Positioning method and apparatus utilizing navigation satellite system

A positioning method, comprising:

• receiving a signal from a navigation satellite system through a receiver on a target object;
• obtaining, based on the signal, pseudo-range information and phase information;
• determining distance consistency information of a plurality of particles with respect to the pseudo-range information, wherein each particle is an estimation of a state of the target object;
• determining phase consistency information of the plurality of particles with respect to the phase information based on a wavelength of carrier of the signal;
• and
• determining weights of the plurality of particles based on the distance consistency information and the phase consistency information to estimate positioning information of the target object.

A positioning apparatus, comprising:

• one or more processors, and
• a memory storing a program comprising instructions which, when executed by the processor, cause the positioning apparatus to perform operations comprising:
• receiving a signal from a navigation satellite system through a receiver on a target object;
• obtaining, based on the signal, pseudo-range information and phase information;
• determining distance consistency information of a plurality of particles with respect to the pseudo-range information, wherein each particle is an estimation of a state of the target object;
• determining phase consistency information of the plurality of particles with respect to the phase information based on a wavelength of carrier of the signal;
• and
• determining weights of the plurality of particles based on the distance consistency information and the phase consistency information to estimate positioning information of the target object.

A non-transitory computer-readable storage medium storing a program, the program comprising instructions which, when executed by one or more processors of a computing apparatus, cause the computing device to perform operations comprising:

• receiving a signal from a navigation satellite system through a receiver on a target object;
• obtaining, based on the signal, pseudo-range information and phase information;
• determining distance consistency information of a plurality of particles with respect to the pseudo-range information, wherein each particle is an estimation of a state of the target object;
• determining phase consistency information of the plurality of particles with respect to the phase information based on a wavelength of carrier of the signal;
• and
• determining weights of the plurality of particles based on the distance consistency information and the phase consistency information to estimate positioning information of the target object.