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CN111781619B - Positioning method, device, equipment and storage medium based on near field communication network - Google Patents

Positioning method, device, equipment and storage medium based on near field communication network Download PDF

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Publication number
CN111781619B
CN111781619B CN202010823283.5A CN202010823283A CN111781619B CN 111781619 B CN111781619 B CN 111781619B CN 202010823283 A CN202010823283 A CN 202010823283A CN 111781619 B CN111781619 B CN 111781619B
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China
Prior art keywords
terminal
information
positioning
satellite
communication network
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CN202010823283.5A
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Chinese (zh)
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CN111781619A (en
Inventor
王金燕
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Shenzhen Huada Beidou Technology Co ltd
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Shenzhen Huada Beidou Technology Co ltd
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Priority to CN202010823283.5A priority Critical patent/CN111781619B/en
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • 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
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • 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
    • G01S19/13—Receivers
    • G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
    • 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
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/30—Acquisition or tracking or demodulation of signals transmitted by the system code related
    • 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
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application relates to a positioning method, a positioning device, computer equipment and a storage medium based on a near field communication network. The method comprises the following steps: accessing a near field communication network and acquiring differential correction information from the near field communication network; when communication connection is established with a satellite, receiving satellite information for positioning sent by the satellite; positioning based on the differential correction information and the satellite information to obtain first positioning precision; when the first precision is smaller than a first target precision, adjusting the satellite information according to positioning auxiliary information acquired from the near field communication network; repositioning based on the differential correction information and the adjusted satellite information. The method can improve the positioning accuracy of the terminal.

Description

Positioning method, device, equipment and storage medium based on near field communication network
Technical Field
The present application relates to the field of computer technologies, and in particular, to a positioning method and apparatus based on a near field communication network, a computer device, and a storage medium.
Background
With the development of computer technology, the internet of things technology appears, and in many application scenarios of the internet of things technology, accurate positioning of a terminal in the internet of things is required.
In the conventional technology, a satellite navigation positioning technology is utilized to position a terminal in the Internet of things. But in indoor, urban canyon and environments where multipath interference is large, satellite navigation positioning techniques have lower positioning accuracy.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a positioning method, apparatus, computer device, and storage medium based on a near field communication network, which can improve positioning accuracy.
A positioning method based on a near field communication network, the method comprising:
accessing a near field communication network and acquiring differential correction information from the near field communication network;
when communication connection is established with a satellite, receiving satellite information for positioning sent by the satellite;
positioning based on the differential correction information and the satellite information to obtain first positioning precision;
when the first precision is smaller than a first target precision, adjusting the satellite information according to positioning auxiliary information acquired from the near field communication network;
repositioning based on the differential correction information and the adjusted satellite information.
In one embodiment, the method further comprises:
When communication connection is not established with the satellite, acquiring the position information of at least one terminal from the near field communication network;
determining a distance to the at least one terminal;
and positioning based on the distance and the position information.
In one embodiment, the obtaining differential correction information from the near field communication network includes:
acquiring differential correction information from a first terminal in the near field communication network; the differential correction information is obtained from a base station by the first terminal or is obtained by the first terminal through calculation according to satellite information received from the satellite.
In one embodiment, said locating based on said differential correction information and said satellite information comprises:
calculating an observation value of a distance from the satellite based on the satellite information;
adjusting the observed value based on the differential correction information;
and positioning according to the adjusted observed value.
In one embodiment, the positioning assistance information is generated by a second terminal based on second satellite information received from the satellite and broadcast to the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second precision reaching a second target precision when positioning is performed.
In one embodiment, said locating based on said distance and said location information comprises:
determining a positional relationship with the at least one terminal based on the distance and the positional information;
and positioning according to the position relation.
In one embodiment, the method further comprises:
uploading the position coordinates obtained by positioning to a cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, an initial position and a target position;
receiving navigation information sent by a cloud server;
and displaying the position coordinates and the navigation information in a map of a user interface.
A positioning device based on a near field communication network, the device comprising:
the acquisition module is used for accessing a near field communication network and acquiring differential correction information from the near field communication network;
the receiving module is used for receiving satellite information for positioning sent by the satellite when communication connection is established with the satellite;
the positioning module is used for positioning based on the differential correction information and the satellite information to obtain first positioning precision;
the adjustment module is used for adjusting the satellite information according to the positioning auxiliary information acquired from the near field communication network when the first precision is smaller than a first target precision;
And the repositioning module is used for repositioning based on the differential correction information and the adjusted satellite information.
In one embodiment, the apparatus further comprises:
the acquisition module is further used for acquiring the position information of at least one terminal from the near field communication network when communication connection is not established with the satellite;
a determining module, configured to determine a distance between the terminal and the at least one terminal;
the positioning module is also used for positioning based on the distance and the position information.
In one embodiment, the acquiring module is further configured to:
acquiring differential correction information from a first terminal in the near field communication network; the differential correction information is obtained from a base station by the first terminal or is obtained by the first terminal through calculation according to satellite information received from the satellite.
In one embodiment, the positioning module is further configured to:
calculating an observation value of a distance from the satellite based on the satellite information;
adjusting the observed value based on the differential correction information;
and positioning according to the adjusted observed value.
In one embodiment, the positioning assistance information is generated by a second terminal based on second satellite information received from the satellite and broadcast to the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second precision reaching a second target precision when positioning is performed.
In one embodiment, the positioning module is further configured to:
determining a positional relationship with the at least one terminal based on the distance and the positional information;
and positioning according to the position relation.
In one embodiment, the apparatus further comprises:
the uploading module is used for uploading the position coordinates obtained by positioning to the cloud server according to a preset time interval so that the cloud server can generate navigation information according to the uploaded position coordinates, the initial position and the target position;
the receiving module is used for receiving the navigation information sent by the cloud server;
and the display module is used for displaying the position coordinates and the navigation information in a map of the user interface.
A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the positioning method based on a near field communication network.
A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor realizes the steps of the positioning method based on a near field communication network.
In the above embodiment, the terminal accesses the near field communication network during positioning, acquires the differential correction information from other terminals in the near field communication network, and performs positioning according to the differential correction information and the received satellite information, where the differential correction information can correct an error of positioning based on the satellite information only, thereby improving positioning accuracy. In addition, the satellite information can be adjusted according to the received positioning auxiliary information, so that the error of the satellite information is reduced, the positioning error can be reduced based on the adjusted satellite information, and the positioning accuracy is improved.
Drawings
FIG. 1 is an application environment diagram of a positioning method based on a near field communication network in one embodiment;
FIG. 2 is a flow chart of a positioning method based on a near field communication network in one embodiment;
fig. 3 is a flowchart of a positioning method based on a near field communication network according to another embodiment;
FIG. 4 is a block diagram of a positioning device based on a near field communication network in one embodiment;
FIG. 5 is a block diagram of a positioning device based on a near field communication network according to another embodiment;
fig. 6 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The positioning method based on the near field communication network can be applied to an application environment shown in fig. 1. The terminal 102 to be located accesses the near field communication network 106 and communicates with other terminals in the near field communication network, and obtains differential correction information and location assistance information from the other terminals in the near field communication network. After receiving the satellite information from the satellite 104, the terminal 102 performs positioning based on the differential correction information and the satellite information, and performs positioning again based on the positioning assistance information and the satellite information when the first positioning accuracy is smaller than the first target accuracy. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices, among others.
In one embodiment, as shown in fig. 2, a positioning method based on a near field communication network is provided, and the method is applied to the terminal 102 in fig. 1 for illustration, and includes the following steps:
S202, the terminal accesses the near field communication network and acquires differential correction information from the near field communication network.
The terminal refers to a home terminal device to be located (i.e. needs to be located) in the access short-range communication network. The near field communication network is a communication network composed of terminals transmitting information by radio waves and having a short transmission distance from each other. The distance between terminals in the near field communication network is short, and the transmission power consumption is small. The near field communication network may be a network supporting Mesh (wireless network Mesh) networking, for example, may be a bluetooth-based wireless communication network, or may be a Zigbee (Zigbee) -based wireless communication network, or may be a WiFi network.
The differential correction information is information for correcting an observed value calculated by the terminal from satellite information received from a satellite. The differential correction information may be pseudo-range differential correction information or carrier phase differential correction information or coordinate correction information, etc. The observations may be pseudorange observations, carrier phase observations, or coordinate observations, or the like.
Since satellite information received by a terminal from a satellite has errors such as an ionospheric error, a tropospheric error, and a multipath error, an observed value obtained directly from the received satellite information has a large error. The terminal obtaining the differential correction information from the near field communication network means that the terminal obtains the differential correction information from other terminals in the near field communication network after accessing the near field communication network.
S204, when the terminal establishes communication connection with the satellite, the terminal receives satellite information for positioning sent by the satellite.
The satellites are satellites in a global navigation satellite system, and are satellites in a GPS system when positioning is performed by using GPS (Global Positioning System ). And when the Beidou navigation system is utilized for positioning, the positioning is a satellite in the Beidou navigation system.
The satellite information is information extracted from the received satellite signal by the terminal. After receiving the satellite signal, the terminal separates the ranging code and data modulated on the carrier from the carrier of the satellite signal. The ranging code may be a C/a code or a P code. And the terminal decodes the data code to obtain the navigation message. The navigation message comprises a remote word, an interface word and a data word. The data words include user ranging accuracy, satellite ephemeris, clock correction parameters, etc.
S206, the terminal performs positioning based on the differential correction information and the satellite information, and the first positioning precision is obtained.
And the terminal calculates an observed value of the distance between the terminal and the satellite or an observed value of a carrier phase or an observed value of a position coordinate through a ranging code in the received satellite information, and then carries out differential correction on the observed value by utilizing differential correction information, and positions based on the corrected observed value. For example, the terminal acquires pseudo-range differential correction information from the near field communication network, corrects an observed value of the pseudo-range calculated by the satellite information using the pseudo-range differential correction information, and then performs positioning using the corrected pseudo-range.
Since, when positioning is performed by satellite information, positioning errors have a correlation. If the actual position of a terminal A and the position of the terminal calculated by the received satellite information are known, differential correction information can be obtained by the difference between the two positions. If terminal B is in the vicinity of terminal a, then some of the correlated positioning errors of terminal a and terminal B are similar, such as ionospheric delay, procedural delay, satellite ephemeris, etc. After the terminal B adjusts the observed value calculated by the satellite information by the differential correction information of the terminal a, the errors having correlation can be eliminated.
The first positioning accuracy is positioning accuracy for positioning by using satellite information. And the terminal estimates the first positioning precision when positioning is performed through the differential correction information and the satellite information. For example, the estimated first accuracy is in the order of meters, sub-meters, or centimeters, or the estimated first accuracy is 300 meters, 10 meters, or the like.
And S208, when the first precision is smaller than the first target precision, the terminal adjusts satellite information according to the positioning auxiliary information acquired from the near field communication network.
The positioning auxiliary information is information which is broadcasted by a terminal meeting the condition in the near field communication network and can adjust satellite information which is received by other terminals and is subject to environmental interference and has large error. The terminal satisfying the condition may be a terminal in a location area where satellite signal strength is greater than a preset strength threshold, or may be a terminal where positioning accuracy reaches a preset accuracy level, or may be a terminal in an open environment where the number of received satellites is greater than a preset number. The positioning assistance information may be information related to satellite position, satellite orbit, clock, etc., such as ephemeris, ionospheric delay correction parameters, multipath characteristics, accurate clocks, etc.
When the first precision is smaller than the first target precision, the terminal is only required to be positioned by utilizing the differential correction information, so that the terminal keeps a wake-up state, and positioning auxiliary information broadcasted by the second terminal is received from the near field communication network, so that the positioning precision is further improved according to the positioning auxiliary information.
Since the distance between terminals in a near field communication network is small, the satellite information received by two terminals should be similar in theory, but if one of the terminals is in an urban canyon, multi-shielding environment, the number of satellites that the terminal can receive is small, and the positioning accuracy is lower than the first target accuracy. The terminal corrects the positioning information by using the positioning auxiliary information received from the second terminal, and the first accuracy of positioning can be improved. For example, if the distance between two terminals is small and terminal a is indoor and terminal B is outdoor, the number of satellites that terminal B can search is large, and positioning accuracy of positioning according to the received satellite information reaches the centimeter level. Because the terminal A is shielded, the signal is poor, the number of the searched satellites is small, and the positioning precision can not reach a target precision. Since the two terminals are closer in distance, the relative positions of the two terminals and the satellite, the satellite ephemeris, the clock, etc. should be close, so that the satellite information of terminal a can be adjusted by using the satellite information of terminal B.
S210, the terminal relocates based on the differential correction information and the adjusted satellite information.
And the terminal calculates a pseudo-range observation value or a carrier phase observation value or a position coordinate observation value according to the adjusted satellite information, corrects each observation value based on the differential correction information, and relocates according to the corrected observation value.
In the above embodiment, the terminal accesses the near field communication network during positioning, acquires the differential correction information from other terminals in the near field communication network, and performs positioning according to the differential correction information and the received satellite information. The differential correction information can correct errors of positioning based on satellite information only, and positioning accuracy is improved. In addition, the terminal can adjust satellite information according to the received positioning auxiliary information, so that the error of the satellite information is reduced, positioning can be performed based on the adjusted satellite information, positioning error is reduced, and positioning accuracy is improved.
In one embodiment, when the terminal does not establish a communication connection with the satellite, the terminal obtains location information of at least one other terminal from the near field communication network; determining a distance to at least one other terminal; positioning is performed based on the distance to other terminals and the corresponding position information of the terminal.
When the terminal is in an environment without satellite signal coverage, such as an indoor garage, an underground garage and the like, communication connection with the satellite cannot be established and satellite information can be received. Since the distance between terminals in the near field communication network is relatively short, the terminal a can be located by the distance from at least one other terminal in the near field network and the location information of the terminal. When the position information and the distance of one other terminal can be acquired only in the near field communication network, the positioning precision is lower, and the more the position information and the distance of the other terminal are acquired, the higher the positioning precision is.
In one embodiment, the positioning of the terminal based on the distance and location information comprises: determining a positional relationship with at least one terminal based on the distance and the positional information; and positioning according to the position relation.
Wherein, the at least one terminal may refer to other terminals except the home terminal device in the short-range network.
One terminal in the near field communication network can calculate a distance from the other terminal by a communication signal received from a terminal whose other location is known. For example, when the terminal a receives a communication signal transmitted from the terminal B, the delay t of the communication signal from the terminal B to the terminal a can be obtained from the communication signal, and the communication signal propagates at the speed of light, so that the terminal a can calculate the distance from the terminal B to be s=c×t.
After acquiring the position information of the terminal with a known position and the distance between the terminal and the terminal, the terminal can calculate the position of the terminal according to the position relation between the terminal and the terminal.For example, if the terminal a acquires only the position information of the terminal B in the near field communication network and calculates the distance s from the terminal B, the terminal a is on the circumference of a circle with the center of B and s as the radius. For example, if terminal a acquires the location information of terminal B and terminal C in the near field communication network, and the distances to terminal B and terminal C are calculated to be s, respectively 1 Sum s 2 Then terminal A is taking B as center s 1 A circle with radius and a circle center s with C as a circle center 2 At the intersection of circles of radius. If the terminal a acquires the location information of the terminal B, the terminal C, and the terminal D in the near field communication network, two distance differences can be determined according to the distance from the terminal B, C, D, and two hyperbolas can be determined by the two distance differences, the terminal a is at the intersection of the two hyperbolas.
In a near field communication network, since the distance between terminals is short, when the terminals cannot establish communication connection with satellites, the terminals can locate their own positions by other terminals with known positions, so that the situation that the terminals cannot locate at all is avoided.
In one embodiment, the terminal obtaining differential correction information from the near field communication network includes: obtaining differential correction information from a first terminal in a near field communication network; the differential correction information is obtained by the first terminal from the base station or calculated by the first terminal based on satellite information received from the satellite.
The first terminal may be a terminal capable of establishing a connection with the base station through long-distance communication in the near field communication network and acquiring differential correction information from the base station. The base station may be a base station in a CORS (Continuously Operating Reference Stations, continuously operating reference station), among others.
The first terminal may also be a terminal capable of assuming power consumption greater than a preset threshold and in an open area. Because the first terminal is positioned in the open area, more satellites are received, and operation can be performed through a plurality of groups of satellites, so that the positioning precision reaches the preset precision, for example, the centimeter level. The first terminal can reversely calculate the accurate value of the distance between the first terminal and the satellite and the accurate value of the carrier phase according to the accurate position information obtained by positioning, and then differential calculation is carried out according to the accurate value of the distance, the accurate value of the carrier phase, the accurate value of the position information and each observed value obtained by satellite information to respectively obtain the differential correction information of the pseudo range, the differential correction information of the carrier phase and the differential correction information of the position coordinate.
Since the power consumption required for acquiring the differential correction information from the base station by long-distance communication or by calculation is large, the power consumption required for the terminal to acquire the differential correction information by the first terminal in the near-field communication network is small. Therefore, the terminal acquires the differential correction information from the first terminal to adjust the satellite information received by the terminal, so that the positioning accuracy can be improved, and the power consumption can be reduced.
In one embodiment, the terminal locating based on the differential correction information and the satellite information includes: calculating an observation value of a distance from a satellite based on satellite information; adjusting the observed value based on the differential correction information; and positioning according to the adjusted observed value.
The terminal extracts a ranging code from satellite information received from a satellite, and acquires a time t from the transmission of the ranging code from the satellite to the reception of the ranging code by the terminal according to the ranging code. The propagation speed of the ranging code is the speed of light c without considering the influence of the atmospheric layer, so the terminal calculates the observed value s=c×t of the distance from the satellite from s=c×t. And then, the terminal adjusts the observed value of the distance by using the differential correction information to obtain the accurate distance between the terminal and the satellite. According to the principle of triangulation, the terminal is on a sphere with the satellite as the center of sphere and the distance from the satellite to the terminal as the radius.
The terminal performs positioning according to the observation value adjusted based on the differential correction information, so that errors such as troposphere delay errors, ionosphere delay errors, clock errors and the like can be reduced, and positioning accuracy is improved.
In one embodiment, the positioning assistance information is generated by the second terminal based on second satellite information received from the satellite and broadcast to the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second accuracy reaching a second target accuracy when positioning is performed.
The terminal in the near field communication network can upload the position coordinates obtained by positioning and the received satellite information to the cloud server according to a certain time interval, and the cloud server analyzes the data uploaded by the terminal and screens out the terminal which is kept stationary in a preset time period. The preset time period may be a time period set by the cloud server according to needs, for example, a day, a week, etc. The cloud server can analyze data uploaded by the terminals in the short-distance network, obtain the probability that each terminal is in a static state at a specific time, and determine the terminal with the probability of the static state being greater than a preset probability value as the second terminal.
Since the second terminal remains stationary for a preset period of time or the probability of stationary is greater than a preset probability value, accurate positioning is easier for the stationary terminal. And the cloud server calculates the position information uploaded by the second terminal, so that the positioning accuracy of the second terminal reaches a preset level, such as a meter level, a sub-meter level or a centimeter level. The positioning assistance information obtained from the second terminal is more accurate. The positioning accuracy of other terminals for positioning based on the positioning auxiliary information broadcast by the second terminal is improved.
The second target precision is the target precision of screening the second terminal set by the cloud server, so that the second terminal with the positioning precision higher than the second target precision is screened out, and the positioning auxiliary information obtained based on the second terminal is more accurate. For example, the second target accuracy is set to the meter level or the sub-meter level.
In one embodiment, the terminal uploads the position coordinates obtained by positioning to the cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, the initial position and the target position; receiving navigation information sent by a cloud server; the location coordinates and navigation information are displayed in a map of the user interface.
The terminal can set a preset time interval according to the application scene and the speed during positioning. For example, if a higher navigation accuracy is required in a certain application scene, a time interval of millisecond level is set, and if a higher navigation accuracy is not required in a certain application scene, a time interval of second level is set. For example, in the case of rapid movement, the position change is faster, a time interval of the order of milliseconds is set, and in the case of slower movement, the position change is slower, a time interval of the order of seconds is set. The terminal can meet the requirements under different application scenes and reduce the power consumption by setting different time intervals.
In one embodiment, as shown in fig. 3, the process of terminal positioning includes the steps of:
s302, accessing a near field communication network and acquiring differential correction information from the near field communication network.
S304, judging whether the communication connection can be established with the satellite, executing S306 when the communication connection can be established with the satellite, and executing S322 when the communication connection cannot be established with the satellite.
S306, receiving satellite information for positioning sent by a satellite.
And S308, calculating an observation value of the distance between the satellite information and the satellite.
S310, adjusting the observed value based on the differential correction information.
S312, positioning according to the adjusted observation value to obtain a first positioning precision
S314, judging whether the first precision is smaller than the first target precision, and executing S316 when the first precision is smaller than the first target precision.
S316, positioning auxiliary information is acquired from the near field communication network.
And S318, adjusting satellite information according to the positioning auxiliary information.
S320, repositioning based on the differential correction information and the adjusted satellite information.
S322, acquiring the position information of at least one terminal from the near field communication network.
S324, determining the distance between the terminal which acquires the position information.
S326, positioning is performed based on the distance and the position information.
It should be understood that, although the steps in the flowcharts of fig. 1-3 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1-3 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 4, there is provided a positioning device based on a near field communication network, including: an acquisition module 402, a reception module 404, a positioning module 406, an adjustment module 408, and a relocation module 410, wherein:
an acquisition module 402, configured to access a near field communication network and acquire differential correction information from the near field communication network;
a receiving module 404, configured to receive satellite information for positioning sent by a satellite when a communication connection is established with the satellite;
the positioning module 406 is configured to perform positioning based on the differential correction information and the satellite information, so as to obtain a first positioning accuracy;
an adjustment module 408, configured to adjust satellite information according to positioning assistance information acquired from the near field communication network when the first accuracy is less than the first target accuracy;
a relocation module 410 for relocation based on the differential correction information and the adjusted satellite information.
In the above embodiment, the terminal accesses the near field communication network during positioning, acquires the differential correction information from other terminals in the near field communication network, and performs positioning according to the differential correction information and the received satellite information. The differential correction information can correct errors of positioning based on satellite information only, and positioning accuracy is improved. In addition, the terminal can adjust satellite information according to the received positioning auxiliary information, so that the error of the satellite information is reduced, positioning can be performed based on the adjusted satellite information, positioning error is reduced, and positioning accuracy is improved.
In one embodiment, as shown in fig. 5, the apparatus further comprises:
the acquisition module is also used for acquiring the position information of at least one terminal from the near field communication network when communication connection is not established with the satellite;
a determining module 412, configured to determine a distance between the terminal and at least one terminal;
and the positioning module is also used for positioning based on the distance and the position information.
In one embodiment, the obtaining module 402 is further configured to:
obtaining differential correction information from a first terminal in a near field communication network; the differential correction information is obtained by the first terminal from the base station or calculated by the first terminal based on satellite information received from the satellite.
In one embodiment, the positioning module 406 is further configured to:
calculating an observation value of a distance from a satellite based on satellite information;
adjusting the observed value based on the differential correction information;
and positioning according to the adjusted observed value.
In one embodiment, the positioning assistance information is generated by the second terminal based on second satellite information received from the satellite and broadcast to the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second accuracy reaching a second target accuracy when positioning is performed.
In one embodiment, the positioning module 406 is further configured to:
determining a positional relationship with at least one terminal based on the distance and the positional information;
and positioning according to the position relation.
In one embodiment, as shown in fig. 5, the apparatus further comprises:
the uploading module 414 is configured to upload the position coordinates obtained by positioning to the cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, the initial position and the target position;
the receiving module 404 is configured to receive navigation information sent by the cloud server;
a display module 416 for displaying the location coordinates and navigation information in a map of the user interface.
For specific limitations on the positioning device based on the near field communication network, reference may be made to the above limitations on the positioning method based on the near field communication network, and no further description is given here. The above-described modules in the positioning device based on the near field communication network may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program, when executed by a processor, implements a positioning method based on a near field communication network. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: accessing a near field communication network and acquiring differential correction information from the near field communication network; receiving satellite information for positioning sent by a satellite when communication connection is established with the satellite; positioning based on the differential correction information and the satellite information to obtain first positioning precision; when the first precision is smaller than the first target precision, satellite information is adjusted according to positioning auxiliary information acquired from a near field communication network; repositioning is performed based on the differential correction information and the adjusted satellite information.
In one embodiment, the processor when executing the computer program further performs the steps of: when communication connection is not established with the satellite, acquiring the position information of at least one terminal from a near field communication network; determining a distance to at least one terminal; positioning is performed based on the distance and location information.
In one embodiment, the processor when executing the computer program further performs the steps of: obtaining differential correction information from a first terminal in a near field communication network; the differential correction information is obtained by the first terminal from the base station or calculated by the first terminal based on satellite information received from the satellite.
In one embodiment, the processor when executing the computer program further performs the steps of: calculating an observation value of a distance from a satellite based on satellite information; adjusting the observed value based on the differential correction information; and positioning according to the adjusted observed value.
In one embodiment, the processor when executing the computer program further performs the steps of: the positioning assistance information is generated by the second terminal based on second satellite information received from the satellite and broadcast on the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second accuracy reaching a second target accuracy when positioning is performed.
In one embodiment, the processor when executing the computer program further performs the steps of: determining a positional relationship with at least one terminal based on the distance and the positional information; and positioning according to the position relation.
In one embodiment, the processor when executing the computer program further performs the steps of: uploading the position coordinates obtained by positioning to a cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, an initial position and a target position; receiving navigation information sent by a cloud server; the location coordinates and navigation information are displayed in a map of the user interface.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: accessing a near field communication network and acquiring differential correction information from the near field communication network; receiving satellite information for positioning sent by a satellite when communication connection is established with the satellite; positioning based on the differential correction information and the satellite information to obtain first positioning precision; when the first precision is smaller than the first target precision, satellite information is adjusted according to positioning auxiliary information acquired from a near field communication network; repositioning is performed based on the differential correction information and the adjusted satellite information.
In one embodiment, the computer program when executed by the processor further performs the steps of: when communication connection is not established with the satellite, acquiring the position information of at least one terminal from a near field communication network; determining a distance to at least one terminal; positioning is performed based on the distance and location information.
In one embodiment, the computer program when executed by the processor further performs the steps of: obtaining differential correction information from a first terminal in a near field communication network; the differential correction information is obtained by the first terminal from the base station or calculated by the first terminal based on satellite information received from the satellite.
In one embodiment, the computer program when executed by the processor further performs the steps of: calculating an observation value of a distance from a satellite based on satellite information; adjusting the observed value based on the differential correction information; and positioning according to the adjusted observed value.
In one embodiment, the computer program when executed by the processor further performs the steps of: the positioning assistance information is generated by the second terminal based on second satellite information received from the satellite and broadcast on the near field communication network; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second accuracy reaching a second target accuracy when positioning is performed.
In one embodiment, the computer program when executed by the processor further performs the steps of:
determining a positional relationship with at least one terminal based on the distance and the positional information; and positioning according to the position relation.
In one embodiment, the computer program when executed by the processor further performs the steps of: uploading the position coordinates obtained by positioning to a cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, an initial position and a target position; receiving navigation information sent by a cloud server;
the location coordinates and navigation information are displayed in a map of the user interface.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. The positioning method based on the near field communication network is characterized by being applied to a terminal to be positioned in the near field communication network; the method comprises the following steps:
accessing a near field communication network, and acquiring differential correction information from a first terminal in the near field communication network; the first terminal is a terminal which is connected with a base station through long-distance communication in the near-field communication network or a terminal which is larger than a preset threshold value and is in an open area and bears power consumption; when communication connection is established with a satellite, receiving satellite information for positioning sent by the satellite;
Positioning based on the differential correction information and the satellite information to obtain first positioning precision;
when the first precision is smaller than a first target precision, positioning auxiliary information broadcasted by a second terminal in the near field communication network is acquired, and the satellite information is adjusted according to the positioning auxiliary information; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second precision reaching a second target precision when positioning is performed; the positioning auxiliary information is information related to at least one of satellite position, satellite orbit or clock; repositioning based on the differential correction information and the adjusted satellite information.
2. The method according to claim 1, wherein the method further comprises:
when communication connection is not established with the satellite, acquiring the position information of at least one terminal from the near field communication network;
determining a distance to the at least one terminal;
and positioning based on the distance and the position information.
3. The method of claim 1, wherein the obtaining differential correction information from the near field communication network comprises:
Acquiring differential correction information from a first terminal in the near field communication network; the differential correction information is obtained from a base station by the first terminal or is obtained by the first terminal through calculation according to satellite information received from the satellite.
4. The method of claim 1, wherein said locating based on said differential correction information and said satellite information comprises:
calculating an observation value of a distance from the satellite based on the satellite information;
adjusting the observed value based on the differential correction information;
and positioning according to the adjusted observed value.
5. The method of claim 1, wherein the positioning assistance information is generated by a second terminal based on second satellite information received from the satellite and broadcast to the near field communication network.
6. The method of claim 2, wherein the locating based on the distance and the location information comprises:
determining a positional relationship with the at least one terminal based on the distance and the positional information;
and positioning according to the position relation.
7. The method according to any one of claims 1 to 6, further comprising:
Uploading the position coordinates obtained by positioning to a cloud server according to a preset time interval, so that the cloud server generates navigation information according to the uploaded position coordinates, initial positions and target positions;
receiving the navigation information sent by the cloud server;
and displaying the position coordinates and the navigation information in a map of a user interface.
8. A positioning device based on a near field communication network, the device comprising:
the acquisition module is used for accessing a near field communication network and acquiring differential correction information from a first terminal in the near field communication network; the first terminal is a terminal which is connected with a base station through long-distance communication in the near-field communication network or a terminal which is larger than a preset threshold value and is in an open area and bears power consumption;
the receiving module is used for receiving satellite information for positioning sent by the satellite when communication connection is established with the satellite;
the positioning module is used for positioning based on the differential correction information and the satellite information to obtain first positioning precision;
the adjustment module is used for acquiring positioning auxiliary information broadcasted by a second terminal in the near field communication network when the first precision is smaller than a first target precision, and adjusting the satellite information according to the positioning auxiliary information; the second terminal is a terminal in the near field communication network and kept stationary for a preset period of time, or a terminal in the near field communication network and corresponding to a second precision reaching a second target precision when positioning is performed; the positioning auxiliary information is information related to at least one of satellite position, satellite orbit or clock;
And the repositioning module is used for repositioning based on the differential correction information and the adjusted satellite information.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 7 when the computer program is executed.
10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.
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