Positioning method, device, equipment and readable storage medium

Abstract

The present invention discloses a positioning method, apparatus, device, and readable storage medium, relating to the field of communications technology, for conserving satellite resources. The method includes: performing time synchronization with a satellite network; determining satellite location information; receiving a downlink positioning signal transmitted by network equipment in the satellite network; determining the transmission delay between the satellite and the terminal based on the time synchronization result and the downlink positioning signal; and determining the terminal's location information based on the transmission delay and the satellite's location information. Embodiments of the present invention can conserve satellite resources.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a positioning method, apparatus, device and readable storage medium. Background Art

[0002] With the widespread deployment of satellite communication systems, the number of visible satellite resources is increasing day by day. Due to the all-weather service of communication satellites, it is convenient to use communication satellites for positioning services.

[0003] Positioning services based on communication systems are very common in terrestrial mobile communications. Positioning technology in mobile communication systems is generally integrated and compatible with the design of terrestrial mobile communication systems, with the terminal's positioning module and communication module integrated. However, the base stations of terrestrial mobile communication systems are stationary, while the satellites are mobile. This makes it difficult for terminals to observe multiple satellites simultaneously, resulting in the inability to obtain multiple measurements simultaneously. Furthermore, the short distance between base stations and user terminals makes this positioning technology unsuitable for direct porting to satellite systems.

[0004] In terms of satellite positioning, the industry currently has various mature satellite navigation systems, including the GPS (Global Positioning System) and the Beidou Navigation and Positioning System. Satellite positioning technology, which utilizes techniques such as pseudo-code and carrier phase tracking, relies on continuous satellite signal transmission. Terminals acquire accurate location information based on satellite signal capture, tracking, and processing over a long period of time. However, the frequency bands, signal systems, and positioning mechanisms used in satellite positioning technology are specially designed without consideration for compatibility with communication systems. Consequently, data transmission efficiency using conventional navigation and positioning satellites is low, making them unsuitable for general data communication services.

[0005] Therefore, in the existing technology, separate navigation and positioning satellites and separate communication satellites make the technical cost too high, resulting in a waste of satellite resources. Summary of the Invention

[0006] Embodiments of the present invention provide a positioning method, apparatus, device, and readable storage medium to save satellite resources.

[0007] In a first aspect, an embodiment of the present invention provides a positioning method, which is performed by a terminal and includes:

[0008] Time synchronization with satellite networks;

[0009] Determine satellite position information;

[0010] receiving a downlink positioning signal sent by a network device of the satellite network;

[0011] determining a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal;

[0012] The location information of the terminal is determined according to the transmission delay and the location information of the satellite.

[0013] The time synchronization with the satellite network includes:

[0014] Receiving time reference information sent by the network device through a broadcast message or dedicated signaling;

[0015] The reference time and / or the clock frequency of the local clock of the terminal are calibrated according to the time reference information.

[0016] The time reference information includes a preset system frame number SFN index and time boundary information corresponding to the SFN index.

[0017] The step of calibrating the reference time of the local clock of the terminal according to the time reference information includes:

[0018] Acquire boundary information corresponding to the SFN index according to network reference time information specified by the network device;

[0019] Determining, according to the SFN index, SFN time boundary information corresponding to the local clock of the terminal;

[0020] Determining a time offset value according to boundary information corresponding to the SFN index and SFN time boundary information corresponding to the terminal;

[0021] The reference time of the local clock of the terminal is calibrated according to the time deviation value.

[0022] The step of calibrating the clock frequency of the local clock of the terminal according to the time reference information includes:

[0023] Acquire a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and acquire a second time T2 at which the reference time of the terminal corresponds to the SFN index N2;

[0024] The time difference information between T2 and T1 is compared with the time difference information between the SFN index N2 and the SFN index N1 corresponding to the reference time of the network device, so as to adjust the clock frequency of the local clock of the terminal.

[0025] The method further comprises:

[0026] Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite;

[0027] Calculating a transmission time difference based on the distance change information;

[0028] The clock frequency of the local clock is calibrated according to the transmission time difference.

[0029] The determining of the satellite's location information includes:

[0030] receiving the satellite ephemeris information or satellite position indication information sent by the network device;

[0031] The satellite position information is determined according to the ephemeris information or the satellite position indication information.

[0032] The determining of the transmission delay between the satellite and the terminal according to the time synchronization result and the downlink positioning signal includes:

[0033] Determining a starting time for sending the downlink positioning signal;

[0034] Determining a local receiving time point for receiving the downlink positioning signal;

[0035] The transmission delay is determined according to the time difference between the starting time and the local receiving time point.

[0036] Before determining the transmission delay according to the time difference between the starting time and the local receiving time point, the method further includes:

[0037] Get the preset signal processing delay;

[0038] The determining the transmission delay according to the time difference between the starting time and the local receiving time point includes:

[0039] Calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay;

[0040] The second difference is used as the transmission delay.

[0041] The downlink positioning signal includes one of the following signals:

[0042] Positioning reference signal;

[0043] broadcast signals;

[0044] Downlink reference signal;

[0045] Synchronous signal;

[0046] Downlink data transmission signal.

[0047] The method further comprises:

[0048] receiving configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows;

[0049] The transmission delay includes multiple transmission delays between the terminal and the same satellite obtained at multiple times within a time measurement window according to the configuration information, and the satellite position information includes position information of the satellite at the multiple times; or

[0050] The transmission delay includes multiple transmission delays between the terminal and multiple satellites obtained at multiple times within multiple time measurement windows according to the configuration information, and the satellite position information includes position information of the multiple satellites at the multiple times.

[0051] The method further comprises:

[0052] The transmission delay between the satellite and the terminal is sent to the network device.

[0053] In a second aspect, an embodiment of the present invention further provides a positioning method, which is performed by a network device in a satellite network, comprising:

[0054] Sending time reference information to a terminal, where the time reference information is used to synchronize time between the terminal and the network device;

[0055] Sending ephemeris information of a satellite to the terminal, where the ephemeris information is used to enable the terminal to determine position information of the satellite;

[0056] A downlink positioning signal is sent to the terminal, where the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal.

[0057] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index;

[0058] The sending of time reference information to the terminal includes:

[0059] The time reference information is sent to the terminal through a broadcast message or dedicated signaling.

[0060] The method further comprises:

[0061] Configuration information is sent to a terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times and multiple transmission delays between the multiple satellites and the terminal; or, the configuration information is used to instruct the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times and the transmission delays between the terminal and the satellite at multiple times.

[0062] The method further comprises:

[0063] receiving a transmission delay between the satellite and the terminal sent by the terminal;

[0064] The location information of the terminal is determined based on the transmission delay and the location information of the satellite.

[0065] In a third aspect, an embodiment of the present invention provides a positioning device, applied to a terminal, including a memory, a transceiver, and a processor:

[0066] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0067] Time synchronization with satellite networks;

[0068] Determine satellite position information;

[0069] receiving a downlink positioning signal sent by a network device of the satellite network;

[0070] determining a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal;

[0071] The location information of the terminal is determined according to the transmission delay and the location information of the satellite.

[0072] The time synchronization with the satellite network includes:

[0073] Receiving time reference information sent by the network device through a broadcast message or dedicated signaling;

[0074] The reference time and / or the clock frequency of the local clock of the terminal are calibrated according to the time reference information.

[0075] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index.

[0076] The step of calibrating the reference time of the local clock of the terminal according to the time reference information includes:

[0077] Acquire boundary information corresponding to the SFN index according to network reference time information specified by the network device;

[0078] Determining, according to the SFN index, SFN time boundary information corresponding to the local clock of the terminal;

[0079] Determining a time offset value according to boundary information corresponding to the SFN index and SFN time boundary information corresponding to the terminal;

[0080] The reference time of the local clock of the terminal is calibrated according to the time deviation value.

[0081] The step of calibrating the clock frequency of the local clock of the terminal according to the time reference information includes:

[0082] Acquire a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and acquire a second time T2 at which the reference time of the terminal corresponds to the SFN index N2;

[0083] The time difference information between T2 and T1 is compared with the time difference information between the SFN index N2 and the SFN index N1 corresponding to the reference time of the network device, so as to adjust the clock frequency of the local clock of the terminal.

[0084] The processor is further configured to:

[0085] Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite;

[0086] Calculating a transmission time difference based on the distance change information;

[0087] The clock frequency of the local clock is calibrated according to the transmission time difference.

[0088] The determining of the satellite's location information includes:

[0089] receiving the satellite ephemeris information or satellite position indication information sent by the network device;

[0090] The satellite position information is determined according to the ephemeris information or the satellite position indication information.

[0091] The determining of the transmission delay between the satellite and the terminal according to the time synchronization result and the downlink positioning signal includes:

[0092] Determining a starting time for sending the downlink positioning signal;

[0093] Determining a local receiving time point for receiving the downlink positioning signal;

[0094] The transmission delay is determined according to the time difference between the starting time and the local receiving time point.

[0095] The processor is further configured to:

[0096] Before determining the transmission delay according to the time difference between the starting time and the local receiving time point, obtaining a preset signal processing delay;

[0097] Calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay;

[0098] The second difference is used as the transmission delay.

[0099] The downlink positioning signal includes one of the following signals:

[0100] Positioning reference signal;

[0101] broadcast signals;

[0102] Downlink reference signal;

[0103] Synchronous signal;

[0104] Downlink data transmission signal.

[0105] The processor is further configured to:

[0106] receiving configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows;

[0107] The transmission delay includes multiple transmission delays between the terminal and the same satellite obtained at multiple times within a time measurement window according to the configuration information, and the satellite position information includes position information of the satellite at the multiple times; or

[0108] The transmission delay includes multiple transmission delays between the terminal and multiple satellites obtained at multiple times within multiple time measurement windows according to the configuration information, and the satellite position information includes position information of the multiple satellites at the multiple times.

[0109] The processor is further configured to:

[0110] The transmission delay between the satellite and the terminal is sent to the network device.

[0111] In a fourth aspect, an embodiment of the present invention provides a positioning device, which is applied to a network device in a satellite network, including a memory, a transceiver, and a processor:

[0112] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0113] Sending time reference information to a terminal, where the time reference information is used to synchronize time between the terminal and the network device;

[0114] Sending ephemeris information of a satellite to the terminal, where the ephemeris information is used to enable the terminal to determine position information of the satellite;

[0115] A downlink positioning signal is sent to the terminal, where the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal.

[0116] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index;

[0117] The processor is further configured to send the time reference information to the terminal via a broadcast message or dedicated signaling.

[0118] The processor is further configured to:

[0119] Configuration information is sent to a terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times and multiple transmission delays between the multiple satellites and the terminal; or, the configuration information is used to instruct the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times and the transmission delays between the terminal and the satellite at multiple times.

[0120] The processor is further configured to:

[0121] receiving a transmission delay between the satellite and the terminal sent by the terminal;

[0122] The location information of the terminal is determined based on the transmission delay and the location information of the satellite.

[0123] In a fifth aspect, an embodiment of the present invention provides a positioning device, applied to a terminal, including:

[0124] A synchronization unit for time synchronization with a satellite network;

[0125] A first determining unit, configured to determine position information of a satellite;

[0126] A first receiving unit, configured to receive a downlink positioning signal sent by a network device of the satellite network;

[0127] a second determining unit, configured to determine a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal;

[0128] The third determining unit is configured to determine the location information of the terminal according to the transmission delay and the location information of the satellite.

[0129] In a sixth aspect, an embodiment of the present invention provides a positioning device, which is applied to a network device in a satellite network, including:

[0130] A first sending unit, configured to send time reference information to a terminal, where the time reference information is used to enable the terminal to perform time synchronization with the network device;

[0131] a second sending unit, configured to send ephemeris information of the satellite to the terminal, wherein the ephemeris information is used to enable the terminal to determine position information of the satellite;

[0132] The third sending unit is configured to send a downlink positioning signal to the terminal, where the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal.

[0133] In a seventh aspect, an embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, and the computer program is used to enable the processor to execute the method as described above.

[0134] In this embodiment of the present invention, after the terminal is time-synchronized with the satellite network, the terminal determines the transmission delay between the satellite and the terminal based on satellite information and downlink positioning signals from the satellite network, thereby determining the terminal's location information. This shows that in this embodiment of the present invention, the satellite's communication function is utilized to locate the terminal, thus conserving satellite resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0135] Figure 1 This is one of the flow charts of the positioning method provided by an embodiment of the present invention;

[0136] Figure 2 The method of positioning and ranging of multiple satellites is shown;

[0137] Figure 3 The positioning and ranging method of a single satellite is shown;

[0138] Figure 4This is the second flowchart of the positioning method provided by an embodiment of the present invention;

[0139] Figure 5 This is one of the structural diagrams of the positioning device provided by an embodiment of the present invention;

[0140] Figure 6 This is the second structural diagram of the positioning device provided by an embodiment of the present invention;

[0141] Figure 7 This is the third structural diagram of the positioning device provided by an embodiment of the present invention;

[0142] Figure 8 This is the fourth structural diagram of the positioning device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0143] In embodiments of the present invention, the term "and / or" describes the association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0144] In the embodiments of the present application, the term "plurality" refers to two or more than two, and other quantifiers are similar.

[0145] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0146] The embodiments of the present application provide a positioning method, apparatus, device, and readable storage medium for conserving satellite resources. The method and apparatus are based on the same patent application concept. Since the method and apparatus solve similar problems, the implementation of the apparatus and method can refer to each other, and any repetitions will not be repeated.

[0147] The terminal involved in the embodiments of the present application may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called a user equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (AN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present application.

[0148] See also Figure 1 , Figure 1 : is a flowchart of a positioning method according to an embodiment of the present invention, which is executed by a terminal. The method includes:

[0149] Step 101: Time synchronization with the satellite network.

[0150] The satellite network transmits time reference information to the terminal via a broadcast channel or other means. The terminal calibrates the reference time and / or clock frequency of its local clock based on the network's time reference information and frame timing configuration, maintaining time synchronization with the network. Specifically, in this step, the terminal may receive the time reference information transmitted by the network device via a broadcast message or dedicated signaling, and then calibrate the reference time and / or clock frequency of the terminal's local clock based on the time reference information.

[0151] The time reference information may include absolute time information or relative time information relative to a certain time point. For example, the time reference information includes a preset SFN (System Frame Number) index and time boundary information corresponding to the SFN index.

[0152] When calibrating the reference time of the terminal's local clock based on the time reference information, the terminal may first obtain the boundary information corresponding to the SFN index based on the network reference time information specified by the network device. The terminal then determines the SFN time boundary information corresponding to the terminal's local clock based on the SFN index, and determines a time offset value based on the boundary information corresponding to the SFN index and the SFN time boundary information corresponding to the terminal. The terminal then calibrates the reference time of the terminal's local clock based on the time offset value. For example, the reference time of the local clock and the time offset value may be used for calculation (e.g., subtracting the time offset value from the reference time of the local clock) to obtain the calibrated reference time of the local clock.

[0153] When calibrating the clock frequency of the local clock of the terminal according to the time reference information, the terminal obtains a first time T1 in which the reference time of the terminal corresponds to the SFN index N1, and obtains a second time T2 in which the reference time of the terminal corresponds to the SFN index N2; and compares the time difference information between T2 and T1 with the time difference information between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1 to adjust the clock frequency of the local clock of the terminal, thereby eliminating the error of the local crystal oscillator and making the count of the local clock consistent with the count of the satellite clock.

[0154] To further improve detection accuracy, it's necessary to consider the satellite's motion between time T2 and T1. The time deviation caused by satellite motion during the T2-T1 interval is eliminated based on the satellite's trajectory. Specifically, based on the satellite's orbital parameters, the distance change due to the satellite's motion between T2 and T1 is calculated. The transmission time difference is then calculated based on this distance change, and the local clock frequency is calibrated based on this transmission time difference.

[0155] Step 102: Determine the satellite's location information.

[0156] In this step, the ephemeris information or satellite position indication information of the satellite sent by the network device is received, and then the position information of the satellite is determined according to the ephemeris information or satellite position indication information.

[0157] Ephemeris information refers to the satellite's orbital information, including ephemeris information related to the satellite's position and satellite orbital parameter information. The terminal can directly obtain the satellite's instantaneous position information based on the ephemeris information, or derive the satellite's real-time position information based on the ephemeris information. Specifically, ephemeris information is usually expressed in two ways: one is the satellite's Kepler operating parameters, and the other is explicit satellite position information. After obtaining the Kepler operating parameters, the terminal needs to perform orbital position prediction based on the predetermined satellite operating characteristics to calculate the satellite's position at different times. The explicit satellite position information directly tells the terminal about the 3D position separation of the position and tells the terminal about the satellite's movement speed information, including movement speed and movement direction. After obtaining the position and movement information, the satellite's orbital position between the two notifications can be inferred based on the operation characteristics.

[0158] Specifically, the information parameters of the first method include the content shown in Table 1:

[0159] Table 1

[0160]

[0161]

[0162] After obtaining the above parameters, the terminal can calculate the satellite's motion trajectory and thus obtain the satellite's real-time orbital position.

[0163] The second method includes parameters for position information (Px, Py, Pz), time information, and velocity information (Vx, Vy, Vz). These parameters may also include second- and third-order velocity components. Time information represents the effective time of the position information. After obtaining the position information, the terminal calculates the orbit model and estimates the satellite position after the effective time in real time based on the velocity and direction information. Because the velocity and direction information is effective for a shorter period of time, satellite position calculation based on the second method is primarily used for local time deduction.

[0164] The satellite position indication information may include, for example, the satellite's moving speed, orbital parameters, moving trajectory, specific position of the satellite, and the like.

[0165] In the embodiment of the present invention, the satellite network may include a transparent forwarding satellite network or a satellite network with on-board processing capability.

[0166] Step 103: Receive a downlink positioning signal sent by the network equipment of the satellite network.

[0167] The downlink positioning signal may include one of the following signals: a positioning reference signal; a broadcast signal; a downlink reference signal; a synchronization signal; or a downlink data transmission signal. The transmission pattern or time interval of the downlink positioning signal may be preselected and notified to the terminal.

[0168] Step 104: Determine the transmission delay between the satellite and the terminal according to the time synchronization result and the downlink positioning signal.

[0169] The transmission delay is the signal transmission time between the satellite and the terminal, also known as the time difference between sending and receiving signals (Time of Arrival, TOA).

[0170] In this step, the terminal determines the starting time of the transmission time of the downlink positioning signal and the local reception time point of the downlink positioning signal, and then determines the transmission delay based on the time difference between the starting time and the local reception time point.

[0171] Specifically, after synchronizing with the network time, the terminal obtains the starting time of the downlink positioning signal transmission based on the downlink positioning signal's time domain transmission frame number, time slot index, symbol index, and other time information. After detecting the downlink positioning signal, the terminal determines the local reception time of the downlink positioning signal and then determines the transmission delay between the satellite and the terminal based on the time difference between the transmission and reception of the downlink positioning signal.

[0172] To further improve positioning accuracy, the network's RF signal processing delay and the terminal's processing delay need to be considered during the calculation of transmission delay. The terminal can then obtain a preset signal processing delay. When calculating the transmission delay, the terminal calculates a first difference between the local reception time point and the starting time, and a second difference between the first difference and the signal processing delay, using the second difference as the transmission delay.

[0173] Assume that the time at which the satellite network equipment transmits the downlink positioning signal is T00, and the time at which the terminal receives the downlink positioning signal is T01. The processing delay of the network equipment and the terminal is delta_t. The signal processing delay needs to be subtracted from the transmission delay between the satellite and the terminal, that is, TOA = T01 - T00 - delta_t. This delta_t can be obtained in advance during network equipment and terminal testing, or a baseline deviation can be specified. Assuming the nominal delta_t is equal to a threshold value, the device's performance must not deviate from this threshold by a predetermined value. This predetermined value is the inherent error accuracy of time detection.

[0174] In practical applications, the satellite network may include satellites with transparent forwarding capabilities and satellites with onboard processing capabilities.

[0175] When the satellite operates in transparent forwarding mode, the sending point of the downlink positioning signal is the ground gateway station, but the transmission delay used for positioning corresponds to the distance between the satellite and the terminal, so the timing point used for positioning calculation is at the satellite. Then, in order to improve the accuracy of positioning, here, if the sending point of the downlink positioning signal is the ground gateway station, the transmission delay is equal to the time difference between the starting time and the local reception time point minus the transmission delay between the satellite and the ground gateway station. The transmission delay between the satellite and the ground gateway station can also be determined based on the time difference between the satellite sending and receiving the downlink positioning signal. When the satellite operates in on-board processing mode, the sending point of the downlink positioning signal is the satellite, then the transmission delay is equal to the time difference between the starting time and the local reception time point.

[0176] Step 105: Determine the location information of the terminal according to the transmission delay and the location information of the satellite.

[0177] In this embodiment of the present invention, after the terminal is time-synchronized with the satellite network, the terminal determines the transmission delay between the satellite and the terminal based on satellite information and downlink positioning signals from the satellite network, thereby determining the terminal's location information. This shows that in this embodiment of the present invention, the satellite's communication function is utilized to locate the terminal, thus conserving satellite resources.

[0178] In addition, the terminal may also receive configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows. Accordingly, the transmission delay includes multiple transmission delays between the terminal and the same satellite at multiple times obtained within a time measurement window according to the configuration information, and the satellite position information includes the position information of the satellite at the multiple times; or the transmission delay includes multiple transmission delays between the terminal and multiple satellites at multiple times obtained within multiple time measurement windows according to the configuration information, and the satellite position information includes the position information of the multiple satellites at the multiple times.

[0179] That is to say, the terminal can simultaneously obtain the position information of multiple satellites and the transmission delay between them and multiple satellites to calculate the terminal's position information; or the terminal can measure the satellite's position information and the transmission delay between it and the same satellite in different time periods to calculate the terminal's position information.

[0180] In addition, the terminal may also send the transmission delay between the satellite and the terminal to the network device, so that the network device can estimate the positioning of the terminal.

[0181] For transmission delay measurement, when the terminal can measure the positioning signals of multiple satellites within a preconfigured time window, the terminal completes the transmission delay measurement through a single window measurement. Otherwise, the terminal needs to complete multiple transmission delay measurements for multiple satellites or the same satellite within multiple different time windows.

[0182] exist Figure 2 This paper shows a method for positioning and ranging using multiple satellites. The terminal estimates the time difference (TOA) between the sending and receiving signals of different satellites at different times. At the same time, the terminal obtains the satellite position when measuring TOA, and then performs positioning calculations to finally determine the terminal's position. Figure 3 The present invention shows a single-satellite positioning and ranging method. The terminal can estimate the time difference (TOA) and position information of the same satellite's receiving and transmitting signals at different times, and then perform positioning calculations to finally determine the terminal's position.

[0183] Based on the principle of three-point positioning, when the terminal obtains the position information of three satellites and the distance between each satellite and the terminal, the terminal's position information can be calculated. The specific calculation is based on the following three equations, and then the terminal's position is determined:

[0184]

[0185]

[0186]

[0187] Among them, (X0, Y0, Z0) is the position coordinate information of the terminal and is the variable to be solved; the position information of the other three satellites is (X1, Y1, Z1), (X2, Y2, Z2) (X3, Y3, Z3), which can be obtained based on the satellite's ephemeris information; P1, P2, and P3 are the distances from the three satellites to the terminal, which can be calculated based on the transmission delay.

[0188] See also Figure 4 , Figure 4 1 is a flow chart of a positioning method according to an embodiment of the present invention, which is executed by a network device in a satellite network. The method includes:

[0189] Step 401: Send time reference information to a terminal, where the time reference information is used to synchronize time between the terminal and the network device.

[0190] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index. Specifically, in this step, the network device may send the time reference information to the terminal via a broadcast message or dedicated signaling.

[0191] Step 402: Sending ephemeris information of the satellite to the terminal, where the ephemeris information is used to enable the terminal to determine the position information of the satellite.

[0192] Step 403: Send a downlink positioning signal to the terminal, where the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal.

[0193] The downlink positioning signal may include one of the following signals: a positioning reference signal; a broadcast signal; a downlink reference signal; a synchronization signal; or a downlink data transmission signal. The transmission pattern or time interval of the downlink positioning signal may be preselected and notified to the terminal.

[0194] In this embodiment of the present invention, after the terminal is time-synchronized with the satellite network, the terminal determines the transmission delay between the satellite and the terminal based on satellite information and downlink positioning signals from the satellite network, thereby determining the terminal's location information. This shows that in this embodiment of the present invention, the satellite's communication function is utilized to locate the terminal, thus conserving satellite resources.

[0195] In addition, the network device may also send configuration information to the terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure the signals of multiple satellites within one time measurement window, thereby obtaining the position information of the multiple satellites at multiple times, as well as multiple transmission delays between the multiple satellites and the terminal; or, instruct the terminal to measure the signal of the same satellite through multiple time measurement windows, thereby obtaining the position of the satellite at multiple times, and the transmission delay between the terminal and the satellite at multiple times.

[0196] In addition, the network device may also receive the transmission delay between the satellite and the terminal sent by the terminal, and determine the location information of the terminal based on the transmission delay and the location information of the satellite.

[0197] See also Figure 5 , Figure 5 1 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, which is applied to a network device in a satellite network and includes: a transceiver 500 for receiving and sending data under the control of a processor 510.

[0198] Among them, Figure 5 In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 510 and memory represented by memory 520. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and, therefore, will not be described further herein. The bus interface provides an interface. The transceiver 500 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 510 is responsible for managing the bus architecture and general processing, and the memory 520 may store data used by the processor 510 when performing operations.

[0199] The processor 510 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0200] The processor 510 is configured to read the computer program in the memory and perform the following operations:

[0201] Sending time reference information to a terminal, where the time reference information is used to synchronize time between the terminal and the network device;

[0202] Sending ephemeris information of a satellite to the terminal, where the ephemeris information is used to enable the terminal to determine position information of the satellite;

[0203] A downlink positioning signal is sent to the terminal, where the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal.

[0204] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; the processor 510 is further configured to: send the time reference information to the terminal via a broadcast message or dedicated signaling.

[0205] The processor 510 is further configured to:

[0206] Configuration information is sent to a terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times and multiple transmission delays between the multiple satellites and the terminal; or, the configuration information is used to instruct the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times and the transmission delays between the terminal and the satellite at multiple times.

[0207] The processor 510 is further configured to: receive a transmission delay between the satellite and the terminal sent by the terminal, and determine the location information of the terminal based on the transmission delay and the location information of the satellite.

[0208] It should be noted here that the above-mentioned device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0209] See also Figure 6 , Figure 6 1 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, which is applied to a terminal and includes: a transceiver 600 for receiving and sending data under the control of a processor 610 .

[0210] Among them, Figure 6In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 610 and memory represented by memory 620. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 600 may be a plurality of components, namely a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. For different user devices, the user interface 630 may also be an interface capable of connecting external or internal devices as required, and the connected devices include but are not limited to a keypad, a display, a speaker, a microphone, a joystick, and the like.

[0211] The processor 610 is responsible for managing the bus architecture and general processing, and the memory 620 can store data used by the processor 600 when performing operations.

[0212] Optionally, the processor 610 may be a CPU (central processing unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or a CPLD (Complex Programmable Logic Device), and the processor may also adopt a multi-core architecture.

[0213] The processor calls the computer program stored in the memory to execute any of the methods provided in the embodiments of the present application according to the obtained executable instructions. The processor and the memory can also be arranged physically separately.

[0214] The processor 610 is configured to read the computer program in the memory and perform the following operations:

[0215] Time synchronization with satellite networks;

[0216] Determine satellite position information;

[0217] receiving a downlink positioning signal sent by a network device of the satellite network;

[0218] determining a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal;

[0219] The location information of the terminal is determined according to the transmission delay and the location information of the satellite.

[0220] The time synchronization with the satellite network includes:

[0221] Receiving time reference information sent by the network device through a broadcast message or dedicated signaling;

[0222] The reference time and / or the clock frequency of the local clock of the terminal are calibrated according to the time reference information.

[0223] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index.

[0224] The step of calibrating the reference time of the local clock of the terminal according to the time reference information includes:

[0225] Acquire boundary information corresponding to the SFN index according to network reference time information specified by the network device;

[0226] Determining, according to the SFN index, SFN time boundary information corresponding to the local clock of the terminal;

[0227] Determining a time offset value according to boundary information corresponding to the SFN index and SFN time boundary information corresponding to the terminal;

[0228] The reference time of the local clock of the terminal is calibrated according to the time deviation value.

[0229] The step of calibrating the clock frequency of the local clock of the terminal according to the time reference information includes:

[0230] Acquire a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and acquire a second time T2 at which the reference time of the terminal corresponds to the SFN index N2;

[0231] The time difference information between T2 and T1 is compared with the time difference information between the SFN index N2 and the SFN index N1 corresponding to the reference time of the network device, so as to adjust the clock frequency of the local clock of the terminal.

[0232] The processor 610 is further configured to:

[0233] Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite;

[0234] Calculating a transmission time difference based on the distance change information;

[0235] The clock frequency of the local clock is calibrated according to the transmission time difference.

[0236] The determining of the satellite's location information includes:

[0237] receiving the satellite ephemeris information or satellite position indication information sent by the network device;

[0238] The satellite position information is determined according to the ephemeris information or the satellite position indication information.

[0239] The determining of the transmission delay between the satellite and the terminal according to the time synchronization result and the downlink positioning signal includes:

[0240] Determining a starting time for sending the downlink positioning signal;

[0241] Determining a local receiving time point for receiving the downlink positioning signal;

[0242] The transmission delay is determined according to the time difference between the starting time and the local receiving time point.

[0243] The processor 610 is further configured to:

[0244] If the sending point of the downlink positioning signal is a ground gateway station, the transmission delay is equal to the time difference between the starting time and the local reception time point minus the transmission delay between the satellite and the ground gateway station;

[0245] If the sending point of the downlink positioning signal is the satellite, the transmission delay is equal to the time difference between the starting time and the local receiving time point.

[0246] The processor 610 is further configured to:

[0247] Before determining the transmission delay according to the time difference between the starting time and the local receiving time point, obtaining a preset signal processing delay;

[0248] Calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay;

[0249] The second difference is used as the transmission delay.

[0250] The downlink positioning signal includes one of the following signals:

[0251] Positioning reference signal;

[0252] broadcast signals;

[0253] Downlink reference signal;

[0254] Synchronous signal;

[0255] Downlink data transmission signal.

[0256] The processor 610 is further configured to:

[0257] receiving configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows;

[0258] The transmission delay includes multiple transmission delays between the terminal and the same satellite obtained at multiple times within a time measurement window according to the configuration information, and the satellite position information includes position information of the satellite at the multiple times; or

[0259] The transmission delay includes multiple transmission delays between the terminal and multiple satellites obtained at multiple times within multiple time measurement windows according to the configuration information, and the satellite position information includes position information of the multiple satellites at the multiple times.

[0260] The processor 610 is further configured to send the transmission delay between the satellite and the terminal to the network device.

[0261] It should be noted here that the above-mentioned device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0262] See also Figure 7 , Figure 7 2 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, which is applied to a terminal and includes:

[0263] A synchronization unit 701 is used to perform time synchronization with a satellite network; a first determination unit 702 is used to determine the location information of a satellite; a first receiving unit 703 is used to receive a downlink positioning signal sent by a network device of the satellite network; a second determination unit 704 is used to determine the transmission delay between the satellite and the terminal based on the time synchronization result and the downlink positioning signal; and a third determination unit 705 is used to determine the location information of the terminal based on the transmission delay and the location information of the satellite.

[0264] The synchronization unit may include:

[0265] A receiving subunit, configured to receive time reference information sent by the network device via a broadcast message or dedicated signaling;

[0266] The synchronization subunit is configured to calibrate the reference time and / or the clock frequency of the local clock of the terminal according to the time reference information.

[0267] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index.

[0268] The synchronization subunit is configured to obtain the boundary information corresponding to the SFN index based on the network reference time information specified by the network device; determine the SFN time boundary information corresponding to the local clock of the terminal based on the SFN index; determine a time deviation value based on the boundary information corresponding to the SFN index and the SFN time boundary information corresponding to the terminal; and calibrate the reference time of the local clock of the terminal based on the time deviation value.

[0269] The synchronization subunit is further used to obtain a first time T1 corresponding to the SFN index N1 of the reference time of the terminal, and to obtain a second time T2 corresponding to the SFN index N2 of the reference time of the terminal; and to compare the time difference information between T2 and T1 with the time difference information between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal.

[0270] Among them, the synchronization subunit is also used to calculate the distance change information caused by the movement of the satellite between T2 and T1 based on the orbital parameter information of the satellite; calculate the transmission time difference based on the distance change information; and calibrate the clock frequency of the local clock based on the transmission time difference.

[0271] The first determining unit includes:

[0272] The receiving subunit is used to receive the ephemeris information or satellite position indication information of the satellite sent by the network device; the determining subunit is used to determine the position information of the satellite based on the ephemeris information or satellite position indication information.

[0273] The second determining unit includes:

[0274] The first determination subunit is used to determine the starting time of the sending time of the downlink positioning signal; the second determination subunit is used to determine the local receiving time point for receiving the downlink positioning signal; and the third determination subunit is used to determine the transmission delay based on the time difference between the starting time and the local receiving time point.

[0275] The device further includes: a first acquisition unit for acquiring a preset signal processing delay; a third determination subunit for calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay; and using the second difference as the transmission delay.

[0276] The meaning of the downlink positioning signal is the same as that described in the above embodiment.

[0277] The apparatus may further include: a second receiving unit, configured to receive configuration information sent by the network device, wherein the configuration information is used to configure one or more time measurement windows;

[0278] The transmission delay includes multiple transmission delays between the terminal and the same satellite at multiple times obtained within a time measurement window according to the configuration information, and the satellite position information includes the position information of the satellite at the multiple times; or, the transmission delay includes multiple transmission delays between the terminal and multiple satellites at multiple times obtained within multiple time measurement windows according to the configuration information, and the satellite position information includes the position information of the multiple satellites at the multiple times.

[0279] The apparatus may further include: a first sending unit, configured to send the transmission delay between the satellite and the terminal to the network device.

[0280] It should be noted here that the above-mentioned device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0281] See also Figure 8 , Figure 8 1 is a schematic structural diagram of a positioning device according to an embodiment of the present invention, which is applied to network equipment in a satellite network, including:

[0282] The first sending unit 801 is used to send time reference information to the terminal, and the time reference information is used to synchronize the terminal with the network device; the second sending unit 802 is used to send the satellite's ephemeris information to the terminal, and the ephemeris information is used to enable the terminal to determine the position information of the satellite; the third sending unit 803 is used to send a downlink positioning signal to the terminal, and the downlink positioning signal is used to enable the terminal to determine the transmission delay between the satellite and the terminal.

[0283] The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; and the first sending unit is configured to send the time reference information to the terminal via a broadcast message or dedicated signaling.

[0284] The device further includes: a fourth sending unit, configured to send configuration information to the terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times, and multiple transmission delays between the multiple satellites and the terminal; or, instructing the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times, and the transmission delays between the terminal and the satellite at multiple times.

[0285] The device further includes: a first receiving unit, configured to receive the transmission delay between the satellite and the terminal sent by the terminal; and a first processing unit, configured to determine the location information of the terminal based on the transmission delay and the location information of the satellite.

[0286] It should be noted here that the above-mentioned device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0287] It should be noted that the division of units in the embodiments of the present application is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0288] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0289] An embodiment of the present invention further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the method as described above.

[0290] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NANDFLASH), solid-state drives (SSDs)), etc.

[0291] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) that contain computer-usable program code.

[0292] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0293] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce an article of manufacture comprising an instruction device that implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0294] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0295] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A positioning method, performed by a terminal, characterized in that: include: Time synchronization with satellite networks; Determine satellite position information; receiving a downlink positioning signal sent by a network device of the satellite network; determining a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal; determining the location information of the terminal according to the transmission delay and the location information of the satellite; The time synchronization with the satellite network includes: calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device, wherein the time reference information includes a preset system frame number SFN index and time boundary information corresponding to the SFN index; The calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The calibrating the clock frequency of the local clock of the terminal further includes: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

2. The method according to claim 1, characterized in that The time synchronization with the satellite network includes: Receiving time reference information sent by the network device through a broadcast message or dedicated signaling; The reference time and / or the clock frequency of the local clock of the terminal are calibrated according to the time reference information.

3. The method according to claim 1, characterized in that The time synchronization with the satellite network also includes: Calibrating a reference time of a local clock of the terminal according to the time reference information includes: Acquire boundary information corresponding to the SFN index according to network reference time information specified by the network device; Determining, according to the SFN index, SFN time boundary information corresponding to the local clock of the terminal; Determining a time offset value according to boundary information corresponding to the SFN index and SFN time boundary information corresponding to the terminal; The reference time of the local clock of the terminal is calibrated according to the time deviation value.

4. The method according to claim 1, wherein Determining the position information of the satellite includes: receiving the satellite ephemeris information or satellite position indication information sent by the network device; The satellite position information is determined according to the ephemeris information or the satellite position indication information.

5. The method according to claim 1, wherein The determining, according to the time synchronization result and the downlink positioning signal, a transmission delay between the satellite and the terminal, includes: Determining a starting time for sending the downlink positioning signal; Determining a local receiving time point for receiving the downlink positioning signal; The transmission delay is determined according to the time difference between the starting time and the local receiving time point.

6. The method according to claim 5, characterized in that The determining the transmission delay according to the time difference between the starting time and the local receiving time point includes: If the sending point of the downlink positioning signal is a ground gateway station, the transmission delay is equal to the time difference between the starting time and the local reception time point minus the transmission delay between the satellite and the ground gateway station; If the sending point of the downlink positioning signal is the satellite, the transmission delay is equal to the time difference between the starting time and the local receiving time point.

7. The method according to claim 5, characterized in that Before determining the transmission delay according to the time difference between the starting time and the local receiving time point, the method further includes: Get the preset signal processing delay; The determining the transmission delay according to the time difference between the starting time and the local receiving time point includes: Calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay; The second difference is used as the transmission delay.

8. The method according to claim 1, characterized in that The downlink positioning signal includes one of the following signals: Positioning reference signal; broadcast signals; Downlink reference signal; Synchronous signal; Downlink data transmission signal.

9. The method according to claim 1, characterized in that The method further comprises: receiving configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows; The transmission delay includes multiple transmission delays between the terminal and the same satellite obtained at multiple times within a time measurement window according to the configuration information, and the satellite position information includes position information of the satellite at the multiple times; or The transmission delay includes multiple transmission delays between the terminal and multiple satellites obtained at multiple times within multiple time measurement windows according to the configuration information, and the satellite position information includes position information of the multiple satellites at the multiple times.

10. The method according to claim 1, characterized in that The method further comprises: The transmission delay between the satellite and the terminal is sent to the network device.

11. A positioning method, performed by a network device in a satellite network, characterized in that: include: Sending time reference information to a terminal, where the time reference information is used to synchronize time between the terminal and the network device; The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; Sending ephemeris information of a satellite to the terminal, where the ephemeris information is used to enable the terminal to determine position information of the satellite; sending a downlink positioning signal to the terminal, wherein the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal; Wherein, performing time synchronization with the network device includes: Calibrating a clock frequency of a local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The calibrating the clock frequency of the local clock of the terminal further includes: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

12. The method according to claim 11, characterized in that The sending of time reference information to the terminal includes: The time reference information is sent to the terminal through a broadcast message or dedicated signaling.

13. The method according to claim 11, characterized in that The method further comprises: Configuration information is sent to a terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times and multiple transmission delays between the multiple satellites and the terminal; or, the configuration information is used to instruct the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times and the transmission delays between the terminal and the satellite at multiple times.

14. The method according to claim 11, characterized in that The method further comprises: receiving a transmission delay between the satellite and the terminal sent by the terminal; The location information of the terminal is determined based on the transmission delay and the location information of the satellite.

15. A positioning device, applied to a terminal, characterized in that: Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Time synchronization with satellite networks; Determine satellite position information; receiving a downlink positioning signal sent by a network device of the satellite network; determining a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal; determining the location information of the terminal according to the transmission delay and the location information of the satellite; The time synchronization with the satellite network includes: calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device, wherein the time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; The calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The processor is further configured to: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

16. The device according to claim 15, characterized in that The time synchronization with the satellite network includes: Receiving time reference information sent by the network device through a broadcast message or dedicated signaling; The reference time and / or the clock frequency of the local clock of the terminal are calibrated according to the time reference information.

17. The device according to claim 15, characterized in that The time synchronization with the satellite network further includes: calibrating a reference time of a local clock of the terminal according to the time reference information, including: Acquire boundary information corresponding to the SFN index according to network reference time information specified by the network device; Determining, according to the SFN index, SFN time boundary information corresponding to the local clock of the terminal; Determining a time offset value according to boundary information corresponding to the SFN index and SFN time boundary information corresponding to the terminal; The reference time of the local clock of the terminal is calibrated according to the time deviation value.

18. The device according to claim 15, characterized in that Determining the position information of the satellite includes: receiving the satellite ephemeris information or satellite position indication information sent by the network device; The satellite position information is determined according to the ephemeris information or the satellite position indication information.

19. The device according to claim 15, characterized in that The determining, according to the time synchronization result and the downlink positioning signal, a transmission delay between the satellite and the terminal, includes: Determining a starting time for sending the downlink positioning signal; Determining a local receiving time point for receiving the downlink positioning signal; The transmission delay is determined according to the time difference between the starting time and the local receiving time point.

20. The device according to claim 19, characterized in that The processor is further configured to: If the sending point of the downlink positioning signal is a ground gateway station, the transmission delay is equal to the time difference between the starting time and the local reception time point minus the transmission delay between the satellite and the ground gateway station; If the sending point of the downlink positioning signal is the satellite, the transmission delay is equal to the time difference between the starting time and the local receiving time point.

21. The device according to claim 19, characterized in that The processor is further configured to: Before determining the transmission delay according to the time difference between the starting time and the local receiving time point, obtaining a preset signal processing delay; Calculating a first difference between the local receiving time point and the starting time, and calculating a second difference between the first difference and the signal processing delay; The second difference is used as the transmission delay.

22. The device according to claim 15, characterized in that The downlink positioning signal includes one of the following signals: Positioning reference signal; broadcast signals; Downlink reference signal; Synchronous signal; Downlink data transmission signal.

23. The device according to claim 15, characterized in that The processor is further configured to: receiving configuration information sent by the network device, where the configuration information is used to configure one or more time measurement windows; The transmission delay includes multiple transmission delays between the terminal and the same satellite at multiple times obtained within a time measurement window according to the configuration information, and the satellite position information includes position information of the satellite at the multiple times; or The transmission delay includes multiple transmission delays between the terminal and multiple satellites obtained at multiple times within multiple time measurement windows according to the configuration information, and the satellite position information includes position information of the multiple satellites at the multiple times.

24. The device according to claim 15, characterized in that The processor is further configured to: The transmission delay between the satellite and the terminal is sent to the network device.

25. A positioning device, applied to network equipment in a satellite network, characterized in that: Including memory, transceiver, processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Sending time reference information to the terminal, where the time reference information is used to synchronize the terminal with the network device; the time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; Sending ephemeris information of a satellite to the terminal, where the ephemeris information is used to enable the terminal to determine position information of the satellite; sending a downlink positioning signal to the terminal, wherein the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal; Wherein, performing time synchronization with the network device includes: Calibrating a clock frequency of a local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The calibrating the clock frequency of the local clock of the terminal further includes: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

26. The device according to claim 25, characterized in that The processor is further configured to send the time reference information to the terminal via a broadcast message or dedicated signaling.

27. The device according to claim 25, characterized in that The processor is further configured to: Configuration information is sent to a terminal, where the configuration information is used to configure one or more time measurement windows to instruct the terminal to measure signals of multiple satellites within one time measurement window, thereby obtaining position information of the multiple satellites at multiple times and multiple transmission delays between the multiple satellites and the terminal; or, the configuration information is used to instruct the terminal to measure signals of the same satellite through multiple time measurement windows, thereby obtaining the positions of the satellite at multiple times and the transmission delays between the terminal and the satellite at multiple times.

28. The device according to claim 25, characterized in that The processor is further configured to: receiving a transmission delay between the satellite and the terminal sent by the terminal; The location information of the terminal is determined based on the transmission delay and the location information of the satellite.

29. A positioning device, applied to a terminal, characterized in that: include: A synchronization unit for time synchronization with a satellite network; A first determining unit, configured to determine position information of a satellite; A first receiving unit, configured to receive a downlink positioning signal sent by a network device of the satellite network; a second determining unit, configured to determine a transmission delay between the satellite and the terminal according to a time synchronization result and the downlink positioning signal; a third determining unit, configured to determine the location information of the terminal according to the transmission delay and the location information of the satellite; The time synchronization with the satellite network includes: calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device, wherein the time reference information includes a preset system frame number SFN index and time boundary information corresponding to the SFN index; The calibrating the clock frequency of the local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The calibrating the clock frequency of the local clock of the terminal further includes: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

30. A positioning device, applied to network equipment in a satellite network, characterized in that: include: A first sending unit, configured to send time reference information to a terminal, where the time reference information is used to enable the terminal to perform time synchronization with the network device; The time reference information includes a preset SFN index and time boundary information corresponding to the SFN index; a second sending unit, configured to send ephemeris information of the satellite to the terminal, wherein the ephemeris information is used to enable the terminal to determine position information of the satellite; a third sending unit, configured to send a downlink positioning signal to the terminal, wherein the downlink positioning signal is used to enable the terminal to determine a transmission delay between the satellite and the terminal; Wherein, performing time synchronization with the network device includes: Calibrating a clock frequency of a local clock of the terminal according to the time reference information of the network device includes: Obtaining a first time T1 at which the reference time of the terminal corresponds to the SFN index N1, and obtaining a second time T2 at which the reference time of the terminal corresponds to the SFN index N2; comparing the time difference between T2 and T1 with the time difference between the reference time of the network device corresponding to the SFN index N2 and the SFN index N1, so as to adjust the clock frequency of the local clock of the terminal; The calibrating the clock frequency of the local clock of the terminal further includes: Calculating distance change information caused by the movement of the satellite between T2 and T1 according to the orbital parameter information of the satellite; Calculating a transmission time difference based on the distance change information; The clock frequency of the local clock is calibrated according to the transmission time difference.

31. A processor-readable storage medium, characterized in that: The processor-readable storage medium stores a computer program, and the computer program is configured to cause the processor to execute the method according to any one of claims 1 to 14.

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