Single-frequency positioning method and apparatus, receiver device, and computer-readable storage medium

Abstract

Embodiments of the present application disclose a single-frequency positioning method, a single-frequency positioning device, a receiver device and a computer readable storage medium. The single-frequency positioning method comprises the following steps: receiving an enhanced message sent by a satellite-based augmentation system of a target satellite; analyzing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to preset GNSS satellites; calculating an ionospheric correction value according to the ionospheric grid point information; correcting satellite observations according to the fast-changing correction numbers, the slow-changing correction numbers and the ionospheric correction value, and calculating an enhanced positioning coordinate of the satellite-based augmentation system according to the corrected satellite observations. Embodiments of the present application provide a method for enhancing single-frequency single-point positioning of a satellite-based augmentation system of a low-cost receiver, optimize a search range of the satellite-based augmentation system, and effectively improve the speed of single-frequency positioning.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning, and in particular to a single-frequency positioning method, device, receiver equipment and computer-readable storage medium. Background Art

[0002] The BeiDou Satellite-Based Augmentation System (BDSBAS) relays satellite augmentation signals via BeiDou geosynchronous Earth Orbit (GEO) satellites, providing users with ionospheric corrections, ephemeris and clock corrections for each navigation satellite, and their corresponding covariances. While the BeiDou GEO satellites that broadcast these augmentation signals are still in the on-orbit testing phase, the SBAS B1C signals they broadcast are now operational. Testing has shown that this SBAS-based augmentation improves positioning accuracy.

[0003] In GNSS real-time single-frequency positioning, ionospheric correction values ​​can only be obtained through broadcast ephemeris calculation. Its accuracy is prone to large deviations during the extrapolation process, so a higher-precision data source is required.

[0004] Previous SBAs applications were mostly in civil aviation and other fields. Their purpose was to maximize positioning accuracy and stability. They could simultaneously track multiple satellites and multiple frequency bands and perform real-time satellite screening from collected satellite signals. However, this method undoubtedly increased power consumption and computational complexity. Summary of the Invention

[0005] To solve the above technical problems, the embodiments of the present application provide a single-frequency positioning method, apparatus, receiver device, and computer-readable storage medium. The specific solutions are as follows:

[0006] In a first aspect, an embodiment of the present application provides a single-frequency positioning method, the single-frequency positioning method comprising:

[0007] Receive the enhanced message sent by the satellite-based augmentation system of the target satellite;

[0008] Parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to the preset GNSS satellite;

[0009] Calculating ionospheric correction values ​​according to the ionospheric grid point information;

[0010] The satellite observation quantity is corrected according to the fast-varying correction number, the slowly-varying correction number and the ionospheric correction value, and the enhanced positioning coordinates of the satellite-based augmentation system are calculated according to the corrected satellite observation quantity.

[0011] According to a specific implementation of the embodiment of the present application, before the step of receiving the enhancement message sent by the satellite-based augmentation system of the target satellite, the single-frequency positioning method further includes:

[0012] Obtain the satellite coordinates of all candidate satellite-based augmentation satellites;

[0013] Calculate the elevation angle information of all candidate satellite-based augmentation satellites according to the station coordinates and the satellite coordinates;

[0014] The target satellite is determined from a plurality of candidate satellite-based augmentation satellites according to the elevation angle information, wherein the target satellite is the candidate satellite-based augmentation satellite with the largest elevation angle information.

[0015] According to a specific implementation of the embodiment of the present application, the step of parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite includes:

[0016] Parsing target enhancement messages related to the ionosphere to obtain ionospheric grid point information corresponding to the target satellite, the target enhancement messages including T18 type enhancement messages and T26 type enhancement messages;

[0017] Before parsing the enhanced message, the single-frequency positioning method further includes:

[0018] Filtering multiple groups of basic augmentation messages related to the ionosphere from the augmentation messages sent by the satellite-based augmentation system, wherein each group of basic augmentation messages related to the ionosphere includes corresponding T18 type augmentation messages and T26 type augmentation messages;

[0019] When the data age of a T18 type enhancement message and the data age of a T26 type enhancement message in a group of basic enhancement messages related to the ionosphere are consistent, the basic enhancement message is marked as a target enhancement message.

[0020] According to a specific implementation of the embodiment of the present application, the step of calculating the ionospheric correction value based on the ionospheric grid point information includes:

[0021] Calculating puncture point correction information based on the ionospheric grid point information, the puncture point correction information including the puncture point position and a preset number of grid points around the puncture point position;

[0022] A preset number of grid points are selected around the puncture point position for bilinear interpolation to obtain an ionospheric correction value corresponding to the puncture point position.

[0023] According to a specific implementation of an embodiment of the present application, the step of correcting the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number, and the ionospheric correction value includes:

[0024] If the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation value according to the fast-changing correction number, the slow-changing correction number and the ionospheric correction value of a single GNSS satellite;

[0025] If the positioning mode is a single-frequency multi-mode positioning mode, the satellite observation quantity is corrected according to the fast-changing correction number, the slow-changing correction number and the ionospheric correction values ​​of different GNSS satellites.

[0026] According to a specific implementation of an embodiment of the present application, when the positioning mode belongs to the single-frequency multi-mode positioning mode and the received satellite-based augmentation system signal type is a B1C signal, the step of correcting the satellite observation quantity according to the fast-changing correction number, the slowly-changing correction number, and the ionospheric correction value of different GNSS satellites further includes:

[0027] Get the initial ionospheric correction value of the preset GNSS satellite

[0028] Converting the initial ionospheric correction value based on the frequency ratio of different signals to obtain ionospheric correction values ​​corresponding to different GNSS satellites;

[0029] The satellite-based augmentation system (SBAS) enhanced positioning coordinates are calculated based on the ionospheric correction values ​​of different GNSS satellites.

[0030] According to a specific implementation of the embodiment of the present application, after the step of calculating the puncture point correction information according to the ionospheric grid point information, the single-frequency positioning method further includes:

[0031] Determining whether the number of grid points around the puncture point is greater than or equal to a preset value;

[0032] When the number of grid points is less than a preset value, the detection of the current target satellite is terminated, and the detection of the number of grid points of the next target satellite is executed;

[0033] When the number of the grid points is greater than or equal to a preset value, the process jumps to executing the step of selecting a preset number of grid points around the puncture point position to perform bilinear interpolation.

[0034] In a second aspect, an embodiment of the present application provides a single-frequency positioning device, the single-frequency positioning device comprising:

[0035] A receiving module, used for receiving the enhanced message sent by the satellite-based augmentation system of the target satellite;

[0036] a parsing module, configured to parse the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing corrections and slow-changing corrections corresponding to a preset GNSS satellite;

[0037] A first calculation module is used to calculate the ionospheric correction value according to the ionospheric grid point information;

[0038] The second calculation module is used to correct the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number and the ionospheric correction value, and calculate the enhanced positioning coordinates of the satellite-based augmentation system according to the corrected satellite observation quantity.

[0039] In a third aspect, an embodiment of the present application provides a receiver device, comprising a processor and a memory, wherein the memory stores a computer program, and when the computer program runs on the processor, it executes the single-frequency positioning method described in the first aspect and any embodiment of the first aspect.

[0040] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a processor, it executes the single-frequency positioning method described in the first aspect and any embodiment of the first aspect.

[0041] An embodiment of the present application provides a single-frequency positioning method, apparatus, receiver device, and computer-readable storage medium. The single-frequency positioning method includes: receiving an enhancement message sent by a satellite-based augmentation system of a target satellite; parsing the enhancement message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to a preset GNSS satellite; calculating ionospheric correction values ​​based on the ionospheric grid point information; correcting satellite observation quantities based on the fast-changing correction numbers, the slow-changing correction numbers, and the ionospheric correction values, and calculating enhanced positioning coordinates of the satellite-based augmentation system based on the corrected satellite observation quantities. Through the single-frequency positioning method of the present application, when performing enhanced positioning coordinate solution, it is only necessary to establish a connection relationship with one target satellite. Therefore, for the receiver device, by searching for the satellite coordinates of the target satellite, the communication between the satellite-based augmentation system and the target satellite can be completed, and the range of the satellite search of the satellite-based augmentation system is optimized. In the step of correcting the satellite observation quantity, through the step of parsing the enhanced telegram, the fast-changing correction numbers and slow-changing correction numbers corresponding to multiple types of preset GNSS satellites can be obtained at the same time, without the need to interact with multiple satellites of the satellite-based augmentation system at the same time, thereby effectively improving the efficiency of single-frequency positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0043] Figure 1A schematic diagram of a method flow of a single-frequency positioning method provided in an embodiment of the present application is shown;

[0044] Figure 2 A data interaction diagram of a single-frequency positioning method provided in an embodiment of the present application is shown;

[0045] Figure 3 A schematic diagram of the ionospheric correction value calculation process of a single-frequency positioning method provided in an embodiment of the present application is shown;

[0046] Figure 4 A schematic diagram of the calculation process of enhanced positioning coordinates of a single-frequency positioning method provided in an embodiment of the present application is shown;

[0047] Figure 5 A schematic diagram of device modules of a single-frequency positioning device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0049] The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the figures is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by those skilled in the art based on the embodiments of the present invention without inventive effort are intended to be within the scope of protection of the present invention.

[0050] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0051] Furthermore, the terms “first,” “second,” “third,” etc., are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0052] Unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by those skilled in the art to which the various embodiments of the present invention pertain. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meaning as in the context of the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning unless clearly defined in the various embodiments of the present invention.

[0053] refer to Figure 1 , is a method flow diagram of a single-frequency positioning method provided in an embodiment of the present application. The single-frequency positioning method provided in an embodiment of the present application is as follows: Figure 1 As shown, the single-frequency positioning method includes:

[0054] Step S101, receiving an augmentation message sent by a satellite-based augmentation system of a target satellite;

[0055] The single-frequency positioning method proposed in this embodiment is applied to a receiver device, which includes an ARM processor and a digital signal processing unit (DSP). The ARM processor and the DSP are communicatively connected.

[0056] In a specific implementation, the ARM processor of the receiver device determines the target satellite based on the observation station coordinate information and the satellite coordinate information input by the user, and sends the satellite coordinates of the target satellite to the digital signal processing unit.

[0057] The digital signal processing unit of the receiver device is used to interact with the ARM processor to obtain coordinate information related to the target satellite and search for the target Satellite-Based Augmentation System (SBAS) satellite based on the coordinate information.

[0058] After the DSP digital signal processing unit searches for the target SBAS satellite, it acquires the SBAS message information broadcast by the target SBAS satellite, and after acquiring the SBAS message information, it forwards the SBAS message information to the ARM processor to perform single-frequency positioning solution.

[0059] Specifically, the SBAS message information sent by the target SBAS satellite is an SBAS enhanced message.

[0060] During the single-frequency positioning solution process, the SBAS augmentation message sent by the satellite-based augmentation system includes a large number of correction numbers, wherein the correction numbers in the SBAS augmentation message include fast-changing correction numbers, slow-changing correction numbers, ionospheric correction numbers, and efficiency degradation parameters.

[0061] In the single-frequency Beidou satellite-based augmentation system, the SBAS augmentation information in the Beidou satellite navigation system is broadcast by GEO geosynchronous satellites. The correspondence between the SBAS augmentation information and the Beidou satellite navigation system is shown in Table 1.

[0062] Table 1

[0063] PRN SVN Satellite type Service signal Position 130 GEO-01 BDS-3 B1C / B2a 140°E 143 GEO-03 BDS-3 B1C / B2a 110.5°E 144 GEO-02 BDS-3 B1C / B2a 80°E

[0064] According to a specific implementation of the embodiment of the present application, before the step of receiving the enhancement message sent by the satellite-based augmentation system of the target satellite, the single-frequency positioning method further includes:

[0065] Obtain the satellite coordinates of all candidate satellite-based augmentation satellites;

[0066] Calculate the elevation angle information of all candidate satellite-based augmentation satellites according to the station coordinates and the satellite coordinates;

[0067] The target satellite is determined from the multiple candidate satellite-based augmentation satellites according to the elevation angle information, wherein the target satellite is the candidate satellite-based augmentation satellite with the largest elevation angle information.

[0068] In a specific implementation, the digital signal processing unit in the receiver device needs to select an SBAS satellite system before performing single-frequency positioning solution.

[0069] Among them, satellite systems with SBAS include the enhanced GPS Wide Area Augmentation System (WAAS), the European Geostationary Navigation Overlay Service (EGNOS), the Multi-Functional Satellite Augmentation System (MSAS), the GPS Aided GEO Augmented Navigation System (GAGAN) and the Beidou Satellite-Based Augmentation System (BDSBAS).

[0070] In this embodiment, the satellite system is preferably a Beidou Satellite-Based Augmentation System (BDSBAS), and the target satellite is preferably a Beidou GEO satellite.

[0071] In a specific embodiment, Figure 2 As shown, the user can input the satellite coordinates of multiple GEO satellites in the ARM processor in advance. After obtaining the station coordinates of the observation station for the first time, the altitude angle information of the corresponding GEO satellite can be obtained according to the station coordinates and the satellite coordinates in the ARM processor.

[0072] Specifically, the satellite coordinates of GEO satellites are stable and unchanged.

[0073] After obtaining the elevation angle information of multiple GEO satellites according to the station coordinates and the satellite coordinates, the GEO satellites can be sorted in descending order of elevation angles, and a satellite with the largest elevation angle is selected from the GEO satellites as the target satellite.

[0074] The ARM processor sends the coordinate information of the target GEO satellite to the digital signal processing unit, which can ensure the capture speed of the SBAS telegram information sent by the target GEO satellite by the digital signal processing unit and the continuity of the acquired SBAS telegram information of the target GEO satellite.

[0075] To save resources, the ARM sends the coordinate information of one satellite to the DSP each time. The DSP only needs to search for one SBAS satellite. After the DSP searches for the target SBAS satellite, it will establish a binding relationship with the target SBAS satellite. After binding, it will start to receive SBAS enhancement messages sent by the target SBAS satellite. In subsequent epochs, the bound target SBAS satellite will no longer change.

[0076] Through the target satellite selection method, the ARM processor and the digital signal processing unit can ensure the continuity of obtaining the SBAS message information sent by the SBAS satellite. Moreover, since the digital signal processing unit only needs to search for the coordinate information of one target satellite, the resource consumption of the satellite search is avoided, and the efficiency of the single-frequency positioning solution is effectively improved.

[0077] Step S102: parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing corrections and slow-changing corrections corresponding to the preset GNSS satellite;

[0078] In a specific embodiment, ionospheric grid point information can be obtained by parsing target augmentation messages related to the ionosphere. This information includes information such as the ionospheric delay and the number of ionospheric grid points. Parsing satellite-based augmentation messages related to ephemeris and clock corrections within the augmentation messages can yield fast- and slow-changing corrections for different satellites.

[0079] Specifically, parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite, including parsing a target enhanced message related to the ionosphere to obtain ionospheric grid point information corresponding to the target satellite, the target enhanced message including a T18 type enhanced message and a T26 type enhanced message;

[0080] Before parsing the enhanced message, the single-frequency positioning method further includes:

[0081] Filtering multiple groups of basic augmentation messages related to the ionosphere from the augmentation messages sent by the satellite-based augmentation system, wherein each group of basic augmentation messages related to the ionosphere includes corresponding T18 type augmentation messages and T26 type augmentation messages;

[0082] When the data age of a T18 type enhancement message and the data age of a T26 type enhancement message in a group of basic enhancement messages related to the ionosphere are consistent, the basic enhancement message is marked as a target enhancement message.

[0083] In a specific embodiment, all augmentation messages sent by the satellite-based augmentation system include multiple types, including T2, T3, T4, T7, T10, T18, T25, T26, and T28. Each type of augmentation message sent by the satellite-based augmentation system is associated with corresponding content information. Among them, the T18 and T26 augmentation messages are associated with ionospheric grid point information, the T2, T3, and T4 augmentation messages are used to store fast-changing correction information, and the T25 augmentation message is used to store slowly changing correction information.

[0084] Specifically, the relevant information stored in each type of enhanced message can be adaptively replaced according to the message information sent by different satellite-based augmentation systems in actual application scenarios.

[0085] When receiving enhanced message information sent by the satellite-based augmentation system of the target satellite, the digital signal processing unit will automatically classify the enhanced messages according to the relevant information content in different types.

[0086] In a specific embodiment, the digital signal processing unit groups the target enhancement messages related to the ionosphere into one group. Specifically, the target enhancement messages are T18 type enhancement messages and T26 type enhancement messages.

[0087] like Figure 3 As shown, after acquiring SBAS message information, the ARM processor selects T18 and T26 ionospheric-related augmentation messages. For each set of target augmentation messages, the ARM processor uses the data age (IODI) of T18 and T26 as a matching condition for the target augmentation message set.

[0088] That is, for each set of target augmentation messages, the ARM processor compares the data age of the T18 type augmentation message with the data age of the T26 type augmentation message, and when the data age of the T18 type augmentation message is consistent with the data age of the T26 type augmentation message, the current set of target augmentation messages is divided into valid information and saved to a preset storage medium for subsequent decoding steps. The data age of the target augmentation message ranges from 0 to 3.

[0089] The digital signal processing unit can obtain ionospheric grid point information by receiving augmentation messages for a period of time, and the ARM processor continuously acquires and analyzes the augmentation messages.

[0090] In a specific embodiment, the ARM processor analyzes the satellite-based augmentation message related to ephemeris and clock correction in the augmentation message, so that the fast-changing correction number and the slow-changing correction number of a preset global navigation satellite system (GNSS) satellite can be obtained.

[0091] Specifically, the target satellite mainly includes all visible GNSS satellites of all signal types.

[0092] In a specific implementation process, the target satellite-based augmentation satellite pre-stores the fast-changing correction number information and the slow-changing correction number information of all visible satellites in the related augmentation message, and broadcasts the fast-changing correction number information and the slow-changing correction number information to the digital signal processing unit through the broadcast augmentation message information.

[0093] The ARM processor receives the augmentation message information sent by the satellite-based augmentation satellite and performs a preset analysis step, so that the fast-changing correction number and the slow-changing correction number corresponding to all visible satellites can be obtained.

[0094] Step S103, calculating ionospheric correction value according to ionospheric grid point information;

[0095] In a specific embodiment, the ionospheric correction information in the SBAS augmentation message sent by the SBAS satellite is grid point ionospheric correction information, which needs to be calculated according to the grid points around the piercing point position to obtain the correction value corresponding to the ionosphere.

[0096] Specifically, the piercing point is the intersection of the straight line segment between the observation station and the target satellite and the ionosphere about 350 km from the ground. Specifically, the method for determining the piercing point position can use the existing piercing point position determination method, which is not limited here.

[0097] Calculate the ionospheric correction value corresponding to the target satellite, that is, calculate the correction information of the corresponding puncture point.

[0098] According to a specific implementation of the embodiment of the present application, the step of calculating the ionospheric correction value based on the ionospheric grid point information includes:

[0099] Calculating puncture point correction information based on the ionospheric grid point information, the puncture point correction information including the puncture point position and a preset number of grid points around the puncture point position;

[0100] A preset number of grid points are selected around the puncture point position for bilinear interpolation to obtain an ionospheric correction value corresponding to the puncture point position.

[0101] In a specific embodiment, after the puncture point position corresponding to the target satellite is calculated, four grid points are selected around the puncture point position based on the grid point information surrounding the puncture point position and bilinear interpolation is performed to obtain the ionospheric correction value corresponding to the puncture point position. The ionospheric correction value at the puncture point position is the ionospheric correction value corresponding to the target satellite.

[0102] According to a specific implementation of the embodiment of the present application, after the step of calculating the puncture point correction information according to the ionospheric grid point information, the single-frequency positioning method further includes:

[0103] Determining whether the number of grid points around the puncture point position is greater than or equal to a preset value;

[0104] When the number of the grid points is less than a preset value, the detection of the current target satellite is terminated, and the detection of the ionospheric grid points around the next target satellite is executed;

[0105] When the number of the grid points is greater than or equal to a preset value, the process jumps to executing the step of selecting a preset number of grid points around the puncture point position to perform bilinear interpolation.

[0106] In a specific embodiment, Figure 3 As shown, after the ARM processor parses the target enhancement message, it will analyze and obtain the ionospheric grid point information of the current target satellite. If the number of grid points around the puncture point position is less than the preset value, the ARM processor marks the current target satellite as an abnormal detection satellite, ends the detection of the current target satellite, and jumps to execute the detection of the next target satellite.

[0107] When the number of grid points is greater than or equal to a preset value, it indicates that the ionospheric correction value for the current target satellite can be obtained. The ARM processor then continues to execute the step of selecting a preset number of grid points around the puncture point location and performing bilinear interpolation to obtain the ionospheric correction value for the current satellite. The process then jumps to detecting the next target satellite, repeating the method of the embodiment of the present application until all visible satellites have been detected.

[0108] Step S104: correcting the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number, and the ionospheric correction value, and calculating the enhanced positioning coordinates of the satellite-based augmentation system according to the corrected satellite observation quantity.

[0109] In a specific embodiment, after obtaining the fast-changing correction number, slow-changing correction number and ionospheric correction value of the corresponding GNSS satellite, the digital signal processing unit can substitute them into the positioning solution algorithm and calculate the satellite-based enhanced positioning coordinates through algorithms such as least squares or Kalman filtering.

[0110] Specifically, such as Figure 4 As shown, the ARM processor also receives corresponding observation messages and broadcast ephemeris from the target satellite, and calculates data such as the station-satellite distance and observation value residual corresponding to the target satellite based on the observation messages and the broadcast ephemeris.

[0111] After obtaining the fast-changing correction number, slow-changing correction number and ionospheric correction value of the corresponding GNSS satellite, the ARM processor imports the above data into the preset SBAS enhanced positioning solution model, that is, the enhanced positioning coordinates can be calculated.

[0112] Specifically, the SBAS enhanced positioning solution model can be trained based on the SBAS enhanced positioning coordinate calculation method in the prior art, which will not be described in detail here.

[0113] In a specific embodiment, the ionospheric correction value, the fast-changing correction number and the slow-changing correction number can be added to the pseudorange observation value, and the corrected pseudorange observation value is input into the positioning solution model to finally obtain the SBAS enhanced positioning coordinates.

[0114] According to a specific implementation of an embodiment of the present application, the step of correcting the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number, and the ionospheric correction value includes:

[0115] If the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation value according to the fast-changing correction number, the slow-changing correction number and the ionospheric correction value of a single GNSS satellite;

[0116] If the positioning mode is a single-frequency multi-mode positioning mode, the satellite observation value is corrected according to the fast-changing correction number, the slow-changing correction number and the ionospheric correction values ​​of different GNSS satellites.

[0117] In a specific embodiment, if the positioning mode is single-frequency multi-mode positioning mode, the ionospheric correction values ​​of the different GNSS satellites are converted using a frequency ratio, and the satellite observations are corrected using a combination of fast- and slow-varying corrections to calculate the enhanced positioning coordinates of the station. In a specific embodiment, the target satellite can be selected from one or more satellites.

[0118] The single-frequency positioning solution process has two different modes: single-frequency single-mode positioning mode and single-frequency multi-mode positioning mode. In the single-frequency single-mode positioning mode, the receiver device only receives GPS satellite signals or only receives Beidou satellite signals for positioning solution. In the single-frequency multi-mode positioning mode, the receiver device receives both GPS and Beidou satellite signals for positioning solution.

[0119] Of course, in the single-frequency multi-mode positioning mode, the receiver device can also receive more satellite signals for positioning solution, which will not be listed one by one here.

[0120] For different GNSS satellites, the ionospheric correction values ​​are also different. Therefore, the receiver device will also calculate and adjust the ionospheric correction values ​​according to different positioning modes.

[0121] According to a specific implementation of an embodiment of the present application, when the positioning mode belongs to the single-frequency multi-mode positioning mode and the received satellite-based augmentation system signal type is a B1C signal, the step of calculating the enhanced positioning coordinates of the satellite-based augmentation system according to the fast-changing correction number, the slowly-changing correction number, and the ionospheric correction value further includes:

[0122] Convert based on preset frequency ratios of different signals to obtain ionospheric correction values ​​corresponding to different GNSS satellites;

[0123] The satellite-based augmentation system (SBAS) enhanced positioning coordinates are calculated based on the ionospheric correction values ​​of different GNSS satellites.

[0124] In a specific embodiment, if the positioning mode is a single-frequency multi-mode positioning mode, the ionospheric correction values ​​of different GNSS satellites can be converted according to a preset frequency ratio. The conversion formula is:

[0125]

[0126] Where ionA is the ionospheric correction value of the target GNSS satellite, ionB is the ionospheric correction value corresponding to the GPS satellite, f0 is the base frequency, and f1 is the frequency of the target GNSS satellite.

[0127] In a specific embodiment, the B1C signal only transmits the fast- and slow-changing corrections of GPS satellites. When the positioning mode of the receiver device is single-frequency multi-mode positioning mode, the SBAS ionospheric correction value received by the ARM processor is insufficient. The ARM processor can then calculate the corresponding GNSS satellite ionospheric correction value according to the above conversion formula, thereby obtaining a partial SBAS enhanced positioning result.

[0128] The single-frequency positioning method provided in the embodiments of the present application can obtain the ionospheric correction value for the corresponding GNSS satellite based on the ratio of the preset base frequency to the frequency of different signals, thereby enabling the receiver device to perform enhanced positioning solutions in both single-frequency single-mode positioning mode and single-frequency multi-mode positioning mode. Furthermore, the single-frequency positioning method of the embodiments of the present application can quickly search for target satellites and obtain enhanced telegram information sent by the target satellite, thereby effectively improving the solution speed of single-frequency positioning.

[0129] refer to Figure 5 , is a schematic diagram of a device module of a single-frequency positioning device 500 provided in an embodiment of the present application. The single-frequency positioning device 500 provided in an embodiment of the present application, such as Figure 5 As shown, the single-frequency positioning device 500 includes:

[0130] An acquisition module 501 is configured to receive an augmentation message sent by a satellite-based augmentation system of a target satellite;

[0131] The parsing module 502 is configured to parse the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing corrections and slow-changing corrections corresponding to the preset GNSS satellite;

[0132] A first calculation module 503 is configured to calculate an ionospheric correction value based on the ionospheric grid point information;

[0133] The second calculation module 504 is configured to correct the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number, and the ionospheric correction value, and calculate the enhanced positioning coordinates of the SBAS according to the corrected satellite observation quantity.

[0134] In addition, an embodiment of the present application also provides a receiver device, which includes a processor and a memory, wherein the memory stores a computer program, and when the computer program runs on the processor, it executes the single-frequency positioning method described in the above embodiment.

[0135] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is run on a processor, the single-frequency positioning method described in the foregoing embodiment is executed.

[0136] In conclusion, the embodiments of the present application provide a single-frequency positioning method, device, receiver equipment and computer readable storage medium. The embodiments of the present application provide a method for low-cost receiver to perform single-frequency single-point positioning by SBAS enhancement, optimize the range of SBAS satellite search, and improve the speed of SBAS enhanced positioning. When only B1C signals are searched, a method for partial SBAS enhanced positioning is provided. In addition, the specific implementation process of the single-frequency positioning device, receiver equipment and computer readable storage medium mentioned in the above embodiments can refer to the specific implementation process of the method embodiments, which will not be repeated here.

[0137] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiments described above are only schematic, for example, the flowcharts and block diagrams in the drawings show the possible implementation architectures, functions and operations of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that, in alternative implementation, the functions noted in the blocks can occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and sometimes they can be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flowchart, and the combination of blocks in the structural diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0138] In addition, each functional module or unit in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0139] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of software products. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0140] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A single-frequency positioning method, characterized in that: The single-frequency positioning method is applied to a receiver device, and the method includes: Determine a target satellite from a plurality of candidate satellite-based augmentation satellites, wherein the target satellite is the candidate satellite-based augmentation satellite with the largest elevation angle information; After establishing a binding relationship with the target satellite, receiving an augmentation message sent by the satellite-based augmentation system of the target satellite; wherein the bound target satellite does not change in subsequent epochs; Parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing correction numbers and slow-changing correction numbers corresponding to the preset GNSS satellite; Calculating ionospheric correction values ​​according to the ionospheric grid point information; The satellite observation quantity is corrected according to the fast-varying correction number, the slowly-varying correction number and the ionospheric correction value, and the enhanced positioning coordinates of the satellite-based augmentation system are calculated according to the corrected satellite observation quantity.

2. The single-frequency positioning method according to claim 1, wherein: Determining a target satellite from multiple candidate satellite-based augmentation satellites includes: Obtain the satellite coordinates of all candidate satellite-based augmentation satellites; Calculate the elevation angle information of all candidate satellite-based augmentation satellites according to the station coordinates and the satellite coordinates; The target satellite is determined from a plurality of candidate satellite-based augmentation satellites according to the elevation angle information, wherein the target satellite is the candidate satellite-based augmentation satellite with the largest elevation angle information.

3. The single-frequency positioning method according to claim 1, wherein: The step of parsing the enhanced message to obtain ionospheric grid point information corresponding to the target satellite includes: Parsing target enhancement messages related to the ionosphere to obtain ionospheric grid point information corresponding to the target satellite, the target enhancement messages including T18 type enhancement messages and T26 type enhancement messages; Before parsing the enhanced message, the single-frequency positioning method further includes: Filtering multiple groups of basic augmentation messages related to the ionosphere from the augmentation messages sent by the satellite-based augmentation system, wherein each group of basic augmentation messages related to the ionosphere includes corresponding T18 type augmentation messages and T26 type augmentation messages; When the data age of a T18 type enhancement message and the data age of a T26 type enhancement message in a group of basic enhancement messages related to the ionosphere are consistent, the basic enhancement message is marked as a target enhancement message.

4. The single-frequency positioning method according to claim 1, wherein: The step of calculating the ionospheric correction value according to the ionospheric grid point information comprises: Calculating puncture point correction information based on the ionospheric grid point information, the puncture point correction information including the puncture point position and a preset number of grid points around the puncture point position; A preset number of grid points are selected around the puncture point position for bilinear interpolation to obtain an ionospheric correction value corresponding to the puncture point position.

5. The single-frequency positioning method according to claim 1, wherein: The step of correcting the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number and the ionospheric correction value comprises: If the positioning mode is a single-frequency single-mode positioning mode, correcting the satellite observation value according to the fast-varying correction number, the slow-varying correction number and the ionospheric correction value of a single GNSS satellite; If the positioning mode is a single-frequency multi-mode positioning mode, the satellite observation value is corrected according to the fast-changing correction number, the slow-changing correction number and the ionospheric correction values ​​of different GNSS satellites.

6. The single-frequency positioning method according to claim 5, characterized in that: When the positioning mode belongs to the single-frequency multi-mode positioning mode and the received satellite-based augmentation system signal type is a B1C signal, the step of correcting the satellite observation quantity according to the fast-changing correction number, the slowly-changing correction number, and the ionospheric correction value of different GNSS satellites also includes: Get the initial ionospheric correction value of the preset GNSS satellite; Converting the initial ionospheric correction value based on the frequency ratio of different signals to obtain ionospheric correction values ​​corresponding to different GNSS satellites; The satellite observations are corrected based on ionospheric correction values ​​of different GNSS satellites.

7. The single-frequency positioning method according to claim 4, characterized in that: After the step of calculating the puncture point correction information according to the ionospheric grid point information, the single-frequency positioning method further includes: Determining whether the number of grid points around the puncture point position is greater than or equal to a preset value; When the number of the grid points is less than a preset value, the detection of the current target satellite is terminated, and the detection of the ionospheric grid points around the next target satellite is executed; When the number of the grid points is greater than or equal to a preset value, the process jumps to executing the step of selecting a preset number of grid points around the puncture point position to perform bilinear interpolation.

8. A single-frequency positioning device, characterized in that: The single-frequency positioning device is applied to a receiver device, and is used to determine a target satellite from a plurality of candidate satellite-based augmentation satellites, wherein the target satellite is a candidate satellite-based augmentation satellite with the largest elevation angle information; The device comprises: an acquisition module, configured to receive an augmentation message sent by a satellite-based augmentation system of the target satellite after establishing a binding relationship with the target satellite; wherein the bound target satellite does not change in subsequent epochs; a parsing module, configured to parse the enhanced message to obtain ionospheric grid point information corresponding to the target satellite and fast-changing corrections and slow-changing corrections corresponding to a preset GNSS satellite; A first calculation module is used to calculate the ionospheric correction value according to the ionospheric grid point information; The second calculation module is used to correct the satellite observation quantity according to the fast-varying correction number, the slowly-varying correction number and the ionospheric correction value, and calculate the enhanced positioning coordinates of the satellite-based augmentation system according to the corrected satellite observation quantity.

9. A receiver device, characterized in that: The receiver device includes a processor and a memory, wherein the memory stores a computer program, and when the computer program runs on the processor, the single-frequency positioning method according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is run on a processor, the computer program executes the single-frequency positioning method according to any one of claims 1 to 7.

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