CN120539759A

CN120539759A - Method and device for positioning a target object executed by the target object

Info

Publication number: CN120539759A
Application number: CN202410211025.XA
Authority: CN
Inventors: 汤远开
Original assignee: Valeo Interior Controls Shenzhen Co Ltd
Current assignee: Valeo Interior Controls Shenzhen Co Ltd
Priority date: 2024-02-26
Filing date: 2024-02-26
Publication date: 2025-08-26
Also published as: WO2025180389A1

Abstract

The present disclosure relates to a method for positioning a target object, performed by the target object. The method includes: sending a first satellite ephemeris acquisition request to an ephemeris server, and in response to obtaining the first satellite ephemeris, storing the first satellite ephemeris as initial satellite ephemeris in the target object, and determining the position of the satellite based on the first satellite ephemeris; sending a first ranging signal acquisition request to the satellite based on the position of the satellite, and in response to obtaining the first ranging signal, determining first positioning information of the target object based on the first ranging signal; sending a second satellite ephemeris acquisition request to the satellite, and in response to obtaining the second satellite ephemeris, storing the second satellite ephemeris as initial satellite ephemeris in the target object. The present disclosure also relates to a positioning device and a motor vehicle including the positioning device.

Description

Method for locating a target object, and locating device for carrying out the method

Technical Field

The present disclosure relates to a method of locating a target object performed by the target object, a locating device and a motor vehicle comprising the locating device.

Background

For today's driving of vehicles, navigation of vehicles and auxiliary/automatic driving functions of vehicles, the positioning of the vehicles is very important. The speed and accuracy of vehicle positioning thus affects the experience of vehicle driving and the reliability of the assist/autopilot function. Among the positioning schemes widely used today are GNSS (Global Navigation SATELLITE SYSTEM ), IMU (Inertial Measurement Unit, inertial sensor), sensor fusion and cameras and combinations thereof, of which use of GNSS is more widespread and well known.

In GNSS positioning technology, a target object such as a vehicle first searches for satellites, then receives position information of a plurality of, for example, four satellites and a time stamp of the satellite transmitting the position information, and finally can determine position coordinates, for example, longitude and latitude and altitude and a reception time point of the target object based on the information.

However, after a long time of parking of the vehicle, and in the case where satellite signals are shielded or weakened by environmental shielding, it generally takes a long time for the vehicle to search for satellites, which results in the vehicle not being able to obtain a position fix for a long time, thereby affecting the navigation of the vehicle and the use of self-assist/autopilot functions.

Disclosure of Invention

The present disclosure provides a method of locating a target object. The method can rapidly and accurately locate the target object.

The present disclosure provides a method performed by a target object of locating the target object, the method comprising transmitting a first satellite almanac acquisition request to the ephemeris server and, in response to acquiring a first satellite almanac, storing the first satellite almanac as an initial satellite almanac in the target object and determining a position of a satellite from the first satellite almanac, transmitting a first ranging signal acquisition request to the satellite from the position of the satellite and, in response to acquiring a first ranging signal, determining first positioning information of the target object from the first ranging signal, transmitting a second satellite almanac acquisition request to the satellite and, in response to acquiring a second satellite almanac, storing the second satellite as an initial satellite almanac in the target object.

In an embodiment according to the present disclosure, the method further comprises updating a position of the satellite according to a second satellite almanac in response to obtaining the second satellite almanac, and transmitting a second ranging signal obtaining request to the satellite according to the position of the satellite, and determining second positioning information of the target object according to the second ranging signal in response to obtaining the second ranging signal.

In an embodiment according to the present disclosure, the method further comprises receiving a navigation message from the satellite, and determining a position of the satellite from the navigation message in response to receiving the navigation message.

In an embodiment according to the present disclosure, the method further comprises requesting timing and updating the time of the target object in response to obtaining timing information.

In an embodiment according to the present disclosure, the method further comprises updating the time of the target object according to the second satellite ephemeris.

In an embodiment according to the present disclosure, receiving a navigation message from the satellite includes receiving a navigation message from the satellite and storing the navigation message as an initial satellite ephemeris in the target object and/or updating a time of the target object according to the navigation message.

In an embodiment according to the present disclosure, the method further includes determining whether the initial satellite almanac is stale and, in response to the initial satellite almanac being stale, sending a first satellite almanac acquisition request to the ephemeris server.

In an embodiment according to the present disclosure, an initial satellite ephemeris stored later in time updates an initial satellite ephemeris stored earlier, and if the updated time interval exceeds a predetermined time interval threshold, the initial satellite ephemeris is determined to be stale.

In an embodiment according to the present disclosure, the method further comprises requesting establishment of a communication connection with a reference station and obtaining first positioning reference information from the reference station in response to establishment of the communication connection, and determining first positioning information of the target object from the first ranging signal comprises determining first positioning information of the target object from the first ranging signal and the first positioning reference information.

In an embodiment according to the present disclosure, the method further comprises requesting establishment of a communication connection from a reference station and obtaining second positioning reference information from the reference station in response to establishment of the communication connection, and determining second positioning information of the target object from the second ranging signal comprises determining second positioning information of the target object from the second ranging signal and the second positioning reference information.

In an embodiment according to the present disclosure, the method further comprises requesting establishment of a communication connection to an auxiliary positioning server and in response to establishment of the communication connection, sending first positioning information and/or second positioning information to the auxiliary positioning server, receiving first positioning correction information and/or second positioning correction information from the auxiliary positioning server, and correcting the first positioning information and/or the second positioning information according to the first positioning correction information and/or the second positioning correction information.

In an embodiment according to the present disclosure, the first positioning correction information and/or the second positioning correction information is generated using a real-time dynamic carrier phase difference method (RTK) or a pseudo-range difference method (RTD).

The present disclosure also provides a positioning device for performing the method described previously.

In an embodiment according to the present disclosure, the positioning device is a remote communication terminal.

The present disclosure also provides a motor vehicle comprising the positioning device as described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are used in the description of the embodiments will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are only some of the exemplary embodiments of the present disclosure and that other embodiments may be derived from these embodiments without the exercise of inventive faculty.

Here, in the drawings:

FIG. 1 illustrates a flow chart of a method performed by a target object to locate the target object according to an embodiment of the present disclosure;

FIG. 2 illustrates a flow chart of a method performed by a target object to locate the target object according to another embodiment of the present disclosure;

FIG. 3 shows a flow chart of a method performed by a target object to locate the target object in accordance with another embodiment of the present disclosure, and

Fig. 4 shows a flowchart of a positioning device in a vehicle performing a positioning method according to an embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more apparent, exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present disclosure and not all of the embodiments of the present disclosure, and that the present disclosure is not limited by the example embodiments described herein.

In addition, in the present specification and the drawings, steps and elements having substantially the same or similar are denoted by the same or similar reference numerals, and repeated descriptions of the steps and elements will be omitted.

Furthermore, in the present specification and drawings, elements are described in the singular or plural form according to the embodiments. However, the singular and plural forms are properly selected for the proposed case only for convenience of explanation and are not intended to limit the present disclosure thereto. Accordingly, the singular may include the plural and the plural may include the singular unless the context clearly indicates otherwise.

Furthermore, in the present specification and the drawings, the terms "first" and "second" merely distinguish between similar objects and do not denote a particular order of objects, it being understood that the "first" and "second" may, where allowed, interchange a particular order or precedence order such that the embodiments of the disclosure described herein may be practiced otherwise than as illustrated or described herein.

Furthermore, in the present specification and the drawings, terms relating to azimuth or positional relationship such as "upper", "lower", "vertical", "horizontal", and the like are used for convenience only in describing embodiments according to the present disclosure, and are not intended to limit the present disclosure thereto. And thus should not be construed as limiting the present disclosure.

In addition, in the present description and in the drawings, unless explicitly stated otherwise, "connected" does not mean necessarily "directly connected" or "directly contacted" and, as such, "connected" may mean both fixedly and electrically connected.

On earth, the positioning of objects is typically achieved based on the global satellite navigation system (Global Navigation SATELLITE SYSTEM, abbreviated GNSS). GNSS systems are a collective term for satellite navigation positioning systems such as GPS, GLONASS, galileo, and GNSS may also represent a mix of all such satellite navigation positioning systems. GNSS systems are star-level radio navigation systems with satellites as navigation stations that provide position, velocity and time information for various devices and vehicles worldwide, both on land, sea, air and in the sky.

The positioning of the GNSS system to the target object is realized based on a three-point positioning method. Specifically, the sphere is constructed with the distance from the satellite to the target object as a radius, and the position of the target object can be determined explicitly by determining the point at which the spheres constructed with the four satellites as the centers of spheres intersect. In the case of using the additional positioning condition, i.e. the target object is located on the earth, it is theoretically possible to determine the position of the target object on the earth using three satellites. The distance of a satellite to a target object may be determined by multiplying the electromagnetic wave emitted by the satellite by the propagation time of the electromagnetic wave from the satellite to the target object. In practical applications using GNSS for positioning, there is a clock difference between the time of the target object and the time of the satellite as another variable in addition to the distances of three satellites to the target object as variables. Thus, in order to solve the position of the target object, four satellites and satellite signals thereof need to be utilized.

Therefore, in order to locate the target object, it is first necessary to know the positions of a plurality of, in particular four satellites. In the case of a cold start of the satellite signal receiver of the target object, it is necessary to search for the position of the satellites or to acquire the navigation messages of the satellites, since the satellite ephemeris, i.e. which satellites are available in the current sky and the position of these satellites in the sky, is not known. This typically requires a long duration.

The present disclosure provides a method performed by a target object for locating the target object. Fig. 1 shows a flow chart of the method. In the method 100, a target object sends a first satellite ephemeris acquisition request to the ephemeris server (step S110), and in response to acquiring a first satellite ephemeris, the first satellite ephemeris is stored as an initial satellite ephemeris in the target object (step S120), and a position of a satellite is determined from the first satellite ephemeris (step S130). The target object then transmits a first ranging signal acquisition request to the satellite according to the position of the satellite (step S140), and in response to acquiring the first ranging signal, determines first positioning information of the target object according to the first ranging signal (step S150). The method 100 further includes the target object sending a second satellite almanac acquisition request to the satellite (step S160) and in response to acquiring the second satellite almanac, storing the second satellite almanac as an initial satellite almanac in the target object (step S170).

In embodiments according to the present disclosure, communication between the target object and the ephemeris server may be achieved through wired and wireless connections, for example. The wireless connection may include, among other things, a mobile communication connection, such as a cellular communication connection, wiFi, zigbee, bluetooth, and the like. The target object can directly and quickly obtain the first satellite ephemeris through the ephemeris server. With the first satellite ephemeris, the target object may obtain the position of the currently available or currently optimal satellite and position by receiving satellite signals from the respective satellite. In contrast, without knowledge of the first satellite ephemeris, the target object first needs to search for satellites to determine which satellites are available, e.g., which satellites are in the sky of the target object. The process of searching for satellites generally requires a long duration, which results in delayed satellite positioning not being possible. In an embodiment according to the present disclosure, the target object may be, for example, a motor vehicle. When the motor vehicle is parked and restarted for a long time, the motor vehicle needs to search for satellites again to perform a positioning operation. In the case where the vehicle is parked in the ground for a long time or in the case where the vehicle is hidden by a building, it may take a long time to search for the satellite or the satellite may not be successfully searched. The motor vehicle may obtain the first satellite ephemeris directly from the ephemeris server for quick positioning using the method according to the present disclosure, thereby avoiding searching for satellites, which may not be successful in the current scenario or take a long time to succeed.

The target object may also send a second satellite almanac acquisition request to the satellite using the satellite position determined from the first satellite almanac or using the position of the searched satellite, and in response to acquiring the second satellite almanac, store the second satellite almanac as an initial satellite almanac in the target object. The second satellite ephemeris obtained from the satellites is more time efficient and thus the position of the respective satellite can be determined more accurately. Over time, the target object may receive the second satellite ephemeris in real-time and update the satellite's position in real-time.

Fig. 2 illustrates a flowchart of a method 200 of locating a target object performed by the target object according to another embodiment of the present disclosure. In comparison to the method 100 shown in fig. 1, a step S210, a step S220 and a step S230 are added in the method 200. In the method 200, a target object may update a position of the satellite according to a second satellite almanac in response to obtaining the second satellite almanac (step S210), and transmit a second ranging signal obtaining request to the satellite according to the position of the satellite (step S220), and determine second positioning information of the target object according to the second ranging signal in response to obtaining the second ranging signal (step S230). The target object may determine the position of the satellite from the second satellite ephemeris obtained from the satellite, and over time, the target object may receive the second satellite ephemeris in real time and update the position of the satellite in real time.

In an embodiment according to the present disclosure, a target object may also receive a navigation message from the satellite, for example, and determine a position of the satellite from the navigation message in response to receiving the navigation message. In an embodiment according to the present disclosure, receiving navigation messages from the satellites may further include receiving navigation messages from the satellites and storing the navigation messages as initial satellite ephemeris in the target object.

In the event that a target object, such as a vehicle, exits the garage or is no longer affected by an obstacle, the target object may receive a second satellite ephemeris or navigation message from the satellite. The target object may determine the position of the satellite based on the second satellite ephemeris or navigation message. Over time, the target object may update the satellite's position in real-time. The second satellite ephemeris or navigation messages obtained directly from the satellites are more time efficient and may provide a more accurate position of the satellites than the first satellite ephemeris obtained from the ephemeris server.

Satellite ephemeris is also known as Two-row orbit data (Two-Line Orbital Element, abbreviated TLE). Satellite ephemeris is a track table or time function of the position and velocity of the satellites. The satellite ephemeris can accurately calculate, predict, depict, track the time, position, speed, etc. of the satellite. The time of the satellite ephemeris is calculated in terms of Universal Time (UTC) and updated periodically so that the satellite ephemeris can stereoscopically depict the satellite's past, present and future. In an embodiment according to the present disclosure, the satellite ephemeris includes broadcast satellite ephemeris and precision satellite ephemeris. Broadcast satellite ephemeris has poor accuracy and therefore the position of a satellite determined by the broadcast satellite ephemeris has a large deviation from the actual position of the satellite. The precise satellite ephemeris provides satellite orbit information for precise positioning of the satellites. In embodiments according to the present disclosure, the ephemeris server may provide satellite ephemeris, particularly precision satellite ephemeris, in real time, for example.

In embodiments according to the present disclosure, the ephemeris server may be, for example, various institutions in IGS (International GNSS SERVICE) organization and enterprises providing access to ephemeris services, such as, for example, thousands of seeks and high-pass, etc.

In an embodiment according to the present disclosure, the determining of the positioning information of the target object from the first ranging signals by the target object may comprise, for example, the target object determining the distances of the four satellites to the target object from the first ranging signals from the four satellites, respectively, and the target object then determining the positioning information of the target object from the distances of the four satellites to the target object, in particular, the longitude and latitude of the target object on earth.

The distance of the satellite to the target object may be determined by multiplying the propagation speed (which may be approximated as the speed of light) of the first ranging signal by the time difference between the time the target object receives the first ranging signal and the time the satellite transmits the first ranging signal. In embodiments according to the present disclosure, the first ranging signal may include, for example, a carrier, e.g., an L1 carrier, an L2 carrier, etc., as well as a frame structure on the carrier, a data stream, a PRN code, e.g., a C/a code, a P code, etc. In embodiments according to the present disclosure, the target object may determine the time difference between transmission and reception, for example, from the frame structure, the data stream, the code phase difference of PRN codes in the transmission and reception of the first ranging signal, so that the target object's distance to the satellite may be determined. The target object may also determine its distance to the satellite, for example, from the phase difference of the carrier wave between transmitting and receiving the first ranging signal. In particular, the range of the target object to the satellite may be determined by multiplying the sum of the integer ambiguity and the phase difference of the carrier signal by the carrier wavelength.

Since the ephemeris of a satellite is a function of time, the object of interest needs to have an accurate time in order to accurately determine the current satellite ephemeris. In addition, since satellite positioning is achieved based on a time difference between ranging signals of transmission and reception satellites, the time of a target object needs to be as accurate as possible. To obtain accurate time, in embodiments according to the present disclosure, the target object may request time service and update the time of the target object in response to obtaining time service information. Methods of obtaining time service information are known. The time service information may be obtained from a time service server or an astronomical station, for example. In further embodiments, the target object may also receive a second satellite ephemeris or navigation message from the satellite and update the time of the target object based on the second satellite ephemeris or navigation message.

Fig. 3 illustrates a flowchart of a method 300 of locating a target object performed by the target object according to another embodiment of the present disclosure. With respect to method 100, method 300 may begin with an initial satellite ephemeris. The initial satellite ephemeris may be, for example, a first satellite ephemeris obtained and stored from an ephemeris server or may be a second satellite ephemeris obtained and stored from a satellite. The initial satellite ephemeris may be used directly to determine the position of the satellite, for example, upon restart of a target object such as a vehicle or positioning device, thereby obviating a communication connection with the ephemeris server or satellite.

Since the ephemeris of satellites is a function of time, the initial satellite ephemeris stored in the target object is not necessarily valid or available at the time of start-up of the target object, such as a vehicle or positioning device. In order to determine whether the initial satellite ephemeris is currently valid, a method step S310 is also added to the method 300 in accordance with an embodiment of the present disclosure. In step S310, the target object determines whether the initial satellite ephemeris is invalid/valid. In the event that the initial satellite ephemeris is valid, the target object may determine the position of the satellite, for example, from the initial satellite ephemeris (step S330), and in the event that the initial satellite ephemeris is invalid, the target object may send a first satellite ephemeris acquisition request to the ephemeris server, for example.

Additional embodiments of the present disclosure provide a method of determining whether an initial satellite ephemeris is invalid. Whether the initial satellite ephemeris stored in step S120 or step S170, the initial satellite ephemeris stored later in time will update the initial satellite ephemeris stored earlier. The time interval threshold may be set, for example, for an update of the initial satellite ephemeris. If the updated time interval exceeds a predetermined time interval threshold, it is determined that the initial satellite ephemeris has been stale, i.e., is determined to be stale. In the event of failure of the initial satellite ephemeris, the target object needs to establish a communication connection with the ephemeris server to obtain the satellite ephemeris at the current point in time as soon as possible.

In the case of positioning using only GNSS systems, positioning accuracy is often insufficient. This is because satellites themselves may have time errors, target objects may have time errors, satellite ephemeris and position information may have errors, and satellite signals may be affected by atmospheric layers and have errors, such as satellite signals may be refracted as they pass through ionosphere and troposphere. In order to locate more accurately, auxiliary locating means are required to eliminate these errors.

In embodiments according to the present disclosure, the assisted positioning means may include, for example, a real-time dynamic carrier-phase differential method (RTK), a pseudo-range differential method (RTD), and the like. In the case of employing an assisted positioning approach, in addition to the steps in method 100, a method according to an embodiment of the present disclosure may include a target object requesting establishment of a communication connection with a reference station and obtaining first positioning reference information from the reference station in response to establishing the communication connection, and determining first positioning information of the target object from the first ranging signal and the first positioning reference information. In the case where the target object determines second positioning information of the target object from the second ranging signal (method 200), a method according to another embodiment of the present disclosure may further include the target object requesting establishment of a communication connection with a reference station and obtaining second positioning reference information from the reference station in response to the establishment of the communication connection, and determining the second positioning information of the target object from the second ranging signal and the second positioning reference information.

In an embodiment according to the present disclosure, the first and second positioning reference information comprises, for example, position information of the base station and satellite signals received by the base station. In the case of using an auxiliary positioning means such as an RTK or RTD, the position of the reference station on the earth, for example, latitude and longitude information is known, and the reference station receives the ranging signals of the satellites from the same satellites at the same time.

In the case of RTD, the reference station calculates a pseudo range from the satellite to the reference station based on the ranging signal received from the satellite, calculates a true distance from each satellite to the reference station based on the known position information of the reference station and the position information of the satellite, and calculates pseudo range correction information by subtracting the true distance from the pseudo range. The pseudorange correction information may eliminate time errors of the error satellite signals, ephemeris errors of the satellites, and errors of the satellite signals in atmospheric propagation. The pseudorange correction information is broadcast and a target object, such as a vehicle or a positioning device, obtains the pseudorange correction information from a reference station as positioning reference information. The target object may correct the positioning information of the target object previously determined using the GNSS system using the pseudo-range correction information, thereby obtaining accurate positioning information of the target object.

In the case of RTKs, the reference station directly broadcasts ranging signals received by itself from satellites and known position information of the reference station from which a target object such as a vehicle and a positioning device obtains such information as positioning reference information. The target object carries out double-difference ambiguity solving and baseline vector settlement on the ranging signals received by the reference station and the first ranging signals received by the target object, so that the spatial relative position relation between the target object and the reference station is accurately solved, and finally the accurate positioning information of the target object can be determined based on the known position information of the reference station.

In an embodiment according to the present disclosure, the real-time kinematic carrier-phase difference method (RTK) may include, for example, a Network real-time kinematic carrier-phase difference method (Network RTK, abbreviated NRTK). In NRTK, the normal reference station is replaced with a continuously running reference station (Continuously Operating Reference Stations, CORS) and constitutes the CORS system. The CORS in the system transmits the observations over a data communications network to one or more data processing centers that simulate the "virtual reference station" nearest to the target object.

In another embodiment according to the present disclosure, the assisted positioning means may also be performed in an assisted positioning server. The method according to this embodiment comprises the target object requesting to establish a communication connection with an auxiliary positioning server and in response to establishing the communication connection sending first positioning information and/or second positioning information to the auxiliary positioning server, receiving first positioning correction information and/or second positioning correction information from the auxiliary positioning server, and correcting the first positioning information and/or the second positioning information in dependence of the first positioning correction information and/or the second positioning correction information.

The implementation of the method according to this embodiment is based on a further assisted positioning server implementation. The first positioning correction information and/or the second positioning correction information are generated in the auxiliary positioning server. The calculation of generating the first positioning correction information and/or the second positioning correction information requires a lot of calculation resources and requires a lot of calculation effort, by means of which the calculation performance of the target object or the positioning device of the target object can be reduced. The target object or the positioning device of the target object only needs to correct the first positioning information and/or the second positioning information of the target object determined before according to the first positioning correction information and/or the second positioning correction information provided by the auxiliary positioning server.

In the case of RTD, the assisted positioning server obtains the ranging signal it receives and the actual position information of the reference station from the reference station. The auxiliary positioning server calculates the pseudo range from the satellite to the reference station based on the ranging signal, calculates the real distance from each satellite to the reference station based on the known position information of the reference station and the position information of the satellite, and obtains positioning correction information by differencing the real distance and the pseudo range. The positioning correction information may eliminate time errors of the error satellite signals, ephemeris errors of the satellites, and errors of the satellite signals in atmospheric propagation. The positioning correction information is sent to the target object by the auxiliary positioning server, and the target object uses the positioning correction information to correct the positioning information of the target object determined by the GNSS system, so that accurate positioning information of the target object is obtained.

In the case of RTKs, the secondary positioning server obtains the ranging signals it receives and the actual position information of the reference station from the reference station or the virtual reference station. The assist positioning server calculates differential data, particularly differential data of a reference station in the vicinity of the target object, from these pieces of information. The target object may then process or correct the position information of the target object determined using only the GNSS system based on the differential data, thereby obtaining accurate position information of the target object.

Fig. 4 shows a flowchart of a positioning device in a vehicle performing a positioning method according to an embodiment of the present disclosure. The positioning device of the vehicle may be, for example, a remote communication terminal Tbox (Telematics Box) module in the vehicle. Tbox integrate body network and wireless communication functions. Upon start-up of the vehicle, the Tbox module starts (step S401). When Tbox module is started, the GNSS services for vehicle positioning are started and satellite searching is started. It generally takes a long time for a vehicle to search for satellites after the vehicle is parked for a long time and in the case where satellite signals are shielded or attenuated by ambient occlusion. Typically lasting several minutes. At the same time, tbox module connects to the network (step S402) and initiates the RTK service and logs into the RTK server and is in a wait state. The Tbox module then obtains the precise time, e.g., from the time service server or updates to the precise time (step S403) and obtains the satellite ephemeris for the current point in time from the ephemeris server (step S404), e.g., downloads the satellite ephemeris using the xtra service provided by the high-pass. In step S405, the GNSS service can quickly determine the position of the vehicle from the known satellite ephemeris. The GNSS service may, for example, determine the position of the satellite and determine the distance of the target object to the satellite from the frame structure, data stream, PRN code, and carrier in the satellite signal, and thereby determine the position of the vehicle. The location of the vehicle may be, for example, the longitude and latitude of the vehicle. The location information is not yet accurate enough. In step S406, the position of the vehicle is provided to the RTK server. In step S407, the RTK server calculates differential data from the provided position information of the vehicle and the associated satellite signals received, in particular, by the reference station closest to the vehicle and the known position of the reference station. In step S408, the differential data is provided to a satellite signal carrier integer number of weeks calculation unit, for example, to a thousand-seeking ppe service. The satellite signal carrier integer number calculation unit is capable of determining from the differential data the integer ambiguity of the satellite carrier signal, i.e. how many integer periods the carrier of the satellite signal has undergone from satellite transmission to Tbox reception by the vehicle. In a final step S409, the GNSS service calculates a highly accurate position of the vehicle from the determined integer ambiguity and the phase difference of the carrier wave between the transmission and reception satellite signals.

The present disclosure uses specific words to describe embodiments of the disclosure. Such as "first/second embodiment," "an embodiment," and/or "some embodiments," means a particular feature, structure, or characteristic associated with at least one embodiment of the present disclosure. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present disclosure may be combined as suitable.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The foregoing is illustrative of the present disclosure and is not to be construed as limiting thereof. Although a few exemplary embodiments of this disclosure have been described, those skilled in the art will readily appreciate that many modifications are possible in the exemplary embodiments without materially departing from the novel teachings and advantages of this disclosure. Accordingly, all such modifications are intended to be included within the scope of this disclosure as defined in the claims. It is to be understood that the foregoing is illustrative of the present disclosure and is not to be construed as limited to the specific embodiments disclosed, and that modifications to the disclosed embodiments, as well as other embodiments, are intended to be included within the scope of the appended claims. The disclosure is defined by the claims and their equivalents.

Claims

1. A method for locating a target object, performed by the target object, comprising:

sending a first satellite ephemeris obtaining request to the ephemeris server, and in response to obtaining the first satellite ephemeris, storing the first satellite ephemeris as initial satellite ephemeris in the target object, and determining a position of a satellite according to the first satellite ephemeris;

sending a first ranging signal acquisition request to the satellite according to the position of the satellite, and in response to obtaining the first ranging signal, determining first positioning information of the target object according to the first ranging signal;

A second satellite ephemeris acquisition request is sent to the satellite, and in response to obtaining the second satellite ephemeris, the second satellite ephemeris is stored in the target object as initial satellite ephemeris.

2. The method according to claim 1, further comprising:

In response to obtaining a second satellite ephemeris, updating the position of the satellite according to the second satellite ephemeris; and

A second ranging signal acquisition request is sent to the satellite according to the position of the satellite; and in response to obtaining the second ranging signal, second positioning information of the target object is determined according to the second ranging signal.

3. The method according to claim 1, further comprising:

receiving a navigation message from the satellite; and

In response to receiving the navigation message, the position of the satellite is determined according to the navigation message.

4. The method according to claim 1, further comprising:

Requesting timing information and updating the time of the target object in response to obtaining the timing information.

5. The method according to claim 1, further comprising:

The time of the target object is updated according to the second satellite ephemeris.

6. The method according to claim 3, wherein:

Receiving a navigation message from the satellite, comprising:

Receive a navigation message from the satellite and store the navigation message in the target object as initial satellite ephemeris; and/or

The time of updating the target object according to the navigation message.

7. The method according to claim 1, further comprising:

It is determined whether the initial satellite ephemeris is invalid, and in response to the initial satellite ephemeris being invalid, a first satellite ephemeris acquisition request is sent to the ephemeris server.

8. The method according to claim 7, wherein the initial satellite ephemeris stored later in time updates the initial satellite ephemeris stored earlier, and if the time interval exceeds a predetermined time interval threshold, it is determined that the initial satellite ephemeris is invalid.

9. The method according to claim 1, further comprising:

requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining first positioning reference information from the reference station; and

Determining first positioning information of the target object according to the first ranging signal includes:

First positioning information of the target object is determined according to the first ranging signal and the first positioning reference information.

10. The method according to claim 2, further comprising:

requesting a reference station to establish a communication connection, and in response to establishing the communication connection, obtaining second positioning reference information from the reference station; and

Determining second positioning information of the target object according to the second ranging signal includes:

Second positioning information of the target object is determined according to the second ranging signal and the second positioning reference information.

11. The method according to claim 1 , further comprising:

Requesting the auxiliary positioning server to establish a communication connection, and in response to establishing the communication connection, sending the first positioning information and/or the second positioning information to the auxiliary positioning server;

receiving first positioning correction information and/or second positioning correction information from the auxiliary positioning server; and

Correct the first positioning information and/or the second positioning information according to the first positioning correction information and/or the second positioning correction information.

12. The method according to claim 11, wherein

The first positioning correction information and/or the second positioning correction information are generated using a real-time kinematic carrier phase differential method (RTK) or a pseudorange differential method (RTD).

13. A positioning device for performing the method according to any one of the preceding claims.

The positioning device according to claim 13 , wherein the positioning device is a remote communication terminal.

15. A motor vehicle comprising a positioning device according to claim 13 or 14.