US 12,130,366 B2
Error model calibration method and apparatus, electronic device, error model-based positioning method and apparatus, terminal, computer-readable storage medium, and program product
Jinglan Su, Shenzhen (CN)
Assigned to Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Guangdong (CN)
Filed on Oct. 25, 2022, as Appl. No. 17/973,080.
Application 17/973,080 is a continuation of application No. PCT/CN2022/072825, filed on Jan. 19, 2022.
Claims priority of application No. 202110109222.7 (CN), filed on Jan. 27, 2021.
Prior Publication US 2023/0055363 A1, Feb. 23, 2023
Int. Cl. G01S 19/07 (2010.01); G01S 19/23 (2010.01); G01S 19/25 (2010.01)
CPC G01S 19/071 (2019.08) [G01S 19/235 (2013.01); G01S 19/254 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An error model calibration method comprising:
receiving observation data collected by a calibration device, the calibration device comprising at least two terminals;
acquiring satellite data based on the observation data;
calibrating a pseudo-range error array and a Doppler error array based on the observation data, the satellite data, and geometric parameters of the calibration device for the at least two terminals, wherein the pseudo-range error array describes a discrete distribution of pseudo-range measurement errors of the at least two terminals under a carrier-to-noise ratio and an altitude angle of a satellite, and the Doppler error array describes a discrete distribution of Doppler measurement errors of the at least two terminals under the carrier-to-noise ratio and the altitude angle of the satellite;
fitting respective pseudo-range error models corresponding to the at least two terminals using the pseudo-range error array; and
fitting respective Doppler error models corresponding to the at least two terminals using the Doppler error array and the pseudo-range error models, the Doppler error models collectively configured to position the at least two terminals.