A method and device for realizing positioning processing in a satellite navigation system

Abstract

The present invention discloses a method and device for implementing positioning processing in a satellite navigation system. According to an embodiment of the present invention, for two or more satellites in the satellite navigation system, the frequency time difference is determined through pseudo-range observation values ​​of two frequency points, and a frequency compensation time difference for frequency time difference compensation is determined according to the frequency time difference. According to the frequency compensation time difference, compensation of pseudo-range measurement values ​​of the frequency points used for positioning is implemented, the clock difference between the frequency points is effectively processed, and the stability and reliability of receiver positioning are improved.

Description

Technical Field

[0001] This article relates to but is not limited to satellite navigation technology, and in particular to a method and device for implementing positioning processing in a satellite navigation system. Background Art

[0002] For dual-frequency or multi-frequency receivers, for satellites at different frequencies of the same satellite navigation system, due to hardware RF, channel and other fixed time delays, the pseudo-range observations between frequencies may differ by several meters to tens of meters or even hundreds of meters, which in turn causes differences in clock errors between frequencies.

[0003] Because of the clock difference between frequency points, most receivers will select a frequency point from multiple frequency points and perform positioning based on the pseudo-range observations of this frequency point, thereby avoiding the gross error introduced by the clock difference between frequency points. This method selects the best frequency point among the frequency points of a single satellite, and the frequency points of satellites with only auxiliary frequency points cannot be selected for positioning. When selecting frequency points, frequency point migration may occur, causing clock difference jumps. New frequency points with better anti-multipath effect, such as (1176.42 MHz) frequency point L5, are generally not selected due to the small number of satellites, resulting in the inability to apply high-quality pseudo-range observations. In addition, some receivers choose to model each clock difference separately and jointly solve all clock differences; this method uses all pseudo-range observations and avoids the problem of clock difference jumps, but it introduces 1-2 new clock differences, reduces the number of independent pseudo-range observations, and may fail to locate in harsh signal environments due to rank deficiency.

[0004] In summary, how to effectively deal with the clock difference between frequency points and improve the stability and reliability of receiver positioning has become a problem to be solved. Summary of the invention

[0005] The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.

[0006] The embodiments of the present invention provide a method and device for implementing positioning processing in a satellite navigation system, which can improve the stability and reliability of receiver positioning.

[0007] An embodiment of the present invention provides a method for implementing positioning processing in a satellite navigation system, wherein the satellite navigation system includes more than two satellites, including:

[0008] The frequency point time difference is calculated based on the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch;

[0009] Determine the frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences;

[0010] Compensating a pseudorange measurement value of a second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference;

[0011] The positioning calculation is performed based on the pseudo-range measurement value of the first frequency point obtained after compensation.

[0012] On the other hand, an embodiment of the present invention further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for implementing positioning processing in the above-mentioned satellite navigation system is implemented.

[0013] In another aspect, an embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein the memory stores a computer program; wherein:

[0014] The processor is configured to execute the computer program in the memory;

[0015] When the computer program is executed by the processor, the method for implementing positioning processing in the above-mentioned satellite navigation system is implemented.

[0016] In another aspect, an embodiment of the present invention further provides a device for implementing positioning processing in a satellite navigation system, which is used to process pseudorange measurement values ​​of two or more satellites in the same satellite navigation system, including: a calculation unit, a determination unit, a compensation unit and a positioning unit; wherein,

[0017] The calculation unit is configured to calculate the frequency point time difference according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch;

[0018] The determination unit is configured to: determine the frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences;

[0019] The compensation unit is configured to: compensate the pseudo-range measurement value of the second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference;

[0020] The positioning unit is configured to perform positioning calculation according to the pseudo-range measurement value of the first frequency point obtained after compensation.

[0021] The technical solution of the present application includes: the satellite navigation system includes more than two satellites, and the frequency time difference is calculated according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch; the frequency compensation time difference used for frequency time difference compensation is determined according to all the calculated frequency time differences; the pseudo-range measurement value of the second frequency point of the satellite used for positioning is compensated according to the determined frequency compensation time difference; and the positioning calculation is performed according to the pseudo-range measurement value of the first frequency point obtained after compensation. The embodiment of the present invention determines the frequency time difference for more than two satellites in the satellite navigation system through the pseudo-range observation values ​​of two frequencies, determines the frequency compensation time difference used for frequency time difference compensation according to the frequency time difference, realizes the compensation of the pseudo-range measurement value of the frequency point used for positioning according to the frequency compensation time difference, effectively handles the clock difference between the frequencies, and improves the stability and reliability of the receiver positioning.

[0022] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0024] Figure 1 It is a flow chart of a method for implementing positioning processing in a satellite navigation system according to an embodiment of the present invention;

[0025] Figure 2 It is a structural block diagram of a device for implementing positioning processing in a satellite navigation system according to an embodiment of the present invention;

[0026] Figure 3 The present invention is an example of a method flow chart of an application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other arbitrarily without conflict.

[0028] The steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions. Also, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be performed in a sequence different from that shown here.

[0029] Figure 1Flow chart of a method for implementing positioning processing in a satellite navigation system according to an embodiment of the present invention. The satellite navigation system includes more than two satellites, such as Figure 1 As shown, including:

[0030] Step 101, calculating the frequency point time difference according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch;

[0031] In the embodiment of the present invention, for each satellite, the frequency time difference is calculated according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of the satellite, respectively; wherein the frequency time difference represents: the local clock difference between the first frequency point and the second frequency point introduced by software and hardware such as radio frequency and channel delay.

[0032] In an exemplary embodiment, the first frequency point in the embodiment of the present invention includes a primary frequency point, and the second frequency point includes an auxiliary frequency point.

[0033] In an exemplary embodiment, the first frequency point and the second frequency point of the embodiment of the present invention are two frequency points in the same satellite navigation system, for example, two of the following frequency points in the global positioning system (GPS): frequency point L1, frequency point L2 and frequency point L5; two of the following frequency points in Beidou (BD): frequency point B1I, frequency point B2a and frequency point B1C;

[0034] In an exemplary embodiment, the embodiment of the present invention calculates the frequency point time difference, including: taking the difference between the pseudo-range observation values ​​of the first frequency point and the second frequency point to obtain the frequency point time difference; taking the global navigation satellite system (GNSS) as an example, the pseudo-range measurement value of the frequency point i in the GNSS is:

[0035]

[0036] in, represents the pseudorange measurement value of satellite s at frequency i; r s represents the geometric distance between satellite s and the receiver; δt i Indicates the receiver clock error at frequency i; δt s represents the satellite clock error of satellite s; T s represents the tropospheric error; represents the ionospheric error of satellite s at frequency i; Represents the measurement noise; all the above units are meters.

[0037] For the first frequency point and the second frequency point of the same satellite, assuming that the first frequency point is frequency point i and the second frequency point is frequency point j, the difference between the pseudo-range observations of the first frequency point and the second frequency point is obtained:

[0038]

[0039] In the embodiment of the present invention, the geometric distance and tropospheric errors in the pseudorange observations of the first frequency point and the second frequency point are completely eliminated by subtracting the pseudorange observations. The result of subtracting the pseudorange observations is:

[0040]

[0041] in, is the difference between the ionospheric errors at frequency i and frequency j; is the difference between the pseudorange observations of frequency point i and frequency point j; is the difference between the satellite clock errors at frequency i and frequency j;

[0042] In an exemplary embodiment, the present invention can be implemented according to the satellite clock error model. Calculate; When the receiver position and time are known, the ionospheric error of each frequency point can be calculated using the Klobuchar model (the model of ionospheric delay processing proposed by J.A. Klobuchar) in the relevant technology. Therefore, for each satellite, Δδt can be calculated based on the formula ij value.

[0043] Step 102: determining a frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences;

[0044] Step 103: Compensate the pseudo-range measurement value of the second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference;

[0045] In an exemplary embodiment, the satellite used for positioning in the embodiment of the present invention may be one of two or more satellites in a satellite navigation system; the positioning in the embodiment of the present invention may include: vehicle positioning, equipment positioning, user positioning, etc.

[0046] Step 104: Perform positioning calculation according to the pseudo-range measurement value of the first frequency point obtained after compensation;

[0047] The embodiment of the present invention determines the frequency time difference of more than two satellites in the satellite navigation system through the pseudo-range observation values ​​of two frequency points, determines the frequency compensation time difference used for frequency time difference compensation according to the frequency time difference, and realizes compensation of the pseudo-range measurement values ​​of the frequency points used for positioning according to the frequency compensation time difference, effectively handles the clock difference between the frequency points, and improves the stability and reliability of the receiver positioning.

[0048] In an exemplary embodiment, step 102 of the embodiment of the present invention determines the frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences, including:

[0049] Performing an averaging operation on a first preset number of frequency point time differences among the frequency point time differences of the two or more satellites to obtain a mean value operation result;

[0050] Determining a consistency value of the frequency point time difference for averaging operation according to the frequency point time difference for averaging operation and the obtained mean value operation result;

[0051] When the consistency value is less than a preset consistency threshold, the mean value calculation result is used as the frequency point compensation time difference;

[0052] When the consistency value is greater than or equal to a preset consistency threshold, a second preset number of frequency point time differences used to calculate the mean calculation result are deleted according to a preset strategy, and the consistency value is determined based on the remaining frequency point time differences used to calculate the mean calculation result, until the consistency value is less than the consistency threshold, the mean calculation result when the consistency value is less than the consistency threshold is used as the frequency point compensation time difference.

[0053] According to the above-mentioned preset strategy, the embodiment of the present invention deletes the second preset number of frequency point time differences used to calculate the mean operation result each time, and determines the consistency value according to the remaining frequency point time differences used to calculate the mean operation result; when the consistency value calculated after deleting the second preset number of frequency point time differences used to calculate the mean operation result is still greater than or equal to the consistency threshold, the process of deleting the second preset number of frequency point time differences used to calculate the mean operation result continues according to the preset strategy until the consistency value is less than the consistency threshold, and the mean operation result when the consistency value is less than the consistency threshold is used as the frequency point compensation time difference.

[0054] In an exemplary embodiment, the embodiment of the present invention performs an averaging operation on the first preset number of frequency point time differences, including: performing an averaging operation on all frequency point time differences; performing an averaging operation on the first preset number of frequency point time differences includes: and may also include: after removing the maximum and / or minimum frequency point time differences, performing an averaging operation on the remaining frequency point time differences; performing an averaging operation on the first preset number of frequency point time differences includes: and may also include: taking the middle value of the frequency point time differences as the average operation result;

[0055] In an exemplary embodiment, the formula for averaging all the frequency point time differences in the embodiment of the present invention is:

[0056]

[0057] In an exemplary embodiment, the consistency value of the embodiment of the present invention may include: the variance of the frequency point time difference and the mean calculation result of the average calculation; the chi-square of the frequency point time difference and the mean calculation result of the average calculation; or other values ​​determined by calculation that can determine consistency;

[0058] In an exemplary instance, the minimum value of the first preset number in an embodiment of the present invention can be determined by a person skilled in the art based on the satellites required for reliable positioning; generally, when the number of satellites is 3 during positioning, the positioning reliability is low; when the number of satellites is 5 during positioning, the positioning reliability is high; in an exemplary instance, the minimum value of the first preset number can be set to 4.

[0059] In an exemplary embodiment, the embodiment of the present invention deletes a preset number of frequency point time differences used for calculating the mean operation result each time according to a preset strategy, including:

[0060] Subtract each frequency point time difference used to calculate the mean operation result from the obtained mean operation result, and calculate the absolute value;

[0061] After the absolute values ​​are sorted in descending order, a second preset number of the frequency point differences with the absolute values ​​being ranked first are deleted.

[0062] In an exemplary embodiment, when deleting a second preset number of frequency point time differences used to calculate the mean operation result according to a preset strategy, the method of the embodiment of the present invention further includes:

[0063] Determining whether the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number;

[0064] When the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number, the step of determining the consistency value is stopped, and the processing of determining the frequency point compensation time difference for frequency point time difference compensation based on the calculated frequency point time difference is ended.

[0065] In an exemplary embodiment, it is assumed that the mean value calculation result is Δδt ij , and determine the mean operation result Δδt ij is the frequency compensation time difference; for the pseudorange observation value of any frequency point, regardless of whether there is a pseudorange observation value of frequency point i, the embodiment of the present invention compensates the pseudorange measurement value of frequency point i used for positioning according to the determined frequency compensation time difference to obtain the pseudorange measurement value of frequency point i used for positioning:

[0066]

[0067] The embodiment of the present invention compensates the judgment difference of frequency point j to the pseudorange measurement value of frequency point i used for positioning. The newly generated pseudorange measurement value has compensated the frequency time difference of frequency point j, and can be mixed with the satellite of frequency point i for positioning without establishing a clock error model for frequency point j separately, thereby reducing the number of unknown pseudorange observations.

[0068] In an exemplary embodiment, when the step of determining the consistency value is stopped, the method of the embodiment of the present invention further includes:

[0069] Determining whether the preset time length includes the determined frequency point compensation time difference;

[0070] When the preset time length includes the determined frequency compensation time difference, determining the frequency compensation time difference as the frequency compensation time difference for frequency time difference compensation;

[0071] The preset duration is greater than the duration of the epoch.

[0072] In an exemplary embodiment, the preset duration may be 10 to 20 minutes, and may be set by those skilled in the art based on experience.

[0073] The embodiment of the present invention considers the stability of the frequency time difference in a short time. After evaluating the frequency time difference using the pseudo-range observations of sufficient multiple satellites, a frequency time difference effective time length (preset time length) is set according to the stability of the receiver and the tolerance to errors. When the frequency time difference used to calculate the mean operation result decreases and the frequency compensation time difference cannot be evaluated, the pseudo-range observation is compensated to the same frequency by using the frequency compensation time difference determined within the preset time length (which can be determined according to the effective time length of the clock difference). Even if there are only 1-2 satellites including frequency j, it can still be included in the joint solution of the observation variance. In an exemplary embodiment, for a multi-system multi-frequency receiver, the embodiment of the present invention can use the calculated frequency time differences of different frequencies of each system to uniformly compensate all frequencies to frequency i (main frequency) for joint positioning.

[0074] An embodiment of the present invention further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for implementing positioning processing in the above-mentioned satellite navigation system is implemented.

[0075] The embodiment of the present invention further provides a terminal, comprising: a memory and a processor, wherein a computer program is stored in the memory; wherein:

[0076] The processor is configured to execute the computer program in the memory;

[0077] When the computer program is executed by the processor, the method for implementing positioning processing in the above-mentioned satellite navigation system is implemented.

[0078] Figure 2 1 is a structural block diagram of a device for implementing positioning processing in a satellite navigation system according to an embodiment of the present invention. The device according to an embodiment of the present invention is used to process pseudo-range measurement values ​​of two or more satellites in the same satellite navigation system, such as Figure 2 As shown, it includes: a calculation unit, a determination unit, a compensation unit and a positioning unit; wherein,

[0079] The calculation unit is configured to calculate the frequency point time difference according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch;

[0080] The determination unit is configured to: determine the frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences;

[0081] The compensation unit is configured to: compensate the pseudo-range measurement value of the second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference;

[0082] The positioning unit is configured to perform positioning calculation according to the pseudo-range measurement value of the first frequency point obtained after compensation.

[0083] The embodiment of the present invention determines the frequency time difference of more than two satellites in the satellite navigation system through the pseudo-range observation values ​​of two frequency points, determines the frequency compensation time difference used for frequency time difference compensation according to the frequency time difference, and realizes compensation of the pseudo-range measurement values ​​of the frequency points used for positioning according to the frequency compensation time difference, effectively handles the clock difference between the frequency points, and improves the stability and reliability of the receiver positioning.

[0084] In an exemplary embodiment, the determining unit of the embodiment of the present invention is configured as:

[0085] Performing an averaging operation on a first preset number of frequency point time differences among the frequency point time differences of the two or more satellites to obtain a mean value operation result;

[0086] Determining a consistency value of the frequency point time difference for averaging operation according to the frequency point time difference for averaging operation and the obtained mean value operation result;

[0087] When the consistency value is less than a preset consistency threshold, the mean value calculation result is used as the frequency point compensation time difference;

[0088] When the consistency value is greater than or equal to a preset consistency threshold, a second preset number of frequency point time differences used to calculate the mean calculation result are deleted according to a preset strategy, and the consistency value is determined based on the remaining frequency point time differences used to calculate the mean calculation result, until the consistency value is less than the consistency threshold, the mean calculation result when the consistency value is less than the consistency threshold is used as the frequency point compensation time difference.

[0089] In an exemplary embodiment, the determining unit of the embodiment of the present invention is configured to delete a second preset number of frequency point time differences used to calculate the mean operation result according to a preset strategy, including:

[0090] Subtract each frequency point time difference used to calculate the mean operation result from the obtained mean operation result, and calculate the absolute value;

[0091] After the absolute values ​​are sorted in descending order, a second preset number of the frequency point differences with the absolute values ​​being ranked first are deleted.

[0092] In an exemplary embodiment, the determining unit of the embodiment of the present invention is further configured as:

[0093] Determining whether the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number;

[0094] When the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number, the step of determining the consistency value is stopped, and the processing of determining the frequency point compensation time difference for frequency point time difference compensation based on the calculated frequency point time difference is ended.

[0095] In an exemplary embodiment, the determining unit of the embodiment of the present invention is further configured to:

[0096] Determining whether the preset time length includes the determined frequency point compensation time difference;

[0097] When the preset time length includes the determined frequency compensation time difference, determining the frequency compensation time difference as the frequency compensation time difference for frequency time difference compensation;

[0098] Among them, the preset duration is greater than the duration of the epoch.

[0099] The following briefly describes the embodiments of the present invention through application examples. The application examples are only used to illustrate the embodiments of the present invention and are not used to limit the protection scope of the present invention.

[0100] Application Examples

[0101] This application example takes a satellite navigation system as an example. Figure 3 A method flow chart of an example of application of the present invention is shown in FIG. Figure 3 As shown, including:

[0102] Step 301, determining a primary frequency point i and an auxiliary frequency point j;

[0103] Step 302: Acquire pseudorange observation values ​​obtained in the same epoch by two or more satellites having a primary frequency point i and an auxiliary frequency point j in the system;

[0104] Step 303: Calculate the corresponding frequency time difference of each satellite according to the pseudo-range measurement values ​​of the primary frequency point i and the auxiliary frequency point j of each satellite;

[0105] Step 304: perform mean operation on all frequency point time differences to obtain a mean operation result;

[0106] Step 305: performing variance calculation on the frequency point time difference and the mean calculation result, and taking the variance calculation result as the consistency value of the frequency point time difference;

[0107] Step 306: determine whether the consistency value is less than a preset consistency threshold; when the consistency value is less than the preset consistency threshold, execute step 3070; when the consistency value is greater than the preset consistency threshold, execute step 3080;

[0108] Step 3070: Using the mean value calculation result as the frequency point compensation time difference;

[0109] Step 3071: After compensating the auxiliary frequency point j, an observation value of an equivalent frequency point i is obtained, and positioning calculation is performed according to the pseudo-range measurement value of the equivalent main frequency point i obtained by compensation;

[0110] Step 3080: Deleting a first preset number of frequency point time differences used for calculating the mean operation result according to a preset strategy;

[0111] Step 3081, determining whether the number of remaining frequency point time differences for calculating the mean operation result is greater than a first preset number; when the number of remaining frequency point time differences for calculating the mean operation result is greater than the first preset number, executing step 30820; when the number of remaining frequency point time differences for calculating the mean operation result is less than the first preset number, executing step 30830;

[0112] Step 30820: perform mean operation on the frequency point time differences from which the first preset number of frequency points used for calculating the mean operation result are deleted to obtain a new mean operation result;

[0113] Step 30821, performing variance calculation on the frequency point time difference used to calculate the mean operation result and the new mean operation result, and using the variance calculation result as the consistency value of the updated frequency point time difference; and continuing to perform judgment processing on the consistency value through step 306;

[0114] Step 30830, stop calculating the consistency value, and determine whether the preset time length includes the determined frequency compensation time difference; if the preset time length includes the determined frequency compensation time difference, execute step 308310; if the preset time length does not include the determined frequency compensation time difference, execute step 308320;

[0115] Step 308310: determine the frequency compensation time difference as the frequency compensation time difference used to compensate the frequency time difference of the main frequency point i;

[0116] Step 308311: After compensating the auxiliary frequency point j, an observation value of an equivalent frequency point i is obtained, and positioning calculation is performed according to the pseudo-range measurement value of the equivalent main frequency point i obtained by compensation;

[0117] Step 308320: Perform positioning calculation directly based on the pseudo-range measurement value of the main frequency point i.

[0118] This application example uses different frequency points of multiple satellites, making full use of the pseudorange observations of new signal frequencies with relatively higher accuracy but fewer satellite observations, such as frequency point L5, to improve the positioning accuracy of the system; it effectively uses the pseudorange observations of some satellites with only single frequency points, increases the number of available pseudorange observations, and improves the positioning rate and positioning stability of the receiver.

[0119] “A person skilled in the art will appreciate that all or some of the steps, systems, and functional modules / units in the above disclosed methods may be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed by several physical components in cooperation. Some or all components may be implemented as software executed by a processor, such as a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a transient medium). As is known in the art, As is well known to those skilled in the art, the term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those skilled in the art, communication media typically contains computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media. "

Claims

1. A method for implementing positioning processing in a satellite navigation system, wherein the satellite navigation system includes more than two satellites, and the method comprises: The frequency point time difference is calculated based on the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch; Determine the frequency point compensation time difference for frequency point time difference compensation according to all the calculated frequency point time differences; Compensating a pseudorange measurement value of a second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference; Perform positioning calculation based on the pseudo-range measurement value of the first frequency point obtained after compensation; Among them, the frequency compensation time difference used for frequency time difference compensation is determined based on all the calculated frequency time differences, including: calculating a first preset number of frequency time differences among the frequency time differences of the two or more satellites, obtaining a calculation result and determining a consistency value of the frequency time difference based on the calculation result; when the consistency value is less than a preset consistency threshold, using the calculated result as the frequency compensation time difference, and / or, when the consistency value is greater than or equal to the preset consistency threshold, deleting a second preset number of frequency time differences and recalculating until the consistency value is less than the preset consistency threshold, and using the calculated result as the frequency compensation time difference.

2. The method according to claim 1, characterized in that: The calculating of the time differences of the first preset number of frequency points includes performing an averaging operation on the time differences of the first preset number of frequency points, and the calculation result is a mean value operation result.

3. The method according to claim 2, characterized in that The deleting a second preset number of frequency point time differences used to calculate the mean operation result includes: Subtract each frequency point time difference used to calculate the mean operation result from the obtained mean operation result, and calculate the absolute value; After the absolute values ​​are sorted in descending order, a second preset number of the frequency point time differences with the absolute values ​​being ranked first are deleted.

4. The method according to claim 2 or 3, characterized in that: When deleting the second preset number of frequency point time differences used to calculate the mean operation result, the method further includes: Determining whether the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than a third preset number; When the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number, the step of determining the consistency value is stopped, and the process of determining the frequency point compensation time difference for frequency point time difference compensation based on the calculated frequency point time difference is ended.

5. The method according to claim 4, characterized in that When the step of stopping determining the consistency value, the method further comprises: Determining whether the preset time length includes the determined frequency point compensation time difference; When the preset time length includes the determined frequency compensation time difference, determining the frequency compensation time difference as the frequency compensation time difference for frequency time difference compensation; The preset duration is greater than the duration of the epoch.

6. A computer storage medium storing a computer program, wherein the computer storage medium stores a computer program, and when the computer program is executed by a processor, the method for implementing positioning processing in a satellite navigation system as described in any one of claims 1 to 5 is implemented.

7. A terminal, comprising: A memory and a processor, wherein the memory stores a computer program; wherein, The processor is configured to execute the computer program in the memory; When the computer program is executed by the processor, the method for implementing positioning processing in the satellite navigation system according to any one of claims 1 to 5 is implemented.

8. A device for implementing positioning processing in a satellite navigation system, used for processing pseudo-range measurement values ​​of two or more satellites in the same satellite navigation system, comprising: A calculation unit, a determination unit, a compensation unit and a positioning unit; wherein, The calculation unit is configured to calculate the frequency point time difference according to the pseudo-range observation value of the first frequency point and the pseudo-range observation value of the second frequency point of each satellite in the same epoch; The determination unit is configured to: determine the frequency compensation time difference for frequency time difference compensation according to all the calculated frequency time differences; the determination of the frequency compensation time difference for frequency time difference compensation according to all the calculated frequency time differences includes: calculating a first preset number of frequency time differences among the frequency time differences of the two or more satellites, obtaining a calculation result and determining a consistency value of the frequency time difference according to the calculation result; when the consistency value is less than a preset consistency threshold, using the calculated result as the frequency compensation time difference, and / or, when the consistency value is greater than or equal to the preset consistency threshold, deleting a second preset number of frequency time differences and recalculating until the consistency value is less than the preset consistency threshold, and using the calculated result as the frequency compensation time difference; The compensation unit is configured to: compensate the pseudo-range measurement value of the second frequency point of the satellite used for positioning according to the determined frequency point compensation time difference; The positioning unit is configured to perform positioning calculation according to the pseudo-range measurement value of the first frequency point obtained after compensation.

9. The device according to claim 8, characterized in that The determining unit is configured to calculate a first preset number of frequency point time differences among the frequency point time differences of the two or more satellites, including: Performing an averaging operation on a first preset number of frequency point time differences among the frequency point time differences of the two or more satellites to obtain a mean value operation result; The consistency value of the frequency point time difference for averaging operation is determined according to the frequency point time difference for averaging operation and the obtained mean value operation result.

10. The device according to claim 9, characterized in that The determining unit is further configured to: Determining whether the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than a third preset number; When the number of frequency point time differences remaining for calculating the mean operation result after deleting the frequency point time differences is less than the third preset number, the step of determining the consistency value is stopped, and the process of determining the frequency point compensation time difference for frequency point time difference compensation based on the calculated frequency point time difference is ended.

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