Positioning method, positioning device and readable storage medium

Abstract

The invention relates to a positioning method, a positioning device and a readable storage medium, and relates to the technical field of satellite navigation. The positioning method is applied to a receiver, and the receiver receives a pseudo satellite signal sent by each target satellite in a plurality of target satellites simulated by a pseudo satellite base station; wherein the number of the target satellites is at least four, and the target satellites are satellites which are invisible at the position where the receiver is located; for each pseudo-satellite base station, determining auxiliary positioning information of the pseudo-satellite base station according to the pseudo-satellite signal corresponding to the pseudo-satellite base station; wherein the auxiliary positioning information comprises the base station position of the pseudo satellite base station and the clock skew, and the clock skew is the skew between the clock of the pseudo satellite base station and the local clock of the receiver; and determining the position of the receiver according to the auxiliary positioning information of the pseudo satellite base station.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of satellite navigation technology, and more specifically, to a positioning method, a positioning device, and a readable storage medium. Background Art

[0002] With the development of satellite navigation and positioning technology, satellite positioning systems have been increasingly used. Satellites can provide receivers with highly accurate positioning results. However, in complex environments such as urban canyons, indoor parking lots, and tunnels, receivers often struggle to obtain sufficient satellite signals, resulting in reduced positioning accuracy or even positioning failure, seriously impacting the reliability and continuity of navigation and positioning services.

[0003] Therefore, how to improve the positioning accuracy of receivers in complex environments has become a technical problem that needs to be solved urgently. Summary of the Invention

[0004] An object of the embodiments of the present disclosure is to provide a positioning method, a positioning device, and a readable storage medium, which can improve the positioning accuracy of a receiver in a complex environment.

[0005] According to a first aspect of the present disclosure, a positioning method is provided, which is applied to a receiver and receives pseudolite signals emitted by a pseudolite base station, each of which simulates a plurality of target satellites; wherein the plurality of target satellites is at least four target satellites, and the target satellites are satellites that are invisible at the receiver's location; for each pseudolite base station, auxiliary positioning information of the pseudolite base station is determined based on the pseudolite signal corresponding to the pseudolite base station; wherein the auxiliary positioning information includes the base station position and clock deviation of the pseudolite base station, where the clock deviation is the deviation between the clock of the pseudolite base station and the local clock of the receiver; and the position of the receiver is determined based on the auxiliary positioning information of the pseudolite base station.

[0006] Optionally, determining the position of the receiver based on the auxiliary positioning information of the pseudo-satellite base station includes: when the auxiliary positioning information of multiple pseudo-satellite base stations is obtained, calculating the position of the receiver based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations; wherein the multiple pseudo-satellite base stations are at least four pseudo-satellite base stations, and the multiple pseudo-satellite base stations are not in the same plane.

[0007] Optionally, the auxiliary positioning information of the pseudo-satellite base station is determined based on the pseudo-satellite signal corresponding to the pseudo-satellite base station, including: periodically determining the instantaneous auxiliary positioning information of the pseudo-satellite base station based on the pseudo-satellite signal corresponding to the pseudo-satellite base station; and determining the auxiliary positioning information based on the instantaneous auxiliary positioning information obtained in multiple periods.

[0008] Optionally, receiving real satellite signals sent by satellites visible from the receiver's location; generating real satellite observation data based on the real satellite signals; and determining the receiver's location based on auxiliary positioning information of a pseudo-satellite base station, including: generating virtual satellite observation data based on the auxiliary positioning information of the pseudo-satellite base station; and determining the receiver's location based on the virtual satellite observation data and the real satellite observation data.

[0009] Optionally, when a receiver receives pseudolite signals sent by multiple pseudolite base stations at the same location, different pseudolite base stations simulate different target satellites.

[0010] Optionally, after receiving the pseudo-satellite signals respectively emitted by the pseudo-satellite base station simulating each target satellite among the multiple target satellites, the method further includes: determining the satellite identifier of each target satellite based on the pseudo-satellite signal, and determining the pseudo-satellite base station corresponding to the satellite identifier of the target satellite based on the pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between target satellite identifiers and pseudo-satellite base station identifiers preset by the receiver, or a mapping relationship between target satellite identifiers and pseudo-satellite base station identifiers obtained by the receiver from a preset server; or determining the pseudo-satellite base station corresponding to the target satellite based on the signal strength of the pseudo-satellite signal.

[0011] According to a second aspect of the present disclosure, a positioning method is also provided, which is applied to a pseudo-satellite base station, and the method includes: determining multiple target satellites simulated by the pseudo-satellite base station; wherein the multiple target satellites are at least four target satellites, and the target satellites are satellites that are invisible at the position of the receiver; sending a pseudo-satellite signal simulating each target satellite in the multiple target satellites; wherein, when the pseudo-satellite signal is received by the receiver, it is used to determine auxiliary positioning information of the pseudo-satellite base station, and the position of the receiver is determined based on the auxiliary positioning information; wherein the auxiliary positioning information includes the base station position and clock deviation of the pseudo-satellite base station, and the clock deviation is the deviation between the clock of the pseudo-satellite base station and the local clock of the receiver.

[0012] Optionally, determining at least four different target satellites simulated by the pseudo-satellite base station includes: determining the target satellites simulated by the pseudo-satellite base station according to a pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between target satellites and pseudo-satellite base stations preset by the pseudo-satellite base station, or a mapping relationship between target satellites and pseudo-satellite base stations obtained by the pseudo-satellite base station from a preset server.

[0013] According to a third aspect of the present disclosure, a positioning device is further provided, comprising a memory and a processor, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to the first aspect or the second aspect of the present disclosure.

[0014] According to a fourth aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect or the second aspect of the present disclosure is implemented.

[0015] One beneficial effect of the embodiments of the present disclosure is that the receiver can obtain sufficient positioning signals in complex environments where satellite signals are invisible (such as urban canyons, tunnels, indoor parking lots, etc.) by receiving pseudo-satellite signals emitted by multiple target satellites simulated by pseudo-satellite base stations. The receiver can combine the obtained pseudo-satellite signals to obtain auxiliary positioning information such as the base station position and clock deviation, reduce the deviation between the clock of the pseudo-satellite base station and the local clock of the receiver, improve the accuracy of positioning, and then determine the position of the receiver based on the auxiliary positioning information to meet the positioning needs in complex scenarios.

[0016] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0018] Figure 1 is a schematic diagram of the structure of a positioning system to which one embodiment of the present invention can be applied;

[0019] Figure 2 is applied to Figure 1 Schematic diagram of the interactive flow of the positioning method between the receiver and the pseudo-satellite base station;

[0020] Figure 3 is applied to Figure 1 Flowchart of receiver positioning method;

[0021] Figure 4 is applied to Figure 1 Flow chart of pseudo-satellite base station positioning method;

[0022] Figure 5 FIG. 4 is a schematic diagram of the hardware structure of a positioning device according to an embodiment. DETAILED DESCRIPTION

[0023] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0024] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0025] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0026] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0027] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0028] Figure 1 FIG2 shows a schematic architecture diagram of a positioning system applicable to an embodiment of the present disclosure. Figure 1 The positioning system may include satellites 110, pseudo-satellite base stations 130, and receivers 140. Satellites 110 may be classified into two types: visible satellites 111 and invisible satellites 112, depending on the location of the receiver. Signals transmitted by visible satellites 111 may be directly received by receiver 140 and used to generate real satellite observation data. Invisible satellites 112 are invisible to receiver 140, meaning that the receiver cannot receive signals from these invisible satellites or deems them invalid and does not use them for positioning.

[0029] For example, for a receiver located anywhere on Earth, there are theoretically both visible and invisible satellites. For example, GPS has 32 satellites, but theoretically, a receiver located anywhere near the Earth's surface can only see 8-12 satellites. These 8 to 12 visible satellites are considered visible satellites at the receiver's location. The remaining 20 or more satellites are invisible to the receiver and are considered invisible satellites at the receiver's location.

[0030] In some examples, after the receiver is first positioned, it calculates the relative relationship between each satellite in the sky and the receiver to obtain the elevation angle of each satellite. If the elevation angle of a satellite is lower than 0 (that is, the position of the satellite is below the horizon at the receiver's location), it can be determined that the satellite is invisible. In this case, even if the receiver receives the signal of the invisible satellite, it will not use it. This is because the receiver determines that the signal of the invisible satellite may be affected by multipath effects or other interference, and there is a high probability that there is a problem. Therefore, the signal of the invisible satellite is regarded as invalid and not used.

[0031] In an embodiment of the present disclosure, a novel positioning system can be provided, wherein the pseudolite base station 130 in the positioning system can simulate an invisible satellite and emit a pseudolite signal; the receiver 140 can receive and use the pseudolite signal for positioning, thereby enhancing the positioning accuracy of the receiver in complex environments.

[0032] Pseudo-satellite base station 130: This can be used to enhance satellite signal coverage or provide additional satellite signal processing capabilities. This pseudo-satellite base station can also be referred to as a pseudo-base station, ground base station, etc. This pseudo-satellite base station can be used to simulate signals from real satellites. In some examples, pseudo-satellite base station 130 can simulate signals from invisible satellites 112 and transmit these pseudo-satellite signals to receiver 140. Pseudo-satellite base station 130 can determine the simulated target satellite based on the pseudo-satellite group mapping relationship and transmit the corresponding pseudo-satellite signal. This pseudo-satellite signal can be used to determine auxiliary positioning information for the pseudo-satellite base station, which can include information such as the base station's position and clock bias.

[0033] Receiver 140: This can be a mobile device, a fixed device, or a specialized receiving device, and can be used to receive satellite signals and perform positioning based on them. In some examples, receiver 140 can receive at least one of pseudolite signals from pseudolite base station 130 and real satellite signals from visible satellites 111. Receiver 140 can also determine the satellite coordinates and measure pseudoranges of target satellites based on the pseudolite signals, determine auxiliary positioning information for pseudolite base station 130 based on this information, and determine the receiver's own position based on the auxiliary positioning information.

[0034] In some examples, there may be multiple pseudolite base stations 130, each of which can simulate a different target satellite, which may be a satellite that is not visible from the receiver's location. After acquiring auxiliary positioning information from at least four pseudolite base stations, receiver 140 can calculate its own position. Furthermore, receiver 140 can generate virtual satellite observation data based on the auxiliary positioning information from pseudolite base stations 130 to determine its own position. It can also determine its own position by combining the auxiliary positioning information from pseudolite base stations 130 with observation data from visible satellites 111.

[0035] Figure 2 This is a flow chart of a positioning method provided by an embodiment of the present disclosure. Figure 1 The pseudo-satellite base station 130 and the receiver 140 in the positioning system shown perform, as shown in FIG. Figure 2 As shown, the method may include the following steps S210 to S240.

[0036] Step S210: The pseudolite base station determines multiple simulated target satellites.

[0037] The multiple target satellites may be at least four target satellites, the target satellites may be satellites that are invisible from the receiver's location, and the receiver may be a receiver capable of receiving pseudosatellite signals transmitted by a pseudosatellite base station. For example, the receiver may be located at a location capable of receiving pseudosatellite signals transmitted by the pseudosatellite base station, that is, within the coverage area of the pseudosatellite signals transmitted by the pseudosatellite base station. For example, if, according to design and planning, the pseudosatellite signals transmitted by the pseudosatellite base station can cover a coverage area with a radius of 500 meters centered on the pseudosatellite base station's transmitting antenna, the receiver may be located within this coverage area.

[0038] In some examples, a pseudo-satellite base station can use a space and time synchronization control mechanism based on a ground-based augmentation network to use a satellite that is not visible at the receiver's location (for example, a satellite whose connection between the receiver and the satellite is blocked by buildings or terrain) as a target satellite. The pseudo-satellite base station simulates and generates a pseudo-satellite signal with the same frequency, modulation mode and data structure as the target satellite through technical means such as carrier phase reconstruction and navigation message remapping, and ensures that each base station signal is strictly synchronized with the Global Navigation Satellite System (GNSS) time scale through a time synchronization system. The pseudo-satellite signal simulated by the pseudo-satellite base station can contain information such as the ephemeris, almanac, and pseudo-range observation data of the target satellite, but its transmitting source is a pseudo-satellite base station on the ground rather than a real satellite in the sky. Pseudo-satellite signals can be used to supplement the deficiencies of real satellite signals, especially in environments where satellite signals are blocked or weakened (such as indoors, in tunnels or urban canyons).

[0039] In some examples, the pseudolite base station may determine the target satellite simulated by the pseudolite base station according to the pseudolite group mapping relationship.

[0040] The pseudolite group mapping relationship can be obtained in various ways. For example, the pseudolite group mapping relationship can be a mapping relationship between target satellites and pseudolite base stations preset by the pseudolite base station. For another example, the pseudolite group mapping relationship can be a mapping relationship between target satellites and pseudolite base stations obtained by the pseudolite base station from a preset server.

[0041] In an optional implementation, the pseudo-satellite base station can be grouped based on the target position and determine the pseudo-satellite group mapping relationship. For example, the pseudo-satellite base station can obtain the target position (for example, through the mobile communication network to obtain or pre-configure regional information, or the coverage area of the pseudo-satellite base station, or the approximate position of the receiver), and according to the target position, determine the set of satellites visible to the target position (for example, calculated by a satellite orbit model), exclude visible satellites from all satellites, obtain an invisible satellite set, and group the invisible satellite set according to satellite identification or other rules, each group containing at least four satellites, and assign each group of satellites to a pseudo-satellite base station to form a pseudo-satellite group mapping relationship; it can also be grouped based on satellite visibility prediction. Specifically, the pseudo-satellite base station predicts the invisible satellite set of the receiver at different positions based on historical data and satellite orbit model. For each predicted position, a corresponding invisible satellite set is generated, and then the invisible satellites are grouped according to certain rules (such as minimizing the geometric precision factor), and the grouping results are stored as a pseudo-satellite group mapping relationship.

[0042] In another optional implementation, the pseudolite base stations may also be grouped based on satellite identifiers and the pseudolite group mapping relationship may be determined. The satellite identifier is a number or code used to identify each target satellite. For example, the satellite identifier may be a unique satellite number, such as a pseudo-random noise (PRN).

[0043] For example, all invisible satellites can be sorted by satellite ID, the satellite with the smallest satellite ID is selected as the starting point of the group, and subsequent satellites are selected according to a certain step size or rule to ensure that each group has at least four satellites, thereby generating a pseudolite group mapping relationship.

[0044] Taking the construction of pseudolite group mapping relationships based on satellite identifiers as an example, if the positioning system covering a target area includes five pseudolite base stations, and the base station identifiers are base station PS1, base station PS2, base station PS3, base station PS4, and base station PS5, respectively, and the invisible satellites in the target area are 20 target satellites, taking PRN as the satellite identifier as an example, the satellite identifiers of the 20 target satellites can be PRN1-20, respectively. The method of constructing the pseudolite group mapping relationship based on satellite identifiers can be: sort all invisible satellites by satellite identifier, select the satellite with the smallest satellite identifier as the starting point of the group, and select subsequent satellites according to a certain step size to ensure that each group has at least four satellites. For example, PS1 simulates satellite identifiers PRN 1, PRN 2, PRN 3, and PRN 4; PS2 simulates satellite identifiers PRN 5, PRN 6, PRN 7, and PRN 8; PS3 simulates satellite identifiers PRN 9, PRN 10, PRN 11, and PRN 12; PS4 simulates satellite identifiers PRN 13, PRN 14, PRN 15, and PRN 16; and PS5 simulates satellite identifiers PRN 17, PRN 18, PRN 19, and PRN 20. In this way, each pseudolite base station has a clear target satellite group, and each pseudolite base station is used to simulate each pseudolite group and transmit pseudolite signals.

[0045] In other examples, the pseudolite base station may obtain a mapping relationship between target satellites and pseudolite base stations from a preset server to obtain the pseudolite group mapping relationship.

[0046] For example, the pseudolite group mapping relationship is stored in a preset server, so that the pseudolite base station can obtain the pseudolite group mapping relationship by communicating with the preset server; the method for determining the pseudolite group mapping relationship stored in the preset server can refer to the method of grouping based on the target position and / or based on the satellite identifier and determining the pseudolite group mapping relationship in the aforementioned example.

[0047] In some other examples, when deploying a pseudolite base station, the pseudolite group mapping relationship may be stored in the pseudolite base station so that the pseudolite base station automatically loads the pre-stored pseudolite group mapping relationship when starting.

[0048] In other examples, each pseudolite base station may only obtain or store the pseudolite group mapping relationship corresponding to the pseudolite base station itself, or may obtain the pseudolite group mapping relationship corresponding to all pseudolite base stations in the positioning system or pseudolite base stations adjacent to the pseudolite base station.

[0049] In some examples, pseudo-satellite base stations within a certain area each simulate a different target satellite, allowing the receiver to avoid signal conflicts and interference and ensure positioning reliability.

[0050] For example, when a receiver receives pseudolite signals sent by multiple pseudolite base stations at the same location, different pseudolite base stations simulate different target satellites.

[0051] In other examples, multiple pseudo-satellite base stations in a positioning system can be regarded as a pseudo-satellite base station network, and network planning can be performed for the target satellite simulated by each pseudo-satellite base station. For example, the coverage area of the pseudo-satellite signal sent by each pseudo-satellite base station can be determined based on the position, altitude, and signal transmission power of the pseudo-satellite base station, so that the target satellites simulated by any two pseudo-satellite base stations with overlapping coverage areas are different, and the target satellites simulated by two pseudo-satellite base stations with no overlapping coverage areas and the closest distance between the coverage area boundaries is greater than a preset distance threshold can be the same. The preset distance threshold can be an arbitrary value determined according to the network planning objectives.

[0052] In this way, even if the receiver moves on the surface of the earth, it will not receive pseudo-satellite signals of the same target satellite simulated by two pseudo-satellite base stations at the same location during the movement, thereby ensuring the stability of the switching during the movement of the receiver.

[0053] Step S220: The pseudolite base station transmits a pseudolite signal simulating each target satellite among the multiple target satellites.

[0054] The multiple target satellites may be at least four target satellites, and the target satellites may be satellites that are not visible from the location of the receiver.

[0055] A pseudolite base station transmits pseudolite signals that simulate each of multiple target satellites. This can be understood as generating pseudolite signals with the same structure as real satellite signals. These signals may include the same carrier frequency, pseudorandom code, navigation message, and other information. The pseudolite base station transmits these signals by first calculating the theoretical pseudorange based on the target satellite's ephemeris parameters and the current time. It then adjusts the chip phase of the locally generated pseudorandom code to correspond to the theoretical pseudorange, simulating the signal delay from the target satellite to the pseudolite base station. The adjusted pseudorandom code is then modulated with the carrier to form a pseudolite signal compatible with the real satellite signal. Finally, these signals are transmitted to the receiver, ensuring that the receiver can capture and process them.

[0056] For example, suppose pseudolite base station PS1 needs to simulate the signals of each of the four target satellites identified as PRN 1, PRN 2, PRN 3, and PRN 4. PS1 first obtains the ephemeris parameters and current time for satellites PRN 1, PRN 2, PRN 3, and PRN 4, and calculates the theoretical pseudoranges for these satellites. PS1 then adjusts a locally generated pseudorandom code so that its chip phase aligns with the delay corresponding to the theoretical pseudoranges. This adjusted pseudorandom code is then modulated with a carrier to generate pseudolite signals compatible with real satellite signals. The signal is then transmitted at an appropriate power. Upon receiving these signals, the receiver can calculate PS1's base station position and clock bias, thereby further determining its own position.

[0057] It should be understood that when a receiver receives pseudolite signals transmitted by multiple pseudolite base stations at the same location, different pseudolite base stations simulate different target satellites.

[0058] Specifically, each of the multiple pseudolite base stations is used to simulate a group of specific target satellites, and these target satellites are invisible at the location of the receiver.

[0059] For example, there are multiple pseudo-satellite base stations in the positioning system, such as PS1, PS2, PS3, PS4, etc., and each pseudo-satellite base station is responsible for simulating a specific group of target satellites, where PS1 simulates satellites PRN 1, PRN 2, PRN 3, PRN 4, PS2 simulates satellites PRN 5, PRN 6, PRN 7, PRN 8, PS3 simulates satellites PRN 9, PRN 10, PRN 11, PRN 12, and PS4 simulates satellites PRN 13, PRN 14, PRN 15, PRN 16.

[0060] In some examples, the receiver may receive pseudolite signals sent by a pseudolite base station simulating each target satellite among a plurality of target satellites.

[0061] In one implementation, after receiving the pseudo-satellite signals respectively emitted by the pseudo-satellite base station simulating each of the multiple target satellites, the receiver can determine the satellite identifier of each target satellite based on the pseudo-satellite signal, and determine the pseudo-satellite base station corresponding to the satellite identifier of the target satellite based on the pseudo-satellite group mapping relationship.

[0062] The pseudolite group mapping relationship is a mapping relationship between a target satellite identifier and a pseudolite base station identifier preset by the receiver, or a mapping relationship between a target satellite identifier and a pseudolite base station identifier obtained by the receiver from a preset server; or the pseudolite base station corresponding to the target satellite is determined according to the signal strength of the pseudolite signal.

[0063] Specifically, after receiving the pseudo-satellite signal, the receiver can determine the satellite identifiers of the target satellites corresponding to the received pseudo-satellite signals by parsing the satellite identifiers in the navigation message or other information in the pseudo-satellite signal; after determining the identifiers of the target satellites, the target satellite identifiers are mapped to the corresponding pseudo-satellite base stations using a pseudo-satellite group mapping relationship that is pre-set or obtained from a preset server.

[0064] The satellite identifier is a number or code used to identify each target satellite. For example, the satellite identifier can be a unique number of the satellite, such as a PRN.

[0065] For example, the multiple pseudolite base stations in the above-mentioned positioning system may include PS1, PS2, PS3, and PS4. The pseudolite group mapping relationship pre-stored by the receiver or obtained from the server is: PS1 simulates satellites PRN 1, PRN 2, PRN 3, and PRN 4; PS2 simulates satellites PRN 5, PRN 6, PRN 7, and PRN 8; PS3 simulates satellites PRN 9, PRN 10, PRN 11, and PRN 12; and PS4 simulates satellites PRN 13, PRN 14, PRN 15, and PRN 16. When the receiver receives multiple pseudolite signals at the same location, it parses out the target satellite identifiers as PRN 5, PRN 9, and PRN 13. According to the pseudolite group mapping relationship, it can be determined that PRN 5 is sent by PS2, PRN 9 is sent by PS3, and PRN 13 is sent by PS4.

[0066] In another implementation, the receiver may determine the pseudolite base station corresponding to the target satellite based on the signal strength of the pseudolite signal.

[0067] For example, the signal strength may be the power of the pseudolite signal received by the receiver or the carrier-to-noise density ratio (CN0).

[0068] Alternatively, if the same pseudolite base station uses the same power when transmitting different pseudolite signals, and the different pseudolite signals reach the receiver via the same path, the different pseudolite signals will be attenuated, but the signal strengths will remain basically consistent (for example, the error is less than 1 dB). However, pseudolite signals transmitted by different pseudolite base stations will reach the receiver via different paths and will experience different attenuation, resulting in significantly different signal strengths.

[0069] Based on this, the pseudo-satellite base station corresponding to the target satellite can be determined according to the signal strength of the pseudo-satellite signal. For example, if the absolute value of the difference in signal strength is less than or equal to a preset threshold, the pseudo-satellite signals can be sent as the same pseudo-satellite base station. The preset threshold can be a pre-set smaller value, such as 0.5dB, 1dB or 2dB.

[0070] In this way, the receiver can simply determine the consistency between the signal strengths of the received pseudolite signals (eg, CN0) and, in most cases, quickly identify which four target satellites are sent by the same pseudolite base station, thereby improving the positioning efficiency of the receiver.

[0071] Step S230: The receiver determines, for each pseudolite base station, the auxiliary positioning information of the pseudolite base station based on the pseudolite signal corresponding to the pseudolite base station.

[0072] The auxiliary positioning information may include the base station position and clock deviation of the pseudolite base station. The clock deviation may be the deviation between the clock of the pseudolite base station and the local clock of the receiver.

[0073] For example, the receiver captures the pseudo-satellite signal sent by the pseudo-satellite base station and parses the target satellite identifier (such as the PRN number) in the signal. Based on the pseudo-satellite group mapping relationship, the receiver determines the pseudo-satellite base station corresponding to the target satellite identifier. Then, the receiver measures the chip phase difference between the locally generated pseudo-random code and the received pseudo-satellite signal through a code phase measurement technology (such as a delay locked loop). The chip phase difference is multiplied by the chip period to obtain the signal propagation time difference. Then, using the pseudo-range formula, the time difference is multiplied by the speed of light to obtain the measured pseudo-range. The calculated measured pseudo-range is combined to calculate the base station position (such as the base station position expressed in three-dimensional coordinates) and clock deviation (i.e., the deviation between the base station clock and the local clock of the receiver) of the pseudo-satellite base station.

[0074] In one implementation, when the receiver determines the auxiliary positioning information of the pseudo-satellite base station based on the pseudo-satellite signal corresponding to the pseudo-satellite base station, it periodically determines the instantaneous auxiliary positioning information of the pseudo-satellite base station based on the pseudo-satellite signal corresponding to the pseudo-satellite base station; and determines the auxiliary positioning information based on the instantaneous auxiliary positioning information obtained in multiple periods.

[0075] For example, assuming that the receiver continuously receives and processes pseudolite signals at a fixed time interval (e.g., 100 milliseconds), and analyzes the target satellite signal received by the pseudolite base station PS1 for the first time, the three-dimensional coordinates of the positions of the target satellites PRN 1, PRN 2, PRN 3, and PRN 4 are obtained as (13781420.9694423, 20696670.6267762, 9774370.10648700), (-20530320.1364527, 1273275.22546253, 16500162.1430309), (-4813765.60347510, 26022907.49517 72,975567.615595937), (19159875.2814023, 18472463.4352690, -1078083.47089222), and the measured pseudo-ranges from PS1 are 23356193.0598480, 23375500.7851457, 20823955.5997667, and 25370636.6714942 respectively. The pseudo-base station positioning equations are constructed based on the calculated measured pseudo-ranges:

[0076]

[0077] Among them, (x r1 ,y r1 , z r1 )、(x r2 ,y r2 , z r2 )、(x r3 ,y r3 , z r3 )、(x r4 ,y r4 , z r4 ) are the three-dimensional coordinates of the base station locations of PRN 1, PRN 2, PRN 3, and PRN 4, respectively, and ρ PS1.1 , ρ PS1.2 , ρ PS1.3 , ρ PS1.4 are the measured pseudoranges of PRN 1, PRN 2, PRN 3, PRN 4 and PS1, (x1, y1, z1) are the three-dimensional coordinates of the base station position of PS1, c is the speed of light, Δt PS1 is the clock deviation. Optionally, c can be 3×10 8 m / s, or other approximate values as agreed upon.

[0078] For example, if the base station position (x1, y1, z1) of PS1 is (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters after solving the equations, the clock deviation Δt PS1 is 5.610034475599967μs, according to the calculated (x1, y1, z1) and Δt PS1 The measured pseudorange between PS1 and the receiver is calculated to be 1683.01034267999. According to the periodic processing mechanism, the receiver repeats the instantaneous measurement of pseudorange and clock deviation every 100 milliseconds, and fuses multi-cycle data through a filtering algorithm to optimize accuracy. If the base station coordinates obtained by five consecutive calculations are (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters, (-2294200.70000000, 5408154.00000010, 2475823.19999997) meters, (-2294200.700000001, 5408154.00000000, 2475823.19999999) meters, (-2294200.70000000, 5408154.00000 000, 2475823.19999999) meters, (-2294200.70000030, 5408154.00000000, 2475823.19999999) meters, the clock deviations are 5.610034475599967μs, 5.610034475599963μs, 5.61003447 The filtered values are (-2294200.700000000, 5408154.00000000, 2475823.19999999) meters) and 5.610034475599967 μs. The same solution is used to obtain the base station positions and clock deviations corresponding to PS2, PS3, and PS4, respectively. The base station coordinates and the calibrated clock deviations are then stored as auxiliary positioning information.

[0079] In another embodiment, a receiver periodically receives pseudolite signals and calculates instantaneous assisted positioning information for each period. This information is stored in a buffer (e.g., the buffer stores data from the most recent five periods). At the end of each period, the receiver extracts all stored instantaneous assisted positioning information from the buffer and calculates its average, using this average as the current assisted positioning information. This method improves the accuracy of assisted positioning information by utilizing data from multiple periods.

[0080] Step S240: The receiver determines the position of the receiver according to the auxiliary positioning information of the pseudolite base station.

[0081] Specifically, the receiver constructs a set of positioning equations and solves them to determine its own position by integrating the auxiliary positioning information from multiple pseudolite base stations. The auxiliary positioning information for each pseudolite base station includes its known base station position and calibrated clock offset.

[0082] In one implementation, the receiver may perform positioning based only on pseudolite signals sent by pseudolite base stations.

[0083] For example, when auxiliary positioning information of multiple pseudo-satellite base stations is obtained, the position of the receiver is calculated based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations; wherein, the multiple pseudo-satellite base stations are at least four pseudo-satellite base stations, and the multiple pseudo-satellite base stations are not in the same plane.

[0084] Combined with the above example, when the receiver obtains the auxiliary positioning information of multiple pseudo-satellite base stations, it calculates the position of the receiver based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations. For example, the receiver captures the pseudo-satellite signals from four pseudo-satellite base stations (PS1, PS2, PS3, PS4) and parses the auxiliary positioning information of each base station: the base station position of PS1 is (-2294200.70000000, 5408154.00000000, 2475823.1999999) meters, and the clock deviation is 5.610034475599967 microseconds; the base station position of PS2 is (-2296200.70000000, 5408154.00000000, 2475743.2000000 The base station position of PS3 is (-2294200.70000000, 5406154.00000001, 2475763.20000000) meters, and the clock deviation is 5.087998564491667 microseconds; the base station position of PS4 is (-2296200.70000000, 5406154.00000000, 2475723.20000000) meters, and the clock deviation is 4.600778590142733 microseconds. At the same time, the receiver calculates the measurement by multiplying the clock bias by the speed of light, which is 5.610034475599967 × c, resulting in a pseudorange of 1683.01034267999 meters. The receiver corrects the pseudorange equation for each pseudo base station to include the clock bias. For PS1, the corrected pseudorange equation is:

[0085]

[0086] Among them, ρ PS1 is the measured pseudorange between PS1 and the receiver, c is the speed of light, (x PS1 ,y PS1 , z PS1 ) is the three-dimensional coordinate of the PS1 base station location, (x r ,y r , z r ) is the receiver position, Δt r is the local clock difference of the receiver. By combining the correction equations of the four pseudo base stations, a system containing four unknowns (x r ,y r , z r , Δt r ) and solve the equations to get the receiver position (-2295319.03694756, 5407011.65663090, 2476349.41090117) meters.

[0087] In this way, the receiver can perform positioning based only on the pseudo-satellite signals sent by the pseudo-satellite base station, which can improve the reliability of positioning in scenes such as tunnels and underground where visible satellite signals cannot be received.

[0088] In other examples, the multiple pseudo-satellite base stations are not in the same plane.

[0089] In this example, the pseudo-satellite base stations cannot all be located on the same plane, that is, at least one base station is not on the plane where the other base stations are located. For example, the four pseudo-satellite base stations can have different spatial locations, so that they are not on the same plane. Specifically:

[0090] The spatial position of PS1 can be (x1, y1, z1), the spatial position of PS2 can be (x2, y2, z2), the spatial position of PS3 can be (x3, y3, z3), and the spatial position of PS4 can be (x4, y4, z4), where PS1 is not on the plane formed by PS2, PS3, and PS4.

[0091] In another implementation, the receiver may also perform positioning based on pseudolite signals sent by pseudolite base stations and real satellite signals sent by visible satellites.

[0092] For example, the receiver can also receive real satellite signals transmitted by visible satellites, which can be satellites visible from the receiver's location; generate real satellite observation data based on the real satellite signals. Furthermore, the receiver can generate virtual satellite observation data based on auxiliary positioning information from pseudolite base stations; and determine the receiver's position based on the virtual satellite observation data and the real satellite observation data.

[0093] Real satellite signals can be signals emitted by actual visible satellites and received by the receiver. Real satellite observation data is used to provide raw measurement values such as pseudorange, carrier phase, and Doppler shift between the receiver and the visible satellites. For example, real satellite observation data includes satellite identifier (PRN30), pseudorange measurement value (ρ GPS ), signal transmission time and ephemeris parameters and other data.

[0094] The receiver needs at least four equations to solve its own three-dimensional position (x r ,y r , z r ) and clock deviation (Δt r ), so at least four signal sources (real satellites or pseudo-satellite base stations) are required. When the receiver receives different numbers of real satellite signals, the number of pseudo-satellite base stations required will change accordingly. For example, if the receiver receives 1 real satellite signal, at least 3 pseudo-satellite signals simulated by pseudo-satellite base stations are required to provide enough equations to solve the position; if the receiver receives 2 real satellite signals, at least 2 pseudo-satellite signals simulated by pseudo-satellite base stations are required. If the receiver receives 4 or more real satellite signals, theoretically, pseudo-satellite signals simulated by pseudo-satellite base stations are not needed, but if more real satellite signals or pseudo-satellite base station signals are available, the positioning accuracy can be further improved. If the pseudo-satellite base station is located below the receiver, using pseudo-satellite signals simulated by pseudo-satellite base stations can also significantly improve the receiver's accuracy in the altitude direction.

[0095] In the above example, the receiver simultaneously captures the signals of the visible satellite PRN30 and pseudo-satellite base stations PS2-PS4. Based on the ephemeris parameters of PRN30 (such as orbit semi-major axis a = 26559710 meters, eccentricity e = 0.0012) and the signal transmission time, the three-dimensional coordinates (x GPS30 =-10600007 meters, y GPS30 =20964519.13 m, z GPS30 =-11964071.61 meters), and the measured pseudorange is 22793192.9387712 meters.

[0096]

[0097] Among them, (x r ,y r , z r ) is the three-dimensional coordinate of the receiver’s position, (x PS2 ,y PS2 , z Ps2 ),ρ PS2 are the three-dimensional coordinates and measured pseudo-range of the PS2 base station, (xPS3 ,y PS3 , z PS3 ) and ρ PS3 are the three-dimensional coordinates of the base station position of PS3 and the measured pseudo-range, (x PS4 ,y PS4 , z PS4 ) and ρ PS4 are the three-dimensional coordinates of the base station position of PS4 and the measured pseudorange, c is the speed of light, Δt r is the receiver's local clock difference.

[0098] By combining the three-dimensional coordinates of a real satellite position and the three-dimensional coordinates of the three pseudo-satellite base station positions, a correction equation containing four unknowns (x r ,y r , z r , Δt r ) and solve the equations to get the receiver position (-2295319.03694756, 5407011.65663090, 2476349.41090117) meters.

[0099] In this way, the receiver performs positioning based on the pseudolite signals sent by the pseudolite base station and the real satellite signals sent by the visible satellites. When the number of visible satellites is small, the reliability of positioning can be improved.

[0100] It should be understood that the above numerical values are exemplary descriptions and are not intended to be limiting.

[0101] It should be noted that the method involved in the embodiments of the present disclosure may include one or more of steps S210 to S240 described above. For example, steps S210 and S220 may be implemented as independent embodiments, and steps S220 to S240 may be implemented as independent embodiments, but are not limited thereto. Furthermore, steps S210 to S240 may be performed in a different order or simultaneously.

[0102] Figure 3 This is a flow chart of a positioning method provided by an embodiment of the present disclosure. Figure 1 The receiver 140 shown performs, as Figure 3 As shown, the method may include the following steps S310 to S320.

[0103] In step S310 , a pseudolite base station is configured to receive pseudolite signals respectively simulated from each of a plurality of target satellites.

[0104] The multiple target satellites may be at least four target satellites, and the target satellites may be satellites that are not visible from the location of the receiver.

[0105] In some examples, when a receiver receives pseudolite signals transmitted by multiple pseudolite base stations at the same location, different pseudolite base stations simulate different target satellites.

[0106] By ensuring that different pseudo-satellite base stations each simulate different target satellites, the receiver can avoid signal conflicts and interference, ensuring the reliability of positioning.

[0107] Other optional implementations of step S310 can be found in Figure 2 Optional implementation of step S220, and Figure 2 Other related parts in the embodiments involved will not be described in detail here.

[0108] Step S320: For each pseudolite base station, determine the auxiliary positioning information of the pseudolite base station according to the pseudolite signal corresponding to the pseudolite base station.

[0109] The auxiliary positioning information may include the base station position and clock deviation of the pseudolite base station, where the clock deviation is the deviation between the clock of the pseudolite base station and the local clock of the receiver.

[0110] In some examples, the receiver can determine the satellite identifier of each of the target satellites based on the pseudo-satellite signal; and determine the pseudo-satellite base station corresponding to the target satellite identifier based on the pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier preset by the receiver, or a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier obtained by the receiver from a preset server.

[0111] In other examples, the receiver determines the pseudolite base station corresponding to the target satellite based on the signal strength of the pseudolite signal.

[0112] Through any of the above methods, the receiver can accurately identify the signal source and improve positioning reliability.

[0113] In some examples, when a receiver determines the auxiliary positioning information of a pseudo-satellite base station based on the pseudo-satellite signal corresponding to the pseudo-satellite base station, it may periodically determine the instantaneous auxiliary positioning information of the pseudo-satellite base station based on the pseudo-satellite signal corresponding to the pseudo-satellite base station; and determine the auxiliary positioning information based on the instantaneous auxiliary positioning information obtained in multiple periods.

[0114] In this example, by periodically determining the instantaneous auxiliary positioning information of the pseudo-satellite base station and using data from multiple periods to finally determine the auxiliary positioning information, the positioning data can be dynamically updated, the error of a single measurement can be reduced, and the accuracy of the calculated base station position can be improved.

[0115] The optional implementation of step S310 can be found in Figure 2Optional implementation of step S230, and Figure 2 Other related parts in the embodiments involved will not be described in detail here.

[0116] Step S330: Determine the position of the receiver according to the auxiliary positioning information of the pseudolite base station.

[0117] In some examples, when auxiliary positioning information of multiple pseudo-satellite base stations is obtained, the position of the receiver is calculated based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations; wherein the multiple pseudo-satellite base stations are at least four pseudo-satellite base stations, and the multiple pseudo-satellite base stations are not in the same plane.

[0118] In this implementation, by utilizing the auxiliary positioning information of multiple pseudo-satellite base stations, the solvability of the four unknown quantities in the positioning equation group, namely the three-dimensional coordinates and the clock deviation, is ensured, and the solution ambiguity caused by insufficient pseudo-satellite base stations is eliminated, thereby improving the reliability of the receiver position.

[0119] In some examples, the receiver also receives real satellite signals transmitted by visible satellites; generates real satellite observation data based on the real satellite signals; and determines the receiver's position based on auxiliary positioning information from pseudolite base stations. Furthermore, the receiver can generate virtual satellite observation data based on the auxiliary positioning information from the pseudolite base stations; and determine the receiver's position based on the virtual satellite observation data and the real satellite observation data.

[0120] In this example, the pseudo-satellite base station transmits pseudo-satellite signals that are compatible with real satellite signals, thereby ensuring that the receiver can use pseudo-satellite signals for positioning in complex environments (such as indoors, tunnels, etc.), thereby improving the accuracy and reliability of the receiver's positioning.

[0121] The optional implementation of step S330 can be found in Figure 2 Optional implementation of step S240, and Figure 2 Other related parts in the embodiments involved will not be described in detail here.

[0122] By adopting the method of steps S310 to S320 above, the receiver can obtain sufficient positioning signals in complex environments where satellite signals are not visible (such as urban canyons, tunnels, indoor parking lots, etc.) by receiving pseudo-satellite signals emitted by multiple target satellites simulated by pseudo-satellite base stations. The receiver obtains auxiliary positioning information such as the base station position and clock deviation by combining the obtained pseudo-satellite signals, and then determines the position of the receiver based on the auxiliary positioning information, thereby meeting the positioning requirements in complex scenarios.

[0123] Figure 4 This is a flow chart of a positioning method provided by an embodiment of the present disclosure. Figure 1The pseudo satellite base station 130 in the positioning system shown in FIG. Figure 4 As shown, the method may include steps S410-S420.

[0124] Step S410: Determine multiple target satellites simulated by the pseudolite base station.

[0125] The multiple target satellites are at least four target satellites, and the target satellites are satellites that are not visible at the receiver position.

[0126] In some examples, the pseudo-satellite base station may include determining a target satellite simulated by the pseudo-satellite base station based on a pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between a target satellite and a pseudo-satellite base station preset by the pseudo-satellite base station, or a mapping relationship between a target satellite and a pseudo-satellite base station obtained by the pseudo-satellite base station from a preset server.

[0127] In this way, the compatibility of pseudo-satellites with real satellites is ensured, interference with ordinary receivers is avoided, positioning accuracy and reliability are improved, the receiver adapts to dynamic environmental changes, and the signal is guaranteed to be stable and continuous.

[0128] The optional implementation of step S410 can be found in Figure 2 Optional implementation of step S210, and Figure 2 Other related parts in the embodiments involved will not be described in detail here.

[0129] Step S420: Send a pseudolite signal simulating each target satellite among the multiple target satellites.

[0130] When the pseudo-satellite signal is received by the receiver, it is used to determine the auxiliary positioning information of the pseudo-satellite base station, and the position of the receiver is determined based on the auxiliary positioning information; the auxiliary positioning information includes the base station position and clock deviation of the pseudo-satellite base station, and the clock deviation is the deviation between the clock of the pseudo-satellite base station and the local clock of the receiver.

[0131] In this embodiment, pseudo-satellite base stations are used to simulate invisible satellites and send pseudo-satellite signals. This method can expand the signal coverage range and ensure that the receiver can still obtain sufficient signal sources in complex environments (such as urban canyons, tunnels, indoor parking lots, etc.), thereby improving the reliability and continuity of receiver positioning.

[0132] The optional implementation of step S420 can be found in Figure 2 Optional implementation of step S220, and Figure 2 Other related parts in the embodiments involved will not be described in detail here.

[0133] Figure 5 FIG. 4 is a schematic diagram of the hardware structure of a positioning device according to another embodiment.

[0134] like Figure 5 As shown, the positioning device 500 includes a processor 510 and a memory 520, wherein the memory 520 is used to store an executable computer program, and the processor 510 is used to execute a method as any of the above method embodiments under the control of the computer program.

[0135] In some embodiments, the processor 510 can be used to control the overall operation of the positioning device 500. For example, the processor 510 can execute instructions to implement all or part of the steps of the method in any of the foregoing embodiments of the present disclosure, thereby realizing one or more operations such as voice communication, data communication, database operation, display control, component control, multimedia processing, etc., wherein the above-mentioned components may include sensors, cameras, headphones, input and output devices, etc., and the component may be an internal component of the positioning device itself, or an external component connected to the positioning device wirelessly or wired. The above-mentioned multimedia may include one or more of voice, image, video, and text.

[0136] The positioning device 500 may be Figure 1 The receiver 140 in may also be Figure 1 Alternatively, the positioning device 500 may be any electronic device.

[0137] The present disclosure may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present disclosure.

[0138] An embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method of any of the above method embodiments is implemented.

[0139] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0140] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0141] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., utilizing an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions. The electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0142] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0143] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0144] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0145] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0146] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, their practical applications, or technical improvements in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A positioning method, characterized in that: Applied to a receiver, the method includes: The pseudolite base station receives pseudolite signals respectively simulating those sent by each of a plurality of target satellites; wherein the plurality of target satellites are at least four target satellites, and the target satellites are satellites that are not visible at the location of the receiver; For each pseudolite base station, determining auxiliary positioning information of the pseudolite base station based on the pseudolite signal corresponding to the pseudolite base station; wherein the auxiliary positioning information includes a base station position and a clock deviation of the pseudolite base station, and the clock deviation is a deviation between a clock of the pseudolite base station and a local clock of the receiver; The position of the receiver is determined according to the auxiliary positioning information of the pseudolite base station.

2. The method according to claim 1, characterized in that The determining the position of the receiver according to the auxiliary positioning information of the pseudolite base station includes: When auxiliary positioning information of multiple pseudo-satellite base stations is obtained, the position of the receiver is calculated based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations; wherein the multiple pseudo-satellite base stations are at least four pseudo-satellite base stations, and the multiple pseudo-satellite base stations are not in the same plane.

3. The method according to claim 1, characterized in that The determining, based on the pseudolite signal corresponding to the pseudolite base station, the auxiliary positioning information of the pseudolite base station includes: periodically determining instantaneous auxiliary positioning information of the pseudolite base station based on the pseudolite signal corresponding to the pseudolite base station; The auxiliary positioning information is determined according to the instantaneous auxiliary positioning information acquired in multiple periods.

4. The method according to claim 1, characterized in that The method further comprises: receiving real satellite signals transmitted by satellites visible from the location of the receiver; generating real satellite observation data according to the real satellite signal; The determining the position of the receiver according to the auxiliary positioning information of the pseudolite base station includes: generating virtual satellite observation data according to the auxiliary positioning information of the pseudolite base station; The position of the receiver is determined based on the virtual satellite observation data and the real satellite observation data.

5. The method according to claim 1, characterized in that When the receiver receives pseudolite signals transmitted by multiple pseudolite base stations at the same location, different pseudolite base stations simulate different target satellites.

6. The method according to any one of claims 1 to 5, characterized in that After the pseudolite receiving base station simulates the pseudolite signal sent by each of the multiple target satellites, the method further includes: Determining a satellite identifier of each target satellite based on the pseudolite signal, and determining a pseudolite base station corresponding to the satellite identifier of the target satellite based on a pseudolite group mapping relationship; wherein the pseudolite group mapping relationship is a mapping relationship between the target satellite identifiers and the pseudolite base station identifiers preset by the receiver, or a mapping relationship between the target satellite identifiers and the pseudolite base station identifiers obtained by the receiver from a preset server; Alternatively, the pseudolite base station corresponding to the target satellite is determined according to the signal strength of the pseudolite signal.

7. A positioning method, characterized in that: Applied to a pseudo-satellite base station, the method includes: Determining a plurality of target satellites simulated by the pseudolite base station; wherein the plurality of target satellites are at least four target satellites, and the target satellites are satellites that are not visible at the position of the receiver; Sending a pseudolite signal simulating each target satellite among the multiple target satellites; wherein the pseudolite signal, when received by a receiver, is used to determine auxiliary positioning information of the pseudolite base station, and determining the position of the receiver based on the auxiliary positioning information; wherein the auxiliary positioning information includes the base station position and clock deviation of the pseudolite base station, and the clock deviation is the deviation between the clock of the pseudolite base station and the local clock of the receiver.

8. The method according to claim 7, characterized in that: The determining of at least four different target satellites simulated by the pseudolite base station comprises: The target satellite simulated by the pseudolite base station is determined according to the pseudolite group mapping relationship; wherein the pseudolite group mapping relationship is a mapping relationship between the target satellite and the pseudolite base station preset by the pseudolite base station, or a mapping relationship between the target satellite and the pseudolite base station obtained by the pseudolite base station from a preset server.

9. A positioning device, characterized in that: The positioning device includes a memory and a processor, the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which implements the method according to any one of claims 1 to 8 when executed by a processor.

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