Satellite data acquisition method and apparatus

Abstract

The specification discloses a satellite data acquisition method and device. The method comprises: acquiring an acquisition position of satellite data, and determining an acquisition environment in which the acquisition position is located; determining satellite positions of multiple satellites at multiple different future time instants according to satellite ephemeris; determining satellite signal blocking conditions corresponding to the acquisition position at the multiple different time instants according to the acquisition environment and the satellite positions; and determining a target acquisition time instant corresponding to the acquisition position among the multiple different time instants according to the satellite signal blocking conditions, so as to reach the acquisition position at the target acquisition time instant to acquire satellite data. The specification can improve the quality of acquired satellite data. Moreover, compared with random acquisition, the specification can also save the acquisition cost of satellite data.

Description

Technical Field

[0001] This specification relates to the field of positioning technology, and in particular to a method and apparatus for acquiring satellite data. Background Technology

[0002] Artificial satellites have a wide range of uses, including image acquisition, monitoring Earth's climate, astronomical observation, and positioning and navigation. Generally, they collect satellite data and then use that data to achieve the aforementioned purposes. However, if the satellite signal is poor during data acquisition, high-quality data may not be obtained, thus affecting subsequent satellite data applications. Summary of the Invention

[0003] In view of this, this specification provides a method and apparatus for acquiring satellite data.

[0004] Specifically, this specification is implemented through the following technical solution:

[0005] A method for acquiring satellite data, comprising:

[0006] Obtain the location of satellite data acquisition and determine the acquisition environment of the acquisition location;

[0007] The satellite positions of multiple satellites at different times in the future are determined based on satellite ephemeris.

[0008] Based on the acquisition environment and the satellite position, determine the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times;

[0009] Based on the satellite signal obstruction situation, a target acquisition time corresponding to the acquisition location is determined among multiple different times with the goal of minimizing satellite signal obstruction, so that the acquisition location can be reached at the target acquisition time to acquire satellite data.

[0010] Optionally, determining the acquisition environment of the acquisition location includes:

[0011] Acquire image data and point cloud data collected at the acquisition location;

[0012] Based on the image data and point cloud data, a 3D reconstruction is performed to obtain the acquisition environment of the acquisition location.

[0013] Optionally, determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0014] At each moment, for each satellite, the ground obstruction area corresponding to the satellite is determined based on the satellite's position and the acquisition environment;

[0015] Determine whether the sampling location is located in the ground-obstructed area;

[0016] If the acquisition location is located in the ground obstruction area, then it is determined that the satellite signal of that satellite is obstructed;

[0017] If the acquisition location is not located in the ground obstruction area, then it is determined that the satellite signal of the satellite is not obstructed.

[0018] Optionally, determining the ground obstruction area corresponding to the satellite based on the satellite position and the acquisition environment includes:

[0019] Obtain the height of each building in the collected environment;

[0020] Based on the satellite position and the height of the building, the ground obstruction area corresponding to the building is calculated using the principle of trigonometric functions.

[0021] The ground obstruction areas corresponding to each building are summarized to obtain the ground obstruction area corresponding to the satellite.

[0022] Optionally, the step of calculating the ground obstruction area corresponding to the building based on the satellite position and the building height using trigonometric function principles includes:

[0023] A spatial coordinate system is established with the intersection of the tangent between the satellite and the roof of the building and the ground as the origin, and the spatial coordinates of the corresponding satellite in the spatial coordinate system are determined according to the satellite's position.

[0024] Calculate the angle between the tangent and the ground based on the spatial coordinates;

[0025] The ground obstruction area corresponding to the building is calculated based on the building height and the included angle.

[0026] Optionally, determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0027] At each moment, the occlusion angle corresponding to the acquisition location is calculated based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground.

[0028] For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite's position;

[0029] Compare the magnitude between the occlusion angle and the satellite angle;

[0030] If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of that satellite is obstructed.

[0031] If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of that satellite is not obstructed.

[0032] Optionally, determining the target acquisition time corresponding to the acquisition location among multiple different times, based on the satellite signal obstruction situation and with the goal of minimizing satellite signal obstruction, includes:

[0033] For each moment, the number of blocked satellites corresponding to the acquisition location is determined based on the satellite signal obstruction situation;

[0034] The time when the number of obscured satellites is minimized is determined as the target acquisition time corresponding to the acquisition location.

[0035] Optional, also includes:

[0036] After the satellite data is collected, it is determined whether the quality of the satellite data meets the quality requirements;

[0037] If the quality of the satellite data does not meet the quality requirements, the steps of acquiring the satellite data acquisition location and determining the acquisition environment of the acquisition location are executed again.

[0038] Optionally, determining whether the quality of the satellite data meets the quality requirements includes:

[0039] If the satellite data is RTK data, obtain the data pattern of the RTK data;

[0040] If the data mode is single-point positioning or floating, then the quality of the RTK data is determined to be unacceptable.

[0041] If the data pattern is fixed, then the quality of the RTK data is determined to meet the quality requirements.

[0042] A satellite data acquisition device, comprising:

[0043] An environment determination unit acquires the satellite data acquisition location and determines the acquisition environment in which the acquisition location is located;

[0044] The position determination unit determines the satellite positions of multiple satellites at different future times based on satellite ephemeris.

[0045] The occlusion determination unit determines the satellite signal occlusion situation corresponding to the acquisition location at multiple different times based on the acquisition environment and the satellite position.

[0046] The time determination unit determines the target acquisition time corresponding to the acquisition location from multiple different times based on the satellite signal obstruction situation, with the goal of minimizing satellite signal obstruction, so as to arrive at the acquisition location at the target acquisition time to acquire satellite data.

[0047] An electronic device, comprising:

[0048] processor;

[0049] Memory used to store processor-executable instructions;

[0050] The processor implements the aforementioned method by running the executable instructions.

[0051] A computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the aforementioned method.

[0052] A computer program product, when executed by a processor, implements the aforementioned method.

[0053] Using the above implementation method, before satellite data acquisition, the acquisition environment of the acquisition location and the positions of each satellite at multiple different times in the future can be determined. Then, based on the acquisition environment and the satellite positions, the satellite signal obstruction situation corresponding to the acquisition location at multiple different times can be determined. The target acquisition time corresponding to the acquisition location can be determined among the multiple different times with the minimum satellite signal obstruction as the target. Then, the satellite data is acquired at the acquisition location at the target acquisition time.

[0054] By employing the technical solution provided in this manual, the target acquisition time with minimal satellite obstruction at the acquisition location can be determined. Acquiring satellite data at this target time significantly improves the quality of the acquired satellite data. Furthermore, compared to random acquisition, it greatly reduces the cost of satellite data acquisition. Attached Figure Description

[0055] Figure 1 This is a flowchart illustrating an exemplary embodiment of a satellite data acquisition method as shown in this specification.

[0056] Figure 2 This is a schematic flowchart illustrating an exemplary embodiment of this specification for determining satellite signal obstruction.

[0057] Figure 3 This is a schematic diagram illustrating an exemplary embodiment of this specification where a satellite signal is blocked.

[0058] Figure 4 This is a schematic diagram of a ground-obstructed area shown in an exemplary embodiment of this specification.

[0059] Figure 5 This is a schematic diagram illustrating another process for determining satellite signal obstruction, as shown in an exemplary embodiment of this specification.

[0060] Figure 6 This is a schematic diagram illustrating an obstruction angle and a satellite angle, as shown in an exemplary embodiment of this specification.

[0061] Figure 7 This is a hardware structure diagram of an electronic device containing a satellite data acquisition device, as illustrated in an exemplary embodiment of this specification.

[0062] Figure 8 This is a block diagram illustrating a satellite data acquisition device according to an exemplary embodiment of this specification. Detailed Implementation

[0063] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0064] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0065] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0066] Artificial satellites have a wide range of uses, including image acquisition, monitoring Earth's climate, astronomical observation, and positioning and navigation. Generally, they collect satellite data and then use that data to achieve the aforementioned purposes. However, if the satellite signal is poor during data acquisition, high-quality data may not be obtained, thus affecting subsequent satellite data applications.

[0067] Taking high-precision map production as an example, high-precision positioning can be achieved based on RTK (Real-time kinematic) technology. RTK is a carrier phase differential technology. In the process of positioning based on RTK technology, mobile data acquisition devices, such as high-precision map acquisition vehicles, can collect satellite data transmitted by satellites and satellite data transmitted by base stations. This satellite data can be collectively referred to as RTK data, and positioning can then be performed based on this RTK data. If the satellite signal is poor, for example, if the satellite signal is blocked, it will directly lead to inaccurate positioning.

[0068] This specification provides a method for acquiring satellite data. It can determine the time when the satellite signal is less blocked at the acquisition location based on the satellite data acquisition environment and satellite position, and then go to the corresponding location at that time to acquire satellite data, thereby improving the quality of the acquired satellite data.

[0069] Figure 1 This is a flowchart illustrating an exemplary embodiment of a satellite data acquisition method as shown in this specification.

[0070] Please refer to Figure 1 The satellite data acquisition method can be applied to the server side and includes the following steps:

[0071] Step 102: Obtain the satellite data acquisition location and determine the acquisition environment of the acquisition location.

[0072] This manual outlines a data acquisition plan that can be executed before satellite data acquisition to determine the target acquisition time. Taking high-precision map creation as an example, if a change is found between the current reality and the stored high-precision map, the acquisition plan can be executed to determine the target acquisition time, and a high-precision map acquisition vehicle can be dispatched to the changed location at the target acquisition time to collect satellite data.

[0073] Of course, the target acquisition time can be determined without first. After the high-precision map acquisition vehicle acquires satellite data at the acquisition location, the quality of the satellite data can be judged. If the quality of the satellite data does not meet the quality requirements, the acquisition scheme provided in this manual can be used to determine the target acquisition time. At the target acquisition time, the high-precision map acquisition vehicle can be dispatched to the acquisition location again to re-acquire satellite data. This manual does not impose any special restrictions on this.

[0074] In this specification, the location for collecting satellite data can often be predetermined. Taking the aforementioned high-precision map production as an example, the locations that are subject to change are the collection locations.

[0075] In this specification, the acquisition environment of the acquisition location can be determined based on the acquired acquisition location.

[0076] In one example, the environment near the acquisition location can be obtained from the constructed high-precision map as the acquisition environment. The acquisition environment is usually the 3D modeling result of the area near the acquisition location, which may include roads, buildings, etc. near the acquisition location.

[0077] In another example, when acquiring satellite data, the acquisition device typically also acquires surrounding image data and point cloud data. To determine the acquisition environment of the acquisition location, the image data and point cloud data acquired at that location can be obtained, and then a 3D reconstruction can be performed based on this data to obtain the acquisition environment. Using image data and point cloud data for 3D reconstruction ensures the accuracy of the acquisition environment and effectively avoids inaccurate acquisition of the acquisition environment due to outdated high-precision maps.

[0078] Step 104: Determine the satellite positions of multiple satellites at different times in the future based on the satellite ephemeris.

[0079] Satellite ephemeris, also known as two-line orbital element (TLE), is an expression used to describe the position and velocity of a spacecraft—a two-line orbital data system.

[0080] In this specification, the satellite positions of each satellite at multiple future times can be determined based on satellite ephemeris data. For example, the acquisition location can be input into a satellite ephemeris service to obtain the output satellite positions of each satellite at multiple future times.

[0081] Satellite 1 Satellite 2 Satellite 3 Time 1 Position 1-1 Position 2-1 Position 3-1 Time 2 Position 1-2 Position 2-2 Position 3-2 Time 3 Positions 1-3 Position 2-3 Position 3-3

[0082] Table 1

[0083] Please refer to the example in Table 1. Assuming a certain data acquisition location is input, the positions of satellites 1 through 3 at times 1 through 3 can be obtained using satellite ephemeris. The satellite positions are typically the coordinates (x, y, z) of the satellite in a geocentric fixed coordinate system with the Earth's center as the origin, where x, y, and z are in meters. Furthermore, Table 1 is only an illustrative example; in practical applications, the number of times and satellites will be far greater than the example in Table 1.

[0084] It is worth noting that this specification does not restrict the execution order between step 102, determining the acquisition environment, and step 104, determining the satellite position. In other examples, after obtaining the acquisition location for satellite data, step 104, determining the satellite position, can be executed first, followed by step 102, determining the acquisition environment of the acquisition location. Of course, after obtaining the acquisition location for satellite data, steps 102, determining the acquisition environment of the acquisition location, and step 104, determining the satellite position, can also be executed in parallel; this specification does not impose any special restrictions on this.

[0085] Step 106: Determine the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position.

[0086] In this specification, the satellite signal obstruction situation corresponding to the acquisition location at different future times of the satellite ephemeris service output can be determined based on the acquisition environment determined in step 102 and the satellite position determined in step 104. The satellite signal obstruction situation may include: the satellite signal is obstructed and the satellite signal is not obstructed.

[0087] In one example, the corresponding ground obstruction area can be determined based on the acquisition environment and the satellite position. Then, by determining whether the acquisition location is located in the ground obstruction area, it can be determined whether the satellite signal at the acquisition location is obstructed.

[0088] In another example, the obstruction angle can be calculated based on the acquisition location and the acquisition environment, and then the satellite angle formed by the satellite and the acquisition location can be calculated. By comparing the magnitude of the obstruction angle and the satellite angle, it can be determined whether the satellite signal corresponding to the acquisition location is obstructed.

[0089] The methods for determining the two types of satellite signal obstruction will be described in detail in subsequent embodiments.

[0090] Satellite 1 Satellite 2 Satellite 3 Time 1 Obscured Not obscured Not obscured Time 2 Not obscured Not obscured Obscured Time 3 Not obscured Not obscured Obscured

[0091] Table 2

[0092] Taking the satellite positions shown in Table 1 as an example, in this step, it is assumed that the satellite obstruction situation shown in Table 2 can be determined. Taking time 1 as an example, the signal of satellite 1 at the acquisition location is obstructed, while the signals of satellite 2 and satellite 3 are not obstructed, etc.

[0093] Step 108: Based on the satellite signal obstruction situation, determine the target acquisition time corresponding to the acquisition location among multiple different times with the goal of minimizing satellite signal obstruction, so as to arrive at the acquisition location at the target acquisition time to acquire satellite data.

[0094] In this specification, for each moment, the number of satellites blocked at the acquisition location can be determined based on the satellite signal blockage situation determined in step 106 above. Then, the moment with the fewest blocked satellites can be determined as the target acquisition moment for the acquisition location.

[0095] Taking the satellite obstruction situation shown in Table 2 as an example, at time 1, the number of unobstructed satellites is 2; at time 2, the number of unobstructed satellites is 3; and at time 3, the number of unobstructed satellites is 1. Among them, time 2 has the fewest unobstructed satellites, so time 2 can be determined as the target acquisition time.

[0096] Taking high-precision map production as an example, a high-precision map acquisition vehicle can be dispatched to the acquisition location at the target acquisition time to collect satellite data. Since the acquisition location is least obscured by the surrounding environment at the target acquisition time, better quality satellite data can be collected compared to other times, thereby improving the quality of satellite data acquisition.

[0097] It should be noted that in practical applications, if the service has requirements regarding the re-acquisition time of satellite data, such as completing the re-acquisition of satellite data within a week, then when determining the target acquisition time, the time with the fewest blocked satellites within a week can be selected as the target acquisition time. Of course, depending on the actual situation, other restrictions can be imposed on the target acquisition time, but this specification does not impose any special restrictions on this.

[0098] In this manual, after acquiring satellite data, it can be determined whether the quality of the acquired satellite data meets the quality requirements. If the quality of the satellite data meets the quality requirements, subsequent operations can be performed, such as positioning, and then creating high-precision map data to update the stored high-precision map. If the reacquired satellite data still does not meet the quality requirements, steps 102-108 mentioned above can be repeated to determine the acquisition time for the next satellite data acquisition. These steps will not be elaborated upon here.

[0099] In this specification, taking RTK data as an example, the quality of the RTK data can be determined based on its mode. Generally, the RTK data carries the RTK data mode, which represents the RTK initialization process. The RTK data modes include three types: single-point positioning, floating, and fixed. Single-point positioning and floating modes indicate poor satellite signal strength, making precise positioning impossible, while fixed mode indicates that precise positioning is possible. Therefore, when the RTK data mode is single-point positioning or floating, it can be determined that the RTK data does not meet the quality requirements; when the RTK data mode is fixed, it can be determined that the RTK data meets the quality requirements. Of course, when the satellite data is not RTK data, the quality requirements can be preset according to the type of satellite data, and this specification does not impose special restrictions on this.

[0100] As can be seen from the above description, before collecting satellite data, this manual can determine the collection environment of the collection location and the positions of each satellite at multiple different times in the future. Then, based on the collection environment and the satellite positions, it can determine the satellite signal obstruction situation corresponding to the collection location at multiple different times. Furthermore, it can determine the target collection time corresponding to the collection location among the multiple different times with the minimum satellite signal obstruction as the target, and then arrive at the collection location at the target collection time to collect satellite data.

[0101] By employing the technical solution provided in this manual, the target acquisition time with minimal satellite obstruction at the acquisition location can be determined. Acquiring satellite data at this target time significantly improves the quality of the acquired satellite data. Furthermore, compared to random acquisition, it greatly reduces the cost of satellite data acquisition.

[0102] In this specification, for each moment of the satellite ephemeris service output, the satellite signal obstruction situation at the acquisition location can be determined. The following describes in detail the process of determining the satellite signal obstruction situation using a specific moment as an example and in conjunction with a specific implementation.

[0103] Figure 2 This is a schematic flowchart illustrating an exemplary embodiment of this specification for determining satellite signal obstruction.

[0104] Please refer to Figure 2 The method for determining satellite signal obstruction may include the following steps:

[0105] Step 202: At each moment, for each satellite, determine the ground obstruction area corresponding to the satellite based on the satellite position and the acquisition environment.

[0106] Please refer to Figure 3For example, taking a high-precision map data collection vehicle as an example, when collecting RTK data, satellite signals may be blocked by buildings in the surrounding environment. For instance, a tall building on the right side of the data collection vehicle will block the signal emitted by satellite 2, while the signal emitted by satellite 1 will not be blocked.

[0107] In this specification, for each satellite, the corresponding ground obstruction area can be determined based on the satellite's position and the acquisition environment. The ground obstruction area is the area on the ground where the corresponding satellite signal will be blocked.

[0108] When determining the ground obstruction area, the heights of buildings near the mobile acquisition device can be obtained from the acquisition environment, such as the heights of buildings within a preset distance from the acquisition location. For each building near the acquisition vehicle, the ground obstruction area corresponding to the building can be calculated using trigonometric functions based on the satellite position and the building's height. Then, the ground obstruction areas corresponding to all buildings can be aggregated to obtain the ground obstruction area corresponding to the satellite.

[0109] by Figure 3 Taking the tall building on the right as an example, for illustration purposes, a cross-section of the building can be taken, and we can obtain... Figure 4 The plan view of the section where the high-rise building is located is shown. Please continue to refer to it. Figure 4 Satellite 2 is located at point S. Starting from point S, a tangent AS can be drawn towards the roof of the tall building. This tangent AS is perpendicular to the ground at point A. The angle ∠α between this tangent and the ground can then be calculated based on the position of Satellite 2. ∠α is ∠SAB. Next, the distance AB between point A and the tall building can be calculated using ∠SAB and the building's height h: AB = h / tanα. The area between point A and point B is the region where Satellite 2's satellite signal is blocked.

[0110] Assuming the data acquisition vehicle is located at point O, between A and B, it can be determined that the satellite signal of satellite 2 at the location of the data acquisition vehicle is blocked, that is, satellite 2 is blocked.

[0111] When calculating ∠α, a coordinate system can be established with the intersection point A of the aforementioned tangent and the ground as the origin. The position coordinates of satellite 2 can be converted to position coordinates in this newly established coordinate system, and then the trigonometric function formulas can be used. Calculate ∠α, where y is the altitude coordinate of satellite 2 in the newly established coordinate system, and x is the width coordinate of satellite 2 in the newly established coordinate system. Of course, in other examples, a coordinate system can be established with other points as the origin for calculation, such as establishing a coordinate system with the location of the data acquisition vehicle as the origin, etc. This manual does not impose any special restrictions on this.

[0112] It should be noted that, Figure 4It's a plan view. In actual calculations, three-dimensional coordinates are used, resulting in an area on the ground where the obscured area is located, not a plan view. Figure 4 The line segment AB is shown.

[0113] In this step, the ground obstruction areas corresponding to each building can be summarized to obtain the ground obstruction area corresponding to the satellite. For example, the ground obstruction areas corresponding to each building can be summarized and deduplicated to obtain the ground obstruction area corresponding to the satellite.

[0114] Step 204: Determine whether the collection location is located in the ground obstruction area.

[0115] Step 206: If the acquisition location is located in the ground obstruction area, then it is determined that the satellite signal of the satellite is obstructed.

[0116] Step 208: If the acquisition location is not located in the ground obstruction area, then it is determined that the satellite signal of the satellite is not obstructed.

[0117] Based on step 202 above, for each satellite, after determining the corresponding ground obstruction area, it can be determined whether the acquisition location of the mobile acquisition device is located within the ground obstruction area. For example, the ground obstruction area and the acquisition location can be unified into the same coordinate system for judgment.

[0118] If it is determined that the acquisition location is located in the ground obstruction area, it can be determined that the satellite signal of the corresponding satellite at the acquisition location is obstructed.

[0119] If it is determined that the acquisition location is not located in the ground obstruction area, it can be determined that the satellite signal of the corresponding satellite at the acquisition location is not obstructed.

[0120] Using this method, the satellite signal obstruction situation at each acquisition location at each time moment can be determined, that is, the obstruction situation of each satellite can be determined.

[0121] Figure 5 This is a schematic diagram illustrating another process for determining satellite signal obstruction, as shown in an exemplary embodiment of this specification.

[0122] Please refer to Figure 5 The method for determining satellite signal obstruction may include the following steps:

[0123] Step 502: At each moment, calculate the occlusion angle corresponding to the acquisition location based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground.

[0124] Still with Figure 4Taking the cross-section shown as an example, in this embodiment, we can first start from point O, the location of the data collection vehicle, and draw tangents towards the rooftops of surrounding buildings. Please refer to [the example]. Figure 6 Taking the tall building on the right side of the data acquisition vehicle as an example, the tangent OC can be obtained. Then, using the principle of trigonometric functions, the occlusion angle ∠β corresponding to the data acquisition position can be calculated based on the distance OB between the data acquisition position and the building and the height h of the building. ∠β is ∠COB.

[0125] The distance OB between the acquisition location and the building, as well as the height h of the building, can be obtained from the acquisition environment, for example, from the 3D reconstruction results.

[0126] Step 504: For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite position.

[0127] In this embodiment, for each satellite, the angle between the satellite and the acquisition location can be calculated based on the satellite's position. Please refer to [link / reference needed]. Figure 6 The included angle of the satellite is ∠SOB.

[0128] When calculating the satellite angle, a new coordinate system can be established with the acquired location as the origin. Then, the satellite's position can be converted into position coordinates in the newly established coordinate system, and the satellite angle ∠SOB can be calculated based on these position coordinates.

[0129] Step 506: Compare the magnitude of the occlusion angle and the satellite angle.

[0130] Step 508: If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of the satellite is obstructed.

[0131] Step 510: If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of the satellite is not obstructed.

[0132] Based on the aforementioned steps 502 and 504, for each satellite, after calculating the satellite angle, the size between the satellite angle and the obstruction angle can be compared.

[0133] If the satellite angle is less than or equal to the obstruction angle, for example Figure 6 The satellite angle ∠SOB shown is less than the obstruction angle ∠COB, which indicates that the satellite signal at the acquisition location is obstructed.

[0134] If the satellite angle is greater than the obstruction angle, it can be determined that the satellite signal at the acquisition location is not obstructed.

[0135] Using this method, the satellite signal obstruction situation at each acquisition location at each time can also be determined, that is, the obstruction situation of each satellite can be determined.

[0136] Corresponding to the embodiments of the aforementioned satellite data acquisition methods, this specification also provides embodiments of satellite data acquisition devices.

[0137] The embodiments of the satellite data acquisition device described in this specification can be applied in a server. The device embodiments can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor of its host electronic device reading the corresponding computer program instructions from non-volatile memory into memory and executing them. From a hardware perspective, such as... Figure 7 The diagram shown is a hardware structure diagram of the server where the satellite data acquisition device of this manual is located. (Except for...) Figure 7 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware depending on the actual function of the server, which will not be described in detail here.

[0138] Figure 8 This is a block diagram illustrating a satellite data acquisition device according to an exemplary embodiment of this specification.

[0139] Please refer to Figure 8 The satellite data acquisition device can be used on a server and includes:

[0140] An environment determination unit acquires the satellite data acquisition location and determines the acquisition environment in which the acquisition location is located;

[0141] The position determination unit determines the satellite positions of multiple satellites at different future times based on satellite ephemeris.

[0142] The occlusion determination unit determines the satellite signal occlusion situation corresponding to the acquisition location at multiple different times based on the acquisition environment and the satellite position.

[0143] The time determination unit determines the target acquisition time corresponding to the acquisition location from multiple different times based on the satellite signal obstruction situation, with the goal of minimizing satellite signal obstruction, so as to arrive at the acquisition location at the target acquisition time to acquire satellite data.

[0144] Optionally, the step of determining the acquisition environment in which the acquisition location is situated includes:

[0145] Acquire image data and point cloud data collected at the acquisition location;

[0146] Based on the image data and point cloud data, a 3D reconstruction is performed to obtain the acquisition environment of the acquisition location.

[0147] Optionally, the step of determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0148] At each moment, for each satellite, the ground obstruction area corresponding to the satellite is determined based on the satellite's position and the acquisition environment;

[0149] Determine whether the sampling location is located in the ground-obstructed area;

[0150] If the acquisition location is located in the ground obstruction area, then it is determined that the satellite signal of that satellite is obstructed;

[0151] If the acquisition location is not located in the ground obstruction area, then it is determined that the satellite signal of the satellite is not obstructed.

[0152] Optionally, the step of determining the ground obstruction area corresponding to the satellite based on the satellite position and the acquisition environment includes:

[0153] Obtain the height of each building in the collected environment;

[0154] Based on the satellite position and the height of the building, the ground obstruction area corresponding to the building is calculated using the principle of trigonometric functions.

[0155] The ground obstruction areas corresponding to each building are summarized to obtain the ground obstruction area corresponding to the satellite.

[0156] Optionally, the step of calculating the ground obstruction area corresponding to the building based on the satellite position and the building's height using trigonometric function principles includes:

[0157] A spatial coordinate system is established with the intersection of the tangent between the satellite and the roof of the building and the ground as the origin, and the spatial coordinates of the corresponding satellite in the spatial coordinate system are determined according to the satellite's position.

[0158] Calculate the angle between the tangent and the ground based on the spatial coordinates;

[0159] The ground obstruction area corresponding to the building is calculated based on the building height and the included angle.

[0160] Optionally, the step of determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0161] At each moment, the occlusion angle corresponding to the acquisition location is calculated based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground.

[0162] For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite's position;

[0163] Compare the magnitude between the occlusion angle and the satellite angle;

[0164] If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of that satellite is obstructed.

[0165] If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of that satellite is not obstructed.

[0166] Optionally, the step of determining the target acquisition time corresponding to the acquisition location among multiple different times with the goal of minimizing satellite signal obstruction based on the satellite signal obstruction situation includes:

[0167] For each moment, the number of blocked satellites corresponding to the acquisition location is determined based on the satellite signal obstruction situation;

[0168] The time when the number of obscured satellites is minimized is determined as the target acquisition time corresponding to the acquisition location.

[0169] Optionally, the satellite data acquisition steps may also include:

[0170] After the satellite data is collected, it is determined whether the quality of the satellite data meets the quality requirements;

[0171] If the quality of the satellite data does not meet the quality requirements, the steps of acquiring the satellite data acquisition location and determining the acquisition environment of the acquisition location are executed again.

[0172] Optionally, the step of determining whether the quality of the satellite data meets the quality requirements includes:

[0173] If the satellite data is RTK data, obtain the data pattern of the RTK data;

[0174] If the data mode is single-point positioning or floating, then the quality of the RTK data is determined to be unacceptable.

[0175] If the data pattern is fixed, then the quality of the RTK data is determined to meet the quality requirements.

[0176] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0177] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the solution in this specification according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0178] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer, which can take the form of a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0179] In a typical configuration, a computer includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0180] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0181] Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage, quantum memory, graphene-based storage media or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0182] Corresponding to the embodiments of the aforementioned satellite data acquisition method, this specification also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the following steps:

[0183] Obtain the location of satellite data acquisition and determine the acquisition environment of the acquisition location;

[0184] The satellite positions of multiple satellites at different times in the future are determined based on satellite ephemeris.

[0185] Based on the acquisition environment and the satellite position, determine the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times;

[0186] Based on the satellite signal obstruction situation, a target acquisition time corresponding to the acquisition location is determined among multiple different times with the goal of minimizing satellite signal obstruction, so that the acquisition location can be reached at the target acquisition time to acquire satellite data.

[0187] Optionally, the step of determining the acquisition environment in which the acquisition location is situated includes:

[0188] Acquire image data and point cloud data collected at the acquisition location;

[0189] Based on the image data and point cloud data, a 3D reconstruction is performed to obtain the acquisition environment of the acquisition location.

[0190] Optionally, the step of determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0191] At each moment, for each satellite, the ground obstruction area corresponding to the satellite is determined based on the satellite's position and the acquisition environment;

[0192] Determine whether the sampling location is located in the ground-obstructed area;

[0193] If the acquisition location is located in the ground obstruction area, then it is determined that the satellite signal of that satellite is obstructed;

[0194] If the acquisition location is not located in the ground obstruction area, then it is determined that the satellite signal of the satellite is not obstructed.

[0195] Optionally, the step of determining the ground obstruction area corresponding to the satellite based on the satellite position and the acquisition environment includes:

[0196] Obtain the height of each building in the collected environment;

[0197] Based on the satellite position and the height of the building, the ground obstruction area corresponding to the building is calculated using the principle of trigonometric functions.

[0198] The ground obstruction areas corresponding to each building are summarized to obtain the ground obstruction area corresponding to the satellite.

[0199] Optionally, the step of calculating the ground obstruction area corresponding to the building based on the satellite position and the building's height using trigonometric function principles includes:

[0200] A spatial coordinate system is established with the intersection of the tangent between the satellite and the roof of the building and the ground as the origin, and the spatial coordinates of the corresponding satellite in the spatial coordinate system are determined according to the satellite's position.

[0201] Calculate the angle between the tangent and the ground based on the spatial coordinates;

[0202] The ground obstruction area corresponding to the building is calculated based on the building height and the included angle.

[0203] Optionally, the step of determining the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times based on the acquisition environment and the satellite position includes:

[0204] At each moment, the occlusion angle corresponding to the acquisition location is calculated based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground.

[0205] For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite's position;

[0206] Compare the magnitude between the occlusion angle and the satellite angle;

[0207] If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of that satellite is obstructed.

[0208] If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of that satellite is not obstructed.

[0209] Optionally, the step of determining the target acquisition time corresponding to the acquisition location among multiple different times with the goal of minimizing satellite signal obstruction based on the satellite signal obstruction situation includes:

[0210] For each moment, the number of blocked satellites corresponding to the acquisition location is determined based on the satellite signal obstruction situation;

[0211] The time when the number of obscured satellites is minimized is determined as the target acquisition time corresponding to the acquisition location.

[0212] Optionally, the satellite data acquisition steps may also include:

[0213] After the satellite data is collected, it is determined whether the quality of the satellite data meets the quality requirements;

[0214] If the quality of the satellite data does not meet the quality requirements, the steps of acquiring the satellite data acquisition location and determining the acquisition environment of the acquisition location are executed again.

[0215] Optionally, the step of determining whether the quality of the satellite data meets the quality requirements includes:

[0216] If the satellite data is RTK data, obtain the data pattern of the RTK data;

[0217] If the data mode is single-point positioning or floating, then the quality of the RTK data is determined to be unacceptable.

[0218] If the data pattern is fixed, then the quality of the RTK data is determined to meet the quality requirements.

[0219] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0220] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A method for acquiring satellite data, wherein the satellite data is used for high-precision positioning, the method comprising: Obtain the predetermined satellite data acquisition location and determine the acquisition environment of the acquisition location; The satellite positions of multiple satellites at different times in the future are determined based on satellite ephemeris. Based on the acquisition environment and the satellite position, determine the satellite signal obstruction situation corresponding to the acquisition location at the multiple different times; Based on the satellite signal obstruction situation, a target acquisition time corresponding to the acquisition location is determined among multiple different times with the goal of minimizing satellite signal obstruction, so as to reach the acquisition location at the target acquisition time to acquire satellite data. The step of determining the satellite signal obstruction situation corresponding to the acquisition location at multiple different times based on the acquisition environment and the satellite position includes: At each moment, the occlusion angle corresponding to the acquisition location is calculated based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground. For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite's position; Compare the magnitude between the occlusion angle and the satellite angle; If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of that satellite is obstructed. If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of that satellite is not obstructed.

2. The method according to claim 1, wherein determining the acquisition environment of the acquisition location includes: Acquire image data and point cloud data collected at the acquisition location; Based on the image data and point cloud data, a 3D reconstruction is performed to obtain the acquisition environment of the acquisition location.

3. The method according to claim 1, wherein determining the satellite signal obstruction situation corresponding to the acquisition location at the plurality of different times based on the acquisition environment and the satellite position includes: At each moment, for each satellite, the ground obstruction area corresponding to the satellite is determined based on the satellite's position and the acquisition environment; Determine whether the sampling location is located in the ground-obstructed area; If the acquisition location is located in the ground obstruction area, then it is determined that the satellite signal of that satellite is obstructed; If the acquisition location is not located in the ground obstruction area, then it is determined that the satellite signal of the satellite is not obstructed.

4. The method according to claim 3, wherein determining the ground obstruction area corresponding to the satellite based on the satellite position and the acquisition environment includes: Obtain the height of each building in the collected environment; Based on the satellite position and the height of the building, the ground obstruction area corresponding to the building is calculated using the principle of trigonometric functions. The ground obstruction areas corresponding to each building are summarized to obtain the ground obstruction area corresponding to the satellite.

5. The method according to claim 4, wherein calculating the ground obstruction area corresponding to the building based on the satellite position and the building height using trigonometric function principles includes: A spatial coordinate system is established with the intersection of the tangent between the satellite and the roof of the building and the ground as the origin, and the spatial coordinates of the corresponding satellite in the spatial coordinate system are determined according to the satellite's position. Calculate the angle between the tangent and the ground based on the spatial coordinates; The ground obstruction area corresponding to the building is calculated based on the building height and the included angle.

6. The method according to claim 1, wherein determining the target acquisition time corresponding to the acquisition location among the plurality of different times with the goal of minimizing satellite signal obstruction based on the satellite signal obstruction situation includes: For each moment, the number of blocked satellites corresponding to the acquisition location is determined based on the satellite signal obstruction situation; The time when the number of obscured satellites is minimized is determined as the target acquisition time corresponding to the acquisition location.

7. The method according to claim 1, further comprising: After the satellite data is collected, it is determined whether the quality of the satellite data meets the quality requirements; If the quality of the satellite data does not meet the quality requirements, the steps of acquiring the satellite data acquisition location and determining the acquisition environment of the acquisition location are executed again.

8. The method according to claim 7, wherein determining whether the quality of the satellite data meets the quality requirements includes: If the satellite data is RTK data, obtain the data pattern of the RTK data; If the data mode is single-point positioning or floating, then the quality of the RTK data is determined to be unacceptable. If the data pattern is fixed, then the quality of the RTK data is determined to meet the quality requirements.

9. A satellite data acquisition device, wherein the satellite data is used for high-precision positioning, the device comprising: The environment determination unit acquires the predetermined satellite data acquisition location and determines the acquisition environment in which the acquisition location is located; The position determination unit determines the satellite positions of multiple satellites at different future times based on satellite ephemeris. The occlusion determination unit determines the satellite signal occlusion situation corresponding to the acquisition location at multiple different times based on the acquisition environment and the satellite position. The time determination unit determines the target acquisition time corresponding to the acquisition location from multiple different times based on the satellite signal obstruction situation, with the goal of minimizing satellite signal obstruction, so as to arrive at the acquisition location at the target acquisition time to acquire satellite data. The step of determining the satellite signal obstruction situation corresponding to the acquisition location at multiple different times based on the acquisition environment and the satellite position includes: At each moment, the occlusion angle corresponding to the acquisition location is calculated based on the acquisition location and the acquisition environment. The occlusion angle is the angle between the tangent line between the acquisition location and the roof of the building and the ground. For each satellite, calculate the satellite angle formed by the satellite and the acquisition location based on the satellite's position; Compare the magnitude between the occlusion angle and the satellite angle; If the obstruction angle is greater than the satellite angle, then it is determined that the satellite signal of that satellite is obstructed. If the obstruction angle is less than or equal to the satellite angle, then it is determined that the satellite signal of that satellite is not obstructed.

10. An electronic device, comprising: processor; Memory used to store processor-executable instructions; The processor implements the method as described in any one of claims 1-8 by executing the executable instructions.

11. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method as claimed in any one of claims 1-8.

12. A computer program product, when executed by a processor, implements the method as described in any one of claims 1-8.

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