WO2022142834A1

WO2022142834A1 - Self-differential positioning method and apparatus, and mobile device and storage medium

Info

Publication number: WO2022142834A1
Application number: PCT/CN2021/131353
Authority: WO
Inventors: 陈凌伟
Original assignee: 广州极飞科技股份有限公司
Priority date: 2020-12-31
Filing date: 2021-11-18
Publication date: 2022-07-07
Also published as: CN112649821A

Abstract

A self-differential positioning method and apparatus, and a mobile device and a storage medium. The method comprises: acquiring a pseudo-range measurement value of a mobile device relative to a satellite at the current moment and a corresponding first differential correction value at a historical moment, wherein historical location coordinates of the mobile device at the historical moment are corrected according to the first differential correction value, and the historical location coordinates represent a virtual reference location of the current location of the mobile device (S115); and determining the current location coordinates of the mobile device according to the pseudo-range measurement value and the first differential correction value (S116). It is not necessary to set up a reference station and a mobile communication network, thereby reducing the complexity cost of a system. The method can be applied to a scenario where an area without an RTK support condition has a requirement for short-term relative positioning accuracy, or the method serves as a supplement for RTK technology to solve the problem of RTK signal transmission interruption, thereby realizing accurate positioning.

Description

Self-differential positioning method, device, mobile device and storage medium

technical field

Embodiments of the present invention relate to the technical field of mobile devices, and in particular, to a self-differential positioning method, apparatus, mobile device, and storage medium.

Background of the Invention

With the advancement of agricultural science and technology, in order to meet the quality of plant protection, plant protection equipment is required to have high relative positioning accuracy. Therefore, plant protection drones with autonomous route planning functions are widely used in the plant protection industry.

At present, the navigation and positioning of plant protection drones mainly rely on the satellite positioning technology based on RTK (Real-time kinematic, RTK for short). However, based on RTK satellite positioning technology, it is necessary to establish a reference base station and establish a communication network between the reference base station and the mobile station. However, on the one hand, with the development of communication networks, the communication bandwidth is getting wider and wider, the coverage of a single station is getting smaller and smaller, and the cost is getting higher and higher; Without stable mobile communication network coverage, the use of traditional RTK is limited and cannot be flexibly applied to various scenarios.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a self-differential positioning method, device, mobile device, and storage medium, so as to achieve accurate positioning without establishing a reference base station and a communication network between the reference base station and the mobile device The purpose of positioning is to reduce the cost of existing navigation and positioning, and to expand positioning scenarios.

In a first aspect, an embodiment of the present invention provides a self-differential positioning method, which is applied to a mobile device. The method includes: acquiring a pseudorange measurement value of the mobile device relative to a satellite at a current moment and a first differential correction corresponding to a historical moment value, wherein the historical position coordinates of the mobile device at the historical moment are corrected by the first differential correction value, and the historical position coordinates are the virtual reference position of the current position of the mobile device; according to the pseudo The distance measurements and the first differential correction value determine the current location coordinates of the mobile device.

In a second aspect, an embodiment of the present invention provides a self-differential positioning apparatus, including: an acquisition module configured to acquire a pseudorange measurement value of a mobile device relative to a satellite at a current moment and a first differential correction value corresponding to a historical moment, wherein , the historical position coordinates of the mobile device at the historical moment are corrected by the first differential correction value, and the historical position coordinates are the virtual reference position of the current position of the mobile device; the determining module is used for The pseudorange measurements and the first differential correction value determine the current location coordinates of the mobile device.

In a third aspect, an embodiment of the present invention provides a mobile device, including a processor, a memory, and at least two satellite receivers, where the satellite receiver is electrically connected to the processor; the memory stores a computer program that can be executed by the processor, and the processor A computer program may be executable to implement the self-differential positioning method as in the first aspect.

In a fourth aspect, an embodiment of the present invention provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the self-differential positioning method according to the first aspect.

The self-differential positioning method, device, mobile device, and storage medium provided by the embodiments of the present invention include: acquiring a pseudorange measurement value of the mobile device relative to a satellite at a current moment and a first differential correction value corresponding to a historical moment, wherein , the historical position coordinates of the mobile device at the historical moment are corrected by the first differential correction value, and the historical position coordinates are the virtual reference position of the current position of the mobile device; the current position of the mobile device is determined according to the pseudorange measurement value and the first differential correction value coordinate. The difference from the prior art is that the prior art needs to establish a reference base station, and also needs to establish a communication network between the reference base station and the mobile device, which is costly and has limited application scenarios, while the self-differential positioning method provided by the embodiment of the present invention is There is no need to set up a base station, and the corrected position is used as a virtual reference base station, so it does not need the support of a mobile communication network, thereby reducing the complexity and cost of the system. Further, the self-differential positioning method provided by the embodiment of the present invention can also be applied to a scenario where a short-term relative positioning accuracy is required in an area without RTK support, or as a supplement under the RTK technology to solve the problem of RTK signal transmission interruption. Continued problem, to achieve a certain period of time, within a certain range of high positioning accuracy, but also can control the long-term cumulative error within a small range. In addition, the self-differential positioning method provided by the embodiments of the present invention can be widely used in industries such as plant protection, and can avoid the reference base station construction and the support of the mobile communication network.

Brief Description of Drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

FIG. 1 is a schematic flowchart of a self-differential positioning method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a self-differentiation working principle provided by an embodiment of the present invention;

3 is a schematic diagram of a typical running trajectory of a plant protection process of a mobile plant protection device according to an embodiment of the present invention;

4 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention;

5 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention;

Fig. 6 is a kind of schematic diagram of track drift;

7 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of a mobile device according to an embodiment of the present invention;

9 is a functional block diagram of a self-differential positioning device according to an embodiment of the present invention;

FIG. 10 is a structural block diagram of a mobile device according to an embodiment of the present invention.

MODES OF IMPLEMENTING THE INVENTION

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the present invention, it should be noted that, if the terms "upper", "lower", "inner", "outer", etc. appear, the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawings, or It is the usual orientation or positional relationship when the product of the invention is used, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operation, and therefore should not be construed as a limitation of the present invention.

In addition, where the terms "first", "second" and the like appear, they are only used to differentiate the description, and should not be construed as indicating or implying relative importance.

It should be noted that the features in the embodiments of the present invention may be combined with each other without conflict.

At present, mobile devices mainly rely on RTK-based satellite positioning technology for navigation and positioning. However, based on RTK satellite positioning technology, it is necessary to establish a reference base station and establish a communication network between the reference base station and the mobile station. The use of RTK satellite positioning technology has the following shortcomings: on the one hand, with the development of communication networks, the communication bandwidth is getting wider and wider, the coverage of a single station is getting smaller and smaller, and the cost of establishing a reference base station is getting higher and higher; on the other hand, rural ( Farms) With the improvement of automation, the population is getting smaller and smaller. From the trend, the coverage of mobile communication networks in rural areas (farms) will become worse and worse, making it impossible for some remote areas to cover stable mobile communication networks. The above-mentioned defects lead to certain limitations in the use of traditional RTK satellite positioning technology, which cannot be flexibly applied to various scenarios.

In order to solve the above technical problems, the inventor provides a self-differential positioning method. The idea of this self-differential positioning method is to obtain the differential correction value based on the position of the mobile station at time t(n) and the pseudorange measurement value, And pass the differential correction value to the subsequent time t(n+m) for error correction, where m=1,2,...M, obtain the relatively accurate position coordinates of the subsequent time, and improve the mobile device's subsequent time in a certain period of time. positioning accuracy. The difference from the prior art is that the self-differential positioning method provided by the embodiment of the present invention does not need to establish a reference station (such as a reference base station), but uses the corrected position as a virtual reference position (also called a virtual reference base station) , so it does not need the support of the mobile communication network. This reduces the complexity and cost of the system, and can also be applied to scenarios where short-term relative positioning accuracy is required in areas without RTK support, or as a supplement to RTK technology to solve the intermittent problem of RTK signal transmission.

Taking a mobile device as an example and in conjunction with the accompanying drawings, the following describes the self-differential positioning method provided by the embodiment of the present invention in detail. Referring first to FIG. 1, FIG. 1 is a schematic flowchart of a self-differential positioning method provided by the embodiment of the present invention. The method can include:

S115: Acquire the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment.

In some possible embodiments, the coordinates of the historical position corresponding to the mobile device at the historical moment are corrected by the first differential correction value. It can be understood that the error of the coordinates of the historical position is within the error range, and the coordinates of the historical position are relatively accurate. Therefore, the historical position can be used as a virtual reference position for the current position of the mobile device.

In some possible embodiments, the above-mentioned pseudorange measurement value refers to the measured distance between the satellite receiver and the satellite that contains errors such as clock error and atmospheric refraction delay. In one implementation, the pseudorange measurement value is The calculation relationship of the value can be as follows:

Among them, ρ represents the pseudo-range measurement value between the satellite and the mobile device, r represents the real distance between the mobile device and the satellite, the real distance is the geometric distance between the coordinates of the mobile device and the coordinates of the satellite, and c represents the electromagnetic wave in the the speed of propagation in space,

is the receiver clock error, δ _t ^(s) is the satellite clock error, I is the ionospheric error, T is the tropospheric error, and ε _ρ is the other measurement noise error.

In some possible embodiments, the first differential correction value may be the pseudorange measurement value between the mobile device at time t(n) (eg, time t(0)) relative to the satellite i participating in the positioning and the mobile device The difference of the distance with the satellite i, the solution relationship of the first difference correction value can be in the form:

Among them, i is the i-th satellite participating in the positioning;

Represents the differential correction value of satellite i at time t(n), and r _tn represents the true distance between satellite i and the mobile device at time t(n).

It can be understood that since the clock error, ephemeris error, observation error, ionosphere, and tropospheric refraction are all long-period errors, it can be approximated that the carrier phase difference correction amount between satellite i and the receiver at time t(n) is the same as that of the receiver. The carrier phase difference correction amounts at time t(n+m) are equal. That is to say, in the process of obtaining the position coordinates of the current moment, the difference correction value corresponding to the historical moment of the current moment may be used. In one embodiment, the ephemeris and observation errors may be included in other measurement noise errors.

S116. Determine the current position coordinates of the mobile device according to the pseudorange measurement value and the first differential correction value.

In some possible embodiments, after obtaining the pseudorange measurement value and the first differential correction value of the mobile device at the current moment, the relationship can be

The relative real distance of the mobile device relative to the satellite at the current moment can be obtained, and then the relative real coordinates are calculated according to some positioning algorithms.

The self-differential positioning method provided by the embodiment of the present invention obtains the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment; and then according to the pseudorange measurement value and the first differential correction value Determine the current position coordinates of the mobile device, because the coordinates of the historical position corresponding to the mobile device at the historical moment are corrected by the first differential correction value; the historical position is the virtual reference position of the current position of the mobile device (the first corresponding to the virtual reference position). The differential correction value can be used to determine the position coordinates of the mobile device at a subsequent time), therefore, the positioning accuracy of the mobile device at a subsequent time can be improved within a certain period of time. The difference from the prior art is that the self-differential positioning method provided by the embodiment of the present invention does not need to establish a reference station, but uses the corrected position as a virtual reference base station, so it does not need the support of a mobile communication network. This reduces the complexity and cost of the system, and can also be applied to scenarios where short-term relative positioning accuracy is required in areas without RTK support, or as a supplement to RTK technology to solve the intermittent problem of RTK signal transmission, realize For a certain period of time, the positioning accuracy within a certain range is relatively high, and the long-term cumulative error can also be controlled within a smaller range. It can be widely used in industries such as plant protection. At the same time, the reference base station construction and the support of the mobile communication network are eliminated.

In order to facilitate the understanding of the above-mentioned self-differential positioning process, a schematic diagram of a scenario is given below. Please refer to FIG. 2 , which is a schematic diagram of a working principle of self-differentiation provided by an embodiment of the present invention.

As shown in Figure 2, the distance measurement value between the mobile device and the satellite at time t(n) can be understood as a pseudorange measurement value, which is a value determined by the mobile device according to the information of the satellite received by the satellite receiver. The real distance can be understood as the geometric distance between the current coordinates of the mobile device and the satellite coordinates. It can be seen that there is a measurement error between the distance measurement value and the predicted real distance, and the measurement error can be used as a differential correction value. Further, at t At time (n+1), the error-corrected distance measurement value can be obtained according to the differential correction value obtained at time t(n) and the distance measurement value obtained at time t(n+1), and then according to any positioning method And the error-corrected distance measurements determine the true location of the mobile device at time t(n+1).

Optionally, in one scenario, the above-mentioned historical moment may be the initial moment when the mobile device starts to move; in another implementation manner, the historical moment may be any moment between the initial moment and the current moment.

It can be understood that by performing differential correction on the pseudorange measurement value at the current moment using the differential correction value calculated by the mobile device at the historical moment, the position at the current moment is relatively accurate relative to the position at the historical moment. The differential correction value calculated at the historical moment can also be used for differential correction at multiple time points (or location points) after the historical moment. Whether it is necessary to update the virtual reference base station (recalculate the differential correction value with the new location point) depends on for practical application requirements. Generally, in some scenarios where the frequency of position update is low and the frequency of heading update is relatively high, the confirmation of position and heading are independent of each other, and the virtual reference base station at the same time can be used, or the virtual reference base station at different times can be used. Because within a certain time and within a certain spatial range, the factors that cause the change of satellite positioning accuracy are small, so the differential correction value calculated at the historical moment can be used for the position positioning at the current moment.

For ease of understanding, a schematic diagram of a scenario is given below. Referring to FIG. 3 , FIG. 3 is a schematic diagram of a typical running trajectory of a plant protection process of a mobile plant protection device according to an embodiment of the present invention.

As shown in Figure 3, where a, b, c, d, e, f, g, h, i, j, k, l are waypoints at different positions, ab, cd, ef, gh, ij, kl are Each flight segment in the process of plant protection of mobile plant protection equipment. ab, cd, ef, gh, ij, and kl are roughly parallel to each other, and are basically equidistant to avoid omission or duplication of plant protection during the plant protection process.

Take the route of the plant protection machine (mobile plant protection equipment) as an example: if point a is used as the starting point and the initial time is t(0), the coordinates of the plant protection equipment at point a can be obtained, and then the pseudo-range measurement value between the satellite and the mobile plant protection equipment can be calculated. Compared with the real distance difference, the differential correction value at time t(0) is obtained, and the differential correction value is passed to the subsequent time for the correction of a certain position (or heading) or a series of positions (or heading) at the subsequent time.

For example, in the process of moving the plant protection equipment from point a to point b, the differential correction value calculated from point a can always be used to perform differential correction on any point from a to b, or a certain point between a and b that has undergone differential correction can be taken. It is a virtual reference position, and performs differential correction for a certain subsequent point or a certain series of points. Since the time required for the movement between ab and cd is short, it has little effect on the accuracy factor of satellite positioning. It can be considered that the relative relationship between ab and cd is more accurate. Similarly, cd and ef, ef and hg, etc. The position relationship between them is also more accurate; at the same time, since each differential correction value is based on the current position of the mobile station to compensate the distance measurement value between the mobile device and the satellite at the next position, the long-term accumulated error will not follow. The passage of time has been accumulated and will always be controlled in a lower range.

Optionally, in some possible embodiments, in a linear system, the differential correction value R1 calculated at time t(n) can be used as the observed value of the distance between the satellite and the mobile station at time t(n+m) to confirm the position of the mobile station at time t(n+m), and then use the position calculated at time t(n+m) to calculate the differential correction value R2 of the pseudorange measurement value between the satellite and the mobile station. , the differential correction value R1 obtained at time t(n) is the same as the differential correction value R2 obtained at time t(n+m), but since satellite positioning is a nonlinear system, satellite position changes and some other environmental factors , the position of the satellite participating in the positioning calculation is also changing, so the differential correction value between the satellite and the mobile device needs to be updated. Therefore, it is necessary to continuously solve the differential correction value in a loop, so as to ensure that the local area has a high relative positioning accuracy. Based on this, a possible implementation is given below. Please refer to FIG. 4 . FIG. 4 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention. The embodiment of FIG. 4 is the embodiment of FIG. 1 . For example, on the basis of the embodiment of FIG. 1, the method may further include:

S117. Determine the predicted distance between the mobile device and the satellite according to the coordinates of the current position and the coordinates of the satellite at the current moment.

It can be understood that the current position coordinates are relatively accurate. Therefore, the current position can be used as a virtual reference position, and the real distance between the mobile device and the satellite can be calculated based on the current position coordinates and the coordinates of the satellite at the current moment.

S118. Determine a second differential correction value based on the predicted distance and the pseudorange measurement value.

It can be understood that the above-mentioned second differential correction value is used to determine the position coordinates of the mobile device at any at least one future time after the current time.

Optionally, the historical moment in this embodiment of the present invention may be the moment when the mobile device starts to move, or may be any moment between the start moment and the current moment. Based on this, in order to facilitate understanding of the process of obtaining the first differential correction value , an implementation manner of obtaining the first differential correction value is given below, referring to FIG. 5 , FIG. 5 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention, and the embodiment of FIG. 5 is the implementation of FIG. 1 For example, on the basis of the embodiment of FIG. 1, the method may further include:

S111. Acquire satellite information.

It can be understood that the information of the satellite may include known information such as satellite pseudo-random code, ephemeris, satellite operating speed, operating orbit, etc., as well as information such as carrier phase values observed by satellite receivers.

S112. Determine the satellite position coordinates at the historical moment according to the satellite information.

It can be understood that the coordinates of the satellite can be obtained according to the ephemeris, the speed of the satellite, the orbit and the carrier phase value observed by the satellite receiver.

S113. Determine the historical predicted distance and historical pseudorange measurement value between the mobile device and the satellite according to the satellite position coordinates and the historical position coordinates of the mobile device.

S114. Determine a first differential correction value based on the historical predicted distance between the mobile device and the satellite and the historical pseudorange measurement value.

For example, taking the historical time as the initial time t(0), assuming that the coordinates of a satellite (i) at time t(0) are (x _i0 , y _i0 , z _i0 ), the position coordinates of the receiving antenna of the mobile device (r) is (x _r0 , y _r0 , z _r0 ), then the predicted distance from the mobile device (r) to the satellite (i) at time t(0) is:

Furthermore, according to the pseudorange measurement equation between the satellite and the mobile station's receiving antenna:

At the initial time t(0), the pseudorange measurements of the mobile device (r) relative to the satellite (i) can be obtained, so that the first Differential correction value.

It should be noted that the historical time t(n) is any time between the initial time t(0) and the current time t(m), where 0<n<m, the method of obtaining the first differential correction value is the same as The difference correction value is obtained in the same way at the initial time. It should be noted that when the historical time t(n) is any time between the initial time t(0) and the current time t(m), the position coordinates of the historical time t(n) have been corrected Relatively accurate coordinates, which can be corrected according to the differential correction value obtained at the initial time t(0), or based on the differential correction value at the time t(n-1), or t(0) and t The difference correction value corresponding to any corrected position between (n) is corrected.

It should also be noted that when the historical time t(n) is any time between the initial time t(0) and the current time t(m), between the historical time t(n) and the current time t(m) The time interval should not be too long, otherwise a large cumulative error is likely to occur.

Optionally, in a scenario where the historical moment is the initial moment, the position coordinates of the mobile device at the initial moment can be obtained by map matching. For example, the mobile device can obtain an initial position input by the user, and then map matching. Get initial coordinates.

Optionally, since the above-mentioned self-differential positioning method uses relative position compensation rather than physical absolute position compensation, it has high accuracy in the short term, but inevitably there will be an increase in error in the long term, especially in the direction of the track. There is drift, and its long-term cumulative error is determined by the mean value of GNSS positioning errors within a certain period of time; for example, see Figure 6, which is a schematic diagram of a track drift, as shown in Figure 6, AB represents one of the planned routes. segment, A and B are the two waypoints on the segment, where A can be understood as the starting point of the segment; a1 represents the starting point in the actual flight path during the movement of the mobile device. At the starting point, a1 coincides with A, Without any deviation, over time, the actual trajectory of the mobile device's actual movement is offset from the planned trajectory and gradually increases. Of course, due to the limited satellite positioning error, the offset will not continue to expand, and will stabilize at a certain value to a certain extent.

Therefore, in order to solve the above problems, after obtaining the precise coordinates of the current position of the mobile device, the heading angle of the mobile device can also be determined according to the satellite information received by the satellite receiver, and then updated again according to the displacement and heading angle of the mobile device. For the current position coordinates, a possible implementation is given below. Referring to FIG. 7 , FIG. 7 is a schematic flowchart of another self-differential positioning method provided by an embodiment of the present invention. The embodiment of FIG. 7 is the embodiment of FIG. 1 . For example, on the basis of the embodiment of FIG. 1, the method further includes:

S119: Acquire pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data measured by each satellite receiver.

It can be understood that, the mobile device in this embodiment of the present invention may be configured with at least two satellite receivers, and each satellite receiver may be electrically connected to the processor of the mobile device; Information from the satellite, including measured pseudorange measurements, Doppler observations, and carrier phase observations, is then transmitted to the processor.

S120. Determine the heading angle of the mobile device based on all the pseudorange measurements, Doppler observations, carrier phase observations, and satellite navigation message data.

In a possible implementation manner, the heading angle of the mobile device can be determined after the pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data corresponding to each satellite receiver are obtained.

S121. Determine the displacement of the mobile device according to the current position coordinates and the historical coordinates of the historical moments adjacent to the current moment.

It can be understood that the current position coordinates are corrected position coordinates.

S122, update the current position coordinates according to the displacement and the heading angle.

Optionally, in a scenario in which a satellite is used to locate a mobile device, since the mobile device can obtain observation data relative to the satellite in real time, such as pseudorange measurements, Doppler observations, carrier phase observations, and satellite navigation message data, The location information of the mobile device can be obtained by analyzing these observation data. Therefore, in a possible implementation manner, the implementation manner of the above step S120 may be as follows:

The first step is to linearly combine the pseudorange measurements, Doppler observations, carrier phase observations and satellite navigation text data measured by each satellite receiver to obtain the carrier phase double-difference observation equation.

The second step is to determine the heading angle based on the carrier phase double-difference observation equation.

To facilitate understanding of the above updating process, a schematic diagram is given below. Please refer to FIG. 8 , which is a schematic diagram of a mobile device according to an embodiment of the present invention.

As shown in FIG. 8 , the satellite receiving antenna 1 (ANT1) and the satellite receiving antenna 2 (ANT2) are satellite receiving antennas in the mobile device for receiving satellite signals. Two satellite receiving antennas (the greater the distance between the antennas, the higher the accuracy of their route) are separated by a certain distance. ANT1 is connected to satellite receiver 1, ANT2 is connected to satellite receiver 2, and the two satellite receivers need a common clock. Both the satellite receiver 1 and the satellite receiver 2 are electrically connected to the processor, and the satellite receiver 1 and the satellite receiver 2 respectively transmit the measured pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message to the processor. The processor constructs the carrier phase double-difference observation equation, and solves it in real time to obtain the heading angle of the mobile device. The processor performs multi-epoch self-difference decomposition calculation between satellites according to the information received by any one of the satellite receivers, that is, based on the position of the mobile station at the historical moment and the pseudorange measurement value, the differential correction value is obtained, which is used for the current moment. It can obtain the accurate displacement data of the mobile device relative to the previous moment, and then fuse the displacement data and heading data, update the current position coordinates, and complete the positioning.

In order to realize the above steps and achieve corresponding technical effects, an implementation manner of a self-differential positioning device is given below. Referring to FIG. 9, FIG. 9 is a functional block diagram of a self-differential positioning device provided by an embodiment of the present invention, wherein , the self-differential positioning device 30 includes: an acquisition module 301 and a determination module 302 .

The acquisition module 301 is used to acquire the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment, wherein the historical position coordinates of the mobile device at the historical moment are corrected by the first differential correction value , and the historical position coordinates are the virtual reference position of the current position of the mobile device.

The determining module 302 is configured to determine the current position coordinates of the mobile device according to the pseudorange measurement value and the first differential correction value.

It can be understood that, the acquiring module 301 and the determining module 302 may perform steps S115 and S116 in coordination to achieve corresponding technical effects.

Optionally, the determining module 302 is further configured to: determine the predicted distance between the mobile device and the satellite at the current moment according to the coordinates of the current position and the coordinates of the satellite at the current moment; determine the second differential correction based on the predicted distance and the pseudorange measurement value. value, the second differential correction value is used to determine the position coordinates of the mobile device at any at least one future time after the current time.

Optionally, the historical moment is the initial moment when the mobile device starts to move; or, the historical moment is any moment between the initial moment and the current moment.

Optionally, the acquiring module 301 is further configured to acquire satellite information; the determining module 302 is further configured to determine satellite position coordinates at historical moments according to the satellite information. The obtaining module 301 is configured to determine the historical predicted distance and historical pseudorange measurement value between the mobile device and the satellite according to the satellite position coordinates and the historical position coordinates; determine the first differential correction value based on the historical predicted distance and the historical pseudorange measurement value.

Optionally, the determining module 302 is further configured to determine the initial position coordinates through map matching when the historical moment is the initial moment when the mobile device starts to move, and the historical position coordinates are the initial position coordinates.

Optionally, the mobile device has at least two satellite receivers; the acquisition module 301 is further configured to acquire pseudorange measurement values, Doppler observations, carrier phase observations, and satellite navigation message data corresponding to each satellite receiver; determine Module 302 is also used to: determine the heading angle of the mobile device based on all pseudorange measurements, Doppler observations, carrier phase observations and satellite navigation message data; The historical coordinates determine the displacement of the mobile device; according to the displacement and heading angle, the current position coordinates are updated.

Optionally, the determining module 302 is specifically configured to: linearly combine the pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data corresponding to each satellite receiver measurement to obtain the carrier phase double-difference observation. Equation; Based on the carrier phase double difference observation equation, the heading angle is determined.

An embodiment of the present invention further provides a mobile device 50, as shown in FIG. 10. FIG. 10 is a structural block diagram of the mobile device 50 provided by the embodiment of the present invention. The mobile device 50 may be a drone, a cell phone, a tablet, or the like. The mobile device 50 includes a communication interface 501 , a processor 502 and memory 503 and at least two satellite receivers 504 electrically connected to the processor 502 . The satellite receiver 504 is used for receiving satellite information, and transmitting the received satellite information to the processor 502; the processor 502, the memory 503 and the communication interface 501 are directly or indirectly electrically connected to each other to realize The transfer or interaction of data. For example, these elements may be electrically connected to each other through one or more communication buses or signal lines. The memory 503 can be used to store software programs and modules, such as program instructions/modules corresponding to the self-differential positioning method provided by the embodiment of the present invention, and the processor 502 executes various functions by executing the software programs and modules stored in the memory 503. applications and data processing. The communication interface 501 can be used for signaling or data communication with other node devices. The mobile device 500 may have multiple communication interfaces 501 in the present invention.

Wherein, the memory 503 may be, but not limited to, random access memory (Random Access Memory, RAM), read only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM), erasable memory In addition to read-only memory (Erasable Programmable Read-Only Memory, EPROM), Electrical Erasable Programmable Read-Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.

The processor 502 may be an integrated circuit chip with signal processing capability. The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

It can be understood that, each module of the above-mentioned self-differential positioning device 30 can be stored in the memory 503 of the mobile device 50 in the form of software or firmware (Firmware), and executed by the processor 502, and at the same time, the data required by the above-mentioned modules is executed. , the code of the program, etc. may be stored in the memory 503 .

It should be understood that the structure shown in FIG. 10 is only a schematic structural diagram of the mobile device 50 , and the mobile device 50 may further include more or less components than those shown in FIG. 10 , or have different configurations from those shown in FIG. 10 . . Each component shown in FIG. 10 may be implemented in hardware, software, or a combination thereof.

An embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by the processor 502, implements the self-differential positioning method according to any one of the foregoing embodiments. The storage medium can be, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic disk, or an optical disk.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical scope disclosed by the present invention can easily think of changes or substitutions. All should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

A self-differential positioning method, characterized in that, applied to a mobile device, the method comprising:

Obtain the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment, wherein the historical position coordinates of the mobile device at the historical moment are subjected to the first differential correction value correction, the historical position coordinates are the virtual reference position of the current position of the mobile device;

The current location coordinates of the mobile device are determined from the pseudorange measurements and the first differential correction value.
The self-differential positioning method according to claim 1, further comprising:

Determine the predicted distance between the mobile device and the satellite according to the coordinates of the current position and the coordinates of the satellite at the current moment;

A second differential correction value is determined based on the predicted distance and the pseudorange measurement value, and the second differential correction value is used to determine the position coordinates of the mobile device at any at least one future moment after the current moment.
The self-differential positioning method according to claim 1 or 2, wherein before the acquiring the pseudorange measurement value of the mobile device relative to the satellite at the current moment, the method further comprises:

obtain the information of the satellite;

According to the information of the satellite, determine the satellite position coordinates at the historical moment, wherein,

The obtaining of the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment includes:

determining historical predicted distances and historical pseudorange measurements between the mobile device and the satellites according to the satellite position coordinates and the historical position coordinates;

The first differential correction value is determined based on the historical predicted distances and the historical pseudorange measurements.
The self-differential positioning method according to claim 3, wherein,

When the historical moment is the initial moment when the mobile device starts to move, the historical position coordinates are the initial position coordinates, and when the mobile device and the satellite are determined according to the satellite position coordinates and the historical position coordinates Before the historical prediction distance between the historical prediction distance and the historical pseudorange measurement value, the self-differential positioning method further includes:

The initial position coordinates are determined by map matching.
The self-differential positioning method according to any one of claims 1 to 3, wherein the historical moment is an initial moment when the mobile device starts to move; or, the historical moment is the initial moment and all any time between the current time.
The self-differential positioning method according to any one of claims 1 to 5, wherein the mobile device has at least two satellite receivers, wherein the self-differential positioning method further comprises:

Obtain the pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data corresponding to each of the satellite receivers;

determining a heading angle of the mobile device based on all of the pseudorange measurements, the Doppler observations, the carrier phase observations, and the satellite navigation text data;

Determine the displacement of the mobile device according to the current position coordinates and the historical coordinates of the historical moments adjacent to the current moment;

The current position coordinates are updated according to the displacement and the heading angle.
The self-differential positioning method according to claim 6, wherein the determination of the The heading angle of the mobile device, including:

Linearly combining the pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data measured by each of the satellite receivers to obtain a carrier phase double-difference observation equation;

The heading angle is determined based on the carrier phase double difference observation equation.
A self-differential positioning device, comprising:

The acquisition module is used to acquire the pseudorange measurement value of the mobile device relative to the satellite at the current moment and the first differential correction value corresponding to the historical moment, wherein the historical position coordinates of the mobile device at the historical moment pass through the first differential correction value. A differential correction value correction, the historical position coordinate is the virtual reference position of the current position of the mobile device;

A determination module, configured to determine the current position coordinates of the mobile device according to the pseudorange measurement value and the first differential correction value.
The self-differential positioning device according to claim 8, wherein the determining module is further configured to:

Determine the predicted distance between the mobile device and the satellite according to the coordinates of the current position and the coordinates of the satellite at the current moment;

A second differential correction value is determined based on the predicted distance and the pseudorange measurement value, and the second differential correction value is used to determine the position coordinates of the mobile device at any at least one future moment after the current moment.
The self-differential positioning device according to claim 8 or 9, wherein the acquiring module is further configured to acquire the information of the satellite, and the determining module is further configured to determine the location in the satellite according to the information of the satellite. Satellite position coordinates at historical moments, wherein the acquisition module is used for:

determining historical predicted distances and historical pseudorange measurements between the mobile device and the satellites according to the satellite position coordinates and the historical position coordinates;

The first differential correction value is determined based on the historical predicted distances and the historical pseudorange measurements.
The self-differential positioning device according to claim 10, wherein the determining module is further configured to, when the historical moment is the initial moment when the mobile device starts to move, and the historical position coordinates are the initial position coordinates, by Map matching determines the initial location coordinates.
The self-differential positioning apparatus according to any one of claims 8 to 10, wherein the historical moment is an initial moment when the mobile device starts to move; or, the historical moment is the initial moment and all any time between the current time.
The self-differential positioning device according to any one of claims 8 to 12, wherein the mobile device has at least two satellite receivers,

The acquisition module is further configured to acquire pseudorange measurements, Doppler observations, carrier phase observations and satellite navigation message data corresponding to each of the satellite receivers,

The determining module is further configured to: determine the heading angle of the mobile device based on all the pseudorange measurements, the Doppler observations, the carrier phase observations and the satellite navigation text data; The current position coordinates and the historical coordinates of the historical moments adjacent to the current moment are used to determine the displacement of the mobile device; the current position coordinates are updated according to the displacement and the heading angle.
The self-differential positioning device according to claim 13, wherein the determining module is used for:

Linearly combining the pseudorange measurement value, Doppler observation value, carrier phase observation value and satellite navigation message data measured by each of the satellite receivers to obtain a carrier phase double-difference observation equation;

The heading angle is determined based on the carrier phase double difference observation equation.
A mobile device, characterized in that it comprises a processor, a memory and at least two satellite receivers, the satellite receivers are electrically connected to the processor; the memory stores a computer program that can be executed by the processor, the The processor can execute the computer program to implement the self-differential positioning method according to any one of claims 1-7.
A storage medium, characterized in that a computer program is stored thereon, and when the computer program is executed by a processor, the self-differential positioning method according to any one of claims 1-7 is implemented.