CN111694035A - Differential positioning method, device, terminal and storage medium - Google Patents

Abstract

The present application discloses a differential positioning method. The method includes: determining a satellite observation amount, and acquiring differential data broadcast by at least two differential service providers; The target differential service provider is selected from the service providers to perform the positioning operation of the terminal. The present application also discloses a differential positioning device, a terminal and a computer storage medium. The present application selects a target differential service provider to perform terminal positioning by performing positioning operations with different differential service providers, provides a more accurate differential service provider to complete terminal positioning, and improves the accuracy of terminal positioning results.

Description

Differential positioning method, device, terminal and storage medium

technical field

The present application relates to the technical field of base stations, and in particular, to a differential positioning method, device, terminal and storage medium.

Background technique

At present, with the popularity of mobile phones, users are highly dependent on mobile phones, and the demand for positioning services is also increasing. With the continuous improvement of mobile phone GNSS antennas, the improvement of chip processing capabilities, the formulation of the Ntrip protocol, and the coverage of mobile data networks, mobile phones already have the ability to provide high-precision positioning. At present, users select a differential data service provider based on the measurement range and needs, such as a certain province or the location service provided by Qianxun, and the user then logs in and binds to the account and password provided by the provider. In the device, differential data is obtained through the cellular network for high-precision real-time differential positioning. However, selecting a supplier for positioning operations will result in deviations in positioning operations and poor positioning accuracy due to the distribution of base stations and networks deployed by the supplier.

SUMMARY OF THE INVENTION

By providing a differential positioning method, a device terminal, and a storage medium, the embodiments of the present application aim to solve the problem that the existing selection of a supplier for positioning operations may cause deviations in positioning operations due to the distribution of base stations and networks deployed by the supplier. The technical problem of poor positioning accuracy.

In order to achieve the above object, the present application provides a differential positioning method on the one hand, and the differential positioning method includes:

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

In order to achieve the above object, another aspect of the present application also proposes a differential positioning device, the device includes: an acquisition module and a selection module,

The acquisition module is used to determine the satellite observation amount and acquire differential data broadcast by at least two differential service providers;

The selection module is configured to select a target differential service provider from the at least two differential service providers to perform a positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

In order to achieve the above purpose, on the other hand, the present application also proposes a terminal, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program :

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

To achieve the above object, the present application also proposes a computer-readable storage medium on the other hand, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

In this application, by setting up multiple differential service providers for each terminal, when performing differential positioning, the target differential service provider can be selected according to the differential data quality parameters of different differential service providers and the satellite observation values obtained by the terminal through observation satellites. The positioning operation of the terminal obtains the positioning data. Instead of using a differential service provider to fix the positioning, different differential service providers are used to perform the positioning operation to select the differential service provider to perform the terminal positioning, so as to provide a better and more accurate differential service provider to complete the positioning. Terminal positioning to improve the accuracy of terminal positioning results.

Description of drawings

1 is a schematic diagram of a hardware structure of a terminal implementing various embodiments of the present application;

FIG. 2 is a schematic diagram of an operation flow of an embodiment of a differential positioning method of the present application;

FIG. 3 is a schematic diagram of a corresponding relationship between a terminal and a differential service provider in an embodiment of the application;

4 is a schematic diagram of an operation flow of selecting a target differential service provider from the at least two differential service providers to perform a positioning operation of a terminal according to a satellite observation quantity and a data quality parameter of each differential data according to an embodiment of the present application;

5 is a schematic diagram of an operation flow for obtaining a differential positioning result by performing a differential positioning operation according to satellite observations and each differential data according to an embodiment of the present application;

6 is a schematic diagram of an operation flow of another embodiment of the differential positioning method of the present application;

FIG. 7 is a schematic diagram of an operation flow of another embodiment of the differential positioning method of the present application;

FIG. 8 is a schematic diagram of an operation flow of another embodiment of the differential positioning method of the present application;

9 is a schematic diagram of an operation flow of differential positioning in an embodiment of the present application;

10 is a schematic structural diagram of a differential positioning device according to an embodiment of the present application;

11 is a schematic structural diagram of a differential positioning device in another embodiment of the present application;

FIG. 12 is a schematic structural diagram of a differential positioning device in another embodiment of the present application;

FIG. 13 is a schematic structural diagram of a differential positioning apparatus in another embodiment of the present application.

Detailed ways

It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The embodiments of the present application are as follows: determine the amount of satellite observations, and obtain differential data broadcast by at least two differential service providers; and select a target differential service from the at least two differential service providers according to the satellite observations and data quality parameters of each differential data. The operator performs the positioning operation of the terminal.

The terminals described in this application may be implemented in various forms. For example, the terminal may include, for example, a mobile phone, a tablet computer, a notebook computer, a palmtop computer, a Personal Digital Assistant (PDA), a Portable Media Player (PMP), a navigation device, a wearable device, a smart hand Rings, pedometers and other mobile terminals.

Referring to FIG. 1, FIG. 1 is a schematic diagram of a device structure of a hardware operating environment involved in a method according to an embodiment of the present application

As shown in FIG. 1 , the mobile terminal may include: a processor 1001 , such as a CPU, a memory 1003 , a communication bus 1004 , a user input unit 1002 , and a display unit 1005 . Among them, the communication bus 1004 is used to realize the connection communication between the processor 1001 and the memory 1003 . The memory 1003 may be a high-speed RAM memory, or may be a non-volatile memory, such as a disk memory. Optionally, the memory 1003 may also be a storage device independent of the aforementioned processor 1001 .

Optionally, the mobile terminal further includes at least one sensor, such as a light sensor, a motion sensor, and other sensors. The accelerometer sensor is a kind of motion sensor. The accelerometer sensor can detect the magnitude of acceleration in all directions (usually three axes), and can detect the magnitude and direction of gravity when it is stationary. Switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for the fingerprint sensor, pressure sensor, iris sensor, molecular sensor, gyroscope, barometer, Other sensors such as hygrometers, thermometers, infrared sensors, etc. will not be repeated here. The terminal also includes a GPS antenna for observing satellites to obtain observation data.

Optionally, the display unit 1005 is used to display a message input by the user or a message provided to the user. The display unit 1005 may include a display panel, and the display panel may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD, organic light-emitting diode (Organic Light-Emitting Diode, OLED), etc.).

Optionally, the user input unit 1002 may be used to receive inputted numeric or character messages, and generate key signal inputs related to user settings and function control of the mobile terminal. Specifically, the user input unit 1002 may include a touch panel and other input devices. A touch panel, also known as a touch screen, collects user touch actions on or near it (such as a user's actions on or near the touch panel with a finger, stylus, or any suitable object or accessory), And drive the corresponding connection device according to the preset program. Besides the touch panel, the user input unit 1002 may also include other input devices. Specifically, other input devices may include, but are not limited to, one or more of physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, operation sticks, etc., which are not specifically limited here.

Optionally, the processor 1001 is the control center of the mobile terminal, uses various interfaces and lines to connect various parts of the entire mobile terminal, runs or executes the software programs and/or modules stored in the memory 1003, and invokes the software programs and/or modules stored in the memory. 1003, perform various functions of the mobile terminal and process data, so as to monitor the mobile terminal as a whole. The processor 1001 may include one or more processing units; optionally, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc. The modulation processor mainly handles wireless communication. It can be understood that, the above-mentioned modulation and demodulation processor may not be integrated into the processor 1001.

Optionally, the memory 1003 may be used to store software programs and various data. The memory 1003 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program (such as a sound playback function, an image playback function, etc.) required for at least one function, and the like; Data created by the use of the mobile phone (such as audio data, phone book, etc.), etc. In addition, memory 1003 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

Those skilled in the art can understand that the structure of the mobile terminal shown in FIG. 1 does not constitute a limitation on the terminal, and may include more or less components than the one shown, or combine some components, or arrange different components.

In the mobile terminal shown in FIG. 1, the processor 1001 is configured to execute the differential positioning application program in the memory 1003, and implement the following steps:

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

Some terms used in the embodiments of this application are explained:

Referring to FIG. 2, FIG. 2 is a schematic diagram of the operation flow of the differential positioning method of the present application; the differential positioning method includes:

Step S10, determine the amount of satellite observations, and obtain differential data broadcast by at least two differential service providers;

The terminal equipment continuously observes the satellites and obtains the satellite observations. The terminal equipment, such as a mobile phone or a pad, completes the observation of the satellites through the installed GPS (Global Positioning System, global positioning system) antennas to obtain the observation values of the observed satellites. Each antenna can Observe multiple satellites, for example, 4, or 3, etc. However, a terminal is now set up with multiple differential service providers and can receive differential data broadcast by multiple differential service providers. The process of setting multiple differential service providers includes: n number of differential data service provider accounts bound to the terminal device, through the The cellular network is uploaded to the account of each supplier to Ntrip Caster (differential data center) for verification, where n is a positive integer greater than or equal to 2.

Referring to Figure 3, it is assumed that there is a terminal device A, that is, a rover (in reality, there can be multiple terminal devices, that is, multiple rover stations), and the accounts of n differential service providers have been registered, and all n accounts have been logged in and bound in the terminal device.

For each differential service provider, m Base Stations (reference stations) are arranged in the area, and the geographic location of each base station has been accurately determined by the differential service provider. Each base station continuously observes satellites, calculates the base station position and differential correction, and transmits the differential correction to the respective connected server (Server). Ntrip Caster (differential data center)) will be responsible for forwarding one, or solving the differential data of multiple base stations, and then send it to the terminal device A for use.

Step S20: Select a target differential service provider from the at least two differential service providers to perform a positioning operation of the terminal according to the satellite observation data and the data quality parameter of each differential data.

The target differential service provider is selected according to the satellite observations and the differential data of different differential service providers. The data quality of the differential data that different service providers can provide is different, and the priority of selection is different for different quality. The data quality is poor, and the selection probability is small. , the differential service provider of differential data with high data quality is preferentially selected as the target differential service provider; or differential positioning is performed by satellite observations and differential data, and the target differential service provider is selected according to the quality of the differential positioning result, and the differential positioning result is good. As the target service provider, the server obtains the location of the terminal by performing the location operation of the terminal by the target service provider.

In one embodiment, referring to FIG. 4 , the step of selecting a target differential service provider from the at least two differential service providers according to the satellite observation data and the data quality parameter of each differential data to perform the positioning operation of the terminal includes:

Step S21, performing a differential positioning operation according to the satellite observation data and each differential data to obtain a differential positioning result;

Step S22, obtaining data quality parameters of the corresponding differential service provider according to the differential positioning result, where the data quality parameters include: positioning accuracy, differential delay and/or the distance between the terminal and the reference station;

Step S23, selecting a target differential service provider from the at least two differential service providers according to the data quality parameter to perform a terminal positioning operation.

The terminal device performs real-time differential positioning on the differential data broadcast by at least two differential service providers and the observation data reported by the device chip, and obtains differential positioning with the differential data broadcasted by different differential service providers and satellite observations, and obtains at least two differential positioning. Positioning results, different positioning results are obtained according to the differential data given by different differential service providers. For example, when there are two differential service providers, two differential positioning results are obtained by performing differential positioning operations, and different differential positioning results can be Given the accuracy of differential data of different differential service providers, it can be provided for the terminal to select differential service providers to complete the final positioning operation.

After obtaining the positioning results of different differential service providers, according to the positioning results, a differential service provider needs to be selected from at least two differential service providers to perform the positioning operation of the terminal. According to the differential positioning result, a better differential service provider is selected to complete the positioning operation of the terminal at this position, and an accurate positioning result is obtained.

Different differential positioning results can be compared to obtain better positioning results. Better positioning results mean that the data quality parameters of the differential data are better, so the differential service provider corresponding to the better positioning results is the final execution terminal. The differential service provider of the positioning operation selects the best differential service provider to complete the positioning operation within the moving range of the terminal.

The terminal equipment comprehensively judges the differential data quality, positioning accuracy, differential delay, and the distance from the base station, weights the base station data of each differential service provider, and selects the best differential service provider to complete the terminal positioning operation. The terminal device receives differential data advertised by n differential service providers through the cellular network. The terminal device parses the differential data advertised by the n differential service providers, and judges the respective data quality.

Select the best differential service provider to complete the terminal positioning operation. You can choose the differential service provider closest to the base station to complete the positioning operation, or select the differential service provider with the lowest differential delay and the closest distance to the base station to complete the positioning operation. ; Or select a differential service provider with higher positioning accuracy, the best differential delay, and the closest distance to the base station to complete the positioning operation.

Optionally, the step of selecting a target differential service provider from the at least two differential service providers to perform a terminal positioning operation according to the data quality parameter includes:

When there are differential service providers with the same data quality parameters, the same differential service provider is selected as the target differential service provider to perform the terminal positioning operation; when the data quality parameters of the differential servers are different, the target differential service is selected according to the priority of the data quality parameters. The operator performs the positioning operation of the terminal, and the data quality parameter is calculated from the positioning accuracy, the differential delay and/or the distance between the terminal and the reference station. The terminal device comprehensively evaluates the differential data quality, positioning accuracy, differential delay, and distance from the base station, and weights the base station data of each differential service provider to obtain the selection parameters. According to the priority of the selection parameters, the selection sort Foremost, that is, select the selection parameter. Finally, the top ranked service provider is selected as the current optimal differential service provider for high-precision positioning.

In this embodiment, by setting multiple differential service providers for each terminal, when performing differential positioning, the target differential service provider can be selected according to the differential data quality parameters of different differential service providers and the satellite observation values obtained by the terminal by observing satellites. The positioning data is obtained by completing the positioning operation of the terminal. Instead of using a differential service provider to fix the positioning, different differential service providers are used to perform positioning operations to select differential service providers to perform terminal positioning, providing better and more accurate differential service providers. Complete terminal positioning and improve the accuracy of terminal positioning results.

In an embodiment of the present application, referring to FIG. 5 , the step of performing a differential positioning operation according to satellite observations and each differential data to obtain a differential positioning result includes:

Step S31, performing an analysis operation on the acquired differential data to obtain an analysis result;

Step S32, when the analysis result meets the preset condition, perform a differential positioning operation on the differential data of the differential service provider and the satellite observation data that meet the preset condition to obtain a differential positioning result.

Differential data provided by different differential providers is of good or bad quality. Select differential data whose quality meets the conditions to perform differential positioning operations of different differential providers. The process of selecting whether the quality is good or bad includes: performing the analysis operation on the acquired differential data to obtain the analysis result, and determining whether the different differential data meets the preset conditions according to the different analysis results, for example, whether the differential delay of the analysis result is within the set delay range, for example, within 6ns, or within 10ns, etc. The differential positioning operation is performed on the differential data of the differential service provider meeting the preset conditions and the obtained observation quantity to obtain the differential positioning result. The quality of the differential data of different differential service providers is obtained by analyzing the results, and the one with good quality is selected, that is, the differential positioning operation is performed on the differential data of the differential service provider that meets the preset conditions, and the differential data of the differential service provider with poor quality is eliminated. Data, without performing differential calculation, can save the computing resources of the terminal, reduce the positioning energy consumption of the terminal, and reduce power consumption.

This embodiment compares the differential data of different differential service providers, selects a good differential data to perform a differential operation, and then selects a good differential service provider as a differential service provider for terminal positioning, which can provide more accurate terminal positioning results. , to provide accurate positioning services.

In one embodiment, referring to FIG. 6 , the method further includes:

Step S40, when the range where the terminal is located exceeds the preset range, perform the action of selecting the target differential service provider to complete the positioning operation of the terminal, and the exceeding the preset range includes that the distance between the position after the terminal moves and the position before the movement is greater than the preset range. distance.

The range where the terminal is located is the current positioning range of the terminal, for example, the position located by GPS, or the positioning done by the network, for example, in a certain cell, a certain unit, or a certain office; Set the range, for example, beyond the preset distance, more than 10 meters or more than 20 meters, etc., or beyond the range of 10-15 meters; the preset range is set according to the needs or the reported surrounding environment, or according to the surrounding environment and the base station. The setting is determined, and the data obtained through experiments.

After selecting the differential service provider, the terminal moves beyond the preset range of the previous position, selects the differential service provider again, and executes the steps of selecting the differential service provider from steps S10 to S30; if the movement does not exceed the preset range of the previous position , there is no need to re-select the differential service provider.

When the terminal moves within the preset range, there is no need to re-select the differential service provider, avoiding repeated calculation of differential data for positioning operations, wasting system resources, reducing the computing speed of the terminal, improving the running speed of the terminal, and ensuring the operation of the terminal.

In one embodiment, referring to FIG. 7 , the method further includes:

Step S50, when the location of the terminal is in two different differential service provider areas, use the default differential service provider to perform the positioning operation of the terminal without performing the action of selecting the target differential service provider; the two different differential service provider areas The area covered by the two DiffServ signals respectively.

When moving within the area where different differential service providers are located, that is, the different differential service providers are the optimal differential service providers determined according to the differential positioning calculation, and when the terminal moves in the areas to which the two differential service providers belong , in order to ensure infrequent switching of differential service providers and differential positioning operations of different differential service providers, select the operation of differential service providers.

When moving within these two areas, select the default differential service provider to provide differential data for terminal positioning operations, for example, select the first calculated optimal differential service provider as the default differential service provider; or select the second differential service provider A differential service provider is used as the default differential service provider. When the terminal moves in different areas, there will be multiple differential service providers to which different areas it moves to. Through the selection operation, the optimal differential service provider will be selected as the differential service provider of the corresponding area to complete the positioning operation. For example, there is no need to choose different optimal differential service providers in different areas. As long as the moving range is within two areas, the differential service provider will not be re-selected, but the default differential service provider will be selected to provide differential services.

When the terminal moves in these two areas, it does not select the differential service provider, which reduces the use of computing resources of the terminal. The terminal can use the saved resources to perform calculations on other applications or functions, or reduce the CPU occupancy rate to Increase the speed of the terminal.

In one embodiment, referring to FIG. 8 , the method further includes:

Step S60, obtaining a positioning result according to the target differential service provider performing the positioning operation of the terminal;

Step S70, obtaining the positioning result of the network;

Step S80, when the positioning result obtained by the target differential service provider performing the terminal positioning operation is different from the network positioning result, the network positioning result is updated using the positioning result obtained by executing the terminal positioning operation.

The difference between this embodiment and the other above-mentioned embodiments is that, after locating the terminal by selecting a target differential service provider, this embodiment makes a correction to the current network positioning. At different times, the network positioning results are updated, so that when the positioning is obtained through the network later, the positioning results are more accurate, the accuracy of the network positioning is improved, and the updated network positioning results can be marked. The result of the target differential service provider positioning correction.

The technical solution of this embodiment is implemented in that the terminal positioning obtains the positioning result according to the target differential service provider, obtains the positioning result from the network, and compares the network positioning result with the differential positioning result completed according to the differential data sent by the target differential service provider , if they are inconsistent, the network positioning results will be updated according to the differential data positioning results of the selected target differential service provider, so that the real-time and latest accurate positioning results are consistent. After the network positioning accuracy is improved, it can be determined whether it is necessary to continue to select the target differential service provider according to the identification of the network positioning. For example, the network positioning is updated, and the update time is less than 1 day or less than 2 days from the current time. The network positioning result is used to perform the positioning operation of the terminal. When the update time is longer than 1 day or longer than 2 days, the target differential service provider is selected to complete the terminal positioning operation.

In this embodiment, when the positioning result of the terminal is updated, the network positioning is updated synchronously, so that the accuracy of the network positioning is improved.

In order to better describe the implementation process of the present application, referring to FIG. 9 , the process of selecting a differential service provider to complete terminal positioning includes:

The terminal device A continuously observes the satellite and obtains the original observation amount from the chip (such as the Android Modem terminal).

The terminal device A obtains the rough position of the network positioning. The Android terminal can call the network location service NetworkLocationProvider to obtain it.

The terminal device A also obtains the single-point positioning result calculated by the chip, and the information reported by the NMEA (that is, the unified RTCM standard protocol of GPS navigation equipment) protocol standard, including the current position of the mobile phone (presented in latitude and longitude), the current number of visible satellites , satellite number, DOP value and other information. The Android terminal can call the GNSS positioning service GNSSLocationProvider to obtain the satellite positioning result.

The n differential data service provider accounts bound by terminal device A are uploaded to the NtripCaster of each provider through the cellular network for verification.

The terminal device A simultaneously uploads the approximate location information of the device to n NtripCasters. The approximate location information can be the single-point positioning result obtained by the chip (the Android terminal can call the GNSSLocationProvider to obtain it); if indoors, the network positioning result can be uploaded, which comes from the base station positioning or wifi positioning result (the Android terminal can call the network positioning service NetworkLocationProvider to obtain it) ).

Terminal device A receives differential data advertised by n differential service providers through the cellular network.

The terminal device A analyzes the differential data broadcasted by the n differential service providers, and judges the respective data quality.

Terminal device A performs real-time differential positioning between the differential data broadcast by n differential service providers and the observations reported by the device chip, calculates the positioning accuracy, differential delay, and estimates the distance between the terminal device (rover) and each reference station. distance.

Terminal device A comprehensively evaluates the differential data quality, positioning accuracy, differential delay, and distance from the base station, and weights and ranks the base station data of each differential service provider.

Finally, the current optimal differential service provider is selected for high-precision positioning; if the scores of the suppliers are equal, they are comprehensively used for high-precision positioning.

If the activity range of the terminal equipment within a certain period of time is within a certain area, the above analysis will not be performed again, and the optimal differential service provider can be selected; if the activity range of the terminal equipment exceeds a certain area, the above analysis needs to be performed again And select a differential service provider. If conditions permit, the above calculation can be uploaded to the cloud server through the 5G network to save the computing resources of the terminal.

The present application also proposes a differential positioning device. Referring to FIG. 10 , the device includes: an acquisition module 10 and a selection module 20 ,

The acquisition module 10 is used to determine the satellite observation quantity and acquire differential data broadcast by at least two differential service providers;

The selection module 20 is configured to select a target differential service provider from the at least two differential service providers to perform a positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

Further, referring to FIG. 11 , the device further includes a positioning module 30,

The positioning module 30 is configured to perform a differential positioning operation according to the satellite observation data and each differential data to obtain a differential positioning result;

The selection module 20 is configured to obtain data quality parameters of the corresponding differential service provider according to the differential positioning result, where the data quality parameters include: positioning accuracy, differential delay and/or the distance between the terminal and the reference station; according to the data The quality parameter selects a target differentiated service provider from the at least two differentiated service providers to perform a positioning operation of the terminal.

Further, the selection module 20 is further configured to select the same differential service provider as the target differential service provider to perform the positioning operation of the terminal when there are differential service providers with the same data quality parameter; when the data quality parameters of the differential servers are different , select the target differential service provider to perform the terminal positioning operation according to the priority of the data quality parameter, the data quality parameter is calculated from the positioning accuracy, differential delay and/or the distance between the terminal and the reference station.

Further, referring to FIG. 12 , the apparatus further includes a parsing module 40,

The parsing module 40 is configured to perform parsing operations on the acquired differential data to obtain parsing results;

The positioning module 30 is further configured to perform a differential positioning operation on the differential data of the differential service provider meeting the predetermined conditions and the satellite observation data to obtain a differential positioning result when the analysis result satisfies the preset condition.

Further, the positioning module 30 is further configured to perform the action of selecting a target differential service provider to complete the positioning operation of the terminal when the range where the terminal is located exceeds the preset range, and the exceeding the preset range includes the position and movement of the terminal after moving. The distance between the previous positions is greater than the preset distance.

Further, the positioning module 20 is further configured to use the default differential service provider to perform the positioning operation of the terminal when the location of the terminal is in two different differential service provider areas, instead of performing the action of selecting the differential service provider; The two different differential service provider areas are the areas respectively covered by the two differential service provider signals.

Further, referring to FIG. 13 , the apparatus further includes an update module 50, and the positioning module 30 is further configured to obtain a positioning result according to the positioning operation of the terminal performed by the target differential service provider;

The obtaining module 10 is further configured to obtain the positioning result of the network;

The updating module 50 is configured to update the network positioning result using the positioning result obtained by executing the terminal positioning operation when the positioning result obtained by performing the terminal positioning operation according to the target differential service provider is different from the network positioning result.

The present application also proposes a terminal. The terminal includes a memory, a processor, and a computer program stored in the memory and running on the processor. The processor implements the following steps when executing the computer program:

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

The terminal can be a mobile phone or a pad, etc., and a GPS antenna is provided in the terminal. Using the GPS antenna, a plurality of satellites can be observed to obtain observation data. The GPS antenna is connected to the processor of the terminal, and the processor is used through the GPS antenna. The observed observation data, and the differential data provided by multiple differential service providers are received through the network, and the target differential service provider is selected according to the data quality parameters of the satellite observations and differential data to perform the terminal positioning operation, and multiple differential service providers are provided. The positioning accuracy of the differential service provider is used to select the target differential service provider to perform the terminal positioning operation, which improves the positioning accuracy.

In the terminal of this embodiment, multiple differential service providers are set for each terminal. When performing differential positioning, the target differential can be selected according to the differential data quality parameters of different differential service providers and the satellite observation values obtained by the terminal by observing satellites. The service provider completes the positioning operation of the terminal to obtain the positioning data. Instead of using a differential service provider to fix the positioning, different differential service providers are used to perform the positioning operation and select the differential service provider to perform the positioning of the terminal, providing better and more accurate differential The service provider completes the terminal positioning and improves the accuracy of the terminal positioning result.

The present application also proposes a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers;

A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

It should be noted that, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not preclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

While alternative embodiments of the present application have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include alternative embodiments and all changes and modifications that fall within the scope of the present application.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims (10)

1. a differential positioning method, is characterized in that, described differential positioning method comprises: Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers; A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data. 2 . The differential positioning method according to claim 1 , wherein the target differential service provider is selected from the at least two differential service providers according to the data quality parameter of the satellite observation and the data quality parameter of each differential data. 2 . The steps of the positioning operation include: Perform differential positioning operations according to satellite observations and each differential data to obtain differential positioning results; Obtain data quality parameters of the corresponding differential service provider according to the differential positioning result, where the data quality parameters include: positioning accuracy, differential delay, and/or the distance between the terminal and the reference station; A target differential service provider is selected from the at least two differential service providers according to the data quality parameter to perform a positioning operation of the terminal. 3. The differential positioning method according to claim 2, wherein the step of selecting a target differential service provider from the at least two differential service providers according to the data quality parameter to perform a terminal positioning operation comprises: When there is a differential service provider with the same data quality parameter, select the same differential service provider as the target differential service provider to perform the terminal positioning operation; When the data quality parameters of the differential servers are different, the target differential service provider is selected to perform the positioning operation of the terminal according to the priority of the data quality parameter, and the data quality parameter is calculated from the positioning accuracy, differential delay and/or the distance between the terminal and the reference station get. 4. The differential positioning method according to claim 2, wherein the step of performing a differential positioning operation to obtain a differential positioning result according to satellite observations and each differential data comprises: Perform the analysis operation of the acquired differential data to obtain the analysis result; When the analysis result meets the preset condition, the differential positioning operation is performed on the differential data of the differential service provider that meets the preset condition and the satellite observation data to obtain the differential positioning result. 5. The differential positioning method according to any one of claims 1 to 4, wherein the method further comprises: When the range where the terminal is located exceeds the preset range, the action of selecting the target differential service provider to complete the positioning operation of the terminal is performed. 6. The differential positioning method according to any one of claims 1 to 4, wherein the method further comprises: When the location of the terminal is in two different differential service provider areas, the default differential service provider is used to perform the positioning operation of the terminal, but the action of selecting the target differential service provider is not performed; the two different differential service provider areas are two The area covered by the differential service provider signal respectively. 7. The differential positioning method according to any one of claims 1 to 4, wherein the method further comprises: The positioning result is obtained according to the positioning operation of the terminal performed by the target differential service provider; Obtain the positioning results of the network; When the positioning result obtained by performing the terminal positioning operation according to the target differential service provider is different from the network positioning result, the network positioning result is updated using the positioning result obtained by executing the terminal positioning operation. 8. A differential positioning device, characterized in that the device comprises: an acquisition module and a selection module, The acquisition module is used to determine the satellite observation amount and acquire differential data broadcast by at least two differential service providers; The selection module is configured to select a target differential service provider from the at least two differential service providers to perform a positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data. 9. A terminal, characterized in that, comprising a memory, a processor and a computer program stored on the memory and running on the processor, the processor implements the following steps when executing the computer program: Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers; A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data. 10. A computer-readable storage medium, characterized in that, a computer program is stored thereon, and it is characterized in that, when the computer program is executed by a processor, the following steps are implemented: Determine the amount of satellite observations and obtain differential data broadcast by at least two differential service providers; A target differential service provider is selected from the at least two differential service providers to perform the positioning operation of the terminal according to the satellite observation quantity and the data quality parameter of each differential data.

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