阅读说明：本技术 定位方法、装置、电子设备及计算机可读存储介质 (Positioning method, positioning device, electronic equipment and computer readable storage medium ) 是由 沈海磊 于 2021-08-18 设计创作，主要内容包括：本申请提供了一种定位方法、装置、电子设备及计算机可读存储介质,其中,方法包括：检测L1频段信号；若未检测到L1频段信号,则检测L5频段信号；所述L1频段信号频段与所述L5频段信号的频段不同；若检测到所述L5频段信号,则基于所述L5频段信号定位。本申请提供了一种定位方法,解决了由于外界环境噪声导致电子设备无法实现精准定位的问题。(The application provides a positioning method, a positioning device, an electronic device and a computer readable storage medium, wherein the method comprises the following steps: detecting an L1 frequency band signal; if the L1 frequency band signal is not detected, detecting an L5 frequency band signal; the L1 frequency band signal has a frequency band different from that of the L5 frequency band signal; and if the L5 frequency band signal is detected, positioning based on the L5 frequency band signal. The application provides a positioning method, which solves the problem that electronic equipment cannot realize accurate positioning due to external environment noise.)

1. A GPS positioning method is applied to electronic equipment, and is characterized in that the method comprises the following steps:

detecting an L1 frequency band signal;

if the L1 frequency band signal is not detected, detecting an L5 frequency band signal; the L1 frequency band signal has a frequency band different from that of the L5 frequency band signal;

and if the L5 frequency band signal is detected, positioning based on the L5 frequency band signal.

2. The method of claim 1, wherein if the L1 band signal is detected, detecting the L5 band signal in a target satellite corresponding to the L1 band signal;

and if the L5 frequency band signal is detected, positioning is carried out based on the L1 frequency band signal and the L5 frequency band signal.

3. The method as claimed in claim 2, further comprising, after said positioning based on said L1 band signal and said L5 band signal:

storing target satellite information corresponding to the L5 frequency band signal;

and if the L1 frequency band signal is lost, continuing to use the stored target satellite information corresponding to the L5 frequency band signal for positioning.

4. The method of claim 1, wherein the detecting the L5 frequency band signal comprises:

acquiring target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time;

acquiring position information of the electronic equipment at a preset time point before the current time; determining a position change value of the electronic device based on position information of the electronic device at a preset time point before the current time;

and if the target satellite information corresponding to the L5 frequency band signal is detected at a preset time point before the current time and the position change value is smaller than a preset threshold value, using the target satellite information corresponding to the L5 frequency band signal at the preset time point before the current time to perform positioning.

5. The method of claim 1, wherein the detecting the L5 frequency band signal comprises:

and detecting the L5 frequency band signal according to a preset detection range.

6. The method as claimed in claim 1, wherein before detecting the L5 band signal if the L1 band signal is not detected, further comprising:

acquiring an environmental noise intensity value of an environment where the electronic equipment is located;

and if the environmental noise intensity value is smaller than a preset threshold value, stopping detecting the L1 frequency band signal.

7. The method of claim 6, wherein the method further comprises:

and if the environmental noise intensity value is greater than or equal to a preset threshold value, detecting the L5 frequency band signal.

8. A positioning device, the device comprising:

the first detection module is used for detecting the L1 frequency band signal and the L5 frequency band signal; if the L1 frequency band signal is not detected, detecting the L5 frequency band signal; the L1 frequency band signal is of a different frequency band than the L5 frequency band signal;

a processing module, configured to locate based on the L5 frequency band signal if the L5 frequency band signal is detected.

9. An electronic device comprising a processor, a memory, and a communication interface:

the processor is electrically connected with the memory and the communication interface;

the memory for storing executable program code;

the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory for performing the positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the positioning method according to any one of claims 1 to 7.

Technical Field

The present application relates to the field of communications technologies, and in particular, to a positioning method, an apparatus, an electronic device, and a computer-readable storage medium.

Background

In recent years, the global economy has increased the demand for satellite positioning, and more electronic devices have introduced multi-band signals for positioning. However, when there is noise in the external environment of the electronic device, the positioning of the electronic device is disturbed, and accurate positioning cannot be achieved.

Disclosure of Invention

The embodiment of the application provides a positioning method, a positioning device, electronic equipment and a computer readable storage medium, and solves the problem that the electronic equipment cannot realize accurate positioning due to external environment noise.

In order to solve the technical problems, the application comprises the following technical scheme:

in a first aspect, an embodiment of the present application provides a positioning method, where the method includes:

detecting an L1 frequency band signal;

if the L1 frequency band signal is not detected, detecting an L5 frequency band signal; the L1 frequency band signal has a frequency band different from that of the L5 frequency band signal;

and if the L5 frequency band signal is detected, positioning based on the L5 frequency band signal.

In a second aspect, an embodiment of the present application provides a positioning apparatus, including:

the first detection module is used for detecting the L1 frequency band signal and the L5 frequency band signal; if the L1 frequency band signal is not detected, detecting the L5 frequency band signal; the L1 frequency band signal is of a different frequency band than the L5 frequency band signal;

a processing module, configured to locate based on the L5 frequency band signal if the L5 frequency band signal is detected.

In a third aspect, the present application provides another electronic device comprising a processor, a memory, and a communication interface:

the processor is connected with the memory and the communication interface;

the memory for storing executable program code;

the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, for executing the positioning method according to the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the positioning method according to the first aspect.

The application provides a positioning method, in the positioning process of an electronic device, whether an L1 frequency band signal L1 frequency band signal is detected is judged firstly, if the L1 frequency band signal L1 frequency band signal is not detected, the L5 frequency band signal L5 frequency band signal is detected by taking the detection range of the L1 frequency band signal L1 frequency band signal as the detection range of the L5 frequency band signal L5 frequency band signal, positioning is carried out based on the L5 frequency band signal L5 frequency band signal, and finally position information of the electronic device is output. By adopting the positioning method provided by the application, the electronic equipment can be automatically judged to be positioned by which frequency band signal according to the environment, and when the L1 frequency band signal L1 frequency band signal is not detected, independent positioning based on the L5 frequency band signal L5 frequency band signal can be realized, so that the problem that the electronic equipment cannot realize accurate positioning due to the interference of external environment noise is solved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic system structure diagram of a positioning method according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present application;

fig. 3 is a schematic flowchart of another positioning method provided in the embodiment of the present application;

fig. 4A is a schematic flow chart illustrating positioning based on the L1 band signal and the L2 band signal according to an embodiment of the present disclosure;

fig. 4B is a schematic flowchart of positioning based on the L5 frequency band signal according to an embodiment of the present disclosure;

fig. 5 is a schematic flowchart of another positioning method provided in the embodiments of the present application;

fig. 6 is a schematic flowchart of another positioning method provided in the embodiments of the present application;

FIG. 7 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below.

The terms "first," "second," "third," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic system structure diagram of a positioning method according to an embodiment of the present disclosure. The system structural diagram includes a satellite cluster 10 and an electronic device 20.

The satellite cluster 10 may include 24 working satellites and 4 active backup satellites evenly distributed over 6 space orbital planes. The distribution of the satellite clusters enables 4 or more satellites to be observed anywhere in the world at any time, and a geometric image with good positioning calculation accuracy can be kept. Each satellite in the constellation generates a C/a Code (C/a) that is transmitted in a spread spectrum modulated manner over a number of different frequencies, including L1, L2, L3, and L5. In the embodiment of the present application, each satellite in the satellite cluster may send out signals of a plurality of different frequency bands, for example, send out signals of an L1 frequency band, signals of an L2 frequency band, and signals of an L5 frequency band, signals of an L1 frequency band, and signals of an L5 frequency band. In the positioning process of the electronic equipment, whether an L1 frequency band signal is detected or not is judged firstly, if the L1 frequency band signal is detected successfully, the L5 frequency band signal is detected according to the detection result of the L1 frequency band signal, and the electronic equipment is positioned according to the L1 frequency band signal and the L5 frequency band signal. If the L1 frequency band signal is not detected, the L5 frequency band signal is detected according to the detection range of the L1L1 frequency band signal, the electronic equipment is positioned according to the L5 frequency band signal, and the position information is output.

The electronic device 20 may include a smartphone, personal computer, laptop, smart tablet, portable wearable device, and the like, with a positioning function. The electronic device 10 has a flexible Access mode and a high bandwidth communication performance, and has a plurality of communication modes, which may include, but are not limited to, communication through various wireless operation networks such as GSM, Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (W-CDMA), and communication through wireless lan, bluetooth, and infrared. In the embodiment of the application, the electronic device may perform Positioning in a plurality of Positioning manners such as a Global Positioning System (GPS), and a Positioning module in the electronic device may receive signals of a plurality of different frequency bands sent by a satellite cluster, and perform Positioning based on the sent signals. If the electronic equipment carries the display screen, the position information can be output and displayed on the display screen of the electronic equipment. In addition, when the electronic device detects that the environmental noise in the external space currently located does not exceed the preset threshold, the positioning function performed by using the L1 band signal or the L5 band signal may be automatically turned off, that is, only one of the band signals is used for positioning. In practical application, under the condition that the environmental noise is lower than the threshold, in order to ensure that the power consumption is saved and the positioning is accurate, the frequency band with lower accuracy is usually closed, and the frequency band with more accurate positioning result is adopted for positioning. In the embodiment of the present application, the electronic device may detect a plurality of different signal frequency bands, and the signal frequency bands detected by the electronic device are not limited in the embodiment of the present application.

Next, a positioning method provided by the embodiment of the present application will be described with reference to an application scenario diagram shown in fig. 1.

Referring to fig. 2, fig. 2 is a schematic flow chart of a positioning method in an embodiment of the present application, where the method includes:

s201, detecting the L1 frequency band signal.

Specifically, the user turns on the positioning function of the electronic device, and the electronic device continuously detects the L1 frequency band signal in the positioning process. The L1 band signal is one of carrier band signals transmitted by a navigation satellite, and the carrier frequency corresponding to the L1 band signal is 1575.42MHz, the code length is 1023chips, and the symbol rate is 1.023 MHz.

S202, if the L1 frequency band signal is not detected, detecting the L5 frequency band signal.

Specifically, the electronic device determines whether the L1 band signal is detected, and when the electronic device does not detect the L1 band signal, the L5 band signal is detected by taking the detection range of the L1 band signal as the detection range of the L5 band signal. The detection frequency band of the L1 frequency band signal is different from the detection frequency band of the L5 frequency band signal. The L5 frequency band signal is another carrier band signal transmitted by a navigation satellite, the carrier frequency corresponding to the L5 frequency band signal is 1176.45MHz, the code length is 10230chips, and the code element rate is 10.23 MHz. The carrier frequency, the code length and the symbol rate of the L1 band signal and the L5 band signal are respectively compared, the carrier frequency of the L1 band signal is greater than the carrier frequency of the L5 band signal, the code length of the L1 band signal is one tenth of the code length of the L5 band signal, and the symbol rate of the L1 band signal is one tenth of the symbol rate of the L5 band signal. Therefore, the code length and the symbol rate of the L5 frequency band signal are improved by ten times on the basis of the L1 frequency band signal, and therefore, compared with the L1 frequency band signal, the L5 frequency band signal can better resist frequency selective fading caused by multipath effects. In addition, from the perspective of single satellite ranging error, the ranging accuracy of the L5 band signal can reach about 30 meters, while the L1 band signal can only reach 300 meters, so the positioning accuracy of the L5 band signal is higher than that of the L1 band signal.

Further, if the electronic device detects the L1 band signal, the electronic device detects an L5 band signal in a target satellite corresponding to the L1 band signal; if the L5 frequency band signal is detected, positioning is performed based on the L1 frequency band signal and the L5 frequency band signal. For example, if the detection range of the L1 band signal is to detect 24 working satellites and 4 spare satellites evenly distributed in 6 orbital planes, each of the 28 satellites generates two sets of codes, the first set is C/a code and the second set is P code, and the two different sets of codes are modulated and transmitted on signals of different frequencies in a spread spectrum manner. In the embodiment of the present application, C/a code spreading is taken as an example, 28 satellites are named as nos. 1 to 28, and each of the 28 satellites transmits a signal in at least one frequency band, where the frequency bands of the signals transmitted by each satellite may be the same or different, and each satellite continuously transmits signals in different frequency bands to the outside at any time and any place. In the positioning process, the electronic device determines whether an L1 frequency band signal is detected, and detects an L5 frequency band signal by using a detection range for detecting an L1 frequency band signal as a detection range for detecting an L5 frequency band signal when an L1 frequency band signal transmitted by each satellite is not detected, that is, a detection range for an L5 frequency band signal is a frequency band of signals transmitted by the 28 satellites. If the electronic device detects the L5 band signal after detecting the L1 band signal, the positioning is performed based on the L1 band signal and the L5 band signal.

Further, after the electronic device performs positioning based on the L1 frequency band signal and the L5 frequency band signal, the method further includes: storing target satellite information corresponding to the L5 frequency band signal; and if the L1 frequency band signal is lost, continuing to use the stored target satellite information corresponding to the L5 frequency band signal for positioning. For example, after the electronic device acquires the L1 frequency band signal and the L5 frequency band signal and realizes positioning, the target satellite information corresponding to the L5 frequency band signal is stored in time, which is to avoid the subsequent situation that the L1 frequency band signal is lost, when the L1 frequency band signal is lost, the electronic device may continue to use the stored target satellite information corresponding to the L5 frequency band signal for positioning, and the problem that positioning cannot be realized due to the loss of the frequency band signal of the electronic device is solved.

Further, if the electronic device does not detect the L1 frequency band signal, before detecting the L5 frequency band signal, first detecting an environmental noise intensity value of the current environment of the electronic device, determining whether the environmental noise intensity value exceeds a preset threshold, and when the environmental noise intensity value does not exceed the preset threshold, stopping detecting the L1 frequency band signal; and if the environmental noise intensity value is greater than or equal to a preset threshold value, detecting the L5 frequency band signal. The environmental noise refers to noise caused by electromagnetic wave signal clutter due to electromagnetic fields in the external environment of the electronic device, and the sources of the environmental noise may include, but are not limited to, radio noise, industrial noise, natural noise, and internal noise. For the electronic device in the embodiment of the present application, the electronic device is generally in a communication environment, and environmental noise in the communication environment is also referred to as electromagnetic noise. The electromagnetic noise may include, but is not limited to, white gaussian noise, colored gaussian noise, impulse noise, power frequency interference, and the like, and the environmental noise provided in the embodiment of the present application may use any one of the electromagnetic noise as a measurement standard, which is not limited in the present application.

It can be understood that, when the environmental noise of the electronic device does not exceed the preset threshold, it indicates that the environmental noise of the current environment of the electronic device is small, and the electronic device is generally not affected by acquiring signals of each frequency band. Therefore, if the electronic device detects the L1 frequency band signal for the first time in the positioning process, under the condition, the detection of the L1 frequency band signal is stopped, and the positioning is performed by detecting the L5 frequency band signal and based on the target satellite information corresponding to the L5 frequency band signal, so that not only can the accurate positioning be realized, but also the power consumption of the electronic device can be saved. In practical application, when it is detected that the external environment noise does not exceed the preset threshold, the electronic device is usually located in an outdoor open place such as a playground, a beach, and the like, and at this time, the electronic device may automatically turn off the function of positioning based on the L1 frequency band signal, or may be manually turned off by a user. If the electronic equipment is automatically closed, when the environmental noise is detected to exceed the preset threshold value, the functions are automatically started. If the function of positioning based on the L1 band signal is manually turned off by the user, the function is also manually turned on by the user.

And S203, if the L5 frequency band signal is detected, positioning based on the L5 frequency band signal.

Specifically, after the electronic device detects the L5 frequency band signal, the electronic device is positioned and outputs position information based on the acquired L5 frequency band signal, and if the electronic device includes a display screen, the position information can be displayed on the display screen of the electronic device and provided for a user to view. For positioning based on the L5 frequency band signal, it is usually necessary to acquire at least 4 or more L5 frequency band signals transmitted by satellites, that is, the electronic device performs positioning according to at least 4 or more L5 frequency band signals transmitted by satellites.

The application provides a positioning method, wherein in the positioning process of an electronic device, whether an L1 frequency band signal is detected or not is judged firstly, if the L1 frequency band signal is not detected, the L5 frequency band signal is detected by taking the detection range of the L1 frequency band signal as the detection range of the L5 frequency band signal, positioning is carried out based on the L5 frequency band signal, and finally position information of the electronic device is output. By adopting the positioning method provided by the application, the electronic equipment can be automatically judged to be positioned by which frequency band signal according to the environment, when the L1 frequency band signal is not detected, independent positioning based on the L5 frequency band signal can be realized, and the problem that the electronic equipment cannot realize accurate positioning due to the interference of external environment noise is solved.

Referring to fig. 3, fig. 3 is a schematic flow chart of another positioning method in the embodiment of the present application, where the method includes:

s301, the electronic equipment judges whether the L1 frequency band signal is detected.

Specifically, each satellite in the satellite cluster continuously transmits a signal of at least one frequency band, the electronic device continuously detects the L1 frequency band signal in the positioning process, and determines whether the L1 frequency band signal is detected, if the L1 frequency band signal is detected, S302 is executed, and if the L1 frequency band signal is not detected, S304 is executed.

S302, the electronic equipment detects the L5 frequency band signal according to the detection result of the L1 frequency band signal.

Specifically, after detecting the L1 band signal, the electronic device determines which satellite transmits the signal included in the L1 band signal, determines to detect the L5 band signal according to the detection result of the L1 band signal, and detects the L5 band signal according to the detection result of the L1 band signal. For example, taking the 28 satellites numbered 1 to 28 as an example, if the L1 band signal detected by the electronic device corresponds to 4 satellites among them, the numbers are 1, 5, 9 and 24 respectively, the detection result is used as the detection result for detecting the L1 band signal, and the electronic device uses the detection result for detecting the L1 band signal as the detection band for detecting the L5 band signal, that is, the electronic device does not need to traverse through the detection bands 1 to 28, and detects the signals emitted by the satellites numbered 1, 5, 9 and 24 only in the detection band for detecting the L5 band signal.

And S303, the electronic equipment is positioned based on the L1 frequency band signal and the L5 frequency band signal.

Specifically, the electronic device detects that the L1 band signal is from the satellites No. 1, No. 5, No. 9, and No. 24 according to the detection method of S302, and if the L5 band signal is also from the satellites No. 1, No. 5, No. 9, and No. 24, the electronic device is located according to the L1 band signal and the L5 band signal sent by the 4 satellites.

Further, the method for the electronic device to perform positioning based on the L1 frequency band signal and the L5 frequency band signal may include: acquiring a combined phase actual measurement distance difference value based on the L1 frequency band signal and the L5 frequency band signal; and (4) according to the combined phase real-measured distance difference, positioning by using a least square positioning algorithm, and outputting position information.

Specifically, the method for acquiring the combined phase actual distance difference by the electronic device based on the L1 frequency band signal and the L5 frequency band signal may include: the electronic equipment performs wide-lane combination on the L1 frequency band signal and the L5 frequency band signal to obtain two-path double-frequency combined phase values of the L1 frequency band signal and the L5 frequency band signal, and performs single difference by using the obtained double-frequency combined phase values of the two-path double-frequency navigation signals to obtain a group of combined phase real-time distance difference values. For the calculation method of the dual-band combined phase value of each channel of the frequency band signal, reference is made to a common method for calculating a phase value, which is not described herein again. According to the actual measurement distance difference of the combined phase, the method for positioning by using the least square positioning algorithm may specifically include: and offsetting the integer ambiguity in the combined phase difference value to obtain an ordered combined phase actual measurement difference value, obtaining a group of positioning equations based on the new combined phase actual measurement distance difference value, taking the first path equation in the group of positioning equations as a reference for difference, converting the equation obtained after difference into an equation presented in a distance form, and then performing least square expansion to finally arrange and obtain a coordinate value, wherein the coordinate value is the coordinate value of the electronic equipment. After the coordinate values are obtained, the electronic equipment generates position information according to the coordinate values, outputs the position information, and displays the position information on a screen for a user to refer to.

It can be understood that, in practical applications, when the electronic device detects the L1 frequency band signal, the electronic device is usually located under the condition that the external environment noise of the electronic device is small, and the environmental noise is small and is not enough to influence the electronic device to perform location, so to ensure that the location result is more accurate, the electronic device usually obtains the L5 frequency band signal after obtaining the L1 frequency band signal, and performs location based on the L1 frequency band signal and the L5 frequency band signal. It should be noted that the reason that the electronic device performs positioning based on the L1 frequency band signal and the L5 frequency band signal is not only due to small environmental noise, but also includes other various reasonable reasons, and the application does not limit the environmental condition of the electronic device when the electronic device performs positioning based on the L1 frequency band signal and the L5 frequency band signal.

S304, the electronic equipment detects the L5 frequency band signal.

Specifically, if the electronic device does not detect the L1 band signal, the electronic device detects the L5 band signal. There are two ways to detect the L5 band signal, one of which detects the L5 band signal according to the detection range of the L1 band signal, and the other of which detects the L5 band signal according to the preset detection range. With the first mode, the L5 band signal is detected with the detection range for detecting the L1 band signal as the detection range for detecting the L5 band signal. For example, if the detection range for detecting the L1 band signal is satellites numbered 1 to 28, when the electronic device does not detect the L1 band signal transmitted by the above 28 satellites in the first frequency band, the satellites numbered 1 to 28 are used as the detection range for detecting the L5 band signal to detect the L5 band signal. After the electronic equipment determines the detection range of the L5 frequency band signal, the signals respectively transmitted by the satellites numbered from No. 1 to No. 28 are detected in the detection range of the second frequency band. For the second way, the detection range is preset by the developer according to the rule and related rule of the satellite transmission signal, so as to detect the L5 frequency band signal. For example, if there are satellites numbered 1 to 28, the developer determines which of the 28 satellites is closer to the current location according to experience and the current geographic location and performs distance priority ranking according to the distance from the satellite to the current location, and in order to make the positioning result more accurate, the signals transmitted by the top ten satellites in the distance priority ranking may be used as the detection range of the L5 band signals.

S305, the electronic equipment performs positioning based on the L5 frequency band signal.

Specifically, it is assumed that the electronic device detects that the satellites numbered 1, 10, 19, 24 and 26 respectively transmit the L5 band signals according to the detection method in step S304, and performs positioning according to the detected L5 band signals transmitted by the above 5 satellites.

It can be understood that, in practical applications, the electronic device performs positioning based on the L5 frequency band signal, which generally includes two situations, one is that the environmental noise of the environment where the electronic device is located does not exceed a preset threshold, and the other is that the environmental noise is so large that the electronic device is affected to detect the L1 frequency band signal. For the first case, the environment where the electronic device is located is usually in an open place such as a playground, a beach, a stadium, and the like, and since the open place is less affected by the electromagnetism, the electronic device is less affected by the environmental noise when being located in these places, and at this time, the electronic device can be located only based on the L5 frequency band signal, and for this case, the electronic device is located only based on the L5 frequency band signal, so that the power consumption of the electronic device can be saved, and meanwhile, the accurate location can be realized. In the second case, the environment in which the electronic device is located is usually a congested road or an environment in which there are many radio devices such as broadcasting, radar, navigation, etc. in the vicinity of the congested road, due to an electromagnetic interference phenomenon, the environmental noise in the two environments is so large that the electronic device is influenced to detect the L1 frequency band signal, and when the electronic device cannot detect the L1 frequency band signal, the electronic device can only perform positioning by detecting the L5 frequency band signal. When the electronic device performs positioning based on only the L5 frequency band signal, for the method of performing positioning based on the L1 frequency band signal, the user may manually select to turn off the function related to the positioning, or the electronic device may automatically turn off the function when detecting that the environmental noise does not exceed the preset threshold, which is not limited in this application.

S306, the electronic equipment outputs the position information.

Specifically, the electronic device outputs the position information based on the positioning results of the L1 band signal and the L5 band signal or based on the positioning results of the L5 band signal. The presentation form of the position information may include, but is not limited to, a text, an animation, a voice, a video, and the like, and if the electronic device carries the display screen, the position information may be displayed on the display screen of the electronic device, and if the electronic device does not carry the display screen, the position information may be presented to the user in a voice broadcast manner, which is not limited in the present application.

The positioning method provided by the present application will be illustrated with reference to fig. 4A and 4B.

Fig. 4A is a schematic diagram illustrating a positioning process based on the L1 band signal and the L5 band signal. As shown in fig. 4A, the electronic device uses the signals transmitted by the satellites numbered 1 to 28 as the detection range for detecting the L1 band signals, and when detecting the satellites numbered 1, 5, 9, 24, and 26 from which the L1 band signals are derived, uses the detection result as the detection range for detecting the L5 band signals, that is, detects the signals transmitted by the satellites numbered 1, 5, 9, 24, and 26 in the second frequency band, as shown in the figure, the electronic device detects the satellites numbered 1, 5, 9, and 24 from which the L5 band signals are derived, and finally performs positioning based on the detected L1 band signals and L5 band signals, and outputs the current position information of the electronic device.

Fig. 4B shows a schematic flow chart of positioning based on the L5 frequency band signal. As shown in fig. 4B, the electronic device uses the signals transmitted by the satellites numbered 1 to 28 as the detection range for detecting the L1 band signals, and when the electronic device does not detect any signal transmitted by any satellite in the first frequency band, the detection range of the L1 band signals is used as the detection range of the L5 band signals, that is, the detection range of the L5 band signals is the signals transmitted by the satellites numbered 1 to 28, as shown in the figure, when the electronic device detects the signals transmitted by the satellites numbered 1, 5, 9 and 24 in the second frequency band, the electronic device performs positioning based on the currently detected signals transmitted by the 4 satellites and outputs the current position information of the electronic device.

According to the positioning method provided by the embodiment of the application, whether the L1 frequency band signal is detected or not is judged in the positioning process, when the L1 frequency band signal is detected, the electronic equipment detects the L5 frequency band signal according to the detection result of the L1 frequency band signal, and positioning is carried out based on the L1 frequency band signal and the L5 frequency band signal; when the L1 band signal is not detected, the electronic device detects the L5 band signal with the detection range of the L1 band signal, performs positioning based on the L5 band signal, and finally outputs position information. By adopting the positioning method provided by the embodiment of the application, when the external environmental noise of the electronic equipment influences the positioning, if the L1 frequency band signal is detected, the positioning is carried out based on the L1 frequency band signal and the L5 frequency band signal, if the L1 frequency band signal is not detected, the L5 frequency band signal is detected, the positioning is carried out based on the L5 frequency band signal, and the problem that the electronic equipment cannot realize accurate positioning due to the interference of the external environmental noise is solved.

Two other positioning methods provided by the embodiments of the present application will be described below with reference to fig. 5 and 6. Fig. 5 mainly describes a specific method for performing positioning based on the L1 frequency band signal and the L5 frequency band signal, and fig. 6 mainly describes a specific method for performing positioning based on the L5 frequency band signal.

Referring to fig. 5, fig. 5 is a schematic flow chart of another positioning method in the embodiment of the present application, where the method includes:

s501, the electronic equipment detects the L1 frequency band signal.

Specifically, the user turns on the positioning function of the electronic device, and the electronic device continuously detects the L1 frequency band signal in the positioning process. For details related to the L1 band signal, please refer to the above embodiments, which are not described in detail in this embodiment.

S502, if the L1 frequency band signal is not detected, the electronic equipment acquires target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time.

Specifically, if the electronic device does not detect the L1 frequency band signal, the target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time is acquired. The preset time point before the current time can be set by a user according to a requirement, for example, the preset time point before the current time is set to a time point with an interval of 5 minutes before the current time. For example, if the current time is the beijing time 15 o 'clock, when the electronic device does not detect the L1 frequency band signal, the target satellite information corresponding to the L5 frequency band signal detected by the electronic device at a time interval of 5 minutes before 15 o' clock, such as 14: 55. 14: and target satellite information corresponding to the L5 frequency band signals at the two time points of 50. The target satellite information may include signals transmitted from at least 4 or more than 4 satellites and various parameter information calculated from the signals. The electronic device can calculate the orbit parameters of each satellite and the distance from the current position of the electronic device according to the signals transmitted by the satellites, and can obtain the position information of the electronic device at the moment of 14:55 according to the obtained information.

S503, obtaining the position information of the electronic equipment at the preset time point before the current time.

Specifically, the electronic device obtains the position information of the electronic device at a preset time point before the current time. For example, in the present embodiment, based on the example of step S502, the electronic device obtains 14:55 and 14: and 50, position information of the electronic equipment at each of the two preset time points. The presentation form of the location information may include, but is not limited to, a form of longitude and latitude, a map label, and the like.

S504, determining a position change value of the electronic equipment based on the position information of the electronic equipment at a preset time point before the current time.

Specifically, the electronic device determines the position change value of the electronic device according to the position information of two time points before the current time acquired in step S503. For example, the electronic device is at 14: the position information acquired at time 50 is displayed on the map at location a, 14: the position information acquired at the moment 55 is displayed on the B place on the map, and the electronic equipment analyzes that the position change value of the A place and the B place is 500 meters.

And S505, if the target satellite information corresponding to the L5 frequency band signal is detected at a preset time point before the current time and the position change value is smaller than a preset threshold value, positioning by using the target satellite information corresponding to the L5 frequency band signal at the preset time point before the current time.

Specifically, for example, taking the preset time point in the above step as an example, if the electronic device detects target satellite information corresponding to the L5 frequency band signal at 14:50 or 14:55, and calculates and obtains the two time points according to the target satellite information of the two time points, the electronic device is located with position information, and obtains a position change value according to the position information of the two time points, where the position change value of the a place and the B place obtained in the above step S504 is 500 meters, and if the position change preset threshold is 1 kilometer, at this time, the actual position change value is smaller than the preset threshold, the electronic device uses 14: and positioning the target location information corresponding to the L5 frequency band signal at the time 55.

Specifically, the electronic device performs positioning by using a least square positioning algorithm according to the calculated combined phase actual measurement distance difference, and finally outputs position information. The specific positioning method may include: and offsetting the integer ambiguity in the combined phase difference value to obtain an ordered combined phase actual measurement difference value, obtaining a group of positioning equations based on the new combined phase actual measurement distance difference value, taking the first path equation in the group of positioning equations as a reference for difference, converting the equation obtained after difference into an equation presented in a distance form, and then performing least square expansion to finally arrange and obtain a coordinate value, wherein the coordinate value is the coordinate value of the electronic equipment. After the coordinate values are obtained, the electronic equipment generates position information according to the coordinate values, outputs the position information, and displays the position information on a screen for a user to refer to.

In the positioning method provided in this embodiment of the application, when the electronic device does not detect the L1 frequency band signal, the L5 frequency band signal is detected, specifically, by acquiring the target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time and the position information of the electronic device, and then determining the position change value of the electronic device according to the position information of at least two preset time points, if the electronic device detects the target satellite information corresponding to the L5 frequency band signal at the preset time point before the current time and the position change value is smaller than a preset threshold, the target satellite information corresponding to the L5 frequency band signal is detected at the preset time point before the current time for positioning, in the case that the L1 frequency band signal is not detected, the positioning is performed by detecting the L5 frequency band signal, so that when one of the frequency band signals is not detected, the positioning can be carried out based on another frequency band signal, and the problem that the electronic equipment cannot realize accurate positioning due to the interference of external environment noise is solved.

Referring to fig. 6, fig. 6 is a schematic flow chart of another positioning method in the embodiment of the present application, where the method includes:

s601, the electronic equipment detects the L1 frequency band signal.

Specifically, the electronic device starts a positioning function, and in the positioning process, the electronic device continuously detects the L1 frequency band signal. For details related to the L1 band signal, please refer to the above embodiments, which are not described in detail in this embodiment.

S602, the electronic device acquires an environmental noise intensity value of the environment where the electronic device is located.

Specifically, the electronic device obtains an environmental noise intensity value of an environment where the electronic device is currently located. For detailed description of the environmental noise intensity value, please refer to the above embodiments, which is not described in detail in this embodiment.

And S603, if the environmental noise intensity value is smaller than the preset threshold value, stopping detecting the L1 frequency band signal by the electronic equipment.

Specifically, after the electronic device obtains the environmental noise intensity value of the current environment, the electronic device determines the obtained environmental noise intensity value and a preset threshold, if the environmental noise intensity value is smaller than the preset threshold, the electronic device stops detecting the L1 frequency band signal, and if the environmental noise intensity value is greater than or equal to the preset threshold, the L5 frequency band signal is detected. The preset threshold of the environmental noise may be set by a user, which is not limited in the embodiment of the present application.

S604, the electronic equipment detects the L5 frequency band signal and positions the electronic equipment based on the L5 frequency band signal.

Specifically, the electronic device detects the L5 frequency band signal and performs positioning based on the L5 frequency band signal. The method for positioning based on the L5 frequency band signal may specifically include: acquiring carrier observed quantity and code pseudo-range observed quantity based on the L5 frequency band signal, and calculating a reference satellite single-difference ambiguity estimation value; correcting the carrier observed quantity by using the single-difference ambiguity estimation value of the reference satellite; performing Kalman filtering on the corrected carrier observed quantity to obtain a fixed solution of each satellite double-difference ambiguity corresponding to the L5 frequency band signal; and positioning according to the fixed solution of the double-difference ambiguity of each satellite and the single-difference ambiguity estimation value of the reference satellite, and outputting position information. The method for calculating the reference satellite single-difference ambiguity estimation value can comprise the following steps: obtaining a carrier phase observation equation according to the carrier observation quantity and the code pseudo-range observation quantity; for the same satellite, the observation equation of a mobile station and a base station is used for making single difference, and the single difference equation is obtained after errors such as troposphere delay, ionosphere delay and satellite clock error are eliminated; and detecting and repairing cycle slip of the subsequent epoch observed quantity, and calculating a reference satellite single-difference ambiguity estimation value according to a single-difference equation and a single-difference pseudo-range observation equation. The Kalman filtering is an algorithm for optimally estimating the system state by using a linear system state equation and inputting and outputting observation data through a system. The Kalman filtering can keep the observed value information before the satellite disappears, so that the condition of inversion of a high-order method equation cannot occur, and the calculation efficiency is greatly improved. And after Kalman filtering, searching by using the known variance of the double-difference ambiguity of each satellite obtained by filtering convergence to obtain a fixed solution. And finally, the electronic equipment inputs the fixed solution of the satellite double-difference ambiguity and the reference satellite single-difference ambiguity estimation value into a Kalman filtering equation, and the Kalman filtering equation outputs coordinate information, wherein the coordinate information is the position information of the electronic equipment.

The positioning method provided in the embodiment of the application includes detecting an L1 frequency band signal, obtaining an environmental noise intensity value of a current environment, stopping detecting the L1 frequency band signal by the electronic device if the environmental noise intensity value is smaller than a preset threshold, detecting the L5 frequency band signal by the electronic device if the environmental noise intensity value is larger than the preset threshold, and positioning based on the L5 frequency band signal. According to the embodiment of the application, whether the L1 frequency band signal needs to be stopped to be detected or not is judged according to the intensity value of the environmental noise, so that positioning can be carried out based on another frequency band signal under the condition that the detection of one frequency band signal is stopped, and the problem that the electronic equipment cannot be accurately positioned due to the interference of the external environmental noise is solved.

Referring to fig. 7, based on a positioning method, fig. 7 is a schematic structural diagram of a positioning apparatus provided in the present application, where the positioning apparatus 700 includes:

a first detection module 701, configured to detect an L1 frequency band signal and an L5 frequency band signal; if the L1 frequency band signal is not detected, detecting the L5 frequency band signal; the L1 frequency band signal is of a different frequency band than the L5 frequency band signal;

a processing module 702, configured to, if the L5 frequency band signal is detected, perform positioning based on the L5 frequency band signal.

In some embodiments, if the L1 band signal is detected, the L5 band signal is detected in a target satellite corresponding to the L1 band signal;

and if the L5 frequency band signal is detected, positioning is carried out based on the L1 frequency band signal and the L5 frequency band signal.

In some embodiments, the apparatus further comprises:

a storage module, configured to store target satellite information corresponding to the L5 band signal after the positioning based on the L1 band signal and the L5 band signal;

and the positioning module is used for continuously using the stored target satellite information corresponding to the L5 frequency band signal to perform positioning if the L1 frequency band signal is lost.

In some embodiments, the first detection module 701 comprises:

the first acquisition unit is used for acquiring target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time;

a second obtaining unit, configured to obtain location information of the electronic device at a preset time point before the current time; determining a position change value of the electronic device based on position information of the electronic device at a preset time point before the current time;

and the positioning unit is used for positioning by using the target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time when the target satellite information corresponding to the L5 frequency band signal is detected at the preset time point before the current time and the position change value is smaller than a preset threshold value.

In some embodiments, the first detection module 701 comprises:

and detecting the L5 frequency band signal according to a preset detection range.

In some embodiments, the apparatus further comprises:

an obtaining module, configured to obtain an environmental noise intensity value of an environment where the electronic device is located before detecting the L5 frequency band signal if the first detecting module 701 does not detect the L1 frequency band signal;

and the stop detection module is used for stopping detecting the L1 frequency band signal when the environmental noise intensity value is smaller than a preset threshold value.

In some embodiments, the apparatus further comprises:

and the second detection module is used for detecting the L5 frequency band signal when the environmental noise intensity value is greater than or equal to a preset threshold value.

Referring to fig. 8, fig. 8 is a schematic structural diagram of an electronic device 800 provided in the embodiment of the present application. The positioning device 800 may comprise at least: at least one processor 801, e.g., a CPU, at least one network interface 804, a user interface 803, a memory 805, a GPS module 806, at least one communication bus 802. Wherein a communication bus 802 is used to enable connective communication between these components. The user interface 803 may include, but is not limited to, a camera, a display, a touch screen, a keyboard, a mouse, a joystick, and the like. The network interface 804 may optionally include a standard wired interface, a wireless interface (e.g., a WIFI interface), and a communication connection may be established with the server through the network interface 804. The memory 802 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). As shown in fig. 8, memory 805, which is a type of computer storage media, may include an operating system, a network communication module, a user interface module, application programs, and program instructions.

It should be noted that the network interface 804 may be connected to an acquirer, a transmitter or other communication module, and the other communication module may include, but is not limited to, a WiFi module, an operator network communication module, and the like.

The processor 801 may be configured to call program instructions stored in the memory 805, and may perform the following steps:

detecting an L1 frequency band signal;

if the L1 frequency band signal is not detected, detecting an L5 frequency band signal; the L1 frequency band signal has a frequency band different from that of the L5 frequency band signal;

and if the L5 frequency band signal is detected, positioning based on the L5 frequency band signal.

Possibly, if the L1 band signal is detected, detecting the L5 band signal in a target satellite corresponding to the L1 band signal;

and if the L5 frequency band signal is detected, positioning is carried out based on the L1 frequency band signal and the L5 frequency band signal.

Possibly, after the processor 801 performs the positioning based on the L1 band signal and the L5 band signal, the processor 801 is further configured to:

storing target satellite information corresponding to the L5 frequency band signal;

and if the L1 frequency band signal is lost, continuing to use the stored target satellite information corresponding to the L5 frequency band signal for positioning.

Possibly, the processor 801 detects the L5 frequency band signal, and specifically performs:

acquiring target satellite information corresponding to the L5 frequency band signal at a preset time point before the current time;

acquiring position information of the electronic equipment at a preset time point before the current time; determining a position change value of the electronic device based on position information of the electronic device at a preset time point before the current time;

and if the target satellite information corresponding to the L5 frequency band signal is detected at a preset time point before the current time and the position change value is smaller than a preset threshold value, using the target satellite information corresponding to the L5 frequency band signal at the preset time point before the current time to perform positioning.

Possibly, the processor 801 detects the L5 frequency band signal, and specifically performs:

and detecting the L5 frequency band signal according to a preset detection range.

Possibly, if the processor 801 does not detect the L1 band signal, before detecting the L5 band signal, the processor 801 is further configured to:

acquiring an environmental noise intensity value of an environment where the electronic equipment is located;

and if the environmental noise intensity value is smaller than a preset threshold value, stopping detecting the L1 frequency band signal.

Possibly, the processor 801 is further configured to perform:

and if the environmental noise intensity value is greater than or equal to a preset threshold value, detecting the L5 frequency band signal.

Embodiments of the present application also provide a computer-readable storage medium having stored therein instructions, which when executed on a computer or processor, cause the computer or processor to perform one or more steps of any one of the methods described above. The respective constituent modules of the positioning apparatus may be stored in the computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products.

In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in or transmitted over a computer-readable storage medium. The computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)), or wirelessly (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., Digital Versatile Disk (DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), etc.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. And the aforementioned storage medium includes: various media capable of storing program codes, such as Read-Only Memory (ROM), Random Access Memory (RAM), magnetic disk, and optical disk. The technical features in the present examples and embodiments may be arbitrarily combined without conflict.

The above-described embodiments are merely preferred embodiments of the present application, and are not intended to limit the scope of the present application, and various modifications and improvements made to the technical solutions of the present application by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope defined by the claims of the present application.