US 12,422,565 B2
Vehicle positioning using pseudo range observation and doppler observation values
Jinglan Su, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Guangdong (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Guangdong (CN)
Filed on Nov. 16, 2022, as Appl. No. 17/988,009.
Application 17/988,009 is a continuation of application No. PCT/CN2022/076131, filed on Feb. 14, 2022.
Claims priority of application No. 202110196837.8 (CN), filed on Feb. 22, 2021.
Prior Publication US 2023/0072669 A1, Mar. 9, 2023
Int. Cl. G01S 19/40 (2010.01); G01S 19/25 (2010.01); G01S 19/39 (2010.01); G01S 19/41 (2010.01); G01S 19/42 (2010.01); G01S 19/45 (2010.01)
CPC G01S 19/396 (2019.08) [G01S 19/254 (2013.01); G01S 19/258 (2013.01); G01S 19/40 (2013.01); G01S 19/41 (2013.01); G01S 19/42 (2013.01); G01S 19/45 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle positioning method, comprising:
obtaining, by a satellite positioning device, satellite filtering parameters and satellite data, the satellite filtering parameters comprising a clock skew and a clock skew change rate, the satellite filtering parameters further comprising at least one of location information or speed information corresponding to a vehicle at a first time point, and the satellite data comprising at least one of (i) a pseudo range observation value indicating a distance between the vehicle and a satellite or (ii) a Doppler observation value indicating a Doppler effect of a signal of the satellite, the pseudo range observation value and the Doppler observation value corresponding to the vehicle at the first time point;
determining a first parameter correction amount corresponding to the vehicle at the first time point according to the satellite filtering parameters and the satellite data;
updating the satellite filtering parameters by using the first parameter correction amount, to obtain positioning information of the vehicle at the first time point;
obtaining a motion state of the vehicle at a second time point after the first time point;
obtaining a constraint matrix of positioning variation information based on a type of the motion state when the motion state of the vehicle at the second time point satisfies a positioning correction condition, the constraint matrix representing a positioning information variation corresponding to the motion state;
determining a second parameter correction amount corresponding to the vehicle at the second time point according to the constraint matrix corresponding to the motion state; and
obtaining positioning information of the vehicle at the second time point by modifying the positioning information at the first time point using the second parameter correction amount.