Satellite-based positioning method, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a satellite-based positioning method and device, electronic equipment, a storage medium and a program product. The method comprises the following steps: obtaining the integer ambiguity of a first satellite, and determining the real ambiguity of a second satellite abandoned in the process of resolving the satellites; determining the integer ambiguity of the second satellite according to the real ambiguity of the second satellite; according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite, the position information of the electronic equipment used for receiving the signals of the satellites is determined, and the effects of increasing the ambiguity of the available satellites and improving ambiguity fixing performance and positioning performance are achieved.

Description

Technical Field

[0001] The present application relates to the field of surveying and mapping, and in particular to a satellite-based positioning method, device, electronic device, storage medium and program product. Background Art

[0002] In the process of precise positioning of the global satellite navigation system, carrier phase observations are the key to ensuring high-precision positioning.

[0003] However, the carrier phase observation value faces the problem of ambiguity resolution. In the process of ambiguity fixation, due to problems such as the quality of observation data and the inconsistency between the random model and the observation conditions, too many ambiguities will be removed, making the removed ambiguities unable to be put into use, resulting in the fixed ambiguity logarithm being unable to meet the filter update conditions, and thus the ambiguity cannot be fixed, affecting the positioning accuracy. Summary of the invention

[0004] The embodiments of the present application provide a satellite-based positioning method, device, electronic device, storage medium and program product, which are used to re-check satellite ambiguity, increase the available number of satellite ambiguities, and improve positioning accuracy.

[0005] In a first aspect, an embodiment of the present application provides a satellite-based positioning method, including:

[0006] Obtaining integer ambiguities for a first satellite and determining real ambiguities for a second satellite that are discarded during the satellite resolution process;

[0007] determining an integer ambiguity of the second satellite based on the real ambiguity of the second satellite;

[0008] Position information of an electronic device for receiving signals from satellites is determined based on the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

[0009] In a possible implementation manner, obtaining the integer ambiguity of the first satellite includes:

[0010] Real ambiguities of multiple satellites are acquired, and the real ambiguities of the multiple satellites are resolved using a preset ambiguity fixing method to obtain an integer ambiguity of the first satellite among the multiple satellites.

[0011] In a possible implementation manner, determining the integer ambiguity of the second satellite according to the real ambiguity of the second satellite includes:

[0012] checking the rounding of the real ambiguity of the second satellite;

[0013] If the verification result satisfies a preset condition, an integer ambiguity of the second satellite is determined.

[0014] In a possible implementation manner, checking the rounding of the real ambiguity of the second satellite includes:

[0015] Determining whether the integration success rate of the second satellite meets a first preset threshold;

[0016] If the rounding success rate is greater than or equal to the first preset threshold, determining the integer ambiguity of the second satellite, and determining a posterior residual according to the obtained integer ambiguity;

[0017] If the posterior residual is less than or equal to a second preset threshold, the verification result satisfies a preset condition.

[0018] In a possible implementation, determining a posteriori residual according to the obtained integer ambiguity includes:

[0019] Using the integer ambiguity of the second satellite to update the state parameter equation of the preset filter;

[0020] Determining a plurality of state parameters according to the updated state parameter equation of the preset filter;

[0021] The posterior residual is calculated according to the multiple state quantities.

[0022] In a possible implementation, the preset filter is a Kalman filter.

[0023] In a possible implementation manner, the resolving the real ambiguities of the plurality of satellites using a preset ambiguity fixing method to obtain the integer ambiguity of the first satellite includes:

[0024] Performing down-correlation processing on the real ambiguities of the plurality of satellites;

[0025] An integer least squares search is used to determine the integer ambiguity of the first satellite for the down-correlated real ambiguities of the plurality of satellites.

[0026] In a possible implementation, the determining the integer ambiguity of the first satellite using integer least squares search for the real ambiguities of the plurality of satellites after down-correlation includes:

[0027] Repeat the following first operation until the integer ambiguity of the first satellite is determined:

[0028] Selecting a real ambiguity of a candidate first satellite from the real ambiguities of the plurality of satellites;

[0029] Performing a least square search on the real ambiguity of the candidate first satellite to obtain an integer ambiguity of the candidate first satellite;

[0030] Calculate the bootstrapping success rate and the Ratio test value according to the integer ambiguity of the candidate first satellite;

[0031] If both the bootstrapping success rate and the Ratio test value meet preset conditions, the candidate first satellite is used as the first satellite, and the integer ambiguity of the candidate first satellite is used as the integer ambiguity of the first satellite; otherwise, the first operation is continued.

[0032] In a possible implementation, the process of performing calculation processing on the satellite includes:

[0033] The LAMBDA algorithm is used to resolve the integer ambiguities of the real ambiguities of multiple satellites.

[0034] In a second aspect, an embodiment of the present application provides a satellite-based positioning device, including:

[0035] an acquisition unit, configured to acquire integer ambiguities of the first satellite and determine real ambiguities of the second satellite that are discarded in the process of resolving the satellites;

[0036] A first determining unit, configured to determine an integer ambiguity of the second satellite according to the real ambiguity of the second satellite;

[0037] The second determining unit is used to determine the position information of the electronic device used to receive the satellite signal according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

[0038] In a possible implementation, the acquisition unit includes:

[0039] The acquisition module is used to acquire real ambiguities of multiple satellites, and use a preset ambiguity fixing method to resolve the real ambiguities of the multiple satellites to obtain the integer ambiguity of the first satellite among the multiple satellites.

[0040] In a possible implementation manner, the first determining unit includes:

[0041] A first processing module, configured to check the rounding of the real ambiguity of the second satellite;

[0042] A determination module is used to determine the integer ambiguity of the second satellite if the verification result meets a preset condition.

[0043] In a possible implementation, the first processing module includes:

[0044] A first determination submodule, used to determine whether the integration success rate of the second satellite meets a first preset threshold;

[0045] A second determination submodule is configured to determine the integer ambiguity of the second satellite if the rounding success rate is greater than or equal to the first preset threshold, and determine a posterior residual according to the obtained integer ambiguity;

[0046] If the posterior residual is less than or equal to a second preset threshold, the verification result satisfies a preset condition.

[0047] In a possible implementation manner, the second determining submodule includes:

[0048] Using the integer ambiguity of the second satellite to update the state parameter equation of the preset filter;

[0049] Determining a plurality of state parameters according to the updated state parameter equation of the preset filter;

[0050] The posterior residual is calculated according to the multiple state quantities.

[0051] In a possible implementation, the preset filter is a Kalman filter.

[0052] In a possible implementation, the acquisition module includes:

[0053] A processing submodule, configured to perform down-correlation processing on the real number ambiguities of the plurality of satellites;

[0054] The third determination submodule is used to determine the integer ambiguity of the first satellite by using integer least squares search for the real ambiguities of each of the multiple satellites after down-correlation.

[0055] In a possible implementation, the third determining submodule includes:

[0056] Repeat the following first operation until the integer ambiguity of the first satellite is determined:

[0057] Selecting a real ambiguity of a candidate first satellite from the real ambiguities of the plurality of satellites;

[0058] Performing a least square search on the real ambiguity of the candidate first satellite to obtain an integer ambiguity of the candidate first satellite;

[0059] Calculate the bootstrapping success rate and the Ratio test value according to the integer ambiguity of the candidate first satellite;

[0060] If both the bootstrapping success rate and the Ratio test value meet preset conditions, the candidate first satellite is used as the first satellite, and the integer ambiguity of the candidate first satellite is used as the integer ambiguity of the first satellite; otherwise, the first operation is continued.

[0061] In a possible implementation, the acquisition unit includes:

[0062] The second processing module is used to solve the integer ambiguity of the real ambiguity of multiple satellites by using the LAMBDA algorithm.

[0063] In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor;

[0064] The memory stores computer-executable instructions;

[0065] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0066] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0067] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0068] The embodiments of the present application provide a satellite-based positioning method, apparatus, electronic device, storage medium and program product, which obtain the integer ambiguity of a first satellite and determine the real ambiguity of a second satellite that is discarded in the process of solving the satellite; determine the integer ambiguity of the second satellite according to the real ambiguity of the second satellite; and determine the position information of an electronic device for receiving satellite signals according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite, so that the number of available satellite pairs for GNSS positioning is significantly increased, thereby improving the performance of ambiguity fixation and helping to improve the reliability and accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0070] Figure 1A schematic diagram of a satellite-based positioning method provided in this application Figure 1 ;

[0071] Figure 2 A schematic diagram of a satellite-based positioning method provided in this application Figure 2 ;

[0072] Figure 3 A schematic diagram of the structure of a satellite-based positioning device provided in this application;

[0073] Figure 4 A schematic diagram of the structure of an electronic device provided in this application.

[0074] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0075] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0076] First, the terms involved in this application are explained:

[0077] Ambiguity: refers to a parameter in carrier phase measurement, which represents the number of complete cycles of the carrier. Since the distance between the GNSS receiver and the satellite is determined by measuring the phase of the carrier signal, and the phase measurement can have multiple complete wavelengths, an integer parameter is required to represent these complete wavelengths. This parameter is the ambiguity.

[0078] Inter-satellite single-difference carrier phase hardware delay: refers to the time delay difference between signals of different frequencies in GNSS (Global Navigation Satellite System) due to the different propagation paths of the signals in the satellite or receiver. This delay is usually caused by the hardware characteristics of the satellite and receiver, such as antennas, cables, and signal processing units.

[0079] Receiver clock error: refers to the difference between the receiver's clock and standard time (such as GPS time).

[0080] Satellite clock error: refers to the difference between the GPS satellite clock and GPS standard time.

[0081] Tropospheric slant path delay parameter: refers to the signal delay caused by the electromagnetic wave signal passing through the non-ionized neutral atmosphere below 40km in GNSS positioning.

[0082] Slant path ionospheric delay: refers to the delay in the signal propagation path caused by the uneven distribution of electron density when the GNSS signal passes through the ionosphere.

[0083] In the process of precise positioning of the global satellite navigation system, carrier phase observations are the key to ensuring high-precision positioning. However, carrier phase observations face the problem of ambiguity resolution. In the process of ambiguity fixation, due to problems such as the quality of observation data and the inconsistency between the random model and the observation conditions, too many ambiguities will be removed, resulting in the fixed ambiguity logarithm being unable to meet the filter update conditions, and thus the ambiguity cannot be fixed, affecting the positioning accuracy.

[0084] In an example, this problem can be solved by using Ratio modeling and dynamically adjusting the Ratio threshold.

[0085] However, Ratio modeling is very complicated and requires a large number of simulations of different observation scenarios. Moreover, the results of Ratio modeling depend to a large extent on the characteristics of the selected sample data. If only simulation data is used, there will be a large difference between the operating results and the measured data, and currently the difference cannot be stably controlled within the target requirements, so it cannot be put into practical application.

[0086] The present application provides a satellite-based positioning method, device and equipment, which are intended to solve the above-mentioned technical problems.

[0087] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0088] Figure 1 A schematic diagram of a satellite-based positioning method provided in this application Figure 1 ,like Figure 1 As shown, the method includes:

[0089] S101. Obtain an integer ambiguity of a first satellite, and determine a real ambiguity of a second satellite that is discarded in a satellite resolution process.

[0090] For example, in GNSS (Global Navigation Satellite System) precise positioning, it is necessary to use the LAMBDA (Least-squares AMBiguity Decorrelation Adjustment) algorithm to integer fix the known real ambiguities. In the process of integer fixing the real ambiguities, floating-point solution ambiguities that do not meet the preset conditions of Bootstrapping success rate or Ratio will be eliminated. In the initial ambiguity vector composed of the known floating-point solution ambiguities, each floating-point solution ambiguity represents a satellite pair composed of a satellite relative to a reference satellite. When too many satellite pairs are eliminated, or even less than 4 pairs, the valid satellite pairs cannot meet the positioning requirements. The ambiguities of the satellites retained in the ambiguity fixing process are retained as the integer ambiguities of the first satellite. The integer ambiguities of the first satellite include the index of the floating-point solution ambiguity of the first satellite in the initial ambiguity vector and the integer ambiguity obtained by rounding the floating-point solution ambiguity of the first satellite.

[0091] According to the initial ambiguity vector and the index of the floating-point ambiguity solution of the first satellite in the initial ambiguity vector, a discarded floating-point ambiguity solution and the index of the floating-point ambiguity solution in the initial ambiguity vector are determined, and the discarded floating-point ambiguity solution and the index of the floating-point ambiguity solution in the initial ambiguity vector constitute the real ambiguity of the second satellite.

[0092] S102. Determine an integer ambiguity of the second satellite according to the real ambiguity of the second satellite.

[0093] Exemplarily, according to the real ambiguity of the second satellite, the real ambiguity of each satellite pair in the second satellite is respectively calculated by rounding success rate and checked by a posteriori residual. If both the rounding success rate and the a posteriori residual check meet the preset threshold requirements, the real ambiguity of the satellite pair meets the fixed solution requirement, and the real ambiguity is rounded. If either the rounding success rate or the a posteriori residual check does not meet the preset threshold requirements, it means that the real ambiguity of the satellite pair still does not meet the fixed solution requirement, and it is completely eliminated, and the ambiguity of other satellite pairs in the second satellite is continuously checked. If the check is completed, the ambiguity of the satellite pair that meets the rounding success rate and the a posteriori residual check is rounded to obtain the integer ambiguity of the second satellite.

[0094] S103. Determine location information of an electronic device for receiving satellite signals based on the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

[0095] Exemplarily, the integer ambiguity of the second satellite is merged with the integer ambiguity vector of the first satellite according to its index, and after aggregation, a Kalman filter update is performed to give a final ambiguity fixed solution, and the position information of the electronic device receiving the satellite signal is determined based on the final ambiguity fixed solution.

[0096] A satellite-based positioning method provided in an embodiment of the present application obtains the integer ambiguity of a first satellite, determines the integer ambiguity of the second satellite according to the real ambiguity of the second satellite, and determines the real ambiguity of the second satellite discarded in the process of solving the satellite, and determines the position information of an electronic device for receiving satellite signals according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite, so that the number of available satellite pairs for GNSS positioning is significantly increased, thereby improving the performance of ambiguity fixation, and helping to improve the reliability and accuracy of positioning.

[0097] Figure 2 A schematic diagram of a satellite-based positioning method provided in this application Figure 2 ,like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, a satellite-based positioning method is described in detail, and the method includes:

[0098] S201. Acquire real ambiguities of multiple satellites, perform resolution processing on the real ambiguities of the multiple satellites using a preset ambiguity fixing method, obtain an integer ambiguity of a first satellite among the multiple satellites, and determine a real ambiguity of a second satellite that is discarded in the process of resolving the satellites.

[0099] In one example, step S201 includes the following steps:

[0100] The first step of step S201 is to perform down-correlation processing on the real ambiguities of each of the multiple satellites.

[0101] In the second step of step S201, an integer least square search is used to determine the integer ambiguity of the first satellite for the real ambiguities of the plurality of satellites after down-correlation.

[0102] In one example, the second step of step S201 is implemented by the following process:

[0103] Repeat the following first operation until the integer ambiguity of the first satellite is determined:

[0104] A real ambiguity of a candidate first satellite is selected from the real ambiguities of a plurality of satellites.

[0105] A least square search is performed on the real ambiguities of the candidate first satellite to obtain integer ambiguities of the candidate first satellite.

[0106] The Bootstrapping success rate and Ratio test value are calculated based on the integer ambiguity of the candidate first satellite.

[0107] If both the Bootstrapping success rate and the Ratio test value meet the preset conditions, the candidate first satellite is used as the first satellite, and the integer ambiguity of the candidate first satellite is used as the integer ambiguity of the first satellite; otherwise, the first operation is continued.

[0108] Among them, the LAMBDA algorithm is used to solve the integer ambiguity of the real ambiguity of multiple satellites.

[0109] Exemplarily, a GNSS receiver observes carrier signals transmitted by multiple satellites to obtain multiple carrier phase observation values ​​at the receiving time, a reference satellite is determined, and other satellites and the reference satellite form a satellite pair, and the inter-satellite single-difference carrier phase observation value of each satellite pair is determined. The inter-satellite single-difference ambiguity is determined according to a preset inter-satellite single-difference carrier phase observation model, and the inter-satellite single-difference ambiguity with integer characteristics is determined according to the inter-satellite single-difference ambiguity, as shown in the following formula (1):

[0110] (1)

[0111] in, is the inter-satellite single-difference ambiguity with integer characteristics that eliminates the satellite clock error and the receiver clock error; is the inter-satellite single-difference ambiguity determined according to the observation model, is the inter-satellite single-difference carrier phase hardware delay, and the inter-satellite single-difference carrier phase delay is a known parameter. , is the satellite index number, and the inter-satellite single-difference ambiguities of multiple satellite pairs with integer characteristics constitute the ambiguity vector , determine the corresponding variance-covariance matrix according to the ambiguity vector .

[0112] For the blur vector and the variance-covariance matrix The down-correlation processing is performed, as shown in the following formula (2) and formula (3):

[0113] (2)

[0114] (3)

[0115] in, represents the descending correlation transformation matrix, which is given by preset; is the ambiguity vector before down-correlation, is the variance-covariance matrix before down-correlation, is the ambiguity vector after down-correlation, is the variance-covariance matrix after down-correlation.

[0116] After completing the down-correlation, an integer least squares search of the ambiguity is performed in the preset parameter space, for example, a layer-by-layer search is performed through the SEVB (Solve Eliminate Value Branch) algorithm to obtain the optimal integer solution and the suboptimal integer solution of the ambiguity vector, and the residual ratio of the optimal integer solution and the suboptimal integer solution is calculated according to the Ratio algorithm, where the residual is the difference between the floating-point solution and the integer solution of the satellite's inter-satellite single-difference ambiguity with integer characteristics.

[0117] At the same time, the Bootstrapping success rate of each inter-satellite single-difference ambiguity with integer characteristics is calculated, as shown in the following formula (4):

[0118] (4)

[0119] in, is the Bootstrapping success rate; For The fuzziness is fixed as the condition floating point blurriness parameter; is the corresponding standard deviation.

[0120] In one example, if both the Bootstrapping success rate and the Ratio test value meet the preset conditions, the single-difference ambiguity parameters of all satellite pairs are retained, and no satellite pairs are eliminated.

[0121] In an example, if one of the Bootstrapping success rate and the Ratio test value does not meet the preset condition, then according to the variance-covariance matrix For the satellite pairs corresponding to the diagonal variance, the satellite pairs with the largest variance are eliminated, and the other satellite pairs are retained as candidate first satellites. The real ambiguities of the candidate first satellites are screened out from the real ambiguities of multiple satellites, and the above least squares search and Bootstrapping success rate test are repeated until there are no eliminated satellite pairs among the candidate first satellites.

[0122] The ambiguity of the candidate first satellite retained in the ambiguity fixing process is retained as the integer ambiguity of the first satellite, and the integer ambiguity of the first satellite includes the index of the floating-point solution ambiguity of the candidate first satellite in the ambiguity vector and the optimal integer ambiguity vector solution output by the least squares search.

[0123] According to the initial ambiguity vector and the floating point solution of the candidate first satellite in the initial ambiguity vector The index in determines the floating-point solution to be removed and the floating-point solution in the initial ambiguity vector The index in , the removed floating point solution ambiguity and the index of the floating point solution ambiguity in the initial ambiguity vector constitute the real ambiguity of the second satellite.

[0124] S202. Determine an integer ambiguity of the second satellite according to the real ambiguity of the second satellite.

[0125] In one example, step S202 includes the following steps:

[0126] The first step of step S202 is to check the rounding of the real ambiguity of the second satellite.

[0127] In the second step of step S202, if the checking result meets the preset condition, the integer ambiguity of the second satellite is determined.

[0128] In one example, the first step of step S202 is implemented by the following process:

[0129] Determining whether the integration success rate of the second satellite meets a first preset threshold;

[0130] If the rounding success rate is greater than or equal to the first preset threshold, determining the integer ambiguity of the second satellite, and determining the posterior residual according to the obtained integer ambiguity;

[0131] If the posterior residual is less than or equal to the second preset threshold, the verification result satisfies the preset condition.

[0132] The first step of step S202, "determining the a posteriori residual according to the obtained integer ambiguity", includes the following process:

[0133] The state parameter equations of the preset filter are updated using the integer ambiguities of the second satellite.

[0134] A plurality of state parameters are determined according to the updated state parameter equation of the preset filter.

[0135] Compute the posterior residual based on multiple state quantities.

[0136] The filter is a Kalman filter.

[0137] Exemplarily, after the real ambiguity of the second satellite is obtained, the real ambiguity of each satellite pair is rounded to an integer to calculate the success rate, as shown in the following formula (5) and formula (6):

[0138] (5)

[0139] (6)

[0140] in, is the rounding success rate; is the real ambiguity, for Integer ambiguity after rounding; is the mean error of the real ambiguity.

[0141] If the rounding success rate is greater than or equal to the first preset threshold, the real ambiguity of the satellite pair is rounded, the Kalman filter is updated, and the initial floating point solution ambiguity in the state parameter equation of the original filter is replaced by the integer ambiguity of the first satellite and the real ambiguity rounded value of the satellite pair that meets the preset condition of the rounding success rate, and the multiple state parameters determined by the Kalman filter based on the updated state parameter equation are obtained, including the satellite clock error ; Tropospheric slant path delay parameters (zenith wet delay is calculated after filter update) ; Estimated slant path ionospheric delay after filter update ; Undifferenced L1 ambiguity parameters estimated after filter update .

[0142] According to the estimation result after filtering and updating, the residual of the non-difference carrier phase observation equation is constructed, as shown in the following formula (7):

[0143] (7)

[0144] is the posterior residual of the L1 undifferenced observation equation (unit: week); is the L1 carrier phase observation value (unit: meter); It is the distance between guard and ground.

[0145] If the a posteriori residual is less than or equal to the second preset threshold, the verification result meets the preset condition, and the integer solution of the satellite pair ambiguity is determined by rounding, which is its integer ambiguity. If one of the rounding success rate or the a posteriori residual test does not meet the preset threshold, the satellite pair ambiguity is not recycled, and the above process is continued to be verified for the ambiguity of the next satellite pair in the second satellite until the satellite pairs in the second satellite are verified, and the ambiguities of all satellite pairs that pass the verification are rounded, and the ambiguities of the rounded satellite pairs constitute the integer ambiguities of the second satellite.

[0146] S203. Determine location information of an electronic device for receiving satellite signals based on the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

[0147] Exemplarily, the integer ambiguity of the second satellite is merged with the integer ambiguity vector of the first satellite according to its index, and after aggregation, a Kalman filter update is performed to give a final ambiguity fixed solution, and the position information of the electronic device receiving the satellite signal is determined based on the final ambiguity fixed solution.

[0148] A satellite-based positioning method provided in an embodiment of the present application obtains real ambiguities of multiple satellites, resolves the real ambiguities of the multiple satellites using a preset ambiguity fixing method, obtains the integer ambiguity of a first satellite among the multiple satellites, and determines the real ambiguity of a second satellite that is discarded in the process of resolving the satellites, determines the integer ambiguity of the second satellite based on the real ambiguity of the second satellite, and determines the position information of an electronic device for receiving satellite signals based on the integer ambiguity of the first satellite and the integer ambiguity of the second satellite, so that the number of available satellite pairs for GNSS positioning is significantly increased, thereby improving the performance of ambiguity fixing, and helping to improve the reliability and accuracy of positioning.

[0149] Figure 3 A schematic diagram of the structure of a satellite-based positioning device provided in this application, such as Figure 3 As shown, a satellite-based positioning device 30 provided in this embodiment includes:

[0150] An acquisition unit 301 is used to acquire the integer ambiguity of the first satellite and determine the real ambiguity of the second satellite that is discarded in the process of resolving the satellite;

[0151] A first determining unit 302 is configured to determine an integer ambiguity of the second satellite according to the real ambiguity of the second satellite;

[0152] The second determining unit 303 is configured to determine location information of an electronic device for receiving satellite signals according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

[0153] In a possible implementation, the acquiring unit 301 includes:

[0154] The acquisition module 3011 is used to acquire the real ambiguities of multiple satellites, and use a preset ambiguity fixing method to resolve the real ambiguities of the multiple satellites to obtain the integer ambiguity of the first satellite among the multiple satellites.

[0155] In a possible implementation, the first determining unit 302 includes:

[0156] A first processing module 3021 is used to check the rounding of the real ambiguity of the second satellite;

[0157] The determination module 3022 is configured to determine the integer ambiguity of the second satellite if the verification result satisfies a preset condition.

[0158] In a possible implementation, the first processing module 3021 includes:

[0159] A first determining submodule 30211 is used to determine whether the integration success rate of the second satellite meets a first preset threshold;

[0160] A second determination submodule 30212 is configured to determine the integer ambiguity of the second satellite if the rounding success rate is greater than or equal to the first preset threshold, and determine a posteriori residual according to the obtained integer ambiguity;

[0161] If the posterior residual is less than or equal to the second preset threshold, the verification result satisfies the preset condition.

[0162] In a possible implementation, the second determining submodule 30212 includes:

[0163] updating a state parameter equation of a preset filter using the integer ambiguity of the second satellite;

[0164] Determining a plurality of state parameters according to the updated state parameter equation of the preset filter;

[0165] Compute the posterior residual based on multiple state quantities.

[0166] In a possible implementation manner, the preset filter is a Kalman filter.

[0167] In a possible implementation, the acquisition module 3011 includes:

[0168] The processing submodule 30111 is used to perform correlation reduction processing on the real ambiguities of the multiple satellites;

[0169] The third determination submodule 30112 is used to determine the integer ambiguity of the first satellite using integer least squares search for the real ambiguities of the multiple satellites after down-correlation.

[0170] In a possible implementation, the third determining submodule 30112 includes:

[0171] Repeat the following first operation until the integer ambiguity of the first satellite is determined:

[0172] Selecting a real ambiguity of a candidate first satellite from the real ambiguities of a plurality of satellites;

[0173] Performing a least square search on the real ambiguity of the candidate first satellite to obtain an integer ambiguity of the candidate first satellite;

[0174] Calculate the bootstrapping success rate and Ratio test value based on the integer ambiguity of the candidate first satellite;

[0175] If both the bootstrapping success rate and the Ratio test value meet the preset conditions, the candidate first satellite is used as the first satellite, and the integer ambiguity of the candidate first satellite is used as the integer ambiguity of the first satellite; otherwise, the first operation is continued.

[0176] In a possible implementation, the acquiring unit 301 includes:

[0177] The second processing module 3012 is used to use the LAMBDA algorithm to resolve the integer ambiguities of the real ambiguities of multiple satellites.

[0178] The present embodiment provides a satellite-based positioning device, which can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and are not described in detail in this embodiment.

[0179] Figure 4 This is a schematic diagram of the structure of an electronic device provided in this application. Figure 4 As shown, the electronic device 40 provided in this embodiment includes: at least one processor 401 and a memory 402. Optionally, the device 40 also includes a communication component 403. The processor 401, the memory 402 and the communication component 403 are connected via a bus 404.

[0180] In a specific implementation process, at least one processor 401 executes the computer-executable instructions stored in the memory 402, so that at least one processor 401 executes the above method.

[0181] The specific implementation process of the processor 401 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0182] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0183] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0184] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0185] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0186] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0187] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0188] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0189] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0190] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0191] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0192] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0193] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0194] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A satellite-based positioning method, characterized in that: include: Obtaining integer ambiguities for a first satellite and determining real ambiguities for a second satellite that are discarded during the satellite resolution process; determining an integer ambiguity of the second satellite based on the real ambiguity of the second satellite; Position information of an electronic device for receiving signals from satellites is determined based on the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

2. The method according to claim 1, characterized in that The obtaining of the integer ambiguity of the first satellite comprises: Real ambiguities of multiple satellites are acquired, and the real ambiguities of the multiple satellites are resolved using a preset ambiguity fixing method to obtain an integer ambiguity of the first satellite among the multiple satellites.

3. The method according to claim 1, characterized in that The determining the integer ambiguity of the second satellite according to the real ambiguity of the second satellite comprises: checking the rounding of the real ambiguity of the second satellite; If the verification result satisfies a preset condition, an integer ambiguity of the second satellite is determined.

4. The method according to claim 3, characterized in that Checking the rounding of the real ambiguity of the second satellite comprises: Determining whether the integration success rate of the second satellite meets a first preset threshold; If the rounding success rate is greater than or equal to the first preset threshold, determining the integer ambiguity of the second satellite, and determining a posterior residual according to the obtained integer ambiguity; If the posterior residual is less than or equal to a second preset threshold, the verification result satisfies a preset condition.

5. The method according to claim 4, characterized in that The determining of the a posteriori residual according to the obtained integer ambiguity comprises: Using the integer ambiguity of the second satellite to update the state parameter equation of the preset filter; Determining a plurality of state parameters according to the updated state parameter equation of the preset filter; The posterior residual is calculated according to the multiple state quantities.

6. The method according to claim 5, characterized in that The preset filter is a Kalman filter.

7. The method according to claim 2, characterized in that The method of solving the real ambiguities of the plurality of satellites by using a preset ambiguity fixing method to obtain the integer ambiguity of the first satellite includes: Performing down-correlation processing on the real ambiguities of the plurality of satellites; An integer least squares search is used to determine the integer ambiguity of the first satellite for the down-correlated real ambiguities of the plurality of satellites.

8. The method according to claim 7, characterized in that Determining the integer ambiguity of the first satellite using an integer least squares search for the real ambiguities of the plurality of satellites after down-correlation, comprising: Repeat the following first operation until the integer ambiguity of the first satellite is determined: Selecting a real ambiguity of a candidate first satellite from the real ambiguities of the plurality of satellites; Performing a least square search on the real ambiguity of the candidate first satellite to obtain an integer ambiguity of the candidate first satellite; Calculate the bootstrapping success rate and the Ratio test value according to the integer ambiguity of the candidate first satellite; If both the bootstrapping success rate and the Ratio test value meet preset conditions, the candidate first satellite is used as the first satellite, and the integer ambiguity of the candidate first satellite is used as the integer ambiguity of the first satellite; otherwise, the first operation is continued.

9. The method according to any one of claims 1 to 6, characterized in that: The satellite solution processing process includes: The LAMBDA algorithm is used to resolve the integer ambiguities of the real ambiguities of multiple satellites.

10. A satellite-based positioning device, characterized in that: include: an acquisition unit, configured to acquire integer ambiguities of the first satellite and determine real ambiguities of the second satellite that are discarded in the process of resolving the satellites; A first determining unit, configured to determine an integer ambiguity of the second satellite according to the real ambiguity of the second satellite; The second determining unit is used to determine the position information of the electronic device used to receive the satellite signal according to the integer ambiguity of the first satellite and the integer ambiguity of the second satellite.

11. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 9 when executed by a processor.

13. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method according to any one of claims 1 to 9 is implemented.

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