Precise point positioning method and positioning apparatus and recording medium thereof

A precise point positioning apparatus provided on a vehicle, comprising a processor and a register, configured to perform operations, comprising:

• obtaining a first satellite signal of a target satellite and a second satellite signal of a reference satellite;
• combining the first satellite signal and the second satellite signal to eliminate a signal error and obtain a combined satellite signal;
• and
• performing a smoothing process on a code data of the combined satellite signal, to obtain a satellite positioning data for a positioning process, wherein the satellite positioning data comprises a modified code data and a modified carrier-phase data, wherein a location of the precise point positioning apparatus is displayed based on the satellite positioning data,
• wherein the smoothing process comprises:
• taking a code data of the combined satellite signal at current recursion as a first term, taking a summation of a smoothed code data of the combined satellite signal at previous recursion, a carrier-phase data at current recursion and a carrier-phase data at previous recursion as a second term, summing the first term and the second term respectively with weights by a parameter “a” and a parameter “(1−a)”, and obtaining a smoothed satellite positioning data at current recursion,
• wherein the parameter “a” comprises a satellite elevation angle of a satellite with respect to the precise point positioning apparatus, wherein the parameter “a” decreases as the satellite elevation angle increases.

A precise point positioning method, performed by a user equipment provided on a vehicle, comprising:

• receiving a satellite signal of a target satellite once at every one interval, the satellite signal having been processed by an error correction, wherein a current receiving stage is at a nth time, n is positive integer, wherein satellite positioning signal comprises a code data and a carrier-phase data, wherein a location of the user equipment is displayed based on the satellite positioning signal;
• and
• performing a smoothing process on the code data at the nth time to obtain a smoothed code data at the nth time, the smoothing process is performed at the nth time of recursions, comprising:
• taking the code data at the nth time at the nth time as a first term, taking a summation of a smoothed code data at the (n−1)th time, a carrier-phase data at the nth time and a carrier-phase data at the (n−1)th time as a second term, summing the first term and the second term with weights by a parameter a′ and a parameter (1−a′), and obtaining the smoothed code data at the nth time of the recursions,
• wherein the parameter a′ comprises a satellite elevation angle of a satellite with respect to the user equipment, the parameter a′ decreases as the satellite elevation angle increases.