN116840876B (en) * | 2023-04-07 | 2024-04-05 | 北京李龚导航科技有限公司 | Dual-antenna orientation method and device for phase-distorted satellite navigation antenna |
| CN118426009A (en) * | 2024-03-27 | 2024-08-02 | 毫厘智能科技(江苏)有限公司 | Method, device, electronic equipment and storage medium for improving fixed solution integrity |
| CN118444241A (en) * | 2024-04-09 | 2024-08-06 | 武汉梦芯科技有限公司 | Orientation method, system, medium and industrial parameter board |
-
2024
- 2024-08-23 CN CN202411166887.1A patent/CN119045022B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113970774A (en) * | 2021-12-22 | 2022-01-25 | 广东汇天航空航天科技有限公司 | Ambiguity fixing method and device of navigation system |
| CN114488235A (en) * | 2022-01-26 | 2022-05-13 | 武汉梦芯科技有限公司 | Double-antenna satellite orientation method, system, storage medium and electronic equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN119045022A (en) | 2024-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7267460B2 (en) | System and method for high integrity satellite positioning | |
| US11624843B2 (en) | Systems and methods for reduced-outlier satellite positioning | |
| CN108732603B (en) | Method and device for locating a vehicle | |
| EP3647821B1 (en) | Positioning method and positioning terminal | |
| CN110646820B (en) | Quality inspection method, device, equipment and storage medium of RTK positioning data | |
| CN110941001B (en) | Positioning data acquisition method, system, terminal and storage medium in complex environment | |
| US11474263B2 (en) | System and method for GNSS ambiguity resolution | |
| CN114089398B (en) | Satellite orientation method, chip and computer readable storage medium | |
| CN111736188B (en) | Satellite positioning method, device, electronic equipment and storage medium | |
| CN112394383A (en) | Satellite and 5G base station combined positioning method and device | |
| EP4103972A1 (en) | System and method for integer-less gnss positioning | |
| CN114779297A (en) | Terminal positioning method and related device | |
| CN118033702A (en) | Multi-directional fusion post-processing positioning method and device | |
| CN119045022B (en) | A positioning method, positioning device, equipment, medium and product | |
| Hou et al. | Two-step success rate criterion strategy: A model-and data-driven partial ambiguity resolution method for medium-long baselines RTK | |
| CN112649818B (en) | Detection method, device, terminal equipment and medium of satellite navigation receiver | |
| WO2024109466A1 (en) | Satellite positioning accuracy marking method and related apparatus | |
| Wen et al. | TL-GILNS: A trajectory-layer-enhanced GNSS/INS/LiDAR integrated approach towards reliable positioning and accurate accuracy quantification | |
| CN115585807A (en) | GNSS/INS integrated navigation method based on machine learning | |
| CN117289319B (en) | Carrier phase orientation method, device and electronic equipment based on array antenna | |
| CN119689536B (en) | GNSS positioning method, system, terminal and medium based on signal-to-noise ratio arc segment analysis | |
| CN114488231B (en) | A cycle slip adjustment method, device, electronic equipment and storage medium | |
| CN117991311A (en) | A method and device for calculating ambiguity based on dual-frequency observation data | |
| CN116931007B (en) | Ionosphere delay processing method, ionosphere delay processing device, ionosphere delay processing equipment and storage medium | |
| CN118426006B (en) | Geometric calibration method, positioning method and system for time-space error of swing-scanning satellite |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |