Positioning method and apparatus, electronic device, and storage medium

Abstract

The present disclosure relates to a positioning method, device, electronic equipment and storage medium, the method comprising: receiving positioning signals of at least one constellation; determining a quality parameter of each constellation in the at least one constellation according to the positioning signals of the at least one constellation; and controlling the terminal device to stop receiving the positioning signals of the constellations in the at least one constellation whose quality parameters satisfy a preset condition.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, and more specifically to a positioning method, apparatus, electronic device, and storage medium. Background Technology

[0002] In recent years, terminal devices have become increasingly feature-rich, and these functions rely on underlying services such as location services. When a terminal device performs a location service, it receives satellite positioning signals via its antenna and then calculates its location based on these signals. During the positioning process, the terminal device needs to frequently search for satellite positioning signals, which consumes a significant amount of power, thus impacting its battery life and usability. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, the present disclosure provides a positioning method, apparatus, electronic device and storage medium to solve the defects in the related technologies.

[0004] According to a first aspect of the present disclosure, a positioning method is provided, applied to a terminal device, comprising:

[0005] Receive positioning signals from at least one constellation;

[0006] Based on the positioning signals of the at least one constellation, the mass parameters of each constellation in the at least one constellation are determined accordingly;

[0007] The terminal device is controlled to stop receiving positioning signals transmitted by at least one of the constellations whose quality parameters meet preset conditions.

[0008] In one embodiment, the quality parameter includes satellite elevation angle, and each constellation includes multiple satellites;

[0009] The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes:

[0010] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0011] Based on the positioning signal of each satellite, the elevation angle of each satellite is determined accordingly;

[0012] The satellite elevation angle of the corresponding constellation is determined based on the elevation angles of multiple satellites in the constellation.

[0013] In one embodiment, the quality parameter includes a carrier noise density value, and each constellation includes multiple satellites;

[0014] The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes:

[0015] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0016] Based on the positioning signal of each satellite, the carrier noise density value of each satellite is determined accordingly;

[0017] The maximum N carrier noise density values ​​among the carrier noise density values ​​of multiple satellites in the constellation are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value and N is greater than or equal to 1.

[0018] In one embodiment, the quality parameters include at least one of satellite elevation angle, carrier noise density value, and number of satellites;

[0019] The step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet preset conditions includes:

[0020] The terminal device is controlled to stop receiving positioning signals transmitted by constellations where the satellite elevation angle is less than a preset elevation angle threshold, and / or the carrier noise density value is less than a preset first density threshold, and / or the number of satellites is less than a first quantity threshold.

[0021] In one embodiment, after controlling the terminal device to stop receiving positioning signals emitted by the at least one constellation whose quality parameters meet preset conditions, the process includes:

[0022] After a preset time period, the positioning signals of at least one constellation are received again, and based on the positioning signals of the at least one constellation, the quality parameters of each constellation in the at least one constellation are determined, and the constellations whose quality parameters meet the preset conditions are determined.

[0023] In one embodiment, determining the quality parameter of each constellation in the at least one constellation based on the positioning signal of the at least one constellation includes:

[0024] The quality parameters of each positioning signal in the total number of positioning signals are determined based on the total number of positioning signals received.

[0025] If the quality parameters of all positioning signals received by the terminal device meet the preset requirements, the step of controlling the terminal device to stop receiving the transmitted positioning signals of the constellation whose quality parameters meet the preset conditions is executed.

[0026] In one embodiment, the quality parameter includes a carrier noise density value;

[0027] The step of determining the quality parameters of each positioning signal in the total number of received positioning signals includes:

[0028] The number of satellites corresponding to all received positioning signals is determined based on all received positioning signals;

[0029] If the number of satellites is greater than a preset second number threshold, determine the carrier noise density value of the positioning signal of each satellite in all the positioning signals;

[0030] The M largest carrier noise density values ​​among the carrier noise density values ​​of the positioning signals of each satellite are obtained, and the average value of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second quantity value, and M is greater than or equal to 1.

[0031] In one embodiment, the quality parameters include carrier noise density and the number of satellites. The step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet the preset requirements, when the quality parameters of all positioning signals received by the terminal device meet preset requirements, includes:

[0032] If the number of satellites is greater than a preset third quantity threshold and the carrier noise density value is greater than a preset second density threshold, the step of controlling the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions in at least one constellation is executed.

[0033] In one embodiment, determining the mass parameter of each constellation in the at least one constellation based on the positioning signal of the at least one constellation includes:

[0034] If the remaining battery power of the terminal device is greater than a preset battery power threshold, the quality parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation.

[0035] In one embodiment, controlling the terminal device to stop receiving positioning signals emitted by the at least one constellation whose quality parameters meet preset conditions includes:

[0036] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions.

[0037] In one embodiment, it also includes:

[0038] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving a preset high-frequency positioning signal from the positioning signals transmitted by each constellation; and / or,

[0039] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the pre-marked auxiliary constellation in at least one constellation.

[0040] According to a second aspect of the present disclosure, a positioning device is provided, applied to a terminal device, comprising:

[0041] A receiving module for receiving positioning signals from at least one constellation;

[0042] The determining module is used to determine the mass parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation;

[0043] The control module is used to control the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet preset conditions in at least one constellation.

[0044] In one embodiment, the quality parameter includes satellite elevation angle, and each constellation includes multiple satellites;

[0045] The determining module is specifically used for:

[0046] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0047] Based on the positioning signal of each satellite, the elevation angle of each satellite is determined accordingly;

[0048] The satellite elevation angle of the corresponding constellation is determined based on the elevation angles of multiple satellites in the constellation.

[0049] In one embodiment, the quality parameter includes a carrier noise density value, and each constellation includes multiple satellites;

[0050] The determining module is specifically used for:

[0051] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0052] Based on the positioning signal of each satellite, the carrier noise density value of each satellite is determined accordingly;

[0053] The maximum N carrier noise density values ​​among the carrier noise density values ​​of multiple satellites in the constellation are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value and N is greater than or equal to 1.

[0054] In one embodiment, the quality parameters include at least one of satellite elevation angle, carrier noise density value, and number of satellites;

[0055] The control module is specifically used for:

[0056] The terminal device is controlled to stop receiving positioning signals transmitted by constellations where the satellite elevation angle is less than a preset elevation angle threshold, and / or the carrier noise density value is less than a preset first density threshold, and / or the number of satellites is less than a first quantity threshold.

[0057] In one embodiment, the control module is specifically used for:

[0058] After a preset time period, the positioning signals of at least one constellation are received again, and based on the positioning signals of the at least one constellation, the quality parameters of each constellation in the at least one constellation are determined, and the constellations whose quality parameters meet the preset conditions are determined.

[0059] In one embodiment, the determining module is specifically used for:

[0060] The quality parameters of each positioning signal in the total number of positioning signals are determined based on the total number of positioning signals received.

[0061] If the quality parameters of all positioning signals received by the terminal device meet the preset requirements, the step of controlling the terminal device to stop receiving positioning signals emitted by the constellation whose quality parameters meet the preset conditions is executed.

[0062] In one embodiment, the quality parameter includes a carrier noise density value;

[0063] When the determining module determines the quality parameters of each positioning signal among all the received positioning signals, it is specifically used for:

[0064] The number of satellites corresponding to all received positioning signals is determined based on all received positioning signals;

[0065] If the number of satellites is greater than a preset second number threshold, determine the carrier noise density value of the positioning signal of each satellite in all the positioning signals;

[0066] The M largest carrier noise density values ​​among the carrier noise density values ​​of the positioning signals of each satellite are obtained, and the average value of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second quantity value, and N is greater than or equal to 1.

[0067] In one embodiment, the quality parameters include carrier noise density and the number of satellites. When the determining module executes the step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet the preset conditions, provided that the quality parameters of all positioning signals received by the terminal device meet preset requirements, it is specifically used for:

[0068] If the number of satellites is greater than a preset third quantity threshold and the carrier noise density value is greater than a preset second density threshold, the step of controlling the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions in at least one constellation is executed.

[0069] In one embodiment, the determining module is specifically used for:

[0070] If the remaining battery power of the terminal device is greater than a preset battery power threshold, the quality parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation.

[0071] In one embodiment, the control module is specifically used for:

[0072] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions.

[0073] In one embodiment, a power-saving module is also included for:

[0074] If the remaining battery power of the terminal device is less than or equal to the battery threshold, the terminal device is controlled to stop receiving the preset high-frequency positioning signal from the positioning signals transmitted by each constellation; and / or,

[0075] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the pre-marked auxiliary constellation in at least one constellation.

[0076] According to a third aspect of the present disclosure, an electronic device is provided, the electronic device including a memory and a processor, the memory being used to store computer instructions executable on the processor, and the processor being used to execute the computer instructions based on the positioning method described in the first aspect.

[0077] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0078] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0079] This disclosure, by receiving positioning signals from at least one constellation, can determine the quality parameters of each constellation within that constellation based on the positioning signals. It can then determine whether the quality parameters of each constellation meet preset conditions and control the terminal device to stop receiving positioning signals from constellations whose quality parameters meet the preset conditions. By using quality parameters to determine whether a constellation meets the conditions for stopping receiving positioning signals, the reception of positioning signals from some constellations can be stopped, thereby reducing power consumption from searching for positioning signals, avoiding significant power consumption of the terminal device due to positioning services, extending the terminal device's battery life, and preventing interference with other functions of the terminal device. Attached Figure Description

[0080] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0081] Figure 1 This is a flowchart illustrating a positioning method in an exemplary embodiment of this disclosure;

[0082] Figure 2 This is a schematic diagram of the structure of a positioning device shown in an exemplary embodiment of the present disclosure;

[0083] Figure 3 This is a structural block diagram of an electronic device illustrated in an exemplary embodiment of the present disclosure. Detailed Implementation

[0084] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0085] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0086] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0087] Currently, GNSS (Global Navigation Satellite System) satellite positioning and navigation functions on terminal devices have become one of the most frequently used functions by users. The widespread application of the GNSS satellite positioning system on terminal devices provides the public with a more convenient and faster spatial location assistance experience. GNSS satellite positioning works by receiving satellite signals from the terminal device, calculating the distance between the device and multiple satellites, and then using the triangulation principle to calculate the user's latitude, longitude, and altitude. Users can enable the GNSS satellite positioning service through the settings interface on their terminal devices, and then use commercial map software to view their real-time location information and surrounding street information, and can set a destination to obtain specific routes and estimated travel times.

[0088] Currently, GNSS satellite positioning services on mobile devices typically support multiple satellite frequency bands (such as L1 / L5 dual-band) and multiple constellations (such as GPS (Global Positioning System), BDS (BDS Navigation Satellite System), GLONASS (Global Navigation Satellite System), Galileo (Galileo satellite navigation system), and Navic (Indian Regional Navigation Satellite System)). Therefore, when a mobile phone performs positioning, it simultaneously scans multiple signal frequencies to receive more satellite signal data in a short time, requiring significant power consumption. However, due to size limitations, mobile devices do not have ample space for batteries. Consequently, using positioning functions consumes a large amount of power, significantly reducing battery life. Statistics show that GNSS positioning is a major power consumer on mobile phones, averaging around 30% of the device's total power consumption when enabled.

[0089] Based on this, in a first aspect, at least one embodiment of this disclosure provides a positioning method, please refer to the appendix. Figure 1 The diagram illustrates the process of the method, including steps S101 and S103.

[0090] This method is applied to terminal equipment that supports GNSS satellite positioning services. The terminal equipment can be user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA) handheld device, computing device, vehicle-mounted device, wearable device, etc.

[0091] This method can be applied to scenarios where terminal devices perform GNSS positioning, such as when users use their mobile phones for positioning, route planning, and real-time navigation.

[0092] In step S101, positioning signals from at least one constellation are received.

[0093] Among them, the Gnss receiver chip of the terminal device can scan, receive and process positioning signals from multiple constellations, such as GPS, BDS, Gnss, Galileo, Navic and so on, with each constellation having multiple satellites.

[0094] The at least one constellation mentioned in this step can be any of the constellations supported by the positioning service of the terminal device; or, the at least one constellation mentioned in this step can be a subset of all the constellations supported by the positioning service of the terminal device. For example, if the positioning service of the terminal device supports five constellations: GPS, BDS, GLONASS, Galileo, and Navic, at least one constellation can be three constellations: GPS, BDS, and Galileo. That is, the terminal device does not receive positioning signals transmitted by the GLONASS and Navic constellations, thereby reducing the power consumption of the positioning service.

[0095] In step S102, the mass parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation.

[0096] The quality parameters may include at least one of the following: satellite elevation angle, carrier noise density value C / N0 (Carrier to Noise Density), and number of satellites. The satellite elevation angle may be the average satellite elevation angle, the median satellite elevation angle, the maximum satellite elevation angle, etc. That is, in this step, only the average satellite elevation angle for each constellation can be determined; only the carrier noise density value for each constellation can be determined; only the number of satellites for each constellation can be determined; both the average satellite elevation angle and the carrier noise density value for each constellation can be determined; both the average satellite elevation angle and the number of satellites for each constellation can be determined; both the carrier noise density value and the number of satellites for each constellation can be determined; and both the average satellite elevation angle and the number of satellites for each constellation can be determined.

[0097] After receiving positioning signals from multiple constellations, the terminal device can identify the individual satellites to which the positioning signals belong, as well as the constellations to which each satellite belongs, thus obtaining the number of satellites in each constellation. Furthermore, for each satellite's positioning signal, the elevation angle and carrier noise density value can be calculated. The satellite's elevation angle is the angle between the line connecting the satellite and the terminal device and the horizon at the terminal device's location. A larger elevation angle indicates a greater distance between the satellite and the horizon (i.e., a higher altitude from the terminal device's perspective), and a lower probability of signal blockage or interference. Conversely, a smaller elevation angle indicates a closer distance between the satellite and the horizon (i.e., a lower altitude from the terminal device's perspective), and a higher probability of signal blockage or interference. The carrier noise density value characterizes the strength of the satellite's positioning signal; a higher carrier noise density value indicates a stronger positioning signal, and a lower carrier noise density value indicates a weaker positioning signal.

[0098] In one possible embodiment, the satellite elevation angle of the constellation can be determined as follows: obtaining the positioning signal of each satellite in the positioning signal of the constellation; determining the elevation angle of each satellite according to the positioning signal of each satellite; and determining the satellite elevation angle of the corresponding constellation according to the elevation angles of multiple satellites in the constellation.

[0099] For ease of understanding, the following embodiment uses the satellite elevation angle of the constellation as the average satellite elevation angle of the constellation as an example. The average satellite elevation angle of the constellation refers to the average elevation angle of multiple satellites in the constellation. In one possible embodiment, since the satellite elevation angle of the constellation is the average satellite elevation angle, the average satellite elevation angle of each constellation can be determined separately as follows: First, obtain the positioning signal of each satellite in the positioning signal of the constellation; next, determine the elevation angle of each satellite according to its positioning signal; finally, determine the average elevation angle of the corresponding constellation as the average satellite elevation angle of the multiple satellites in the constellation.

[0100] In one possible embodiment, the carrier noise density value of each constellation can be determined as follows: First, the positioning signal of each satellite in the positioning signal of the constellation is obtained; next, the carrier noise density value of each satellite is determined according to the positioning signal of each satellite; finally, the N largest carrier noise density values ​​among the carrier noise density values ​​of each satellite are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value, and N is greater than or equal to 1.

[0101] In step S103, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions in at least one constellation.

[0102] If only the average satellite elevation angle of each constellation is determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle meets a preset condition in this step. For example, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle is less than a preset elevation angle threshold (e.g., 40°). This is because positioning signals emitted by constellations with smaller average satellite elevation angles are easily blocked or interfered with, resulting in poor signal quality. Therefore, stopping the reception of positioning signals from these constellations ensures that the received positioning signals have higher quality.

[0103] If only the carrier noise density value for each constellation is determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose carrier noise density values ​​meet preset conditions in this step. For example, the terminal device can be controlled to stop receiving positioning signals from constellations whose carrier noise density values ​​are less than a preset first density threshold (e.g., 30 dB-Hz). This is because the positioning signals emitted by constellations with lower carrier noise density values ​​are weaker, thus stopping the reception of positioning signals from these constellations ensures that the received positioning signals are stronger.

[0104] If only the number of satellites for each constellation is determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose number of satellites meets a preset condition in this step. For example, the terminal device can be controlled to stop receiving positioning signals emitted by constellations whose number of satellites is less than a first threshold (e.g., 8).

[0105] If only the average satellite elevation angle and carrier noise density value for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle or carrier noise density value meets a preset condition in this step. For example, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle is less than a preset elevation angle threshold (e.g., 40°) or whose carrier noise density value is less than a preset first density threshold (e.g., 30 dB-Hz).

[0106] If only the average satellite elevation angle and carrier noise density value for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle and carrier noise density value both meet preset conditions. For example, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle is less than a preset elevation angle threshold (e.g., 40°) and whose carrier noise density value is less than a preset first density threshold (e.g., 30 dB-Hz).

[0107] If only the average satellite elevation angle and the number of satellites for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle meets a preset condition or whose number of satellites meets a preset condition. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle is less than a preset elevation angle threshold (e.g., 40°) or whose number of satellites is less than a first quantity threshold (e.g., 8).

[0108] If only the average satellite elevation angle and the number of satellites for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose average satellite elevation angle and the number of satellites meet preset conditions. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle is less than a preset elevation angle threshold (e.g., 40°) and whose number of satellites is less than a first quantity threshold (e.g., 8).

[0109] If only the carrier noise density value and the number of satellites for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose carrier noise density value meets a preset condition or whose number of satellites meets a preset condition. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose carrier noise density value is less than a preset first density threshold (e.g., 30 dB-Hz) or whose number of satellites is less than a first quantity threshold (e.g., 8).

[0110] If only the carrier noise density value and the number of satellites for each constellation are determined in step S102, the terminal device can be controlled to stop receiving positioning signals from constellations whose carrier noise density value and the number of satellites meet preset conditions. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose carrier noise density value is less than a preset first density threshold (e.g., 30 dB-Hz) and whose number of satellites is less than a first quantity threshold (e.g., 8).

[0111] In step S102, after determining the average satellite elevation angle, carrier noise density value, and number of satellites for each constellation, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle meets preset conditions, whose carrier noise density value meets preset conditions, or whose number of satellites meets preset conditions. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle is less than a preset elevation angle threshold, whose carrier noise density value is less than a preset first density threshold, or whose number of satellites is less than a first quantity threshold.

[0112] In step S102, after determining the average satellite elevation angle, carrier noise density value, and number of satellites for each constellation, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle meets preset conditions, whose carrier noise density value meets preset conditions, and whose number of satellites meets preset conditions. For example, the terminal device can be controlled to stop receiving positioning signals transmitted by constellations whose average satellite elevation angle is less than a preset elevation angle threshold, whose carrier noise density value is less than a preset first density threshold, and whose number of satellites is less than a first quantity threshold.

[0113] You can add satellite constellations that stop receiving satellite signals to a blacklist. This way, when a terminal device is searching for satellite signals, it will no longer search for satellite signals from constellations on the blacklist, thus reducing power consumption.

[0114] It is understandable that the average satellite elevation angle and / or carrier noise density of each constellation are not fixed. Therefore, the constellations that stop receiving satellite signals can be updated in real time (e.g., the aforementioned blacklist can be updated in real time). However, this would cause the calculation and judgment processes in the above steps to run in real time, increasing power consumption. Therefore, a preset duration (e.g., 10 minutes, 20 minutes, etc.) can be set. Then, in this step, within the preset duration, the terminal device is controlled to stop receiving positioning signals transmitted by constellations whose quality parameters meet the preset conditions. That is, the positioning signals of the constellations determined in the judgment results are continuously stopped within the preset duration, thus avoiding the increase in power consumption caused by frequently judging the constellations that stop receiving satellite signals. After the preset duration, the constellations that stop receiving positioning signals can be re-determined according to the above steps (i.e., the aforementioned blacklist can be re-determined), that is, the positioning signals of at least one constellation can be re-received, and the quality parameters of each constellation in the at least one constellation can be determined according to the positioning signals of the at least one constellation, as well as the constellations whose quality parameters meet the preset conditions. This can ensure positioning accuracy.

[0115] Understandably, the priorities of each constellation can be preset. If the judgment result of this step is that the quality parameters of each constellation in at least one constellation meet the preset conditions, then receiving signals from one or more constellations with the highest priority can continue during this step, thus ensuring that the execution of this step does not affect positioning accuracy. For example, if the priorities of the five constellations GPS, BDS, GLONASS, Galileo, and Navic decrease sequentially, then when the quality parameters of each constellation meet the preset conditions, receiving positioning signals emitted by the GLONASS, Galileo, and Navic constellations can be stopped, while receiving positioning signals emitted by the GPS and BDS constellations can continue.

[0116] This disclosure, by receiving positioning signals from at least one constellation, can determine the quality parameters of each constellation within that constellation based on the positioning signals. It can then determine whether the quality parameters of each constellation meet preset conditions and control the terminal device to stop receiving positioning signals from constellations whose quality parameters meet the preset conditions. By using quality parameters to determine whether a constellation meets the conditions for stopping receiving positioning signals, the reception of positioning signals from some constellations can be stopped, thereby reducing power consumption from searching for positioning signals, avoiding significant power consumption of the terminal device due to positioning services, extending the terminal device's battery life, and preventing interference with other functions of the terminal device.

[0117] In some embodiments of this disclosure, the following configuration may be provided: Figure 1 The execution conditions of step S103 in the positioning method shown are determined so that the step is executed only when the execution conditions are met in order to reduce the power consumption caused by the positioning service. This is because executing step S103 will reduce the positioning signal received by the terminal device, and it is necessary to ensure that executing this step will not affect the positioning accuracy.

[0118] In one possible embodiment, a first execution condition is set, namely, in step S102, the quality parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation. Specifically, the quality parameters of each positioning signal in all the received positioning signals are determined according to all the received positioning signals. Then, if the quality parameters of all the positioning signals received by the terminal device meet the preset requirements, this step is executed, that is, the step of controlling the terminal device to stop receiving the transmitted positioning signals of the at least one constellation whose quality parameters meet the preset conditions is executed.

[0119] The quality parameters in the execution conditions may include at least one of the number of satellites and carrier noise density. Specifically, only the number of satellites for all positioning signals can be determined; only the carrier noise density value of all positioning signals can be determined; or both the number of satellites and the carrier noise density value of all positioning signals can be determined. For example, the number of satellites corresponding to all received positioning signals can be determined first; then, if the number of satellites is greater than a preset second threshold (e.g., 60), the carrier noise density value of the positioning signal for each satellite in the total positioning signals can be determined; finally, the M largest (e.g., 50% of the aforementioned second threshold) carrier noise density values ​​among the carrier noise density values ​​of the positioning signals for each satellite are obtained, and the average of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second threshold, and M is greater than or equal to 1.

[0120] If only the total number of satellites providing all positioning signals is determined, additional steps can be performed if the total number of satellites providing all positioning signals meets the preset requirements. Figure 1 Step S103 in the positioning method shown. For example, if the number of satellites exceeds a preset second number threshold (e.g., 60), the additional... Figure 1 Step S103 in the positioning method shown.

[0121] If only the carrier noise density values ​​of all positioning signals are determined, then if the carrier noise density values ​​of all positioning signals meet the preset requirements, then additional steps can be performed. Figure 1 Step S103 in the illustrated positioning method. For example, if the carrier noise density value is greater than a preset second density threshold (e.g., 35 dB-Hz), the additional... Figure 1 Step S103 in the positioning method shown.

[0122] Given that both the number of satellites providing the positioning signal and the carrier noise density value of the positioning signal are determined, the additional steps can be performed if both the number of satellites and the carrier noise density value meet preset requirements. Figure 1 Step S103 in the positioning method shown. For example, if the number of satellites is greater than a preset second quantity threshold and the carrier noise density value is greater than a preset second density threshold, the additional step can be performed. Figure 1 Step S103 in the positioning method shown.

[0123] By judging the execution conditions in step S103 of this embodiment, it is possible to avoid... Figure 1 The positioning method shown affects positioning accuracy.

[0124] In one possible embodiment, a second execution condition is set, and the terminal device is determined to meet the execution condition in the following manner: if the remaining power of the terminal device is less than or equal to a preset power threshold (e.g., 40%, 60%, etc.), the step is executed, that is, the step of controlling the terminal device to stop receiving the transmission positioning signal of the constellation whose quality parameters meet the preset condition in at least one constellation is executed.

[0125] The activation condition determination in this embodiment enables the terminal device to use auxiliary devices even with low battery levels. Figure 1 Step S103 in the positioning method shown reduces the power consumption of the positioning service because the power saving requirement is lower when the terminal device has a high power level, and higher when the terminal device has a low power level.

[0126] In some embodiments of this disclosure, when the remaining battery power of the terminal device is greater than a preset battery threshold (e.g., 40%, 60%, etc.), additional functions can be executed. Figure 1 In the positioning method shown, step S102 determines the quality parameters of each constellation so that step S103 can be executed based on the quality parameters of each constellation to reduce the power consumption caused by the positioning service. This is because step S102 is an operation of calculating parameters, which consumes a lot of power from the terminal device. Therefore, it is unreasonable to use such a power-consuming step to achieve the purpose of saving power.

[0127] Correspondingly, in some examples, when the remaining battery power of the terminal device is less than or equal to a preset battery threshold (e.g., 40%, 60%, etc.), the terminal device can be controlled to stop receiving preset high-frequency positioning signals in each constellation; and / or, when the remaining battery power of the terminal device is less than or equal to the preset battery threshold, the terminal device can be controlled to stop receiving positioning signals transmitted by pre-marked auxiliary constellations in at least one constellation.

[0128] Each constellation can transmit multiple frequencies of positioning signals. Since receiving high-frequency positioning signals consumes more power than receiving low-frequency signals, when the battery is low, the reception of higher-frequency positioning signals (which are preset, i.e., the default high-frequency positioning signal) can be disabled, and lower-frequency positioning signals can be received directly, thereby reducing power consumption. The multiple frequencies of positioning signals transmitted by each constellation are well known in the art. Therefore, the default high-frequency positioning signal in each constellation can be preset, that is, at least one higher-frequency positioning signal that each constellation can receive is marked as the default high-frequency signal of the corresponding constellation. For example, the positioning signals transmitted by the GPS constellation include the L1 band and the L5 band. The frequency of the L5 band is higher than that of the L1 band. Therefore, it is possible to stop receiving the positioning signals of the L5 band of the GPS constellation and only receive the positioning signals of the L1 band. The positioning signals transmitted by the BDS constellation include the B1 band and the B2a band. The frequency of the B2a band is higher than that of the B1 band. Therefore, it is possible to stop receiving the positioning signals of the B2a band of the BDS constellation and only receive the positioning signals of the B1 band. The positioning signals transmitted by the Galileo constellation include the E1 band and the E5a band. The frequency of the E5a band is higher than that of the E1 band. Therefore, it is possible to stop receiving the positioning signals of the E5a band of the Galileo constellation and only receive the positioning signals of the E1 band.

[0129] Pre-labeled auxiliary constellations can be a subset of all constellations supported by the positioning service of the terminal device. These auxiliary constellations are those with weaker signal strength. For example, among the five constellations GPS, BDS, GLONASS, Galileo, and Navic, GLONASS, Galileo, and Navic can be pre-labeled as auxiliary constellations.

[0130] Understandably, attached Figure 1 Steps S102 to S103 shown and the above embodiments of stopping the reception of preset high-frequency signals or stopping the reception of positioning signals transmitted by pre-marked auxiliary constellations can be two power-saving modes. These two power-saving modes reduce the power consumption of the positioning service in different ways. When the power consumption is higher than the power threshold, auxiliary signals can be used. Figure 1 The power-saving mode shown is that the quality parameters of each constellation are determined in step S102, and further the reception of positioning signals of some constellations is stopped in step S103 according to the quality parameters of each constellation to reduce power consumption. When the remaining power is lower than or equal to the power threshold, a power-saving mode can be adopted to stop receiving preset high-frequency signals and / or positioning signals transmitted by auxiliary constellations. This method can be executed directly without calculation and will not increase the power consumption of the terminal device.

[0131] In some embodiments of this disclosure, an exemplary complete process is provided for a smartphone to use the positioning method for positioning and navigation.

[0132] First, turn on the Gnss satellite positioning service on your phone and start the map software for positioning and navigation. At this time, the phone receives positioning signals from at least one constellation and uses the received positioning signals for positioning and navigation, so that the positioning and navigation results can be displayed to the user through the map software.

[0133] Then, it is determined whether the remaining battery power of the phone is greater than 40%. If the remaining battery power is less than or equal to 40%, the preset high-frequency positioning signal in the positioning signal of each constellation is stopped, and / or the positioning signal transmitted by the pre-marked auxiliary constellation is stopped, so as to save power in the above simple way when the battery power is low.

[0134] Next, if the remaining battery power is greater than 40%, the quality parameters of each constellation are determined based on the location signals received from at least one constellation, and it is determined whether the quality parameters of each constellation meet the preset conditions. If there are no constellations whose quality parameters meet the preset conditions, the location signals of these constellations are continued to be received. If there are constellations whose quality parameters meet the preset conditions, these constellations whose quality parameters meet the preset conditions are added to the blacklist, and the quality parameters of all the received location signals are determined. If the quality parameters of all the location signals do not meet the preset requirements, the location signals of these constellations are continued to be received. If the quality parameters of all the location signals meet the preset requirements, the location signals emitted by the constellations in the blacklist are stopped within the preset period, and the blacklist is updated again according to the above steps after the preset period ends.

[0135] According to a second aspect of the present disclosure, a positioning device is provided for use in a terminal device. Please refer to the attached document. Figure 2 The device includes:

[0136] Receiver module 201 is used to receive positioning signals from at least one constellation;

[0137] The determining module 202 is used to determine the mass parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation;

[0138] Control module 203 is used to control the terminal device to stop receiving positioning signals transmitted by at least one constellation whose quality parameters meet preset conditions.

[0139] In some embodiments of this disclosure, the mass parameters include satellite elevation angle, and each constellation includes multiple satellites;

[0140] The determining module is specifically used for:

[0141] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0142] Based on the positioning signal of each satellite, the elevation angle of each satellite is determined accordingly;

[0143] The satellite elevation angle of the corresponding constellation is determined based on the elevation angles of multiple satellites in the constellation.

[0144] In some embodiments of this disclosure, the quality parameters include carrier noise density values, and each constellation includes multiple satellites;

[0145] The determining module is specifically used for:

[0146] Obtain the positioning signal of each satellite in the constellation's positioning signals;

[0147] Based on the positioning signal of each satellite, the carrier noise density value of each satellite is determined accordingly;

[0148] The maximum N carrier noise density values ​​among the carrier noise density values ​​of multiple satellites in the constellation are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value and N is greater than or equal to 1.

[0149] In some embodiments of this disclosure, the quality parameters include at least one of satellite elevation angle, carrier noise density value, and number of satellites;

[0150] The control module is specifically used for:

[0151] The terminal device is controlled to stop receiving positioning signals transmitted by constellations where the satellite elevation angle is less than a preset elevation angle threshold, and / or the carrier noise density value is less than a preset first density threshold, and / or the number of satellites is less than a first quantity threshold.

[0152] In some embodiments of this disclosure, the control module is specifically used for:

[0153] After a preset time period, the positioning signals of at least one constellation are received again, and based on the positioning signals of the at least one constellation, the quality parameters of each constellation in the at least one constellation are determined, and the constellations whose quality parameters meet the preset conditions are determined.

[0154] In some embodiments of this disclosure, the determining module is specifically used for:

[0155] The quality parameters of each positioning signal in the total number of positioning signals are determined based on the total number of positioning signals received.

[0156] If the quality parameters of all positioning signals received by the terminal device meet the preset requirements, the step of controlling the terminal device to stop receiving positioning signals emitted by the constellation whose quality parameters meet the preset conditions is executed.

[0157] In some embodiments of this disclosure, the quality parameter includes a carrier noise density value;

[0158] When the determining module determines the quality parameters of each positioning signal among all the received positioning signals, it is specifically used for:

[0159] The number of satellites corresponding to all received positioning signals is determined based on all received positioning signals;

[0160] If the number of satellites is greater than a preset second number threshold, determine the carrier noise density value of the positioning signal of each satellite in all the positioning signals;

[0161] The M largest carrier noise density values ​​among the carrier noise density values ​​of the positioning signals of each satellite are obtained, and the average value of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second quantity value, and N is greater than or equal to 1.

[0162] In some embodiments of this disclosure, the quality parameters include carrier noise density and the number of satellites. When the determining module executes the step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet the preset conditions, provided that the quality parameters of all positioning signals received by the terminal device meet preset requirements, it is specifically used for:

[0163] If the number of satellites is greater than a preset third quantity threshold and the carrier noise density value is greater than a preset second density threshold, the step of controlling the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions in at least one constellation is executed.

[0164] In some embodiments of this disclosure, the determining module is specifically used for:

[0165] If the remaining battery power of the terminal device is greater than a preset battery power threshold, the quality parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation.

[0166] In some embodiments of this disclosure, the control module is specifically used for:

[0167] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions.

[0168] In some embodiments of this disclosure, a power-saving module is also included for:

[0169] If the remaining battery percentage of the terminal device is less than or equal to the battery threshold, the terminal device is controlled to stop receiving the preset high-frequency positioning signal from the positioning signals transmitted by each constellation; and / or,

[0170] If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the pre-marked auxiliary constellation in at least one constellation.

[0171] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the method in the first aspect, and will not be elaborated upon here.

[0172] According to a third aspect of the embodiments of this disclosure, please refer to the appendix. Figure 3 The diagram illustrates, for example, a block diagram of an electronic device. For instance, device 300 could be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0173] Reference Figure 3 The device 300 may include one or more of the following components: a processing component 302, a memory 304, a power supply component 306, a multimedia component 308, an audio component 310, an input / output (I / O) interface 312, a sensor component 314, and a communication component 316.

[0174] Processing component 302 typically controls the overall operation of device 300, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 302 may include one or more modules to facilitate interaction between processing component 302 and other components. For example, processing component 302 may include a multimedia module to facilitate interaction between multimedia component 308 and processing component 302.

[0175] Memory 304 is configured to store various types of data to support the operation of device 300. Examples of this data include instructions for any application or method operating on device 300, contact data, phonebook data, messages, pictures, videos, etc. Memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0176] The power supply component 306 provides power to the various components of the device 300. The power supply component 306 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device 300.

[0177] Multimedia component 308 includes a screen that provides an output interface between the device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 308 includes a front-facing camera and / or a rear-facing camera. When the device 300 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0178] Audio component 310 is configured to output and / or input audio signals. For example, audio component 310 includes a microphone (MIC) configured to receive external audio signals when device 300 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 304 or transmitted via communication component 316. In some embodiments, audio component 310 also includes a speaker for outputting audio signals.

[0179] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0180] Sensor assembly 314 includes one or more sensors for providing status assessments of various aspects of device 300. For example, sensor assembly 314 may detect the on / off state of device 300, the relative positioning of components such as the display and keypad of device 300, changes in the position of device 300 or a component of device 300, the presence or absence of user contact with device 300, the orientation or acceleration / deceleration of device 300, and temperature changes of device 300. Sensor assembly 314 may also include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 314 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 314 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0181] Communication component 316 is configured to facilitate wired or wireless communication between device 300 and other devices. Device 300 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G or 5G, or combinations thereof. In one exemplary embodiment, communication component 316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 316 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0182] In an exemplary embodiment, the device 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the power supply method of the aforementioned electronic device.

[0183] Fourthly, in exemplary embodiments, this disclosure also provides a non-transitory computer-readable storage medium including instructions, such as a memory 304 including instructions, which can be executed by a processor 320 of the device 300 to complete the power supply method of the electronic device. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0184] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0185] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A positioning method, characterized in that, Applied to terminal devices, including: Receive positioning signals from at least one constellation; Based on the positioning signals of the at least one constellation, the quality parameters of each constellation in the at least one constellation are determined accordingly, wherein the quality parameters include at least one of satellite elevation angle, carrier noise density value and number of satellites; The terminal device is controlled to stop receiving positioning signals emitted by at least one of the constellations whose quality parameters meet preset conditions, and the constellations that stop receiving positioning signals are added to a blacklist. After controlling the terminal device to stop receiving positioning signals from at least one of the constellations whose quality parameters meet preset conditions, the process includes: After a preset time period, the positioning signals of at least one constellation are received again, and based on the positioning signals of the at least one constellation, the quality parameters of each constellation in the at least one constellation are determined, and the constellations whose quality parameters meet the preset conditions are determined.

2. The positioning method according to claim 1, characterized in that, The quality parameters include satellite elevation angle, and each constellation includes multiple satellites; The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes: Obtain the positioning signal of each satellite in the constellation's positioning signals; Based on the positioning signal of each satellite, the elevation angle of each satellite is determined accordingly; The satellite elevation angle of the corresponding constellation is determined based on the elevation angles of multiple satellites in the constellation.

3. The positioning method according to claim 1, characterized in that, The quality parameters include carrier noise density values, and each constellation includes multiple satellites; The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes: Obtain the positioning signal of each satellite in the constellation's positioning signals; Based on the positioning signal of each satellite, the carrier noise density value of each satellite is determined accordingly; The maximum N carrier noise density values ​​among the carrier noise density values ​​of multiple satellites in the constellation are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value and N is greater than or equal to 1.

4. The positioning method according to claim 1, characterized in that, The step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet preset conditions includes: The terminal device is controlled to stop receiving positioning signals transmitted by constellations where the satellite elevation angle is less than a preset elevation angle threshold, and / or the carrier noise density value is less than a preset first density threshold, and / or the number of satellites is less than a first quantity threshold.

5. The positioning method according to claim 1, characterized in that, The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes: The quality parameters of each positioning signal in the total number of positioning signals are determined based on the total number of positioning signals received. If the quality parameters of all positioning signals received by the terminal device meet the preset requirements, the step of controlling the terminal device to stop receiving the transmitted positioning signals of the constellation whose quality parameters meet the preset conditions is executed.

6. The positioning method according to claim 5, characterized in that, The quality parameters include carrier noise density values; The step of determining the quality parameters of each positioning signal in the total number of received positioning signals includes: The number of satellites corresponding to all received positioning signals is determined based on all received positioning signals; If the number of satellites is greater than a preset second number threshold, determine the carrier noise density value of the positioning signal of each satellite in all the positioning signals; The M largest carrier noise density values ​​among the carrier noise density values ​​of the positioning signals of each satellite are obtained, and the average value of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second quantity value, and M is greater than or equal to 1.

7. The positioning method according to claim 5, characterized in that, The quality parameters include carrier noise density and the number of satellites. The step of controlling the terminal device to stop receiving positioning signals transmitted from at least one constellation whose quality parameters meet the preset requirements, when the quality parameters of all positioning signals received by the terminal device meet preset requirements, includes: If the number of satellites is greater than a preset third quantity threshold and the carrier noise density value is greater than a preset second density threshold, the step of controlling the terminal device to stop receiving the transmission and positioning signals of the constellation whose quality parameters meet the preset conditions in at least one constellation is executed.

8. The positioning method according to claim 1, characterized in that, The step of determining the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation includes: If the remaining battery power of the terminal device is greater than a preset battery power threshold, the quality parameters of each constellation in the at least one constellation are determined according to the positioning signals of the at least one constellation.

9. The positioning method according to claim 1, characterized in that, The step of controlling the terminal device to stop receiving positioning signals transmitted by the at least one constellation whose quality parameters meet preset conditions includes: If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions.

10. The positioning method according to claim 1, characterized in that, Also includes: If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving a preset high-frequency positioning signal from the positioning signals transmitted by each constellation; and / or, If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the pre-marked auxiliary constellation in at least one constellation.

11. A positioning device, characterized in that, Applied to terminal devices, including: A receiving module for receiving positioning signals from at least one constellation; The determining module is configured to determine the quality parameters of each constellation in the at least one constellation based on the positioning signals of the at least one constellation, wherein the quality parameters include at least one of satellite elevation angle, carrier noise density value and number of satellites; The control module is used to control the terminal device to stop receiving positioning signals emitted by at least one constellation whose quality parameters meet preset conditions, and to add the constellation that stops receiving positioning signals to a blacklist. An update module is used to re-receive the positioning signals of at least one constellation after a preset time period, and to determine the quality parameters of each constellation in the at least one constellation according to the positioning signals of the at least one constellation, and to determine the constellations whose quality parameters meet preset conditions.

12. The positioning device according to claim 11, characterized in that, The quality parameters include satellite elevation angle, and each constellation includes multiple satellites; The determining module is specifically used for: Obtain the positioning signal of each satellite in the constellation's positioning signals; Based on the positioning signal of each satellite, the elevation angle of each satellite is determined accordingly; The satellite elevation angle of the corresponding constellation is determined based on the elevation angles of multiple satellites in the constellation.

13. The positioning device according to claim 11, characterized in that, The quality parameters include carrier noise density values, and each constellation includes multiple satellites; The determining module is specifically used for: Obtain the positioning signal of each satellite in the constellation's positioning signals; Based on the positioning signal of each satellite, the carrier noise density value of each satellite is determined accordingly; The maximum N carrier noise density values ​​among the carrier noise density values ​​of multiple satellites in the constellation are obtained, and the average value of the N carrier noise density values ​​is determined as the carrier noise density value of the constellation, where N is a preset first quantity value and N is greater than or equal to 1.

14. The positioning device according to claim 11, characterized in that, The control module is specifically used for: The terminal device is controlled to stop receiving positioning signals transmitted by constellations where the satellite elevation angle is less than a preset elevation angle threshold, and / or the carrier noise density value is less than a preset first density threshold, and / or the number of satellites is less than a first quantity threshold.

15. The positioning device according to claim 11, characterized in that, The determining module is specifically used for: The quality parameters of each positioning signal in the total number of positioning signals are determined based on the total number of positioning signals received. If the quality parameters of all positioning signals received by the terminal device meet the preset requirements, the step of controlling the terminal device to stop receiving positioning signals emitted by the constellation whose quality parameters meet the preset conditions is executed.

16. The positioning device according to claim 15, characterized in that, The quality parameters include carrier noise density values; When the determining module determines the quality parameters of each positioning signal among all the received positioning signals, it is specifically used for: The number of satellites corresponding to all received positioning signals is determined based on all received positioning signals; If the number of satellites is greater than a preset second number threshold, determine the carrier noise density value of the positioning signal of each satellite in all the positioning signals; The M largest carrier noise density values ​​among the carrier noise density values ​​of the positioning signals of each satellite are obtained, and the average value of the M carrier noise density values ​​is determined as the carrier noise density value corresponding to all positioning signals, where M is a preset second quantity value, and M is greater than or equal to 1.

17. The positioning device according to claim 15, characterized in that, The quality parameters include carrier noise density and the number of satellites. When the determining module executes the step of controlling the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions, provided that the quality parameters of all positioning signals received by the terminal device meet the preset requirements, specifically it is used for: If the number of satellites is greater than a preset third quantity threshold and the carrier noise density value is greater than a preset second density threshold, the step of controlling the terminal device to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions in at least one constellation is executed.

18. The positioning device according to claim 11, characterized in that, The control module is specifically used for: If the remaining battery power of the terminal device is less than or equal to a preset battery threshold, the terminal device is controlled to stop receiving positioning signals transmitted by the constellation whose quality parameters meet the preset conditions.

19. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory being used to store computer instructions executable on the processor, and the processor being used to execute the computer instructions based on the positioning method according to any one of claims 1 to 10.

20. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method of any one of claims 1 to 10.

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