WO2024045063A1 - 一种定位方法和装置 - Google Patents

一种定位方法和装置 Download PDF

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Publication number
WO2024045063A1
WO2024045063A1 PCT/CN2022/116274 CN2022116274W WO2024045063A1 WO 2024045063 A1 WO2024045063 A1 WO 2024045063A1 CN 2022116274 W CN2022116274 W CN 2022116274W WO 2024045063 A1 WO2024045063 A1 WO 2024045063A1
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WIPO (PCT)
Prior art keywords
original observation
original
reference station
ionospheric error
observation quantity
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PCT/CN2022/116274
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English (en)
French (fr)
Inventor
孔祥旭
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Filing date
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Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to PCT/CN2022/116274 priority Critical patent/WO2024045063A1/zh
Priority to EP22956891.0A priority patent/EP4575580A4/en
Priority to CN202280099334.1A priority patent/CN119816759A/zh
Publication of WO2024045063A1 publication Critical patent/WO2024045063A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/072—Ionosphere corrections
    • 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
    • G01S19/40—Correcting position, velocity or attitude
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
    • G01S19/073—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections involving a network of fixed stations

Definitions

  • the present application relates to the field of communication technology, and in particular, to a positioning method and device.
  • the ionosphere interferes with electromagnetic wave propagation and is one of the error sources for satellite navigation and positioning.
  • the positioning auxiliary information provided by the cloud service platform of the positioning service provider to eliminate this part of the error.
  • the cloud service platform of the positioning service provider calculates the ionospheric error in the area where the vehicle is located, and then determines the positioning based on the ionospheric error.
  • the auxiliary information is sent to the vehicle; when the vehicle is positioning, it performs positioning calculations based on the original observations and navigation messages it has obtained, combined with the positioning auxiliary information, thereby eliminating the influence of ionospheric errors.
  • the cloud platform of the positioning service provider calculates the ionospheric error based on the original observations provided by the base station, and there is a problem of inaccurate ionospheric error estimation.
  • Embodiments of the present application provide a positioning method and device for improving the accuracy of ionospheric error estimation.
  • a positioning method is provided.
  • the method can be applied to a network device or a chip in the network device.
  • the method includes: the network device obtains a first original observation quantity and a second original observation quantity. , the first original observation quantity comes from the mobile device, and the second original observation quantity comes from the base station; the network device determines the ionospheric error of the virtual reference station based on the first original observation quantity and the second original observation quantity, and determines the positioning assistance information based on the ionospheric error ;
  • the network device sends positioning assistance information to the device to be positioned.
  • the mobile device in addition to the base station, can provide its own original observations (i.e., the first original observations) to the network device for use, so that the network device can combine the original observations of the base station with those of the mobile device.
  • the raw observations determine the ionospheric error of the virtual reference station.
  • the original observations all of which are actual observation data
  • the original observations used by the virtual reference station also have good dynamics, which can further improve the accuracy of ionospheric error estimation.
  • the network device determines the ionospheric error of the virtual reference station based on the first original observation and the second original observation, including: the network device constructs the ionospheric error based on the second original observation and the position of the reference station. Model; determine the ionospheric error of the virtual reference station based on the first original observation and the ionospheric error model.
  • the first original observation is used by network equipment to construct the ionospheric error of the virtual reference station, which can improve the accuracy of the ionospheric error of the virtual reference station.
  • the network device constructs an ionospheric error model based on the first original observation, the second original observation, and the location of the base station; and determines the ionospheric error of the virtual reference station based on the ionospheric error model.
  • the first original observation is used by network equipment to construct an ionospheric error model, which can improve the accuracy of the ionospheric error model. Then, when the ionospheric error of the virtual reference station is determined based on the ionospheric error model, the ionospheric error of the virtual reference station is The accuracy of layer errors can also be improved accordingly.
  • the ionospheric error model is also constructed based on ephemeris information from the base station. For example: the network equipment constructs an ionospheric error model based on the ephemeris information, the first original observation quantity, the second original observation quantity, and the location of the base station; or the network equipment constructs an ionospheric error model based on the ephemeris information, the second original observation quantity, and the location of the base station. location to construct an ionospheric error model.
  • the ephemeris information can come from the base station.
  • the ionospheric error of the virtual reference station is also combined with the ephemeris information of the base station, which can further improve the accuracy of the ionospheric error of the virtual reference station.
  • the first original observations include original observations of dual-frequency Global Navigation Satellite System GNSS signals and/or original observations of triple-frequency GNSS signals.
  • the first original observation quantity includes the original observation quantity of the dual-frequency GNSS signal and the original observation quantity of the triple-frequency GNSS signal. If the time of the original observation quantity of the three-frequency GNSS signal is within the preset time range, the network device determines the ionospheric error of the virtual reference station based on the original observation quantity of the three-frequency GNSS signal and the second original observation quantity; or, if the time of the three-frequency GNSS signal is original observation quantity, If the time of the original observation of the GNSS signal is not within the preset time range, and the time of the original observation of the dual-frequency GNSS signal is within the preset time range, the network device will use the original observation of the dual-frequency GNSS signal and the second original observation. Quantitatively determine the ionospheric error of the virtual reference station.
  • the network equipment when the network equipment obtains the original observations of the dual-frequency GNSS signal and the tri-frequency GNSS signal at the same time, it can be considered to give priority to using the original observation of the tri-frequency GNSS signal to determine the ionospheric error of the virtual reference station, which can further improve the ionospheric error. Accuracy of error estimates.
  • the device to be located is a mobile device.
  • the device to be positioned itself can report the first original observation as a mobile device, so that the network device can build a virtual reference station based on the original observation of the device to be positioned, which can further improve the estimation accuracy of the ionospheric error.
  • the distance between the virtual reference station and the mobile device is less than a preset distance.
  • the preset distance can be set according to the maximum distance for obtaining a convergence solution based on the RTK algorithm, for example, 10km.
  • This design can ensure that the first original observation quantity used for ionospheric error estimation is the original observation quantity near the virtual reference station, improving the accuracy of the ionospheric error of the virtual reference station.
  • the network device can also obtain the location information of the mobile device; the network device determines that the distance between the virtual reference station and the mobile device is less than a preset distance based on the location information of the mobile device.
  • the mobile device does not need to provide high-precision location information, only approximate location information is required, and the solution is easy to implement.
  • the accuracy level of the location information of the mobile device is meter level.
  • the location of the virtual reference station is determined based on the location of the base station. For example, the position of a virtual reference station can be determined for each of several adjacent (such as three) base stations.
  • This design can improve the reliability of data construction of virtual reference stations.
  • the first original observation quantity includes one or more of pseudorange, carrier phase, and received frequency.
  • the transmitting frequency is for the receiver. From the perspective of the transmitter (such as a satellite), it can also be called the transmitting frequency.
  • the mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.
  • the mobile device may also be other movable devices with satellite positioning capabilities.
  • a positioning method is provided.
  • the method can be applied to a mobile device or a chip in the mobile device. Taking the method being applied to a mobile device as an example, the method includes: the mobile device receives a satellite signal and determines the first original observation based on the satellite signal. quantity; the mobile device sends the first raw observation quantity to the network device, and the first raw observation quantity is used to determine the ionospheric error of the virtual reference station.
  • the mobile device is a device to be positioned (that is, when the device to be positioned sends its first original observation to the network device), the mobile device can also receive positioning assistance information from the network device. According to Positioning assistance information is used to position the mobile device.
  • the first original observation quantity includes one or more of pseudorange, carrier phase, and received frequency.
  • the mobile device is one or more of a vehicle, a drone, a helicopter, an airplane, and a ship.
  • a third aspect provides a positioning device, which includes modules/units/technical means for implementing the method described in the first aspect or any possible design of the first aspect.
  • the device may include:
  • a transceiver module used to obtain a first original observation quantity and a second original observation quantity, where the first original observation quantity comes from the mobile device and the second original observation quantity comes from the base station;
  • a processing module configured to determine the ionospheric error of the virtual reference station based on the first original observation quantity and the second original observation quantity, and determine positioning assistance information based on the ionospheric error;
  • the transceiver module is also used to send positioning assistance information to the device to be positioned.
  • the processing module is used to: construct an ionospheric error model based on the second original observation quantity and the position of the reference station; determine the ionospheric error of the virtual reference station based on the first original observation quantity and the ionospheric error model;
  • an ionospheric error model is constructed based on the first original observation quantity, the second original observation quantity, and the position of the reference station; and the ionospheric error of the virtual reference station is determined according to the ionospheric error model.
  • the ionospheric error model is also constructed based on ephemeris information from the base station.
  • the first original observation quantity includes the original observation quantity of the dual-frequency GNSS signal and the original observation quantity of the three-frequency GNSS signal; the processing module is used: if the original observation quantity of the three-frequency GNSS signal is within the preset time Within the time range, the ionospheric error of the virtual reference station is determined based on the original observation quantity of the three-frequency GNSS signal and the second original observation quantity; or, if the time of the original observation quantity of the three-frequency GNSS signal is not within the preset time range, and If the time of the original observation of the dual-frequency GNSS signal is within the preset time range, the ionospheric error of the virtual reference station is determined based on the original observation of the dual-frequency GNSS signal and the second original observation.
  • the transceiver module is also used to obtain the location information of the mobile device; the processing module is also used to determine that the distance between the virtual reference station and the mobile device is less than a preset distance based on the location information of the mobile device.
  • a fourth aspect provides a positioning device, which includes modules/units/technical means for implementing the method described in the second aspect or any possible design of the second aspect.
  • the device may include:
  • a transceiver module used to receive satellite signals and determine the first original observation quantity based on the satellite signals
  • the transceiver module is also used to send the first original observation quantity to the network device, and the first original observation quantity is used to determine the ionospheric error of the virtual reference station.
  • the transceiver module is also used to: receive positioning assistance information from the network device; the device also includes a processing module for positioning the mobile device based on the positioning assistance information.
  • a positioning device including: at least one processor and an interface circuit; the interface circuit is used to receive signals from other devices other than the device and transmit them to the processor or to send signals from the processor to another device.
  • the processor is used to implement the method described in the first aspect or any possible design of the first aspect or the second aspect or any possible design of the second aspect through logic circuits or execution of code instructions. .
  • a computer-readable storage medium is provided.
  • the readable storage medium is used to store instructions.
  • the instructions are executed, the first aspect or any possible design or the second aspect or the second aspect is realized.
  • the methods described in any of the possible designs are implemented.
  • a computer program product is provided. Instructions are stored in the computer program product. When it is run on a computer, it causes the computer to execute the first aspect or any possible design of the first aspect or the second aspect or the third aspect. Either of the two possible designs is described in the method.
  • a positioning system including: a mobile device, used to send a first original observation value to a network device; a base station, used to send a second original observation value to the network device; and a network device, used according to the first
  • the original observation quantity and the second original observation quantity determine the ionospheric error of the virtual reference station, determine the positioning auxiliary information based on the ionospheric error, and send the positioning auxiliary information to the device to be positioned.
  • Figure 1 is a schematic diagram of a positioning scenario according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of network RTK
  • FIGS. 3A and 3B are schematic diagrams of two positioning systems provided by embodiments of the present application.
  • Figure 4 is a schematic diagram of a positioning method provided by an embodiment of the present application.
  • FIG. 5A and Figure 5B are schematic diagrams of two possible mobile devices reporting original observations
  • Figure 6A and Figure 6B are two schematic diagrams for determining the ionospheric error of the virtual reference station
  • Figure 7 is a schematic diagram of vehicle positioning calculation
  • Figure 8 is a schematic structural diagram of a positioning device provided by an embodiment of the present application.
  • Figure 9 is a schematic structural diagram of another positioning device provided by an embodiment of the present application.
  • FIG. 1 a schematic diagram of a positioning scenario is provided for an embodiment of the present application.
  • the scenario may specifically be an automated driving (Automated Driving, AD), assisted driving or manual driving scenario.
  • AD Automated Driving
  • the vehicle can receive satellite signals from satellites and perform positioning based on the satellite signals.
  • the terminal device may be a smart device with satellite positioning capabilities, including but not limited to: smart home devices, such as TVs, sweeping robots, video surveillance, etc.; smart transportation devices, such as cars, ships, drones, trains, trucks, Trucks, etc.; smart manufacturing equipment, such as robots, industrial equipment, smart logistics, smart factories, etc.
  • smart home devices such as TVs, sweeping robots, video surveillance, etc.
  • smart transportation devices such as cars, ships, drones, trains, trucks, Trucks, etc.
  • smart manufacturing equipment such as robots, industrial equipment, smart logistics, smart factories, etc.
  • the terminal device may also be a portable electronic device with satellite positioning capabilities, such as a mobile phone, a tablet computer, a handheld computer, a headset, a stereo, a wearable device (such as a smart watch), a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.
  • a portable electronic device with satellite positioning capabilities such as a mobile phone, a tablet computer, a handheld computer, a headset, a stereo, a wearable device (such as a smart watch), a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.
  • satellites operate at an altitude of about 20,000 kilometers above the ground. In the process of transmitting satellite signals from satellites to the ground, they need to pass through the ionosphere (thousands of kilometers from the ground), the troposphere (60 kilometers from the ground), etc.
  • the ionosphere will interfere with the propagation of satellite signals, and there will be ionospheric errors in the satellite signals that reach the ground.
  • the ionospheric error can be expressed by the total ionospheric electron content (onospheric total electron content, TEC).
  • TEC total ionospheric total electron content
  • the ionospheric error can also be expressed in other ways, which is not limited by this application.
  • Ionospheric interference is related to satellite signal frequency. Based on dual-frequency signals (such as L1, L2, or L1, L5, etc.), an ionospheric error model can be constructed to eliminate this interference factor to the maximum extent, which can significantly improve positioning accuracy.
  • dual-frequency signals such as L1, L2, or L1, L5, etc.
  • an ionospheric error model can be constructed to eliminate this interference factor to the maximum extent, which can significantly improve positioning accuracy.
  • the ionosphere is very active due to the influence of the sun, the ionospheric error model based on dual-frequency signals cannot eliminate high-order residuals, resulting in larger positioning errors.
  • three-frequency signals (such as L1, L2, L5) Build more complex models to eliminate high-order effects.
  • the following provides a calculation method for the dual-frequency ionospheric error TEC:
  • the following provides a calculation method for the three-frequency ionospheric error TEC:
  • K is the three-frequency phase integration constant, is the relative value of differential Doppler phase data, as given by the receiver.
  • information such as pseudorange, carrier phase, and receiving frequency are of great value for ionospheric error estimation. Therefore, in practical applications, information such as pseudorange, carrier phase, and receiving frequency can be used as positioning auxiliary information for positioning calculations.
  • Network RTK also called base station RTK
  • GNSS Global Navigation Satellite System
  • multiple base stations are established in an area to form a mesh coverage for the area, and positioning assistance information is calculated and broadcast based on one or more of these base stations. (such as pseudo range, carrier phase, receiving frequency and other information), so as to correct the positioning information of users in the area in real time, which is called network RTK, also known as multi-base station RTK.
  • the network equipment (such as the cloud service platform of the positioning service provider, also known as the data processing center) can obtain the original observations of one or more base stations, then determine the ionospheric error based on these original observations, and determine the positioning based on the ionospheric error.
  • the auxiliary information is then distributed to the device to be positioned (such as a vehicle) through the roadside unit (RSU).
  • RSU roadside unit
  • the vehicle can combine positioning auxiliary information, original observations and navigation messages obtained through the GNSS module, etc., through dynamic real-time difference (Real Time Kinematic, RTK), navigation estimation (Dead reckoning, DR). ) and other algorithms to calculate its own position information.
  • the base station that can use positioning auxiliary information for vehicles has distance requirements (for example, the distance between the base station and the vehicle is required to be less than 10km), which requires an extremely high number of base stations to be constructed and cannot be achieved in many areas. This requirement; on the other hand, the actual location of the base station is confidential information, and the service provider cannot outsource the positioning equipment.
  • VRS technology is a type of network RTK. Its basic principle is to set up a certain number of base stations in a certain area. The base stations receive satellite signals and transmit the obtained original observations to the network equipment. The network equipment will (For example, three adjacent base stations) A reference station is "virtually" created near these base stations, that is, a virtual reference station. The virtual reference station, like the base station, has certain position information and corresponding original observations. The difference is that the position of the virtual reference station is determined based on the position of the base station, and the original observations of the virtual reference station are based on the base station. Calculated by simulation of original observations. The original observations of the virtual reference station can be the same as the original observations of the base station, and can be broadcast to the device to be positioned as positioning auxiliary information.
  • the network equipment calculates the original observation quantity of the virtual reference station, it also needs to consider the impact of the ionospheric error on the original observation quantity of the virtual reference station, so the ionospheric error of the virtual reference station needs to be estimated.
  • the above-mentioned VRS technology mainly estimates the ionospheric error of the virtual reference station based on the original observations of the base station.
  • the reasons are as follows: 1.
  • the data construction of the virtual reference station is complicated and is not based on actual observations. The data cannot be accurately estimated, and in actual applications, the number of actual deployed base stations is small, resulting in less actual observation data, which in turn leads to poor accuracy in ionospheric error estimation; 2.
  • the data dynamics of the base stations are poor, and when the ionosphere is affected by the sun When very active, the accuracy of the ionospheric errors obtained with virtual reference stations is further reduced.
  • FIG. 3A is a schematic diagram of a positioning system provided by an embodiment of the present application.
  • the system includes satellites, base stations, network equipment, RSUs, mobile devices, and devices to be positioned.
  • Satellites include, but are not limited to, GPS satellites, Beidou satellites, etc., which can transmit GNSS satellite signals.
  • the mobile device can receive the satellite signal and obtain the corresponding original observation, such as the first original observation in the following; it can also provide the first original observation obtained by itself to the network device.
  • the number of mobile devices may be one or more, and is not limited in this application.
  • the base station can receive satellite signals and obtain corresponding original observations, such as the second original observations described below; it can also provide the second original observations obtained by itself to the network equipment.
  • the number of base stations can be one or more, and is not limited in this application.
  • the device to be positioned can receive the satellite signal and obtain the corresponding original observation quantity, such as the third original observation quantity (it can be understood that when the above-mentioned mobile device is the device to be positioned, the third original observation quantity is also called the first original observation quantity).
  • the device to be positioned can perform positioning calculations based on the original observations obtained by itself and the positioning auxiliary information issued by the network device.
  • the original observations in this article can also be called original observation data.
  • the original observations are observations made by a receiver (such as a base station, or a mobile device, etc.) against certain satellites in the global satellite navigation system (such as GPS).
  • the obtained observation data can be obtained by processing the satellite signal by the GNSS chip (or GNSS board) of the receiver.
  • the data types in the original observations include but are not limited to pseudorange, carrier phase, received frequency, etc.
  • pseudorange refers to the approximate distance between the receiver and the satellite.
  • the propagation time of the satellite signal can be obtained based on the time when the satellite transmits the satellite signal and the time when the base station receives the satellite signal, and then multiplied by The propagation speed can be used to obtain the distance between the satellite and the base station.
  • clock difference between the clock of the base station and the clock of the satellite, and the satellite signal is also affected by factors such as atmospheric refraction during propagation. Therefore, the distance directly measured by this method is not equal to the distance from the satellite to the base station.
  • the real distance is called pseudo distance.
  • Carrier phase refers to the phase difference between the satellite signal received by the receiver from the satellite and the local oscillator reference signal of the receiver.
  • Receiving frequency refers to the frequency at which the receiver receives satellite signals.
  • the satellite signal transmitted by the satellite may include three carrier frequency bands: L1 carrier frequency band, L2 carrier frequency band and L5 carrier frequency band.
  • the frequency f1 of the L1 carrier frequency band is 1575.42MHz
  • the frequency f2 of the L2 carrier frequency band is 1227.6MHz
  • the frequency f5 of the L5 carrier frequency band is 1176.45MHz. It can be understood that from the perspective of a satellite, the receiving frequency can be replaced by the transmitting frequency.
  • the data types contained in the original observations obtained by different devices may be the same or different, and this application does not impose restrictions.
  • the specific observation values obtained by different devices may be the same or different.
  • the specific observation values depend on the location of the device and the processing capabilities of the device's GNSS chip. For example, the value of the pseudorange in the first original far measurement may be different from the value of the pseudorange in the second original observation amount.
  • the network device may be a data processing center of the network RTK, for example, a cloud service platform of a positioning service provider.
  • the network device can construct and determine the positioning assistance information of at least one virtual reference station based on the original observations provided by the base station, mobile device, etc., and send the positioning assistance information of the at least one virtual reference station to the device to be positioned through the RSU.
  • the specific solution for the network device to construct a virtual reference station and determine the positioning assistance information of the virtual reference station will be introduced in detail later.
  • the RSU can be any device that can communicate with the device to be located and network devices, such as base stations, user equipment, etc.
  • the embodiments of this application are not specifically limited.
  • the RSU can receive the positioning assistance information sent by the network device and forward it to the device to be determined.
  • the RSU can also serve as a relay station for signals sent by other devices.
  • the base station can send the second original observation to the network device through the RSU, which is not limited by this application.
  • the device to be located can be a mobile device.
  • the device to be located can provide the original observations obtained by itself to the network device for use.
  • FIG. 3B is a schematic diagram of another positioning system provided by an embodiment of the present application.
  • the device to be positioned (mobile device) can provide the first original observation obtained by itself to the network device.
  • FIG. 3A and FIG. 3B are only examples. In actual applications, the system may also include other devices, for example, it may also include network devices for providing applications such as navigation maps.
  • FIG 4 is a schematic diagram of a positioning method provided by an embodiment of the present application. This method can be applied to the system shown in Figure 3A or Figure 3B. The method includes:
  • the mobile device sends the first original observation quantity, and accordingly, the network device receives the first original observation quantity.
  • the mobile device can receive satellite signals and obtain the first original observation based on the satellite signals.
  • the mobile device can be any mobile device with satellite positioning capabilities, including but not limited to: smart home devices, such as TVs, sweeping robots, video surveillance, etc.; smart transportation devices, such as cars, ships, and drones. , trains, trucks, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart factories, etc.
  • the terminal device may also be a portable electronic device with satellite positioning capabilities, such as a mobile phone, a tablet computer, a handheld computer, a headset, a stereo, a wearable device (such as a smart watch), a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.
  • the mobile device is the device to be located, such as the scenario shown in Figure 3B.
  • the mobile device i.e., the device to be positioned
  • the mobile device can send the first original observation quantity to the network device when positioning calculation is required. This can ensure that the first original observation quantity at the network device has good real-time performance, and at the same time can Avoid the problem of wasted power consumption caused by mobile devices frequently sending raw observations.
  • the mobile device is different from the device to be located, such as the scenario shown in Figure 3A.
  • the number of mobile devices can be one or multiple.
  • each mobile device can periodically send the first raw observation quantity to the network device at set time intervals to ensure that the first raw observation quantity at the network device has good real-time performance and helps to improve subsequent ionization. The accuracy of layer error estimation.
  • the device to be positioned can also send original observations to the network device, which is not limited by this application.
  • the data type included in the first original observation includes but is not limited to one or more of the first pseudorange, the first carrier phase, and the first receiving frequency, which is not limited by this application.
  • the mobile device (or the device to be located) also receives the first indication information. If the indication information instructs the user (such as the car owner) of the mobile device (or the device to be located) to provide the first raw observation value to the network device for use, the mobile device sends the first raw observation value to the network device; if the first indication If the information indicates that the user does not agree to provide the first original observation quantity to the network device for use, the mobile device will not send the first original observation quantity.
  • the mobile device before the mobile device (or the device to be located) sends the first original observation to the network device, if the mobile device receives the second indication information, it confirms that the user agrees to provide the first original observation to When the network device uses it, the mobile device sends the first original observation to the network device; if the second instruction information is not received, it is confirmed that the user does not agree to provide the first original observation to the network device for use, and the mobile device will not send the first original observation.
  • Original observation quantity before the mobile device (or the device to be located) sends the first original observation to the network device.
  • the base station sends the second original observation quantity, and accordingly, the network device receives the second original observation quantity.
  • the base station can receive satellite signals, process the satellite signals, and obtain the second original observation quantity.
  • the data types included in the second original observation include but are not limited to one or more of the second pseudo-range, the second carrier phase, and the second receiving frequency, which are not limited by this application.
  • the data type included in the first original observation quantity and the data type included in the second original observation quantity may be the same (for example, the first original observation quantity includes the first pseudo-range, the first carrier phase, the first receiving frequency, The two original observations include the second pseudorange, the second carrier phase, and the second receiving frequency), or they may be different (for example, the first original observation includes the first carrier phase and the first receiving frequency, and the second original observation includes the second Carrier phase, second receiving frequency), this application does not limit it.
  • each base station can periodically send second raw observations to the network device at set time intervals. In this way, it can be ensured that the second original observation at the network device has good real-time performance, which helps to improve the accuracy of subsequent ionospheric error estimation.
  • the network device knows the precise position information of each base station (for example, the accuracy level is centimeter level), or each base station can report its own precise position information when the network device reports its original observation. location information.
  • step S401 and step S402 may not be distinguished.
  • the network device determines the ionospheric error of the virtual reference station based on the first original observation quantity and the second original observation quantity, and determines the positioning assistance information based on the ionospheric error.
  • the distance between the virtual reference station and the mobile device is less than the preset distance.
  • the preset distance can be set according to the maximum distance for obtaining a convergence solution based on the RTK algorithm, for example, 10 km, which is specifically limited in this application.
  • the specific location of the virtual reference station can be determined based on the location of the base station.
  • multiple base stations are constructed in an area, and a virtual reference station can be constructed for each adjacent several (such as three) base stations.
  • every three adjacent base stations can form an RTK grid.
  • a virtual reference station can be constructed at any location in the grid.
  • Specific construction methods include: determining the position of the virtual reference station in the RTK grid based on the position of the base station in each RTK grid, and simulating calculations based on the original observations of the base station in each RTK grid. Raw observations from the virtual reference station.
  • the network device can select at least three base stations within a preset range near the mobile device based on the location information of the mobile device, and then determine a virtual reference station for use by the device to be positioned based on the positions of the at least three base stations (i.e. S403 The location of the virtual reference station described in .
  • the mobile device when the mobile device sends the first original observation to the network device, it may also report its own location information to the network device. For example, when the mobile device is different from the device to be located, the mobile device can periodically report its location information and the first original observation to the network device according to a set time interval. For example, when the mobile device is a device to be positioned, the device to be positioned reports its own location information and the first original observation to the network device when positioning is required. In this way, it can be ensured that the location information of the mobile device and the first original observation obtained by the network device have good real-time performance, which helps to improve the accuracy of subsequent ionospheric error estimation.
  • the location information of the mobile device here may be approximate or rough location information.
  • the accuracy level of the location information of the mobile device is meter level.
  • the network device can determine the location of the virtual reference station based on the location information of the mobile device.
  • the mobile device can determine its approximate location information based on single-point positioning or other methods. It is understandable that even if the above location information is an approximate or rough location information, for the convenience of explanation, this article is still called "location information of the mobile device".
  • network equipment can receive location information and original observations reported by multiple mobile devices. Each mobile device can periodically report location information and original observations according to set time intervals. The network equipment can report location information and original observations based on each mobile device. The location information of the device determines the distance between the location information of the mobile device and the virtual reference station, discards the original observations of the mobile device whose distance from the virtual reference station is not less than the preset distance, and only uses the distance from the virtual reference station within the preset distance range. The raw observation volume of the mobile device within.
  • the network device uses the original observation quantity and the second original observation quantity reported by the device to be positioned to determine the ionospheric error of the virtual reference station.
  • the network device When the device to be positioned is different from the mobile device, in one case, the network device only receives the original observation quantity reported by the mobile device, then the network device uses the original observation quantity reported by the mobile device and the second original observation quantity to determine the location of the virtual reference station. Ionospheric errors, that is, the first raw observations are reported by mobile devices. In another case, the network device only receives the original observation quantity reported by the device to be positioned, and then the network device uses the original observation quantity reported by the device to be positioned and the second original observation quantity to determine the ionospheric error of the virtual reference station, that is, the first The original observation volume is reported by the device to be positioned.
  • the network device receives both the original observations reported by the device to be positioned and the original observations reported by the mobile device.
  • the network device can select the original observations reported by one of the devices to determine the virtual reference station.
  • the ionospheric error that is, the first raw observation quantity is selected by the network device from the raw observation quantity reported by the device to be positioned and the raw observation quantity reported by the mobile device.
  • the network device when the network device receives the original observations reported by the device to be positioned and the original observations reported by the mobile device, the network device selects the original observations reported by the device to be positioned to determine the ionospheric error of the virtual reference station. In this way, the accuracy of ionospheric error estimation can be further improved.
  • the first raw observation quantity received by the network device may include the raw observation quantity of the dual-frequency GNSS signal and/or the raw observation quantity of the triple-frequency GNSS signal.
  • the network equipment if the network equipment only obtains the original observations of the dual-frequency GNSS signal, the original observations of the dual-frequency GNSS signal are used to determine the ionospheric error of the virtual reference station; if the network equipment can obtain the dual-frequency GNSS If the original observation quantity of the signal and the three-frequency GNSS signal are used, it can be considered to give priority to using the original observation quantity of the three-frequency GNSS signal to determine the ionospheric error of the virtual reference station.
  • the network device determines the ionospheric error of the virtual reference station based on the original observation of the three-frequency GNSS signal and the second original observation; or, if If the time of the original observation quantity of the three-frequency GNSS signal is not within the preset time range, and the time of the original observation quantity of the dual-frequency GNSS signal is within the preset time range, the network equipment shall use the original observation quantity of the dual-frequency GNSS signal and the second The raw observations determine the ionospheric error of the virtual reference station.
  • the preset time range can be set according to needs, and is not limited in this application.
  • a mobile device that supports a tri-frequency GNSS chip (referred to as a tri-frequency mobile device) can report raw observations:
  • each device in at least one tri-frequency mobile device periodically outputs the original observations of its own tri-frequency GNSS signal according to the set time interval;
  • At least one mobile device sends a data packet to the network device (for example, through cellular communication technology).
  • the data packet carries the original observation quantity and approximate location information of the tri-frequency GNSS signal; accordingly, the network device receives the data packet sent by at least one mobile device. data pack;
  • the network device determines whether the distance between the tri-band mobile device corresponding to the Nth data packet and the virtual reference station is less than the preset distance;
  • S505A discard the original observation quantity in the Nth data packet, return to S503A to obtain the N+1th data packet, repeat S503A and the subsequent processes until the ionospheric error of the virtual reference station is obtained, and then end this ionization Layer error calculation process.
  • S501A to S502A may be executed periodically and repeatedly according to set time intervals.
  • the above-mentioned S503A and subsequent steps (S504A or S505A) may be executed by the network device only when it needs to calculate the ionospheric error of the virtual reference station.
  • each device among multiple mobile devices (including tri-band mobile devices and dual-band mobile devices) periodically outputs the original observations of its own GNSS signal according to the set time interval;
  • Each mobile device sends a data packet to the network device (for example, through cellular communication technology), and the data packet carries the original observation and approximate location information; accordingly, the network device receives the data packet;
  • S504B Determine whether the original observation quantity of the tri-frequency GNSS signal is received within the preset time range; if yes, execute S505B, otherwise execute S506B;
  • S501B to S502B may be executed periodically and repeatedly according to set time intervals.
  • the above-mentioned S503B and subsequent steps may be executed by the network device only when it needs to calculate the ionospheric error of the virtual reference station.
  • the mobile device also receives third indication information. If the third indication information indicates that the user of the mobile device (such as the car owner) agrees to provide its own location information to the network device for use, the mobile device reports its own location information. ; If the third indication information indicates that the user of the mobile device (such as the car owner) does not agree to provide his or her location information to the network device for use, the mobile device does not report its own location information.
  • the mobile device receives the fourth instruction information, it is confirmed that the user of the mobile device (such as the car owner) agrees to provide its location information to the network device for use, and the mobile device reports its location information; if the mobile device If the device does not receive the fourth instruction information, it is confirmed that the user of the mobile device (such as the car owner) does not agree to provide its own location information to the network device for use, and the mobile device does not report its own location information.
  • the network device determines the ionospheric error of the virtual reference station based on the first original observation quantity and the second original observation quantity, which can be achieved by constructing an ionospheric error model.
  • the ionospheric error model includes the location information of multiple location points in a certain area, as well as the ionospheric error of each location point in the multiple location points.
  • the network device can determine the location information at any location point in the area based on this model. Ionospheric error.
  • the first raw observation is used by the network equipment to construct the ionospheric error of the virtual reference station.
  • the network device first bases the original observation volume (That is, the second original observation quantity), the position information of the at least three reference stations, etc. construct an ionospheric error model.
  • the input of the ionospheric error model is the position information, and the output is the ionospheric error at the corresponding position; after receiving the position to be positioned
  • the network device can correct the ionospheric error model based on the original observations of the device to be positioned, based on the corrected ionospheric error model and the device to be positioned.
  • the location information determines the ionospheric error of the virtual reference station, or the network device directly constructs the ionospheric error of the virtual reference station based on the original measurement of the device to be positioned.
  • the accuracy of the position information of the base station is higher than the accuracy of the position information of the device to be positioned.
  • the accuracy level of the location information of the device to be located is meter level
  • the accuracy level of the location information of the base station is centimeter level.
  • the first raw observations are used by network equipment to construct an ionospheric error model.
  • the network device first bases the original observation volume (That is, the second original observation quantity), the precise position information of the at least three base stations, and the original observation quantity of at least one mobile device (that is, the first original observation quantity) and the position information of the at least one mobile device (for example, meter-level accuracy). position information), construct an ionospheric error model.
  • the input of the ionospheric error model is position information, and the output is the ionospheric error at the corresponding position; then, based on the ionospheric error model and the position information of the device to be positioned, the virtual Ionospheric errors at reference stations.
  • the network device in addition to the first original observation quantity and the second original observation quantity, can also determine the ionospheric error of the virtual reference station in combination with ephemeris information, where the ephemeris information can come from the base station.
  • the base station can also provide ephemeris information to the network device for the network device to construct an ionospheric error model.
  • the network device After the network device determines the ionospheric error of the virtual reference station, it can determine positioning assistance information based on the ionospheric error.
  • positioning assistance information can be understood as information related to the virtual reference station, including but not limited to the original observations of the virtual reference station.
  • the original observations of the virtual reference station include the pseudorange of the virtual reference station and/or the carrier phase of the virtual reference station.
  • the network device determines positioning auxiliary information based on the ionospheric error, which may include: the network device corrects the original observations of the virtual reference station based on the ionospheric error, so that the network device issues the corrected original observations as positioning auxiliary information. Used by the device to be positioned to improve positioning accuracy.
  • the original observations of the virtual reference station may also include other information of the virtual reference station, such as the receiving frequency of the virtual reference station. It can be understood that the receiving frequency of the virtual reference station can be obtained based on the receiving frequency of the base station.
  • the positioning assistance information may also include ephemeris information of the virtual reference station, the position of the virtual reference station and other information, as long as it can provide assistance for positioning the device to be positioned.
  • the information of the virtual reference station used can be included in the positioning auxiliary information.
  • the base station can also provide other reference information such as tropospheric error to the network device, and the network device can also determine positioning auxiliary information based on the tropospheric error and other information, which helps to further improve positioning accuracy.
  • Reference information indicated by dotted lines in Figures 6A and 6B is optional.
  • the network device sends positioning auxiliary information to the device to be positioned; accordingly, the device to be positioned receives the positioning auxiliary information from the network device.
  • positioning assistance information can be transmitted to the device to be located through one or more RSUs.
  • the device to be positioned performs positioning calculation based on the positioning auxiliary information.
  • the vehicle includes a GNSS chip, a micro control unit (MCU) and a vehicle communication terminal (telematics box, T -BOX).
  • the vehicle can receive satellite signals through the GNSS chip and process the satellite signals to obtain the first original observation.
  • the vehicle can send the first original observation through the T-BOX, for example, upload it to the network device; the vehicle can also receive the positioning assistance information issued by the network device through the T-BOX (i.e., the positioning information of the virtual reference station issued in step S404). positioning assistance information).
  • the vehicle's MCU can perform RTK calculations by combining the first original observation and positioning auxiliary information to obtain the vehicle's position information that eliminates the influence of ionospheric errors.
  • the mobile device in addition to the base station, can provide its own original observations (i.e., the first original observations) to the network device for use, so that the network device can combine the original observations of the base station and the original observations of the mobile device.
  • the observations determine the ionospheric error of the virtual reference station.
  • the original observations all of which are actual observation data
  • the original observations used by the virtual reference station also have good dynamics, which can further improve the estimation accuracy of the ionospheric error.
  • the device to be positioned itself can report the first original observation quantity as a mobile device, which can further improve the estimation accuracy of the ionospheric error.
  • the embodiment of the present application provides a positioning device 800.
  • the positioning device 800 includes modules/units/means for executing the method performed by any device in the above method embodiment.
  • This module/unit/means can be implemented by software, or implemented by hardware, or it can also be implemented by hardware executing corresponding software.
  • the positioning device 800 may include: a transceiver module 801 and a processing module 802 .
  • the transceiver module 801 is used to obtain the first original observation quantity and the second original observation quantity.
  • the first original observation quantity comes from Mobile device
  • the second original observation quantity comes from the base station
  • the processing module 802 is used to determine the ionospheric error of the virtual reference station according to the first original observation quantity and the second original observation quantity, and determine the positioning assistance information according to the ionospheric error
  • the transceiver module 801 is also used to send positioning assistance information to the device to be positioned.
  • the transceiver module 801 is used to receive satellite signals and determine the first original observation quantity according to the satellite signals; the transceiver module 801 is also used to A first raw observation is sent to the network device, and the first raw observation is used to determine the ionospheric error of the virtual reference station.
  • an embodiment of the present application also provides a positioning device 900.
  • the device 900 includes at least one processor 901 and an interface circuit 902; the interface circuit 902 is used to receive data from other devices outside the device 900.
  • the signal of the device is transmitted to the processor 901 or the signal from the processor 901 is sent to other devices outside the device.
  • the processor 901 is used to implement the functions executed by any device in the above method embodiment through logic circuits or execution code instructions. method.
  • the processor mentioned in the embodiments of this application can be implemented by hardware or software.
  • the processor may be a logic circuit, an integrated circuit, or the like.
  • the processor may be a general-purpose processor implemented by reading software code stored in memory.
  • the processor can be a central processing unit (Central Processing Unit, CPU), or other general-purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC) , off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Programmable Gate Array
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. Volatile memory may be Random Access Memory (RAM), which is used as an external cache.
  • RAM Random Access Memory
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Eate SDRAM, DDR SDRAM enhanced synchronous dynamic random access memory
  • Enhanced SDRAM, ESDRAM synchronous link dynamic random access memory
  • Synchlink DRAM, SLDRAM direct memory bus random access memory
  • Direct Rambus RAM Direct Rambus RAM
  • the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component
  • the memory storage module
  • embodiments of the present application also provide a computer-readable storage medium, including a program or instructions.
  • the program or instructions When the program or instructions are run on a computer, the method executed by any device in the above method embodiments is implement.
  • embodiments of the present application also provide a computer program product containing instructions.
  • the computer program product stores instructions.
  • the computer program product causes the method to be executed by any device in the above method embodiments. be executed.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines 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.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions
  • the device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.
  • These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device.
  • Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.
  • “at least one” refers to one or more, and “plurality” refers to two or more.
  • “And/or” describes the relationship between associated objects, indicating that there can be three relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the related objects before and after are an “or” relationship; in the formula of this application, the character “/” indicates that the related objects before and after are a kind of "division” Relationship.
  • “Including at least one of A, B and C” may mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

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Abstract

本申请公开了一种定位方法和装置，用于提高电离层误差估计的准确性。网络设备获取第一原始观测量和第二原始观测量，第一原始观测量来自移动设备，第二原始观测量来自基准站；根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息；向待定位设备发送定位辅助信息。该方案中，网络设备可以结合基准站的原始观测量和移动设备的原始观测量确定虚拟参考站的电离层误差，一方面增加了网络设备构建虚拟参考站所用的原始观测量，另一方面，由于移动设备具有移动性，所以网络设备构建虚拟参考站所使用的原始观测量也具有良好的动态性，因此可以提高电离层误差估计的准确性。

Description

一种定位方法和装置 技术领域
本申请涉及通信技术领域，尤其涉及一种定位方法和装置。
背景技术
电离层干扰电磁波传播，是卫星导航定位的误差源之一。当前大多数车辆是结合定位服务商的云服务平台提供的定位辅助信息来消除这部分误差，例如：定位服务商的云服务平台计算车辆所在区域的电离层误差，然后基于电离层误差确定出定位辅助信息并发送给车辆；车辆在做定位时，在自身获取到的原始观测量和导航电文的基础上结合定位辅助信息进行定位计算，进而消除电离层误差的影响。
现有技术中，定位服务商的云平台都是基于基准站提供的原始观测量计算电离层误差，存在电离层误差估计不准确的问题。
发明内容
本申请实施例提供一种定位方法和装置，用于提高电离层误差估计的准确性。
第一方面，提供一种定位方法，该方法可以应用于网络设备或网络设备中的芯片，以方法应用于网络设备为例，方法包括：网络设备获取第一原始观测量和第二原始观测量，第一原始观测量来自移动设备，第二原始观测量来自基准站；网络设备根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息；网络设备向待定位设备发送定位辅助信息。
本申请实施例中，除了基准站之外，移动设备可以将自身的原始观测量(即第一原始观测量)提供给网络设备使用，使得网络设备可以结合基准站的原始观测量和移动设备的原始观测量确定虚拟参考站的电离层误差。一方面，增加了网络设备构建虚拟参考站所用的原始观测量(且均为实际观测数据)，可以提高电离层误差估计的准确性；另一方面，由于移动设备具有移动性，所以网络设备构建虚拟参考站所使用的原始观测量也具有良好的动态性，可以进一步提高电离层误差估计的准确性。一种可能的设计中，网络设备根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，包括：网络设备根据第二原始观测量、基准站的位置，构建电离层误差模型；根据第一原始观测量、电离层误差模型确定虚拟参考站的电离层误差。
该设计中，第一原始观测量用于网络设备构建虚拟参考站的电离层误差，可以提高虚拟参考站的电离层误差的准确性。
一种可能的设计中，网络设备根据第一原始观测量、第二原始观测量、基准站的位置，构建电离层误差模型；根据电离层误差模型确定虚拟参考站的电离层误差。
该设计中，第一原始观测量用于网络设备构建电离层误差模型，可以提高电离层误差模型的精度，进而在基于电离层误差模型确定虚拟参考站的电离层误差时，虚拟参考站的电离层误差的精准性也能够相应提高。
一种可能的设计中，电离层误差模型的构建还根据来自基准站的星历信息。例如：网络设备根据星历信息、第一原始观测量、第二原始观测量、基准站的位置，构建电离层误 差模型；或者，网络设备根据星历信息、第二原始观测量、基准站的位置，构建电离层误差模型。其中，星历信息可以来自基准站。
该设计中，还结合基准站的星历信息虚拟参考站的电离层误差，可以进一步提高虚拟参考站的电离层误差的精准性。
一种可能的设计中，第一原始观测量包括双频全球导航卫星系统GNSS信号的原始观测量和/或三频GNSS信号的原始观测量。
一种可能的设计中，第一原始观测量包括双频GNSS信号的原始观测量和三频GNSS信号的原始观测量。若三频GNSS信号的原始观测量的时间在预设时间范围内，则网络设备根据三频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差；或者，若三频GNSS信号的原始观测量的时间不在预设时间范围内、且双频GNSS信号的原始观测量的时间在预设时间范围内，则网络设备根据双频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差。
该设计中，当网络设备同时获取到双频GNSS信号的原始观测量和三频GNSS信号，可以考虑优先使用三频GNSS信号的原始观测量确定虚拟参考站的电离层误差，可以进一步提高电离层误差估计的准确性。
一种可能的设计中，待定位设备为移动设备。
该设计中，待定位设备自身可以作为移动设备上报第一原始观测量，使得网络设备可以基于待定位设备的原始观测量构建虚拟参考站，可以进一步提高电离层误差的估计精度。
一种可能的设计中，虚拟参考站与移动设备的距离小于预设距离。其中，预设距离可以根据RTK算法获得收敛解的最大距离设置，例如为10km。
该设计可以保证用于电离层误差估计的第一原始观测量是虚拟参考站附近的原始观测量，提高虚拟参考站的电离层误差的精准性。
一种可能的设计中，网络设备还可以获取移动设备的位置信息；网络设备根据移动设备的位置信息确定虚拟参考站与移动设备的距离小于预设距离。
该设计中，不需要移动设备提供高的精度的位置信息，只需要提供大概的位置信息即可，方案容易实施。
一种可能的设计中，移动设备的位置信息的精度级别为米级。
一种可能的设计中，虚拟参考站的位置根据基准站的位置确定。例如，每相邻的几个(如三个)基准站可以确定一个虚拟参考站的位置。
该设计可以提高虚拟参考站的数据构建的可靠性。
一种可能的设计中，第一原始观测量包括伪距、载波相位、接收频率中的一项或多项。可以理解的，发射频率是针对接收机而言的，站在发射机(如卫星)角度，也可以称之为发射频率。
当然，以上几种仅为举例而非具体限制。
一种可能的设计中，移动设备为车辆、无人机、直升机、飞机、轮船中的一种或多种。
当然，以上仅为举例而非限定，实际应用中，移动设备还可以是其它具有卫星定位能力的可移动的设备。
第二方面，提供一种定位方法，该方法可以应用于移动设备或移动设备中的芯片，以方法应用于移动设备为例，方法包括：移动设备接收卫星信号，根据卫星信号确定第一原始观测量；移动设备向网络设备发送第一原始观测量，第一原始观测量用于确定虚拟参考 站的电离层误差。
一种可能的设计中，移动设备是待定位设备(即待定位设备将自身的第一原始观测量发送给网络设备的情况下)，则移动设备还可以接收来自网络设备的定位辅助信息，根据定位辅助信息进行移动设备的定位。
一种可能的设计中，第一原始观测量包括伪距、载波相位、接收频率中的一项或多项。
一种可能的设计中，移动设备为车辆、无人机、直升机、飞机、轮船中的一种或多种。
第三方面，提供一种定位装置，该装置包括用于实现第一方面或第一方面任一种可能的设计中所述的方法的模块/单元/技术手段。
示例性的，该装置可以包括：
收发模块，用于获取第一原始观测量和第二原始观测量，第一原始观测量来自移动设备，第二原始观测量来自基准站；
处理模块，用于根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息；
收发模块，还用于向待定位设备发送定位辅助信息。
一种可能的设计中，处理模块用于：根据第二原始观测量、基准站的位置，构建电离层误差模型；根据第一原始观测量、电离层误差模型确定虚拟参考站的电离层误差；或者，根据第一原始观测量、第二原始观测量、基准站的位置，构建电离层误差模型；根据电离层误差模型确定虚拟参考站的电离层误差。
一种可能的设计中，电离层误差模型的构建还根据来自基准站的星历信息。
一种可能的设计中，第一原始观测量包括双频GNSS信号的原始观测量和三频GNSS信号的原始观测量；处理模块用于：若三频GNSS信号的原始观测量的时间在预设时间范围内，则根据三频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差；或者，若三频GNSS信号的原始观测量的时间不在预设时间范围内、且双频GNSS信号的原始观测量的时间在预设时间范围内，则根据双频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差。
一种可能的设计中，收发模块还用于：获取移动设备的位置信息；处理模块还用于：根据移动设备的位置信息确定虚拟参考站与移动设备的距离小于预设距离。
第四方面，提供一种定位装置，该装置包括用于实现第二方面或第二方面任一种可能的设计中所述的方法的模块/单元/技术手段。
示例性的，该装置可以包括：
收发模块，用于接收卫星信号，根据卫星信号确定第一原始观测量；
收发模块，还用于向网络设备发送第一原始观测量，第一原始观测量用于确定虚拟参考站的电离层误差。
一种可能的设计中，收发模块还用于：接收来自网络设备的定位辅助信息；装置还包括处理模块，用于根据定位辅助信息进行移动设备的定位。
第五方面，提供一种定位装置，包括：至少一个处理器和接口电路；接口电路用于接收来自装置之外的其它装置的信号并传输至处理器或将来自处理器的信号发送给装置之外的其它装置，处理器通过逻辑电路或执行代码指令用于实现如第一方面或第一方面任一种可能的设计或第二方面或第二方面任一种可能的设计中所述的方法。
第六方面，提供一种计算机可读存储介质，可读存储介质用于存储指令，当指令被执 行时，使如第一方面或第一方面任一种可能的设计或第二方面或第二方面任一种可能的设计中所述的方法被实现。
第七方面，提供一种计算机程序产品，计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如第一方面或第一方面任一种可能的设计或第二方面或第二方面任一种可能的设计中所述的方法。
第八方面，提供一种定位系统，包括：移动设备，用于向网络设备发送第一原始观测量；基准站，用于向网络设备发送第二原始观测量；网络设备，用于根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息；向待定位设备发送定位辅助信息。
上述第二方面至第八方面的有益效果，具体请参照上述第一方面中相应设计可以达到的技术效果，这里不再重复赘述。
附图说明
图1为本申请实施例提供一种定位场景示意图；
图2为网络RTK的示意图；
图3A、图3B为本申请实施例提供的两种定位系统的示意图；
图4为本申请实施例提供的一种定位方法的示意图；
图5A、图5B是两种可能的移动设备上报原始观测量的示意图；
图6A、图6B为两种确定虚拟参考站的电离层误差的示意图；
图7为车辆进行定位计算的示意图；
图8为本申请实施例提供的一种定位装置的结构示意图；
图9为本申请实施例提供的另一种定位装置的结构示意图。
具体实施方式
本申请实施例提供的技术方案可以应用于任何基于卫星信号进行定位的场景。
示例性的，参见图1，为本申请实施例提供一种定位场景示意图，该场景具体可以是自动驾驶(Automated Driving，AD)、辅助驾驶或人工驾驶的场景。在该场景中，车辆在可以接收来自卫星的卫星信号，并基于卫星信号进行定位。
需要说明的是，图1所示的场景仅为一种示例，除了车辆之外，本申请实施例提供的技术方案还可以应用于其它任何具有卫星定位能力的终端设备。例如，终端设备可以是具有卫星定位能力的智能设备，包括但不限于：智能家居设备，诸如电视、扫地机器人、视频监控等；智能运输设备，诸如汽车、轮船、无人机、火车、货车、卡车等；智能制造设备，诸如机器人、工业设备、智能物流、智能工厂等。或者，终端设备也可以是具有卫星定位能力的便携式电子设备，诸如手机、平板电脑、掌上电脑、耳机、音响、穿戴设备(如智能手表)、车载设备、虚拟现实设备、增强现实设备等。
可以理解的，卫星运行在距离地面2万公里左右的高空，卫星信号从卫星传输到地面的过程中，需要依次经过电离层(距离地面数千公里)、对流层(距离地面60公里)等。卫星信号在经过电离层时，电离层会对卫星信号的传播产生干扰，到达地面的卫星信号中存在电离层误差。其中，电离层误差可以用电离层电子总含量(onospheric total electron  content，TEC)表示，当然实际应用中电离层误差还可以有其它表示，本申请不做限制。
电离层的干扰与卫星信号频率相关，基于双频信号(例如L1、L2，或者L1、L5等)可以构建电离层误差模型，进而最大限度去除这部分干扰因素，对定位精度的提升非常显著。当受太阳影响，电离层非常活跃时，基于双频信号构建的电离层误差模型无法消除高阶残差，从而导致较大的定位误差，这种情况下，可以采用三频信号(例如L1、L2、L5)构建更复杂模型消除高阶影响。
示例性的，以下提供一种双频电离层误差TEC的计算方法：
设双频信号的伪距分别为ρ1、ρ2，接收机的接收频率(或者说卫星的发射频率)分别为f1、f2,则有：
Figure PCTCN2022116274-appb-000001
示例性的，以下提供一种三频电离层误差TEC的计算方法：
对三频信号中两两信号的载波相位做差，得到三个差分相位分别为：ΔP 12、ΔP 13、ΔP 23，卫星发射频率基频为f 0，光速为c，则有：
Figure PCTCN2022116274-appb-000002
Figure PCTCN2022116274-appb-000003
Figure PCTCN2022116274-appb-000004
推出：
Figure PCTCN2022116274-appb-000005
其中n 1＝3；n 2＝8；f 0＝16.668MHz；mode1为对1取模，代入上式得：
Figure PCTCN2022116274-appb-000006
其中，K为三频相位积分常数，
Figure PCTCN2022116274-appb-000007
是差分多普勒相位数据的相对值，由接收机给出。
根据以上两个示例可知：伪距、载波相位、接收频率等信息对于电离层误差估算具有重要价值。因此，在实际应用中，可以将伪距、载波相位、接收频率等信息作为定位辅助信息用于定位计算。
为了消除电离层误差，引入了网络RTK，网络RTK也称基准站RTK，是在常规RTK和全球导航卫星系统(Global Navigation Satellite System，GNSS)的基础上建立起来的一种新技术。通常把在一个区域内建立多个(一般为三个或三个以上)的基准站，对该区域构成网状覆盖，并以这些基准站中的一个或多个为基准计算和播发定位辅助信息(如伪距、载波相位、接收频率等信息)，从而对该地区内的用户的定位信息进行实时改正的定位方式称为网络RTK，又称为多基准站RTK。
参见图2，为网络RTK的示意图。网络设备(例如定位服务商的云服务平台，或者称为数据处理中心)可以获取一个或多个基准站的原始观测量，然后基于这些原始观测量确定电离层误差，并基于电离层误差确定定位辅助信息，然后将定位辅助信息通过路侧单元(road side unit，RSU)下发给待定位设备(如车辆)使用。车辆在进行高精定位时，可以结 合定位辅助信息、以及自身通过GNSS模组获取到的原始观测量及导航电文等，通过动态实时差(Real Time Kinematic，RTK)、导航推算(Dead reckoning，DR)等算法计算自身的位置信息。
然而，在实际应用中，可供车辆使用定位辅助信息的基准站有距离要求(例如要求基准站和车辆的距离小于10km)，这对基准站建设的数量要求极高，在很多地区都无法实现这一要求；另一方面，基准站的实际位置属于保密信息，服务商无法对待定位设备外发。
为了应对这些问题，引入了虚拟参考站(virtual reference stations，VRS)技术。VRS技术是网络RTK的一种，其基本原理是：在一定区域内架设一定数量的基准站，基准站接收卫星信号并将获得的原始观测量传送至网络设备，网络设备会根据几个基准站(例如相邻的三个基准站)在这些基准站的附近“虚拟”出一个参考站，即虚拟参考站。虚拟参考站和基准站一样，具备确定的位置信息和对应的原始观测量，不同的是，虚拟参考站的位置是根据基准站的位置确定的，虚拟参考站的原始观测量是根据基准站的原始观测量模拟计算出来的。虚拟参考站的原始观测量可以和基准站的原始观测量一样，可以作为定位辅助信息播发给待定位设备使用。
可以理解的是，网络设备在计算虚拟参考站的原始观测量时，同样需要考虑电离层误差对虚拟参考站的原始观测量的影响，因此需要估算虚拟参考站的电离层误差。
上述VRS技术，主要基于基准站的原始观测量估算虚拟参考站的电离层误差，存在电离层误差估算的稳定性差的问题，其原因如下：1、虚拟参考站的数据构建较复杂，非实际观测数据无法实现精准预估，而实际应用中，实际部署的基准站数量少，导致实际观测数据少，进而导致电离层误差估计精度差；2、基准站的数据动态性差，当受太阳影响电离层非常活跃时，通过虚拟参考站获得的电离层误差精度进一步降低。
为解决上述技术方案，提供本申请实施例技术方案。
参见图3A，为本申请实施例提供的一种定位系统的示意图，该系统包括卫星、基准站、网络设备、RSU、移动设备、以及待定位设备。
其中，卫星例如包括但不限于是GPS卫星、北斗卫星等，可以发送GNSS卫星信号。
移动设备可以接收卫星信号并获得相应的原始观测量，如后文中的第一原始观测量；还可以将自身获得的第一原始观测量提供给网络设备。其中移动设备的数量可以是一个或多个，本申请不做限制。
基准站可以接收卫星信号并获得相应的原始观测量，如后文中的第二原始观测量；还可以将自身获得的第二原始观测量提供给网络设备。基准站的数量可以是一个或多个，本申请不做限制。
待定位设备可以接收卫星信号并获得相应的原始观测量，如第三原始观测量(可以理解的，当上述移动设备是待定位设备时，第三原始观测量也称第一原始观测量)。待定位设备可以基于自身获得的原始观测量以及网络设备下发的定位辅助信息进行定位计算。
可以理解的，本文中的原始观测量也可以称为原始观测数据，原始观测量是接收机(如基准站、或移动设备等)针对全球卫星导航系统(例如GPS)中的某些卫星进行观测得到的观测数据，具体可以由接收机的GNSS芯片(或者说GNSS板卡)对卫星信号进行处理得到。
在本文中，原始观测量中的数据类型包括但不限于伪距、载波相位、接收频率等。
其中，伪距，是指接收机到卫星之间的大概距离。以基准站的伪距为例，假设基准站 的时钟和卫星的时钟严格保持同步，根据卫星发射卫星信号的时间与基准站接收到卫星信号的时间就可以得到卫星信号的传播时间，再乘以传播速度就可以得到卫星与基准站之间的距离。然而基准站的时钟和卫星的时钟不可避免的存在钟差，且卫星信号在传播过程中还要受到大气折射等因素的影响，所以通过这种方法直接测得的距离并不等于卫星到基准站的真正距离，于是把这种距离称之为伪距。
载波相位，是指接收机接收到的来自于卫星的卫星信号与接收机的本振参考信号的相位差。
接收频率，是指接收机接收到卫星信号的频率。例如，卫星发射的卫星信号可以包括3个载波频段，分别为：L1载波频段、L2载波频段和L5载波频段。其中，L1载波频段的频率f1为1575.42MHz，L2载波频段的频率f2为1227.6MHz，L5载波频段的频率f5为1176.45MHz。可以理解的，如果是站在卫星角度，则接收频率可以替换为发射频率。
需要说明的是，不同设备获取到的原始观测量中包含的数据类型可以相同，也可以不同，本申请不做限制。另外，针对同一数据类型，不同设备获取到的具体观测值可能相同，也可能不同，具体观测值取决于设备的位置以及设备GNSS芯片的处理能力。例如，第一原始远测量中的伪距的值可以和第二原始观测量中的伪距的值不同。
网络设备可以是网络RTK的数据处理中心，具体例如是定位服务商的云服务平台。网络设备可以基于基准站、移动设备等提供的原始观测量构建确定至少一个虚拟参考站的定位辅助信息，通过RSU将至少一个虚拟参考站的定位辅助信息发送给待定位设备。网络设备构建虚拟参考站并确定虚拟参考站的定位辅助信息的具体方案将在后文详细介绍。
RSU可以是能够与待定位设备、网络设备通信的任何设备，例如基站、用户设备等等。本申请实施例不做具体限定。RSU可以接收网络设备下发的定位辅助信息并转发给待定为设备。此外，RSU还可以作为其他设备发送信号的中转站，例如，基准站可以通过RSU发送第二原始观测量给网络设备，本申请不做限制。
一种可能的设计中，待定位设备可以为移动设备，换而言之，待定位设备可以将自身获得的原始观测量提供给网络设备使用。
例如，参见图3B，为本申请实施例提供的另一种定位系统的示意图，该系统中，待定位设备(移动设备)可以将自身获得的第一原始观测量提供给网络设备。
可以理解的，实际应用中，移动设备和待定位设备为不同设备时，移动设备和待定位设备中，可以只有移动设备或待定位设备提供原始观测量给网络设备，移动设备和待定位设备也可以同时提供原始观测量给网络设备，本申请不做限制。
可以理解的，图3A、图3B所示的设备仅为示例，实际应用中该系统中还可以包括其他设备，例如还可以包括用于提供导航地图等应用的网络设备。
参见图4，为本申请实施例提供的一种定位方法的示意图，该方法可以应用于图3A或图3B所示的系统，方法包括：
S401、移动设备发送第一原始观测量，相应的，网络设备接收第一原始观测量。
具体的，移动设备可以接收卫星信号，并基于卫星信号获得第一原始观测量。
其中，移动设备可以是任何具有卫星定位能力的可以移动的设备，例如包括但不限于是：智能家居设备，诸如电视、扫地机器人、视频监控等；智能运输设备，诸如汽车、轮船、无人机、火车、货车、卡车等；智能制造设备，诸如机器人、工业设备、智能物流、智能工厂等。或者，终端设备也可以是具有卫星定位能力的便携式电子设备，诸如手机、 平板电脑、掌上电脑、耳机、音响、穿戴设备(如智能手表)、车载设备、虚拟现实设备、增强现实设备等。
一种可能的设计中，移动设备为待定位设备，例如图3B所示的场景。可选的，移动设备(即待定位设备)可以在需要进行定位计算时，向网络设备发送第一原始观测量，如此可以保证网络设备处的第一原始观测量具有良好的实时性，同时可以避免移动设备频繁发送原始观测量导致功耗浪费的问题。
一种可能的设计中，移动设备与待定位设备不同，例如图3A所示的场景。在这种场景下，移动设备的数量可以是一个，也可以是多个。可选的，各个移动设备可以按照设定的时间间隔周期性地向网络设备发送第一原始观测量，以保证网络设备处的第一原始观测量具有良好的实时性，有助于提高后续电离层误差估计的精准性。
当然，移动设备与待定位设备不同时，待定位设备也可以向网络设备发送原始观测量，本申请不做限制。
在本申请实施例中，第一原始观测量中包含的数据类型包括但不限于第一伪距、第一载波相位、第一接收频率中的一项或多项，本申请不做限制。
一种可能的设计中，移动设备(或者待定位设备)还接收第一指示信息。如果该指示信息指示该移动设备(或者待定位设备)的用户(例如车主)将第一原始观测量提供给网络设备使用，则移动设备向网络设备发送第一原始观测量；如果该第一指示信息指示用户不同意将第一原始观测量提供给网络设备使用，则移动设备则不会发送第一原始观测量。
如此，可以提高用户数据的隐私性，可以提高用户体验。
另一种可能的设计中，移动设备(或者待定位设备)在向网络设备发送第一原始观测量之前，如果移动设备收到了第二指示信息，则确认用户同意将第一原始观测量提供给网络设备使用，移动设备向网络设备发送第一原始观测量；如果未收到第二指示信息，则确认用户不同意将第一原始观测量提供给网络设备使用，移动设备则不会发送第一原始观测量。
如此，可以保证用户数据的隐私性，提高用户体验。
S402、基准站发送第二原始观测量，相应的，网络设备接收第二原始观测量。
具体的，基准站可以接收卫星信号，对卫星信号进行处理后获得第二原始观测量。第二原始观测量中包含的数据类型包括但不限于第二伪距、第二载波相位、第二接收频率中的一项或多项，本申请不做限制。
应理解，第一原始观测量中包含的数据类型和第二原始观测量中包含的数据类型可以相同(例如第一原始观测量包含第一伪距、第一载波相位、第一接收频率，第二原始观测量包含第二伪距、第二载波相位、第二接收频率)，也可以不同(例如第一原始观测量包含第一载波相位、第一接收频率，第二原始观测量包含第二载波相位、第二接收频率)，本申请不做限制。
一种可能的设计中，各个基准站可以按照设定的时间间隔周期性地向网络设备发送第二原始观测量。如此，可以保证网络设备处的第二原始观测量具有良好的实时性，有助于提高后续电离层误差估计的精准性。
在本申请实施例中，网络设备已知各个基准站精确的位置信息(例如精度级别为厘米级别)，或者，各个基准站可以在上网络设备上报其原始观测量时，一并上报自身精确的位置信息。
需要说明的是，在本申请实施例中，步骤S401和步骤S402可以不区分先后顺序。
S403、网络设备根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息。
在本申请实施例中，虚拟参考站与移动设备的距离小于预设距离。其中，预设距离可以根据RTK算法获得收敛解的最大距离设置，例如为10km，本申请做具体限制。
本申请实施例中，虚拟参考站的具体位置可以根据基准站的位置确定。例如，在具体应用时，在一个区域内建设多个基准站，其中每相邻的几个(如三个)基准站可以构建一个虚拟参考站。例如，在RTK网络中，每相邻三个基准站可以构成一个RTK网格，基于每个RTK网格中的基准站的数据，可以在该网格中的任意位置处构一个建虚拟参考站。具体构建方法例如：基于每个RTK网格中的基准站的位置确定该RTK网格中虚拟参考站的位置，基于每个RTK网格中的基准站的原始观测量模拟计算该RTK网格中虚拟参考站的原始观测量。
因此，网络设备可以根据移动设备的位置信息，在移动设备附近预设范围内选择至少三个基准站，然后根据这至少三个基准站的位置确定供待定位设备使用的虚拟参考站(即S403中所述的虚拟参考站)的位置。
在具体实现时，移动设备在向网络设备发送第一原始观测量时，可以一并向网络设备上报自身的位置信息。例如，移动设备与待定位设备不同时，移动设备可以按照设定的时间间隔，周期性地向网络设备上报自身的位置信息和第一原始观测量。例如，移动设备为待定位设备时，待定位设备在需要进行定位时，向网络设备上报自身的位置信息和第一原始观测量。如此，可以保证网络设备处获取到的移动设备的位置信息和第一原始观测量具有良好的实时性，有助于提高后续电离层误差估计的精准性。
需要说明的是，这里移动设备的位置信息可以是一个大概的或者说粗略的位置信息，例如该移动设备的位置信息的精度级别为米级。进而网络设备可以根据移动设备的位置信息确定虚拟参考站的位置。可选的，移动设备可以基于单点定位或其它方式确定自身的大概位置信息。可以理解的，即便上述位置信息是一个大概或者粗略的位置信息，为阐述方便，本文仍称为“移动设备的位置信息”。
在实际应用中，网络设备可以接收多个移动设备上报的位置信息和原始观测量，各个移动设备可以按照设定的时间间隔周期性的上报位置信息和原始观测量，网络设备可以依据每个移动设备的位置信息判断该移动设备的位置信息和虚拟参考站的距离，丢弃与虚拟参考站距离不小于预设距离的移动设备的原始观测量，只使用和虚拟参考站的距离在预设距离范围之内的移动设备的原始观测量。
如此，有助于提高电离层误差估计的精准性。
在本申请实施例中，当待定位设备与移动设备为相同设备时，网络设备使用待定位设备上报的原始观测量和第二原始观测量确定虚拟参考站的电离层误差。
当待定位设备与移动设备不同时，一种情况下，网络设备只收到移动设备上报的原始观测量，则网络设备使用移动设备上报的原始观测量和第二原始观测量确定虚拟参考站的电离层误差，即第一原始观测量是移动设备上报。又一种情况下，网络设备只收到待定位设备上报的原始观测量，则网络设备使用待定位设备上报的原始观测量和第二原始观测量确定虚拟参考站的电离层误差，即第一原始观测量是待定位设备上报。再一种情况下，网络设备既收到待定位设备上报的原始观测量，又收到移动设备上报的原始观测量，则网络 设备可以选择其中一个设备上报的原始观测量用于确定虚拟参考站的电离层误差，即第一原始观测量由网络设备从待定位设备上报的原始观测量和移动设备上报的原始观测量中选择。
可选的，网络设备收到待定位设备上报的原始观测量和移动设备上报的原始观测量时，网络设备选择待定位设备上报的原始观测量用于确定虚拟参考站的电离层误差。如此，可以进一步提高电离层误差估计的精准性。
进一步的，在实际应用中，移动设备中设置有GNSS芯片，用以将卫星信号处理为原始观测量。其中，GNSS芯片有单频、双频、三频等多种类型，而用于电离层误差估计的，一般为双频以上的GNSS信号的原始观测量。因此，本申请实施例中，网络设备收到的第一原始观测量可以包括双频GNSS信号的原始观测量和/或三频GNSS信号的原始观测量。
一种可能的设计中，如果网络设备仅获取到双频GNSS信号的原始观测量，则使用双频GNSS信号的原始观测量确定虚拟参考站的电离层误差；如果网络设备可以获取到双频GNSS信号的原始观测量和三频GNSS信号，则可以考虑优先使用三频GNSS信号的原始观测量确定虚拟参考站的电离层误差。例如，若三频GNSS信号的原始观测量的时间在预设时间范围内，则网络设备根据三频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差；或者，若三频GNSS信号的原始观测量的时间不在预设时间范围内、且双频GNSS信号的原始观测量的时间在预设时间范围内，则网络设备根据双频GNSS信号的原始观测量和第二原始观测量确定虚拟参考站的电离层误差。其中，该预设时间范围可以根据需求进行设定，本申请不做限制。
参见图5A，是以支持三频GNSS芯片的移动设备(简称三频移动设备)可以上报原始观测量为例：
S501A、至少一个三频移动设备中的各个设备按照设定的时间间隔，周期性的输出自身三频GNSS信号的原始观测量；
S502A、至少一个移动设备向网络设备发送数据包(例如通过蜂窝通信技术)，数据包中携带三频GNSS信号的原始观测量和大致的位置信息；相应的，网络设备接收至少一个移动设备发送的数据包；
S503A、假设网络设备当前收到的最新数据包是第N个数据包，网络设备判断第N个数据包对应的三频移动设备和虚拟参考站的距离是否小于预设距离；
如果是，则执行S504A，否则，执行S505A；
S504A、根据第N个数据包中的原始观测量计算虚拟参考站的电离层误差，在得到虚拟参考站的电离层误差后，结束本次电离层误差计算流程；
S505A、丢弃第N个数据包中的原始观测量，返回S503A，以获取第N+1个数据包，重复S503A和其之后的流程，直至得到虚拟参考站的电离层误差后，结束本次电离层误差计算流程。
可以理解的，上述S501A～S502A可以是按照设定的时间间隔，周期性重复执行的。上述S503A及其之后的步骤(S504A或S505A)，可以是网络设备在需要计算虚拟参考站电离层误差时才执行。
参见图5B，是以支持双频GNSS芯片的移动设备和三频GNSS芯片的移动设备均可以上报原始观测量为例：
S501B、多个移动设备(其中包括三频移动设备和双频移动设备)中的各个设备按照 设定的时间间隔，周期性的输出自身的GNSS信号的原始观测量；
S502B、各个移动设备向网络设备发送数据包(例如通过蜂窝通信技术发送)，数据包中携带原始观测量和大致的位置信息；相应的，网络设备接收数据包；
S503B、假设网络设备当前收到第N个数据包，且假设第N个数据包中携带的是双频GNSS信号的原始观测量；网络设备判断第N个数据包对应的移动设备和虚拟参考站的距离是否小于预设距离；如果是，则执行S504B，否则，执行S507B；
S504B、判断预设时间范围内是否接收到三频GNSS信号的原始观测量；若为是，则执行S505B，否则执行S506B；
S505B、丢弃第N个数据包，根据预设时间范围内接收到的三频GNSS信号的原始观测量计算虚拟参考站的电离层误差，在得到虚拟参考站的电离层误差后，结束本次电离层误差计算流程；
S506B、根据该第N个数据包中的原始观测量(即双频GNSS信号的原始观测量)计算电离层误差，在得到虚拟参考站的电离层误差后，结束本次电离层误差计算流程；
S507B、丢弃第N个数据包，回到S503B，获取第N+1个数据包，重复S503B和其之后的流程，直至得到虚拟参考站的电离层误差后，结束本次电离层误差计算流程。
可以理解的，上述S501B～S502B可以是按照设定的时间间隔，周期性重复执行的。上述S503B及其之后的步骤，可以是网络设备在需要计算虚拟参考站电离层误差时才执行。
如此，有助于进一步提高电离层误差估计的精准性。
一种可能的设计中，移动设备还接收第三指示信息，如果第三指示信息指示移动设备的用户(例如车主)同意将自身的位置信息提供给网络设备使用，则移动设备上报自身的位置信息；如果第三指示信息指示移动设备的用户(例如车主)不同意将自身的位置信息提供给网络设备使用，则移动设备不上报自身的位置信息。
另一种可能的设计中，如果移动设备接收到第四指示信息，则确认移动设备的用户(例如车主)同意将自身的位置信息提供给网络设备使用，移动设备上报自身的位置信息；如果移动设备没有接收到第四指示信息，则确认移动设备的用户(例如车主)不同意将自身的位置信息提供给网络设备使用，则移动设备不上报自身的位置信息。
如此，可以提高用户数据的隐私性，可以提高用户体验。
一种可能的设计中，网络设备根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，可以通过构建电离层误差模型实现。
其中，电离层误差模型包含了一定区域内多个位置点的位置信息，以及多个位置点中各个位置点的电离层误差，网络设备可以根据该模型确定出该区域内任意一个位置点处的电离层误差。
一个具体的示例中，第一原始观测量用于网络设备构建虚拟参考站的电离层误差。如图6A所示，以待定位设备为移动设备为例：网络设备先基于至少三个基准站(图6A中以基准站1、2、3为例，实际不限于此)的原始观测量(即第二原始观测量)、该至少三个基准站的位置信息等构建电离层误差模型，该电离层误差模型的输入为位置信息，输出为对应位置处的电离层误差；在收到待定位设备原始观测量和待定位设备的位置信息(例如米级精度的位置信息)后，网络设备可以基于待定位设备原始观测量修正电离层误差模型，基于修正后的电离层误差模型和待定位设备的位置信息确定虚拟参考站的电离层误差，或者，网络设备直接基于待定位设备的原始换测量构建虚拟参考站的电离层误差。
可以理解的，基准站的位置信息的精度高于待定位设备的位置信息的精度。例如，待定位设备的位置信息的精度级别为米级别，基准站的位置信息的精度级别为厘米级别。
另一个具体的示例中，第一原始观测量用于网络设备构建电离层误差模型。如图6B所示，以待定位设备为移动设备为例：网络设备先基于至少三个基准站(图6B中以基准站1、2、3为例，实际不限于此)的原始观测量(即第二原始观测量)、该至少三个基准站的精准位置信息，以及至少一个移动设备的原始观测量(即第一原始观测量)和该至少一个移动设备的位置信息(例如米级精度的位置信息)，构建电离层误差模型，该电离层误差模型的输入为位置信息，输出为对应位置处的电离层误差；然后，再基于该电离层误差模型、待定位设备的位置信息确定虚拟参考站的电离层误差。
一种可能的设计中，除了第一原始观测量和第二原始观测量之外，网络设备还可以结合星历信息确定虚拟参考站的电离层误差，其中星历信息可以来自基准站。例如，在图6A或图6B所示的示例中，基准站还可以提供星历信息给网络设备，用于网络设备构建电离层误差模型。
如此，可以进一步提高虚拟参考站的电离层误差的准确性。
网络设备确定出虚拟参考站的电离层误差之后，就可以基于电离层误差确定定位辅助信息。
在本申请实施例中，定位辅助信息可以理解为虚拟参考站的相关信息，例如包括但不限于虚拟参考站的原始观测量。其中，虚拟参考站的原始观测量包括虚拟参考站的伪距和/或虚拟参考站的载波相位。
相应的，网络设备基于电离层误差确定定位辅助信息，可以包括：网络设备基于电离层误差对虚拟参考站的原始观测量进行校正，使得网络设备将校正后的原始观测量作为定位辅助信息下发给待定位设备使用，进而提高定位的准确性。
可选的，虚拟参考站的原始观测量中除了虚拟参考站的伪距和/或虚拟参考站的载波相位之外，还可以包括虚拟参考站的其它信息，例如虚拟参考站的接收频率。可以理解的，虚拟参考站的接收频率可以根据基准站的接收频率得到。
可选的，定位辅助信息中除了虚拟参考站的原始观测量之外，还可以包括虚拟参考站的星历信息、虚拟参考站的位置等其它信息，只要是能够为待定位设备做定位提供辅助作用的虚拟参考站的信息，则均可以包含在该定位辅助信息中。
可选的，基准站还可以提供对流层误差等其它参考信息给网络设备，进而网络设备还可以基于对流层误差等信息确定定位辅助信息，有助于进一步提高定位准确性。图6A和图6B中以虚线表示参考信息是可选的。
S404、网络设备向待定位设备发送定位辅助信息；相应的，待定位设备接收来自网络设备的定位辅助信息。
示例性的，参考图3A和图3B所示，定位辅助信息可以通过一个或多个RSU传输给待定位设备。
S405、待定位设备根据定位辅助信息进行定位计算。
示例性的，参见图7，以待定位设备为移动设备且待定位设备具体是车辆为例，车辆中包括GNSS芯片、微控制单元(micro control unit，MCU)以及车载通讯终端(telematics box，T-BOX)。其中，车辆可以通过GNSS芯片接收卫星信号并处理卫星信号，得到第一原始观测量。车辆可以通过T-BOX将第一原始观测量发送出去，例如上传到网络设备；车辆还可 以通过T-BOX收到网络设备下发的定位辅助信息(即步骤S404中下发的虚拟参考站的定位辅助信息)。车辆的MCU可以结合第一原始观测量和定位辅助信息进行RTK计算，进而得到消除电离层误差影响的车辆的位置信息。
在上述方案中，除了基准站之外，移动设备可以将自身的原始观测量(即第一原始观测量)提供给网络设备使用，使得网络设备可以结合基准站的原始观测量和移动设备的原始观测量确定虚拟参考站的电离层误差。一方面，增加了网络设备构建虚拟参考站所用的原始观测量(且均为实际观测数据)，可以提高电离层误差估计的准确性；另一方面，由于移动设备具有移动性，所以网络设备构建虚拟参考站所使用的原始观测量也具有良好的动态性，可以进一步提高电离层误差的估计精度。另外，待定位设备自身可以作为移动设备上报第一原始观测量，可以进一步提高电离层误差的估计精度。
以上结合附图介绍了本申请实施例提供的方法，以下结合附图介绍本申请实施例提供的装置。
基于相同的技术构思，本申请实施例提供一种定位装置800，该定位装置800包括用于执行上述方法实施例中任意设备所执行的方法的模块/单元/手段。该模块/单元/手段可以通过软件实现，或者通过硬件实现，也可以通过硬件执行相应的软件实现。
示例性的，参见图8，定位装置800可以包括：收发模块801和处理模块802。
当定位装置800用于实现上述方法实施例中网络设备所执行的方法的模块/单元/手段时，收发模块801用于获取第一原始观测量和第二原始观测量，第一原始观测量来自移动设备，第二原始观测量来自基准站；处理模块802用于根据第一原始观测量和第二原始观测量确定虚拟参考站的电离层误差，根据电离层误差确定定位辅助信息；收发模块801，还用于向待定位设备发送定位辅助信息。
当定位装置800用于实现上述方法实施例中移动设备所执行的方法的模块/单元/手段时，收发模块801用于接收卫星信号，根据卫星信号确定第一原始观测量；收发模块801还用于向网络设备发送第一原始观测量，第一原始观测量用于确定虚拟参考站的电离层误差。
应理解，上述方法实施例涉及的各步骤的所有相关内容均可以援引到对应功能模块的功能描述，在此不再赘述。
基于相同的技术构思，参见图9，本申请实施例还提供一种定位装置900，该装置900包括至少一个处理器901和接口电路902；接口电路902用于接收来自该装置900之外的其它装置的信号并传输至处理器901或将来自处理器901的信号发送给该装置之外的其它装置，处理器901通过逻辑电路或执行代码指令用于实现上述方法实施例中任意设备所执行的方法。
应理解，本申请实施例中提及的处理器可以通过硬件实现也可以通过软件实现。当通过硬件实现时，该处理器可以是逻辑电路、集成电路等。当通过软件实现时，该处理器可以是一个通用处理器，通过读取存储器中存储的软件代码来实现。
示例性的，处理器可以是中央处理单元(Central Processing Unit，CPU)，还可以是其他通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
应理解，本申请实施例中提及的存储器可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Eate SDRAM，DDR SDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DR RAM)。
需要说明的是，当处理器为通用处理器、DSP、ASIC、FPGA或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件时，存储器(存储模块)可以集成在处理器中。
应注意，本文描述的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
基于相同技术构思，本申请实施例还提供一种计算机可读存储介质，包括程序或指令，当所述程序或指令在计算机上运行时，使得如上述方法实施例中任意设备所执行的方法被执行。
基于相同技术构思，本申请实施例还提供一种包含指令的计算机程序产品，该计算机程序产品中存储有指令，当其在计算机上运行时，使得如上述方法实施例中任意设备所执行的方法被执行。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的保护范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。
本申请中，“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A,B可以是单数或者复数。在本申请的文字描述中，字符“/”，一般表示前后关联对象是一种“或”的关系；在本申请的公式中，字符“/”，表示前后关联对象是一种“相除”的关系。“包括A，B和C中的至少一个”可以表示：包括A；包括B；包括C；包括A和B；包括A和C；包括B和C；包括A、B和C。

Claims (26)

  1. 一种定位方法，其特征在于，包括：
    获取第一原始观测量和第二原始观测量，所述第一原始观测量来自移动设备，所述第二原始观测量来自基准站；
    根据所述第一原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差，根据所述电离层误差确定定位辅助信息；
    向待定位设备发送所述定位辅助信息。
  2. 如权利要求1所述的方法，其特征在于，所述根据所述第一原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差，包括：
    根据所述第二原始观测量、所述基准站的位置，构建电离层误差模型；根据所述第一原始观测量、所述电离层误差模型确定所述虚拟参考站的电离层误差；或者，
    根据所述第一原始观测量、第二原始观测量、所述基准站的位置，构建电离层误差模型；根据所述电离层误差模型确定所述虚拟参考站的电离层误差。
  3. 如权利要求2所述的方法，其特征在于，所述电离层误差模型的构建还根据来自所述基准站的星历信息。
  4. 如权利要求1-3任一项所述的方法，其特征在于，所述第一原始观测量包括双频全球导航卫星系统GNSS信号的原始观测量和/或三频GNSS信号的原始观测量。
  5. 如权利要求4所述的方法，其特征在于，所述第一原始观测量包括所述双频GNSS信号的原始观测量和所述三频GNSS信号的原始观测量；
    所述根据所述第一原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差，包括：
    若所述三频GNSS信号的原始观测量的时间在预设时间范围内，则根据所述三频GNSS信号的原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差；或者，
    若所述三频GNSS信号的原始观测量的时间不在预设时间范围内、且所述双频GNSS信号的原始观测量的时间在所述预设时间范围内，则根据所述双频GNSS信号的原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差。
  6. 如权利要求1-5任一项所述的方法，其特征在于，所述待定位设备为所述移动设备。
  7. 如权利要求1-6任一项所述的方法，其特征在于，所述虚拟参考站与所述移动设备的距离小于预设距离。
  8. 如权利要求7所述的方法，其特征在于，所述方法还包括：
    获取所述移动设备的位置信息；
    根据所述移动设备的位置信息确定所述虚拟参考站与所述移动设备的距离小于所述预设距离。
  9. 如权利要求1-8任一项所述的方法，其特征在于，所述虚拟参考站的位置根据所述基准站的位置确定。
  10. 如权利要求1-9任一项所述的方法，其特征在于，所述第一原始观测量包括伪距、载波相位、接收频率中的一项或多项。
  11. 如权利要求1-10任一项所述的方法，其特征在于，所述移动设备为车辆、无人机、直升机、飞机、轮船中的一种或多种。
  12. 一种定位方法，其特征在于，包括：
    接收卫星信号，根据所述卫星信号确定第一原始观测量；
    向网络设备发送所述第一原始观测量，所述第一原始观测量用于确定虚拟参考站的电离层误差。
  13. 如权利要求12所述的方法，其特征在于，还包括：
    接收来自所述网络设备的定位辅助信息，根据所述定位辅助信息进行移动设备的定位。
  14. 如权利要求12或13所述的方法，其特征在于，所述第一原始观测量包括伪距、载波相位、接收频率中的一项或多项。
  15. 如权利要求1-14任一项所述的方法，其特征在于，所述移动设备为车辆、无人机、直升机、飞机、轮船中的一种或多种。
  16. 一种定位装置，其特征在于，包括：
    收发模块，用于获取第一原始观测量和第二原始观测量，所述第一原始观测量来自移动设备，所述第二原始观测量来自基准站；
    处理模块，用于根据所述第一原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差，根据所述电离层误差确定定位辅助信息；
    所述收发模块，还用于向待定位设备发送所述定位辅助信息。
  17. 如权利要求16所述的装置，其特征在于，所述处理模块用于：
    根据所述第二原始观测量、所述基准站的位置，构建电离层误差模型；根据所述第一原始观测量、所述电离层误差模型确定所述虚拟参考站的电离层误差；或者，
    根据所述第一原始观测量、第二原始观测量、所述基准站的位置，构建电离层误差模型；根据所述电离层误差模型确定所述虚拟参考站的电离层误差。
  18. 如权利要求16或17所述的装置，其特征在于，所述电离层误差模型的构建还根据来自所述基准站的星历信息。
  19. 如权利要求16-18任一项所述的装置，其特征在于，所述第一原始观测量包括双频GNSS信号的原始观测量和三频GNSS信号的原始观测量；所述处理模块用于：
    若所述三频GNSS信号的原始观测量的时间在预设时间范围内，则根据所述三频GNSS信号的原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差；或者，
    若所述三频GNSS信号的原始观测量的时间不在预设时间范围内、且所述双频GNSS信号的原始观测量的时间在所述预设时间范围内，则根据所述双频GNSS信号的原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差。
  20. 如权利要求16-19任一项所述的装置，其特征在于，所述收发模块还用于：获取所述移动设备的位置信息；
    所述处理模块还用于：根据所述移动设备的位置信息确定所述虚拟参考站与所述移动设备的距离小于所述预设距离。
  21. 一种定位装置，其特征在于，包括：
    收发模块，用于接收卫星信号，根据所述卫星信号确定第一原始观测量；
    所述收发模块，还用于向网络设备发送所述第一原始观测量，所述第一原始观测量用于确定虚拟参考站的电离层误差。
  22. 如权利要求21所述的装置，其特征在于，所述收发模块还用于：接收来自所述网络设备的定位辅助信息；
    所述装置还包括处理模块，用于根据所述定位辅助信息进行移动设备的定位。
  23. 一种定位装置，其特征在于，包括：至少一个处理器和接口电路；
    所述接口电路用于接收来自所述装置之外的其它装置的信号并传输至所述处理器或将来自所述处理器的信号发送给所述装置之外的其它装置，所述处理器通过逻辑电路或执行代码指令用于实现如权利要求1-11中任一项所述的方法或者如权利要求12-15中任一项所述的方法。
  24. 一种计算机可读存储介质，其特征在于，所述可读存储介质用于存储指令，当所述指令被执行时，使如权利要求1-11中任一项所述的方法或者如权利要求12-15中任一项所述的方法被实现。
  25. 一种计算机程序产品，其特征在于，所述计算机程序产品中存储有指令，当其在计算机上运行时，使得计算机执行如权利要求1-11中任一项所述的方法或者如权利要求12-15中任一项所述的方法。
  26. 一种定位系统，其特征在于，包括：
    移动设备，用于向网络设备发送第一原始观测量；
    基准站，用于向所述网络设备发送第二原始观测量；
    所述网络设备，用于根据所述第一原始观测量和所述第二原始观测量确定虚拟参考站的电离层误差，根据所述电离层误差确定定位辅助信息；向待定位设备发送所述定位辅助信息。
PCT/CN2022/116274 2022-08-31 2022-08-31 一种定位方法和装置 Ceased WO2024045063A1 (zh)

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