CN109991637B - Positioning method, positioning apparatus, and computer-readable storage medium - Google Patents
Positioning method, positioning apparatus, and computer-readable storage medium Download PDFInfo
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- 238000012937 correction Methods 0.000 claims description 76
- 238000010276 construction Methods 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 11
- 230000002596 correlated effect Effects 0.000 claims description 10
- 239000005433 ionosphere Substances 0.000 claims description 7
- 239000005436 troposphere Substances 0.000 claims description 7
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The invention discloses a positioning method, a positioning device and a computer readable storage medium, and relates to the field of wireless communication. The positioning method comprises the following steps: determining a satellite coverage function according to a reference station variable and the number of base stations to be selected, wherein the reference station variable indicates whether the base stations to be selected are used as reference stations; determining a satellite visibility function according to the reference station variable and the time period in which each base station to be selected can observe the satellite; determining an optimization objective function according to the satellite coverage function and the satellite visibility function; and determining the base station to be selected as the reference station when the optimization objective function value is maximum so as to carry out positioning according to the determined reference station. Therefore, the existing base station can be transformed and upgraded, the base station has a positioning function, and the positioning precision is improved on the basis of reducing the station distribution cost as much as possible.
Description
Technical Field
The present invention relates to the field of wireless communications, and in particular, to a positioning method, a positioning apparatus, and a computer-readable storage medium.
Background
At present, sharing economy develops rapidly, brings convenience to life of people, and causes troubles. Taking the shared bicycle as an example, because the disordered parking can cause traffic congestion and pedestrian congestion, a large number of workers are required to carry out standard parking on the disordered parked and disordered shared bicycle, and the manpower cost and the financial cost are greatly increased.
In order to solve this problem, the shared bicycle needs to be accurately positioned, and the user can carry out the standard parking through reward measures. A GPS (Global Positioning System) module and a wireless communication module are generally installed in the shared bicycle lock. Because of the limited power of the two modules, only rough positioning and simple signal receiving and transmitting can be carried out. In the positioning mode, the most common is the base station positioning and GPS positioning technology, but because the base station positioning precision and the civil GPS positioning precision are about 100 meters and 10 meters respectively, the requirement of sharing the single-vehicle positioning precision can not be met by adopting two positioning modes independently.
Therefore, the current positioning method is difficult to provide a high-precision positioning result.
Disclosure of Invention
The embodiment of the invention aims to solve the technical problem that: how to improve the positioning accuracy.
According to a first aspect of some embodiments of the present invention, there is provided a positioning method, comprising: determining a satellite coverage function according to a reference station variable and the number of base stations to be selected, wherein the reference station variable indicates whether the base stations to be selected are used as reference stations; determining a satellite visibility function according to the reference station variable and the time period in which each base station to be selected can observe the satellite; determining an optimization objective function according to the satellite coverage function and the satellite visibility function; and determining the base station to be selected as the reference station when the optimization objective function value is maximum so as to carry out positioning according to the determined reference station.
In some embodiments, a ratio of the number of reference stations to the number of candidate base stations is used as a satellite coverage function, wherein the number of reference stations is determined based on reference station variables.
In some embodiments, the ratio of the sum of the time periods during which each reference station is able to observe a satellite to the total observation period is taken as a function of satellite visibility.
In some embodiments, the elevation angle of the satellite to the base station to be selected is determined according to the distance between the satellite and the geocentric, the geocentric longitude, the geocentric latitude, the geodetic coordinates of the reference station and the spherical coordinates of the satellite; and determining the time period in which the satellite can be observed by the base station to be selected according to the time period in which the elevation angle is greater than the preset minimum elevation angle.
In some embodiments, the optimization objective function is determined according to a satellite coverage function, a satellite visibility function, and a station construction cost function, wherein the station construction cost function is determined according to a reference station variable and a cost for transforming each candidate base station into a reference station.
In some embodiments, the optimization objective function is positively correlated with the values of the satellite coverage function and the satellite visibility function and negatively correlated with the value of the site construction cost function.
In some embodiments, the positioning method further comprises: determining pseudo-range correction numbers of all reference stations with the distance to the equipment to be positioned smaller than a preset range; taking the weighted sum of pseudo-range correction numbers of a plurality of reference stations as a pseudo-range correction number of the equipment to be positioned, wherein the weight of the pseudo-range correction number of the reference stations is determined according to the coordinate difference between the equipment to be positioned and the reference stations, and the sum of the weights of the pseudo-range correction numbers of each reference station is 1; and correcting the pseudo-range observed value of the equipment to be positioned by adopting the pseudo-range correction number of the equipment to be positioned to obtain the current position of the equipment to be positioned.
In some embodiments, determining the pseudorange correction for each reference station comprises: and determining pseudo-range correction numbers of the reference stations according to the satellite clock error parameters, the refraction correction parameters of the troposphere and the refraction correction parameters of the ionosphere.
In some embodiments, the device to be located is a shared device.
According to a second aspect of some embodiments of the present invention, there is provided a positioning apparatus comprising: the satellite coverage function determining module is used for determining a satellite coverage function according to a reference station variable and the number of base stations to be selected, wherein the reference station variable represents whether the base stations to be selected are used as reference stations or not; the satellite visibility function determining module is used for determining a satellite visibility function according to the reference station variable and the time period in which each base station to be selected can observe the satellite; the optimization target determination module is used for determining an optimization target function according to the satellite coverage function and the satellite visibility function; and the candidate base station determining module is used for determining the candidate base station which is used as the reference station when the optimization objective function value is maximum so as to carry out positioning according to the determined reference station.
In some embodiments, the satellite coverage function determination module is further configured to use a ratio of a number of reference stations and a number of candidate base stations as the satellite coverage function, wherein the number of reference stations is determined based on the reference station variables.
In some embodiments, the satellite visibility function determination module is further configured to use a ratio of a sum of time periods during which each reference station is able to observe the satellite to the total observation period as the satellite visibility function.
In some embodiments, the satellite visibility function determination module is further configured to determine an elevation angle of the satellite for the base station to be selected according to a distance between the satellite and the geocentric, a geocentric longitude, a geocentric latitude, a geodetic coordinate of the reference station, and a spherical coordinate of the satellite; and determining the time period in which the satellite can be observed by the base station to be selected according to the time period in which the elevation angle is greater than the preset minimum elevation angle.
In some embodiments, the optimization objective determination module is further configured to determine the optimization objective function according to a satellite coverage function, a satellite visibility function, and a station construction cost function, wherein the station construction cost function is determined according to the reference station variables and a cost for transforming each candidate base station into the reference station.
In some embodiments, the optimization objective function is positively correlated with the values of the satellite coverage function and the satellite visibility function and negatively correlated with the value of the site construction cost function.
In some embodiments, the positioning device further comprises: the positioning correction module is used for determining pseudo-range correction numbers of all reference stations, the distance between the pseudo-range correction numbers and the equipment to be positioned is smaller than a preset range; taking the weighted sum of pseudo-range correction numbers of a plurality of reference stations as a pseudo-range correction number of the equipment to be positioned, wherein the weight of the pseudo-range correction number of the reference stations is determined according to the coordinate difference between the equipment to be positioned and the reference stations, and the sum of the weights of the pseudo-range correction numbers of each reference station is 1; and correcting the pseudo-range observed value of the equipment to be positioned by adopting the pseudo-range correction number of the equipment to be positioned to obtain the current position of the equipment to be positioned.
In some embodiments, the positioning correction module is further configured to determine a pseudorange correction for each reference station based on the satellite clock error parameter, the refraction correction parameter for the troposphere, and the refraction correction parameter for the ionosphere.
In some embodiments, the device to be located is a shared device.
According to a third aspect of some embodiments of the present invention, there is provided a positioning device comprising:
a memory; and a processor coupled to the memory, the processor configured to perform any of the aforementioned positioning methods based on instructions stored in the memory.
According to a fourth aspect of some embodiments of the present invention, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements any one of the positioning methods described above.
Some embodiments of the above invention have the following advantages or benefits: the embodiment of the invention can comprehensively determine the optimization target according to the satellite coverage and the time period that each base station to be selected can observe the satellite, and select the reference station from the base stations to be selected to maximize the value of the optimization target function, thereby being capable of reconstructing and upgrading based on the existing base stations to enable the base stations to have the positioning function, and improving the positioning precision on the basis of reducing the station arrangement cost as much as possible.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a flow chart of a positioning method according to some embodiments of the invention.
Fig. 2 is a flow chart of a positioning method according to further embodiments of the present invention.
Fig. 3 is a flow chart of a positioning method according to further embodiments of the present invention.
FIG. 4 is a block diagram of a positioning device according to some embodiments of the invention.
FIG. 5 is a block diagram of a positioning device according to further embodiments of the present invention.
FIG. 6 is a block diagram of a positioning device according to further embodiments of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
The inventors have realized that high accuracy GPS differential positioning algorithms and cellular assisted GPS positioning techniques can be combined to improve the positioning accuracy. In order to achieve the above object, an existing base station may be used as a differential reference station, i.e., a reference station, and a reference GPS receiver may be installed in the differential reference station, thereby improving the positioning accuracy. An embodiment of the positioning method of the present invention is described below with reference to fig. 1, and through the following embodiment, a part of existing base stations may be selected as reference stations to provide a positioning service for a device to be positioned.
Fig. 1 is a flow chart of a positioning method according to some embodiments of the invention. As shown in fig. 1, the positioning method of this embodiment includes steps S102 to S108.
In step S102, a satellite coverage function is determined according to the reference station variables and the number of base stations to be selected.
The reference station variable indicates whether the candidate base station is to be used as a reference station. For example, let the candidate base station be xiAnd i denotes the identity of the reference station. Then in some embodiments x may be seti0 means that the base station is not a reference station, xi1 indicates that the base station is a reference station. By subsequent calculation, x can be determined1,x2,x3…,xi… so that it can be determined which base stations to select as reference stations.
The satellite coverage function represents the average number of reference stations that can simultaneously observe the same satellite over a certain time period. The larger the average number is, the better the observation effect is, and the higher the positioning accuracy can be brought.
In step S104, a satellite visibility function is determined according to the reference station variable and the time period during which each candidate base station can observe a satellite.
In some embodiments, the ratio of the sum of the time periods during which each reference station is able to observe a satellite to the total observation time period may be taken as a function of satellite visibility.
Ideally, the reference station is able to view satellites above the horizontal plane. In fact, when the observation elevation angle is small, the observation result of the reference station is likely to be influenced. A valid range of elevation angles of view may thus be set, e.g., a reference station may be determined to be able to view a satellite only if the elevation angle of view is greater than a preset minimum elevation angle. In some embodiments, the elevation angle of the satellite to the base station to be selected may be determined according to the distance from the satellite to the geocentric, the geocentric longitude, the geocentric latitude, the geodetic coordinates of the reference station, and the spherical coordinates of the satellite.
Therefore, the longer the time period that each candidate base station can observe the satellite is, the better the observation effect is, and the higher the positioning accuracy can be brought.
In step S106, an optimization objective function is determined based on the satellite coverage function and the satellite visibility function.
The optimization objective function has a positive correlation with the values of the satellite coverage function and the satellite visibility function, i.e. the values of the satellite coverage function and the satellite visibility function are as large as possible in the calculation result. In some embodiments, a weighted sum of the satellite coverage function and the satellite visibility function may be used as the optimization objective function.
In step S108, the candidate base station serving as the reference station when the optimization objective function value is maximum is determined, so as to perform positioning according to the determined reference station.
In solving the optimal solution of the optimization objective function, a solution method of linear programming and a genetic algorithm can be used for solving. The specific solving method can refer to the prior art, and is not described herein again.
By the method of the embodiment, the optimization target can be comprehensively determined according to the satellite coverage and the time period in which each base station to be selected can observe the satellite, and the reference station is selected from the base stations to be selected, so that the value of the optimization target function is maximized, the existing base stations can be transformed and upgraded, the base stations have the positioning function, and the positioning accuracy is improved on the basis of reducing the station distribution cost as much as possible.
In some embodiments, the station establishment cost of each candidate base station may also be used as a factor for optimizing the objective function. An embodiment of the inventive positioning method is described below with reference to fig. 2.
Fig. 2 is a flow chart of a positioning method according to further embodiments of the present invention. As shown in fig. 2, the positioning method of this embodiment includes steps S202 to S208.
In step S202, a satellite coverage function is determined according to the reference station variables and the number of base stations to be selected.
In step S204, a satellite visibility function is determined according to the reference station variable and the time period during which each candidate base station can observe a satellite.
In step S206, an optimization objective function is determined according to the satellite coverage function, the satellite visibility function, and the site construction cost function.
In some embodiments, the optimization objective function is positively correlated with the values of the satellite coverage function and the satellite visibility function and negatively correlated with the value of the site construction cost function. For example, the optimization objective function may be as shown in equation (1).
Wherein F is a satellite coverage function, G is a satellite visibility function, and I is a station building cost function; w is a1、w2、w3Is a weighting coefficient; m is the preset number of reference stations.
In step S208, the station arranging apparatus determines the candidate base station as the reference station when the optimization objective function value is maximum, so as to perform positioning according to the determined reference station.
The specific implementation of steps S202, S204, and S208 may refer to corresponding steps in the embodiment of fig. 1, and are not described herein again.
The expressions of the satellite coverage function, the satellite visibility function and the site construction cost function in some embodiments are exemplarily presented below.
In some embodiments, the satellite coverage function F may be represented by equation (2).
Wherein x isiThe constraint conditions in formula (1) can be referred to; and N is the total number of the base stations to be selected.
In some embodiments, in determining the satellite visibility function G, equation (3) may be first employed to determine the sine of the elevation E of the satellite to the candidate base station.
Wherein, the distance between the satellite and the geocentric is r, the geocentric longitude is lambda, and the geocentric latitude is theta; the geodetic coordinates of the base station to be selected are (L, B, H); the spherical coordinates of the satellite are (rho, E, A), rho is the distance from the base station to be selected to the satellite, and A is the earth azimuth of the satellite. In some embodiments, parameter N may be calculated using equation (4).
Wherein e is the first eccentricity of the meridian ellipsoid, and ER is the earth radius.
Therefore, after the elevation angle of each base station to be selected by the satellite is obtained, the time period in which the satellite can be observed by the base station to be selected can be determined according to the time period in which the elevation angle is larger than the preset minimum elevation angle. The satellite visibility function G can then be determined according to equation (5).
Wherein, TiIs a base station xiThe time period during which the satellites can be observed, T being the total observation period.
In some embodiments, the site creation cost I may be represented by equation (6).
Wherein o isiAs a candidate base station xiThe construction cost of (2).
In some embodiments, the station establishment cost of the corresponding type of base station may also be obtained according to different types of base stations, and the total station establishment cost may be calculated. At this time, the station establishment cost function can be expressed by, for example, equation (7).
Where K is the number of base station types included in the reference station, wiIs the weight of the i-th base station, niIs the number of i-th base stations in the reference station, ciThe construction cost of the i-th base station. Thus, the station building cost can be determined according to the category of the base station so as to simplify the calculation.
After selecting a reference station from the candidate base stations, the modification may be performed based on the selected reference station. After the reference stations are put into use, positioning can be performed based on these reference stations. An embodiment of the inventive positioning method is described below with reference to fig. 3.
Fig. 3 is a flow chart of a positioning method according to further embodiments of the present invention. As shown in fig. 3, the positioning method of this embodiment includes steps S302 to S306.
In step S302, a pseudo-range correction number of each reference station whose distance from the device to be positioned is smaller than a preset range is determined.
The pseudo-range corrections of the reference station may be determined from satellite clock error parameters, refraction correction parameters of the troposphere, and refraction correction parameters of the ionosphere.
In step S304, the weighted sum of the pseudo-range corrections of the plurality of reference stations is used as the pseudo-range correction of the device to be positioned, wherein the weights of the pseudo-range corrections of the reference stations are determined according to the coordinate difference between the device to be positioned and the reference station, and the sum of the weights of the pseudo-range corrections of each reference station is 1.
In order to obtain the number of pseudorange corrections for the device to be positioned, the number of pseudorange corrections for a plurality of reference stations may be considered together.
In step S306, the pseudorange observed value of the device to be positioned is corrected by using the pseudorange correction number of the device to be positioned, so as to obtain the current position of the device to be positioned.
For example, the sum of the observed value of the device to be positioned and the pseudorange correction may be used as the final positioning result.
At present, pseudo-range differential positioning is mostly in a single reference station mode, meter-level positioning accuracy can only be generally realized for a single-frequency receiver, and the positioning accuracy is attenuated along with the increase of the length of a base line. In the embodiment, the pseudo-range observed value of the equipment to be positioned is corrected comprehensively by utilizing a plurality of pseudo-range correction numbers of the reference stations around the equipment to be positioned on the basis of an improved pseudo-range correction number model and by utilizing the existing base station resources and setting the reference stations at a plurality of base stations in a cellular network aiming at the atmospheric error influence in the pseudo-range difference, so that the positioning accuracy is improved.
The calculation method of the pseudo-range correction number of the reference station is exemplarily described below.
In some embodiments, the pseudoranges from the reference station X to the ith satellite
Can be calculated using equation (8).
Wherein,
the geometric distance between the ith satellite and the reference station X; c is the speed of light;
is the satellite clock error;
is the receiver clock error;
refractive correction for troposphere;
correction for refraction of the ionosphere.
Thus, the pseudo-range correction for the ith satellite by the reference station X is shown in equation (9).
In some embodiments, equation (9) may be modified to obtain equation (10) to remove the effect of the receiver clock error and avoid causing larger deviations.
In some embodiments, the pseudorange correction Δ ρ for the device S to be locatedsCan be expressed by the formula (11).
Δρs＝a1Δρ1+a2Δρ2+…+aNΔρN
Wherein, a1、a2…aNWeight, Δ ρ, representing the number of pseudorange corrections for each reference station1、Δρ2…ΔρNA pseudo-range correction number for each reference station; n is the number of reference stations; (x)s,ys) As coordinates of the device to be positioned, (x)i,yi) The coordinates of the ith reference station.
The method can be applied to positioning of the sharing device. For example, when the user runs out of the shared bicycle and parks the bicycle, the positioning device or the background server on the shared bicycle may accurately obtain the current position of the bicycle by the method of the above-described embodiment, and then determine whether the position of the current shared bicycle is within the preset parking range. If the user does not park the vehicle within the preset parking range, a prompt may be issued or a record may be made.
An embodiment of the positioning device of the present invention is described below with reference to fig. 4.
FIG. 4 is a block diagram of a positioning device according to some embodiments of the invention. As shown in fig. 4, the positioning device 40 of this embodiment includes: a satellite coverage function determining module 410, configured to determine a satellite coverage function according to a reference station variable and the number of base stations to be selected, where the reference station variable indicates whether the base station to be selected is used as a reference station; a satellite visibility function determining module 420, configured to determine a satellite visibility function according to the reference station variable and a time period in which each base station to be selected can observe a satellite; an optimization objective determination module 430, configured to determine an optimization objective function according to the satellite coverage function and the satellite visibility function; and a candidate base station determining module 440, configured to determine a candidate base station serving as a reference station when the optimization objective function value is maximum, so as to perform positioning according to the determined reference station.
In some embodiments, the satellite coverage function determination 410 module may be further configured to use a ratio of a number of reference stations and a number of candidate base stations as the satellite coverage function, wherein the number of reference stations is determined based on the reference station variables.
In some embodiments, the satellite visibility function determination module 420 may be further configured to use a ratio of a sum of time periods during which each reference station is able to observe a satellite to the total observation period as the satellite visibility function.
In some embodiments, the satellite visibility function determining module 420 is further configured to determine an elevation angle of the satellite for the base station to be selected according to a distance between the satellite and the geocentric, a geocentric longitude, a geocentric latitude, a geodetic coordinate of the reference station, and a spherical coordinate of the satellite; and determining the time period in which the satellite can be observed by the base station to be selected according to the time period in which the elevation angle is greater than the preset minimum elevation angle.
In some embodiments, the optimization objective determination module 430 is further configured to determine an optimization objective function according to a satellite coverage function, a satellite visibility function, and a station construction cost function, wherein the station construction cost function is determined according to the reference station variables and a cost for transforming each candidate base station into a reference station.
In some embodiments, the optimization objective function is positively correlated with the values of the satellite coverage function and the satellite visibility function and negatively correlated with the value of the site construction cost function.
In some embodiments, the positioning device 40 may further include: a positioning correction module 450, configured to determine a pseudo-range correction number of each reference station whose distance to the device to be positioned is smaller than a preset range; taking the weighted sum of pseudo-range correction numbers of a plurality of reference stations as a pseudo-range correction number of the equipment to be positioned, wherein the weight of the pseudo-range correction number of the reference stations is determined according to the coordinate difference between the equipment to be positioned and the reference stations, and the sum of the weights of the pseudo-range correction numbers of each reference station is 1; and correcting the pseudo-range observed value of the equipment to be positioned by adopting the pseudo-range correction number of the equipment to be positioned to obtain the current position of the equipment to be positioned.
In some embodiments, the location correction module 450 may be further configured to determine a pseudorange correction number for each reference station based on the satellite clock error parameter, the refraction correction parameter for the troposphere, and the refraction correction parameter for the ionosphere.
In some embodiments, the device to be located is a shared device.
FIG. 5 is a block diagram of a positioning device according to further embodiments of the present invention. As shown in fig. 5, the positioning apparatus 500 of this embodiment includes: a memory 510 and a processor 520 coupled to the memory 510, the processor 520 being configured to perform the positioning method of any of the previous embodiments based on instructions stored in the memory 510.
FIG. 6 is a block diagram of a positioning device according to further embodiments of the present invention. As shown in fig. 6, the positioning apparatus 600 of this embodiment includes: the memory 610 and the processor 620 may further include an input/output interface 630, a network interface 640, a storage interface 650, and the like. These interfaces 630, 640, 650 and the connections between the memory 610 and the processor 620 may be, for example, via a bus 660. The input/output interface 630 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 640 provides a connection interface for various networking devices. The storage interface 650 provides a connection interface for external storage devices such as an SD card and a usb disk.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, wherein the computer program is configured to implement any one of the positioning methods described above when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (16)
1. A method of positioning, comprising:
determining a satellite coverage function according to the reference station variable and the number of the base stations to be selected, wherein the step of determining the satellite coverage function comprises the following steps: taking the ratio of the number of the reference stations and the number of the base stations to be selected as a satellite coverage function, wherein the number of the reference stations is determined according to a reference station variable which indicates whether the base stations to be selected are used as the reference stations;
determining a satellite visibility function according to the reference station variable and the time period in which each base station to be selected can observe the satellite, wherein the satellite visibility function comprises the following steps: taking the ratio of the sum of the time periods during which each reference station can observe the satellite to the total observation period as a satellite visibility function;
determining an optimization objective function according to the satellite coverage function and the satellite visibility function;
and determining the base station to be selected as the reference station when the optimization objective function value is maximum so as to carry out positioning according to the determined reference station.
2. The positioning method according to claim 1,
determining the elevation angle of the satellite to-be-selected base station according to the distance between the satellite and the geocenter, the geocenter longitude, the geocenter latitude, the geodetic coordinate of the reference station and the spherical coordinate of the satellite;
and determining the time period in which the satellite can be observed by the base station to be selected according to the time period in which the elevation angle is greater than the preset minimum elevation angle.
3. The positioning method according to claim 1,
and determining an optimization objective function according to a satellite coverage function, a satellite visibility function and a station building cost function, wherein the station building cost function is determined according to a reference station variable and the cost for transforming each base station to be selected into a reference station.
4. The positioning method according to claim 3,
the optimization objective function is in positive correlation with the values of the satellite coverage function and the satellite visibility function and in negative correlation with the value of the station building cost function.
5. The positioning method according to any one of claims 1 to 4, further comprising:
determining pseudo-range correction numbers of all reference stations with the distance to the equipment to be positioned smaller than a preset range;
taking the weighted sum of pseudo-range correction numbers of a plurality of reference stations as a pseudo-range correction number of equipment to be positioned, wherein the weight of the pseudo-range correction number of the reference stations is determined according to the coordinate difference between the equipment to be positioned and the reference stations, and the sum of the weights of the pseudo-range correction numbers of each reference station is 1;
and correcting the pseudo-range observed value of the equipment to be positioned by adopting the pseudo-range correction number of the equipment to be positioned to obtain the current position of the equipment to be positioned.
6. The location method of claim 5, wherein the determining a pseudorange correction number for each reference station comprises:
and determining pseudo-range correction numbers of the reference stations according to the satellite clock error parameters, the refraction correction parameters of the troposphere and the refraction correction parameters of the ionosphere.
7. The positioning method according to claim 5, wherein the device to be positioned is a shared device.
8. A positioning device, comprising:
the satellite coverage function determining module is used for determining a satellite coverage function according to the reference station variable and the number of the base stations to be selected, and comprises the following steps: taking the ratio of the number of the reference stations and the number of the base stations to be selected as a satellite coverage function, wherein the number of the reference stations is determined according to a reference station variable which indicates whether the base stations to be selected are used as the reference stations;
the satellite visibility function determining module is used for determining a satellite visibility function according to the reference station variable and the time period in which each base station to be selected can observe the satellite, and comprises the following steps: taking the ratio of the sum of the time periods during which each reference station can observe the satellite to the total observation period as a satellite visibility function;
the optimization target determination module is used for determining an optimization target function according to the satellite coverage function and the satellite visibility function;
and the candidate base station determining module is used for determining the candidate base station which is used as the reference station when the optimization objective function value is maximum so as to carry out positioning according to the determined reference station.
9. The positioning device according to claim 8, wherein the satellite visibility function determination module is further configured to determine an elevation angle of the satellite to the selected base station according to a distance between the satellite and the geocenter, a geocentric longitude, a geocentric latitude, a geodetic coordinate of the reference station, and a spherical coordinate of the satellite; and determining the time period in which the satellite can be observed by the base station to be selected according to the time period in which the elevation angle is greater than the preset minimum elevation angle.
10. The positioning apparatus of claim 8, wherein the optimization objective determination module is further configured to determine an optimization objective function according to a satellite coverage function, a satellite visibility function, and a station construction cost function, wherein the station construction cost function is determined according to a reference station variable and a cost of transforming each candidate base station into a reference station.
11. The positioning device of claim 10, wherein the optimization objective function is positively correlated to values of a satellite coverage function and a satellite visibility function and negatively correlated to values of a station cost function.
12. The positioning device according to any one of claims 8 to 11, further comprising:
the positioning correction module is used for determining pseudo-range correction numbers of all reference stations, the distance between the pseudo-range correction numbers and the equipment to be positioned is smaller than a preset range; taking the weighted sum of pseudo-range correction numbers of a plurality of reference stations as a pseudo-range correction number of equipment to be positioned, wherein the weight of the pseudo-range correction number of the reference stations is determined according to the coordinate difference between the equipment to be positioned and the reference stations, and the sum of the weights of the pseudo-range correction numbers of each reference station is 1; and correcting the pseudo-range observed value of the equipment to be positioned by adopting the pseudo-range correction number of the equipment to be positioned to obtain the current position of the equipment to be positioned.
13. The positioning apparatus of claim 12, wherein the positioning correction module is further configured to determine the pseudo-range corrections for each reference station based on the satellite clock error parameter, the refraction correction parameters for the troposphere, and the refraction correction parameters for the ionosphere.
14. The positioning apparatus of claim 12, wherein the device to be positioned is a shared device.
15. A positioning device, wherein:
a memory; and
a processor coupled to the memory, the processor configured to perform the positioning method of any of claims 1-7 based on instructions stored in the memory.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the positioning method according to any one of claims 1 to 7.
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| JP4049558B2 (en) * | 2001-08-06 | 2008-02-20 | 株式会社デンソー | Wireless communication terminal, computer program, and position-related information transmission method |
| US7200414B2 (en) * | 2002-08-07 | 2007-04-03 | Seiko Epson Corporation | Client-aiding with cellphones in a 150-KM radius area |
| ATE411532T1 (en) * | 2005-12-29 | 2008-10-15 | Alcatel Lucent | METHOD FOR OPTIMIZING THE PROCESSING OF LOCALIZATION DATA IN THE PRESENCE OF SEVERAL SATELLITE POSITION CONSTELLATIONS |
| CN101675358B (en) * | 2007-05-01 | 2013-11-06 | 高通股份有限公司 | Position location for wireless communication systems |
| US9363633B2 (en) * | 2010-02-22 | 2016-06-07 | Nokia Technologies Oy | Accurate GNSS time handling in dual/multi-SIM terminals |
| CN102739301B (en) * | 2011-01-11 | 2015-05-20 | 广东工业大学 | Global navigation satellite wide area augmentation system embedded in cellular network |
| CN102426374A (en) * | 2011-09-02 | 2012-04-25 | 东南大学 | GPS (Global Positioning System) mobile base station rapid positioning and resolving method |
| US9857474B2 (en) * | 2013-03-14 | 2018-01-02 | Microsoft Technology Licensing, Llc | Using satellite visibility data for improved location accuracy |
| CN106604390B (en) * | 2015-10-15 | 2020-08-04 | 中国移动通信集团公司 | Method, base station and terminal for providing positioning service |
| CN105929424A (en) * | 2015-11-16 | 2016-09-07 | 中国测绘科学研究院 | BDS/GPS high-accuracy positioning method |
| CN107071893B (en) * | 2017-01-19 | 2020-04-28 | 湖南北云科技有限公司 | Cellular network RTK positioning method and system |
| CN107015255A (en) * | 2017-03-02 | 2017-08-04 | 努比亚技术有限公司 | A kind of base station equipment, terminal and localization method |
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