Positioning method, system, electronic device, storage medium and program product

Abstract

The present disclosure relates to a positioning method, system, electronic device, storage medium and program product, including: a receiving end obtains a clock difference from Coordinated Universal Time; if the clock difference is less than a preset first threshold, it enters a three-satellite positioning mode to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the receiving end and the receiving end; based on the satellite-related information, the receiving end is positioned. The present application locates the position of the receiving end through three satellites, reduces the time for the receiver to capture and track, reduces the complexity of solving the position of the receiver, and can obtain the position information of the receiving end faster.

Description

Technical Field

[0001] The present disclosure relates to the technical field of satellite positioning, and in particular, to a positioning method, system, electronic device, storage medium, and program product. Background Art

[0002] Satellite positioning systems, such as GPS, GLONASS, BDS, etc., currently the applications of satellite positioning have gradually entered everyone's life. For example, it can cooperate with electronic maps in vehicle navigation to enable drivers to easily reach their destinations. Or in terms of leisure activities, it provides functions such as allowing hikers and climbers to use satellite positioning to find their destinations and return home routes.

[0003] In the related art, when a receiver performs positioning, it needs to receive at least 4 continuously operating satellite signals. However, in some occlusion situations, it is impossible to obtain 4 satellite signals, or even if 4 are obtained, the signal-to-noise ratio is too poor to provide reliable satellite coordinates. And in the case of receiving 4 satellite signals, both the acquisition and tracking durations of the receiver increase accordingly, and the calculation complexity of the satellite information of the 4 satellites is also relatively large. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a positioning method, system, electronic device, storage medium, and program product.

[0005] An embodiment of the first aspect of the present application provides a positioning method, including:

[0006] The receiving end obtains the clock difference from Coordinated Universal Time.

[0007] If the clock difference is less than a preset first threshold, it enters a three-satellite positioning mode to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end;

[0008] Based on the satellite-related information, position the receiving end.

[0009] In some examples, the positioning the receiving end based on the satellite-related information includes:

[0010] Take the clock difference as a zero clock difference, and respectively establish a first pseudorange equation, a second pseudorange equation, and a third pseudorange equation according to the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end, where the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation have the three-dimensional coordinates of the receiving end, and the three-dimensional coordinates of the receiving end are unknowns;

[0011] Based on the first pseudo-range equation, the second pseudo-range equation, and the third pseudo-range equation, solve for the three-dimensional coordinates of the receiving end, and locate the receiving end according to the three-dimensional coordinates of the receiving end.

[0012] In some examples, the first pseudo-range equation, the second pseudo-range equation, and the third pseudo-range equation are as follows:

[0013] ρ1 2 =(X - X 1 ) 2 +(Y - Y 1 ) 2 +(Z - Z 1 ) 2 ,

[0014] ρ2 2 =(X - X 2 ) 2 +(Y - Y 2 ) 2 +(Z - Z 2 ) 2 ,

[0015] ρ3 2 =(X - X 3 ) 2 +(Y - Y 3 ) 2 +(Z - Z 3 ) 2 ;

[0016] where ρ1, ρ2, and ρ3 are the pseudo-ranges between each satellite among the three satellites and the receiving end, X i , Y i and Z i are the coordinates of the i-th satellite among the three satellites, and X, Y, and Z are the three-dimensional coordinates of the receiving end.

[0017] In some examples, the first threshold is determined according to the positioning accuracy of the receiving end.

[0018] In some examples, after entering the three-satellite positioning mode, it further includes:

[0019] Determine whether the running time of the three-satellite positioning mode reaches a second threshold;

[0020] If the second threshold is reached, switch from the three-satellite positioning mode to the at-least-four-satellite positioning mode, and in the at-least-four-satellite positioning mode, locate the receiving end based on at least four satellites.

[0021] In some examples, after entering the at-least-four-satellite positioning mode, it further includes:

[0022] Based on the clock difference between the receiving end and Coordinated Universal Time obtained in the at least four-satellite positioning mode, calibrate the time of the receiving end until the clock difference is less than a preset first threshold, and then switch from the at least four-satellite positioning mode to the three-satellite positioning mode.

[0023] An embodiment of the second aspect of the present application provides a positioning system for a receiving end, including:

[0024] An acquisition module, configured to acquire the clock difference from Coordinated Universal Time;

[0025] A switching module, configured to enter the three-satellite positioning mode when the clock difference is less than a preset first threshold, so as to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the receiving end and the satellites;

[0026] A positioning module, configured to position the receiving end based on the satellite-related information.

[0027] An embodiment of the third aspect of the present application provides an electronic device, including a processor and a memory. At least one instruction, at least one segment of program, a code set or an instruction set is stored in the memory, and the instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the steps of a positioning method provided by the embodiment of the first aspect of the present application.

[0028] An embodiment of the fourth aspect of the present application provides a non-transitory computer-readable storage medium. When the instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal can execute to implement the steps of a positioning method provided by the embodiment of the first aspect of the present application.

[0029] An embodiment of the fifth aspect of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of a mobile terminal, the mobile terminal can execute to implement the steps of a positioning method provided by the embodiment of the first aspect of the present application.

[0030] The power-on control method, device, electronic device and storage medium of the electronic device provided by the embodiments of the present application locate the position of the receiving end through three satellites, reduce the acquisition and tracking time of the receiver, reduce the complexity of solving the position of the receiver, and can obtain the position information of the receiving end faster. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings here are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present invention and used together with the specification to explain the principles of the present invention.

[0032] Figure 1 Schematic flowchart of a positioning method in an embodiment

[0033] Figure 2 Block diagram of the positioning system of the receiving end in an embodiment

[0034] Figure 3 Internal structure diagram of an electronic device in an embodiment Detailed implementation manners

[0035] Here, exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0036] The following describes a positioning method, system, electronic device, storage medium, and program product in an embodiment of the present invention with reference to the drawings.

[0037] Figure 1 is a flowchart of a positioning method shown according to an exemplary embodiment, as Figure 1 shown, and includes the following steps:

[0038] S101: The receiving end obtains the clock difference from Coordinated Universal Time.

[0039] Specifically, the receiving end calculates the clock difference from Coordinated Universal Time, that is, calculates the time difference between the time of the receiving end and the Coordinated Universal Time. The receiving end can be an object carrying a GPS system such as a mobile phone or a car.

[0040] S102: If the clock difference is less than a preset first threshold, enter the three-satellite positioning mode to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the receiving end and the satellites.

[0041] Specifically, when the clock difference is less than the preset first threshold, enter the three-satellite positioning mode, and the receiving end receives the satellite-related information of any three satellites.

[0042] S103: Based on the satellite-related information, position the receiving end.

[0043] Specifically, the receiving end is positioned by using the satellite-related information of any three satellites.

[0044] Further, positioning the receiving end based on the satellite-related information includes:

[0045] Taking the clock difference as zero clock difference, and respectively establishing a first pseudo-range equation, a second pseudo-range equation, and the third pseudo-range equation according to the coordinates of each of the three satellites and the pseudo-ranges between the satellites and the receiving end, wherein the first pseudo-range equation, the second pseudo-range equation, and the third pseudo-range equation have the three-dimensional coordinates of the receiving end, and wherein the three-dimensional coordinates of the receiving end are unknowns;

[0046] Based on the first pseudo-range equation, the second pseudo-range equation, and the third pseudo-range equation, solving the three-dimensional coordinates of the receiving end, and positioning the receiving end according to the three-dimensional coordinates of the receiving end.

[0047] Specifically, in the prior art, the position of the receiving end is calculated by using 4 satellites, as shown in the following formula:

[0048] ρ1 2 =(X-X 1 ) 2 +(Y-Y 1 ) 2 +(Z-Z 1 ) 2 +cδt;

[0049] ρ2 2 =(X-X 2 ) 2 +(Y-Y 2 ) 2 +(Z-Z 2 ) 2 +cδt;

[0050] ρ3 2 =(X-X 3 ) 2 +(Y-Y 3 ) 2 +(Z-Z 3 ) 2 +cδt;

[0051] ρ4 2 =(X-X 4 ) 2 +(Y-Y 4 ) 2 +(Z-Z 4 ) 2 +cδt;

[0052] c is the speed of light, ρi is the pseudorange, i.e., the observed distance from the i-th satellite captured to the receiver, Xi, Yi, Zi are the coordinates of the i-th satellite, X, Y, Z are the receiver coordinates, and δt is the receiver clock offset (compared with Coordinated Universal Time). Here, X, Y, Z, and δt are the quantities to be determined. That is, when the time difference between the time at the receiving end and Coordinated Universal Time is less than the first threshold, i.e., δt approaches 0, only X, Y, and Z need to be calculated at this time. That is, the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end are obtained. Further, the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation are obtained as follows:

[0053] ρ1 2 =(X - X 1 ) 2 +(Y - Y 1 ) 2 +(Z - Z 1 ) 2 ,

[0054] ρ2 2 =(X - X 2 ) 2 +(Y - Y 2 ) 2 +(Z - Z 2 ) 2 ,

[0055] ρ3 2 =(X - X 3 ) 2 +(Y - Y 3 ) 2 +(Z - Z 3 ) 2 ;

[0056] Among them, ρ1, ρ2, and ρ3 are the pseudoranges between each satellite among the three satellites and the receiving end, X i , Y i and Z i are the coordinates of the i-th satellite among the three satellites, and X, Y, and Z are the three-dimensional coordinates of the receiving end.

[0057] Specifically, when δt approaches 0, that is, there are only three unknowns X, Y, and Z. That is, the three-dimensional coordinates of the receiving end can be obtained through the relevant information of any three satellites to locate the receiving end.

[0058] Furthermore, the first threshold is determined according to the positioning accuracy of the receiving end.

[0059] Specifically, since the positioning accuracies of different receiving ends are different, the clock difference between the receiving end and Coordinated Universal Time (UTC) cannot be directly zero. A time threshold can be determined based on the positioning accuracy of the receiving end. When the clock difference between the receiving end and UTC is less than this time threshold, the clock difference between the receiving end and UTC can be calculated as zero.

[0060] Further, after entering the three-satellite positioning mode, it further includes:

[0061] Determine whether the running time of the three-satellite positioning mode reaches a second threshold;

[0062] If it reaches the second threshold, switch from the three-satellite positioning mode to at least a four-satellite positioning mode, and in the at least four-satellite positioning mode, realize the positioning of the receiving end based on at least four satellites.

[0063] Specifically, due to the accuracy problem of the receiver, the clock difference between the receiving end and UTC will gradually increase over time. That is to say, although it is in the three-satellite positioning mode at this time, as the running time increases, the clock difference will be greater than the preset first threshold. Therefore, when the running time of the three-satellite positioning mode reaches the second threshold, the clock difference will be greater than the preset first threshold. At this time, the positioning of the receiving end is realized through the four-satellite positioning mode.

[0064] Further, after entering the at least four-satellite positioning mode, it further includes:

[0065] Based on the clock difference between the receiving end and UTC obtained in the at least four-satellite positioning mode, calibrate the time of the receiving end until the clock difference is less than the preset first threshold, and then switch from the at least four-satellite positioning mode to the three-satellite positioning mode.

[0066] Specifically, in the four-satellite positioning mode, the time of the receiving end is calibrated by the clock difference between the receiving end and UTC. After the clock difference is less than the preset first threshold, it can be switched back to the three-satellite positioning mode.

[0067] In summary, a positioning method provided by the present application locates the position of the receiving end through three satellites, reduces the time for the receiver to capture and track, reduces the complexity of solving the position of the receiver, and can obtain the position information of the receiving end faster.

[0068] In one embodiment, as Figure 2 shown, a positioning system for a receiving end is provided, including: an acquisition module 201, a switching module 202, and a positioning module 203, where:

[0069] The acquisition module 201 is used to acquire the clock difference from UTC;

[0070] A switching module 202, configured to enter a three-satellite positioning mode when the clock difference is less than a preset first threshold, so as to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end;

[0071] A positioning module 203, configured to position the receiving end based on the satellite-related information.

[0072] In summary, a positioning system for a receiving end provided in this application locates the position of the receiving end through three satellites, reduces the time for the receiver to capture and track, reduces the complexity of solving the position of the receiver, and can obtain the position information of the receiving end faster.

[0073] For the specific limitations on the positioning system of the receiving end, reference can be made to the limitations on the image denoising method in the foregoing text, which will not be elaborated here. Each module in the above positioning system of the receiving end can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of the processor, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.

[0074] In one embodiment, an electronic device is provided. The electronic device can be a terminal, and its internal structure diagram can be as Figure 3 shown. The electronic device includes a processor, a memory, a communication interface, a display screen, and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner. The wireless manner can be implemented through WIFI, a carrier network, near field communication (NFC), or other technologies. When the computer program is executed by the processor, it implements an image denoising method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0075] Those skilled in the art can understand, Figure 3The structure shown is only a block diagram of some structures related to the solution of this application, and does not constitute a limitation on the computer device to which the solution of this application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0076] In one embodiment, the positioning system of the receiving end provided by this application can be implemented in the form of a computer program, and the computer program can run on an electronic device as shown in Figure 3 The memory of the electronic device can store each program module that constitutes the positioning system of the receiving end. For example, Figure 2 the acquisition module 201, the switching module 202, and the positioning module 203 shown in

[0077] For example, Figure 3 the electronic device shown in Figure 2 can pass through the acquisition module 201 in the positioning system of the receiving end shown in

[0078] to obtain the clock difference from Coordinated Universal Time; the switching module 202 is used to enter the three-satellite positioning mode when the clock difference is less than a preset first threshold to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the receiving end and the satellite; the positioning module 203 is used to position the receiving end based on the satellite-related information.

[0079] The electronic device provided by this application can open each module of the positioning system of the receiving end through the memory and the processor, and position the position of the receiving end through three satellites, reducing the time for the receiver to capture and track, reducing the complexity of solving the position of the receiver, and being able to obtain the position information of the receiving end faster.

[0080] The non - temporary computer - readable storage medium provided by this application can execute a positioning method in the above - mentioned embodiment through instructions in the storage medium, achieving the positioning of the receiving end through three satellites, reducing the time for the receiver to capture and track, reducing the complexity of calculating the position of the receiver, and enabling faster acquisition of the position information of the receiving end.

[0081] In one embodiment, a computer program product is provided. When the instructions in the computer program product are executed by a processor of a mobile terminal, the mobile terminal can perform the following steps: The receiving end obtains the clock difference from Coordinated Universal Time (UTC); if the clock difference is less than a preset first threshold, it enters the three - satellite positioning mode to obtain satellite - related information of any three satellites, where the satellite - related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end; based on the satellite - related information, the receiving end is positioned.

[0082] The computer program product provided by this application can enable a mobile terminal to execute the image denoising method in the above - mentioned embodiment, achieving the positioning of the receiving end through three satellites, reducing the time for the receiver to capture and track, reducing the complexity of calculating the position of the receiver, and enabling faster acquisition of the position information of the receiving end.

[0083] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above - mentioned embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non - volatile computer - readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above - mentioned methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided by this application can include at least one of non - volatile and volatile memories. Non - volatile memory can include read - only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or an external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static random access memory (SRAM) and dynamic random access memory (DRAM), etc.

[0084] The technical features of the above - mentioned embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above - mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered to be within the scope described in this specification.

[0085] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A positioning method, characterized in that, Including: The receiving end obtains the clock difference from Coordinated Universal Time (UTC). If the clock difference is less than a preset first threshold, it enters a three-satellite positioning mode to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end. Based on the satellite-related information, the receiving end is positioned; when the clock difference between the time of the receiving end and Coordinated Universal Time is less than the first threshold, the clock difference between the receiving end and UTC approaches 0; the clock difference is taken as the zero clock difference, and the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation are established respectively according to the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end. The first pseudorange equation, the second pseudorange equation, and the third pseudorange equation are as follows: ρ1 2 = (X - X 1 ) 2 + (Y - Y 1 ) 2 + (Z - Z 1 ) 2 , ρ2 2 = (X - X 2 ) 2 + (Y - Y 2 ) 2 + (Z - Z 2 ) 2 , ρ3 2 = (X - X 3 ) 2 + (Y - Y 3 ) 2 + (Z - Z 3 ) 2 ; wherein, ρ1, ρ2, and ρ3 are the pseudoranges between each of the three satellites and the receiving end, and X i , Y i , and Z i are the coordinates of the i-th satellite among the three satellites, where i = 1, 2, 3, and X, Y, and Z are the three-dimensional coordinates of the receiving end.

2. The positioning method according to claim 1, characterized in that, The positioning of the receiving end based on the satellite-related information includes: Based on the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation, the three-dimensional coordinates of the receiving end are solved, and the receiving end is positioned according to the three-dimensional coordinates of the receiving end; where the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation include the three-dimensional coordinates of the receiving end, and the three-dimensional coordinates of the receiving end are unknowns.

3. The positioning method according to any one of claims 1-2, characterized in that, The first threshold is determined according to the positioning accuracy of the receiving end.

4. The positioning method according to any one of claims 1-2, characterized in that, After entering the three-satellite positioning mode, it further includes: Judging whether the running time of the three-satellite positioning mode reaches a second threshold; If it reaches the second threshold, it switches from the three-satellite positioning mode to at least a four-satellite positioning mode, and in the at least four-satellite positioning mode, the receiving end is positioned based on at least four satellites.

5. The positioning method according to claim 4, characterized in that, After entering the at least four-satellite positioning mode, it further includes: Based on the clock difference between the receiving end and UTC obtained in the at least four-satellite positioning mode, the time of the receiving end is calibrated until the clock difference is less than the preset first threshold, and then it switches from the at least four-satellite positioning mode to the three-satellite positioning mode.

6. A positioning system for a receiving end, characterized in that, Including: An acquisition module for acquiring the clock difference from UTC. A switching module for entering the three-satellite positioning mode when the clock difference is less than a preset first threshold to obtain satellite-related information of any three satellites, where the satellite-related information at least includes the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end. A positioning module for positioning the receiving end based on the satellite-related information; when the clock difference between the time of the receiving end and Coordinated Universal Time is less than the first threshold, the clock difference between the receiving end and UTC approaches 0; the clock difference is taken as the zero clock difference, and the first pseudorange equation, the second pseudorange equation, and the third pseudorange equation are established respectively according to the coordinates of each satellite among the three satellites and the pseudorange between the satellite and the receiving end. The first pseudorange equation, the second pseudorange equation, and the third pseudorange equation are as follows: ρ1 2 = (X - X 1 ) 2 + (Y - Y 1 ) 2 + (Z - Z 1 ) 2 , ρ2 2 = (X - X 2 ) 2 + (Y - Y 2 ) 2 + (Z - Z 2 ) 2 , ρ3 2 = (X - X 3 ) 2 + (Y - Y 3 ) 2 + (Z - Z 3 ) 2 ; wherein, ρ1, ρ2, and ρ3 are the pseudoranges between each of the three satellites and the receiving end, and X i , Y i , and Z i are the coordinates of the i-th satellite among the three satellites, i = 1, 2, 3, and X, Y, and Z are the three-dimensional coordinates of the receiving end.

7. An electronic device, characterized in that, It includes a processor and a memory, and at least one instruction, at least one program, a code set or an instruction set is stored in the memory. The instruction, the program, the code set or the instruction set is loaded and executed by the processor to implement the positioning method according to any one of claims 1-5.

8. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the mobile terminal, the mobile terminal is enabled to execute the positioning method according to any one of claims 1-5.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the mobile terminal, the mobile terminal is enabled to execute the positioning method according to any one of claims 1-5.

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