Positioning method, apparatus, device and system, and storage medium

A positioning device, comprising an Inertial Measurement Unit (IMU) component, a 5G component, a satellite positioning component, a memory and a processor, wherein the IMU component, the 5G component, the satellite positioning component and the memory are respectively connected to the processor;

• the IMU component is configured to obtain an IMU output value of a positioning device at an IMU sampling moment, and output the IMU output value to the processor;
• the 5G component is configured to receive from a 5G base station, a first measurement signal of an uplink reference signal of the positioning device, wherein the uplink reference signal of the positioning device is measured by the 5G base station at a 5G sampling moment, and output the first measurement signal to the processor;
• the satellite positioning component is configured to receive from a navigation satellite, a second measurement signal of the positioning device observed by the navigation satellite at a satellite sampling moment, and output the second measurement signal to the processor;
• the memory stores a computer program;
• and
• the processor, when executing the computer program, implements following actions:
• obtaining a moment to be positioned at which positioning is to be performed;
• obtaining the Inertial Measurement Unit (IMU) output value of an IMU at the moment to be positioned;
• determining positioning information of a positioning device according to the IMU output value and the first measurement signal;
• and
• determining positioning information of a positioning device according to the IMU output value and the second measurement signal;
• wherein the moment to be positioned is an IMU sampling moment of the IMU mounted on the positioning device;
• the first measurement signal comprises a first 5G output value and a base station position of the 5G base station;
• determining the positioning information of the positioning device according to the IMU output value and the first measurement signal comprises:
• estimating a second 5G output value of the 5G base station at the moment to be positioned according to the first 5G output value, calculating a third 5G output value of the IMU at the moment to be positioned according to the IMU output value and the base station position, and determining the positioning information of the positioning device in conjunction with the second 5G output value and the third 5G output value.

A positioning system, comprising a 5G base station, a navigation satellite and a positioning device, wherein the positioning device is in communication connection with the navigation satellite and the 5G base station;

• the 5G base station is configured to measure a first measurement signal of an uplink reference signal of the positioning device at a 5G sampling moment, and output the first measurement signal to the positioning device;
• the navigation satellite is configured to observe a second measurement signal of the positioning device at a satellite sampling moment, and output the second measurement signal to the positioning device;
• and
• the positioning device is configured to perform following actions:
• obtaining a moment to be positioned at which positioning is to be performed;
• obtaining an Inertial Measurement Unit (IMU) output value of an IMU at the moment to be positioned;
• determining positioning information of a positioning device according to the IMU output value and the first measurement signal;
• and
• determining positioning information of a positioning device according to the IMU output value and the second measurement signal;
• wherein the moment to be positioned is an IMU sampling moment of the IMU mounted on the positioning device;
• the first measurement signal comprises a first 5G output value and a base station position of the 5G base station;
• determining the positioning information of the positioning device according to the IMU output value and the first measurement signal comprises:
• estimating a second 5G output value of the 5G base station at the moment to be positioned according to the first 5G output value, calculating a third 5G output value of the IMU at the moment to be positioned according to the IMU output value and the base station position, and determining the positioning information of the positioning device in conjunction with the second 5G output value and the third 5G output value.