Satellite capture method, device, electronic device and storage medium

Abstract

An embodiment of the present application provides a satellite acquisition method, apparatus, electronic device, and storage medium, which relate to the technical field of satellite positioning and can improve the satellite acquisition speed. The satellite acquisition method is applied to a receiver, and the method includes: acquiring a first satellite in each of multiple partitions of a low-earth orbit satellite constellation; when a first satellite in any partition is acquired, using the acquired first satellite as a reference satellite and the partition to which the reference satellite belongs as a reference partition, starting from the reference satellite, sequentially acquiring other satellites in the reference partition in a preset order; if the number of satellites acquired in the reference partition reaches n satellites, where n≥4, determining the current position and current time of the receiver based on the n satellites; through a communication system, obtaining the ephemeris information of current sky satellites based on the current position and current time; and acquiring a preset number of satellites based on the current position, current time, and ephemeris information of current sky satellites of the receiver.

Description

Technical Field

[0001] This application relates to the field of satellite positioning technology, and particularly to a satellite acquisition method, device, electronic device, and storage medium. Background Art

[0002] Due to its characteristics, the low-orbit giant satellite constellation has become an advantageous technology in the field of satellite positioning. For example, due to the advantage of the number of visible stars, it can improve the performance in sheltered environments such as urban canyons, and the system robustness is also relatively strong; due to the short period of low-orbit satellites and the fast change of the spatial configuration, the correlation between observation epochs can be reduced, and the convergence speed during high-precision positioning calculation can be improved; due to the lower orbit, stronger ground power can be obtained under the same transmit power, improving the application effect of the positioning system.

[0003] However, currently, when the receiver in the positioning device acquires satellites in the giant constellation, the acquisition speed is relatively slow. Summary of the Invention

[0004] The technical solution of this application provides a satellite acquisition method, device, electronic device, and storage medium, which can improve the satellite acquisition speed.

[0005] In a first aspect, a satellite acquisition method is provided, which is applied to a receiver. The method includes: acquiring the first satellite in each of multiple partitions of a low-orbit satellite constellation; when the first satellite in any partition is acquired, taking the acquired first satellite as a reference satellite and the partition to which the reference satellite belongs as a reference partition, starting from the reference satellite, sequentially acquiring other satellites in the reference partition in a preset order; if the number of satellites acquired in the reference partition reaches n satellites, where n≥4, determining the current position and current time of the receiver according to the n satellites; through a communication system, acquiring the ephemeris information of the current sky satellites according to the current position and current time; and acquiring a preset number of satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites.

[0006] In a possible implementation manner, if the number of satellites acquired in the reference partition does not reach n satellites and the acquisition has reached the last satellite in the reference partition, re-execute the acquisition of the first satellite in each of multiple partitions of the low-orbit satellite constellation.

[0007] In a possible implementation manner, the process of acquiring a preset number of satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites includes: calculating the satellite position according to the ephemeris information of the current sky satellites and the current time; calculating the prior Doppler and predicted code phase according to the satellite position, the current time, and the current position of the receiver; and acquiring a preset number of satellites according to the satellite position, the prior Doppler, and the predicted code phase.

[0008] In a possible implementation, the preset order is centered on the reference satellite and gradually outward and adjacent in sequence.

[0009] In a possible implementation, the number of satellites in each partition ≤ m, where m is the minimum number of visible satellites in the service area of the low-earth orbit satellite constellation.

[0010] In a possible implementation, the number of satellites in each partition is greater than the corresponding quantity threshold, and the quantity threshold is used to ensure that when the first satellite in the corresponding partition is at the lowest reception elevation angle, there are at least n - 1 visible satellites in the corresponding partition.

[0011] In a possible implementation, n = 4.

[0012] In a second aspect, a satellite acquisition device is provided, which is applied to a receiver. The device includes: an acquisition module for acquiring the first satellite in each partition of a low-earth orbit satellite constellation; the acquisition module is further configured to, when the first satellite in any partition is acquired, use the acquired first satellite as the reference satellite, use the partition to which the reference satellite belongs as the reference partition, and starting from the reference satellite, sequentially acquire other satellites in the reference partition according to the preset order; an information determination module for determining the current position and current time of the receiver according to n satellites if the number of satellites acquired in the reference partition reaches n satellites, where n ≥ 4; an acquisition module for acquiring the ephemeris information of the current sky satellites according to the current position and current time of the receiver; the acquisition module is further configured to acquire a preset number of visible satellites according to the current position, current time of the receiver, and the ephemeris information of the current sky satellites.

[0013] In a third aspect, an electronic device is provided, including: a processor and a memory, where the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the above satellite acquisition method is implemented.

[0014] In a fourth aspect, a computer storage medium is provided, including computer instructions, and when the computer instructions run on an electronic device, the electronic device is caused to execute the above satellite acquisition method.

[0015] The satellite capture method, device, electronic device, and storage medium according to the embodiments of the present application pre-utilize the constellation operation characteristics to partition the satellites, capture the first satellite in any partition, use the captured first satellite as a reference satellite, capture other satellites around the reference satellite according to a preset order. After capturing n satellites in the reference partition, the current position and current time can be determined, and based on the current position and current time, ephemeris information is obtained through a communication system, and then a preset number of satellites are captured according to the ephemeris information to complete the entire constellation satellite capture process. This process improves the satellite capture speed without significantly increasing the capture resource overhead and does not require any prior information before capture. Description of the Drawings

[0016] Figure 1 It is a schematic flowchart of a satellite capture method in an embodiment of the present application;

[0017] Figure 2 It is a schematic flowchart of another satellite capture method in an embodiment of the present application;

[0018] Figure 3 It is a structural block diagram of a satellite capture device in an embodiment of the present application;

[0019] Figure 4 It is a structural block diagram of an electronic device in an embodiment of the present application. Detailed Embodiments

[0020] The terms used in the embodiments part of the present application are only used to explain the specific embodiments of the present application and are not intended to limit the present application.

[0021] As Figure 1 shown, the embodiments of the present application provide a satellite capture method, which can be used in a receiver. This capture method is the cold start process for the receiver to obtain positioning signals or navigation signals. The method includes:

[0022] Step 101: Capture the first satellite in each of multiple partitions of a low-earth orbit satellite constellation;

[0023] Among them, the low-earth orbit satellite constellation can be a Walker constellation or a constellation system with a similar structure, specifically, it can be a low-earth orbit megaconstellation. In the movement of such a constellation system, each satellite has a fixed and unique satellite number. In several adjacent orbital planes, several satellites in each orbital plane form a partition, and the satellites included in the partition will not change. That is, in the same partition, after determining one satellite, the numbers of other satellites therein can be deduced and determined. For example, N satellites in the low-earth orbit satellite constellation are divided into multiple partitions, and the number of satellites in each partition is as consistent as possible. When it is impossible to be completely consistent, there may be a difference of several satellites in the number of satellites in different partitions. The division of partitions should correspond to the actual positional relationship of the satellites in the constellation. The satellite at a fixed position in each partition is numbered as the first satellite, and in accordance with a preset order, starting from the first satellite, the other satellites in the partition are sequentially numbered. For example, the satellites in each partition are approximately circularly numbered in a spiral outward manner with the first satellite as the center. Starting from the first satellite, outward, the satellite closest and adjacent to the first satellite is the second satellite, and the satellite closest and adjacent to the second satellite is the third satellite, and so on.

[0024] After capturing the first satellite in any partition, use the captured first satellite as the reference satellite, and use the partition to which the reference satellite belongs as the reference partition. Starting from the reference satellite, capture the other satellites in the reference partition in accordance with the preset order, that is, starting from the reference satellite, execute step 102, and capture the next satellite in the reference partition in accordance with the preset order;

[0025] Among them, after capturing the first satellite in any partition, stop capturing the first satellites in other partitions, and start capturing the other satellites in the reference partition successively starting from the reference satellite until all the satellites in the reference partition are captured. For example, capture the adjacent satellites in sequence in a gradually outward order with the reference satellite as the center, that is, capture the other satellites in the reference partition in accordance with the numbering order. Among them, the process of capturing satellites can be regarded as a process of searching for satellites, and it may be possible to capture the satellite or it may not be possible to capture the satellite.

[0026] Step 103, determine whether the number of satellites captured in the reference partition reaches n satellites. If so, that is, if the number of satellites captured in the reference partition reaches n satellites, n≥4, then execute step 104, determine the current position and current time of the receiver according to the n satellites. Here, the current position refers to the current position of the receiver. Since the number of captured satellites is n, which is relatively small, the current position determined here is the current approximate position of the receiver, and the current time is the current approximate time, with a relatively large error;

[0027] Step 105, obtain the ephemeris information of the current sky satellites according to the current position and current time of the receiver;

[0028] Among them, specifically according to the current position and current time of the receiver, ephemeris information of current sky satellites can be obtained through a communication system. The communication system here can be the satellite communication system of the low-earth orbit satellite constellation or other communication systems. The ephemeris information includes the satellite numbers and their corresponding orbital information.

[0029] Step 106: Capture a preset number of satellites according to the current position, current time of the receiver, and the ephemeris information of current sky satellites.

[0030] In the satellite capture method of the embodiment of the present application, through the result of pre-using the constellation operation characteristics to partition satellites, the first satellite in any partition is captured, and the captured first satellite is used as a reference satellite. Other satellites around the reference satellite are captured according to a preset order. After n satellites in the reference partition are captured, the current position and current time can be determined, and based on the current position and current time, ephemeris information is obtained through a communication system, and then a preset number of satellites are captured according to the ephemeris information to implement the entire constellation satellite capture process. This process improves the satellite capture speed without significantly increasing the capture resource overhead and does not require any prior information before capture.

[0031] In a possible implementation manner, in the above step 103, if not, that is, if the number of satellites captured in the reference partition does not reach n satellites, then step 107 is executed: determine whether the last satellite in the reference partition has been captured. If not, that is, if the last satellite in the reference partition has not been captured, then step 102 is continued: capture the next satellite in the reference partition according to the preset order. If so, that is, if the number of satellites captured in the reference partition does not reach n satellites and the last satellite in the reference partition has been captured, then step 101 is re-executed: capture the first satellite in each of multiple partitions of the low-earth orbit satellite constellation.

[0032] In a possible implementation manner, as Figure 2 shown, the process of the above step 106: capturing a preset number of satellites according to the current position, current time of the receiver, and the ephemeris information of current sky satellites includes:

[0033] Step 1061: Calculate the satellite positions according to the ephemeris information of current sky satellites and the current time;

[0034] Step 1062: Calculate the prior Doppler and predicted code phase according to the satellite positions, the current time, and the current position of the receiver;

[0035] Step 1063: Capture a preset number of satellites according to the satellite positions, the prior Doppler, and the predicted code phase.

[0036] After capturing a preset number of satellites, the entire satellite capture process of the low-earth orbit satellite constellation is completed. The precise position of the receiver can be calculated based on the captured satellites, that is, satellite positioning is achieved, or satellite navigation is achieved.

[0037] In a possible implementation manner, the preset order is centered on the reference satellite and gradually outward and adjacent in sequence. In fact, the preset order can be the order of the satellite numbers in the partition, from the first satellite, the second satellite, the third satellite, and so on. That is to say, the preset order is approximately a circular order with the first satellite as the center and spiraling outward.

[0038] In a possible implementation manner, the number of satellites in each partition ≤ m, where m is the minimum number of visible satellites in the service area of the low-earth orbit satellite constellation. This is to ensure that there will not be a large number of invisible satellites that cannot be captured in the partition. That is to say, because there are a large number of invisible satellites in the service area of the satellite constellation, the number of satellites in each partition cannot be too large. If the number of satellites in each partition is too large, there may be a large number of invisible satellites, resulting in a low capture speed. Therefore, in the embodiments of the present application, using the minimum number of visible satellites in the service area as the maximum value of the number of satellites in each partition can improve the capture speed.

[0039] In a possible implementation manner, the number of satellites in each partition is greater than the corresponding quantity threshold, and the quantity threshold is used to ensure that when the first satellite in the corresponding partition is at the lowest reception elevation angle, there are at least n - 1 visible satellites in the corresponding partition.

[0040] Specifically, for any partition, when setting the quantity threshold of the number of satellites, it is necessary to ensure that when the first satellite in the partition is at the lowest reception elevation angle (that is, if it is lower than this angle, the satellite signal cannot be received), the number of satellites that have not set below in the partition (that is, visible satellites that can be received) is not less than n - 1, so as to increase the probability of capturing n satellites in the partition.

[0041] In a possible implementation manner, n = 4. Four satellites are the minimum number of satellites and can realize the calculation of the current approximate position of the receiver, taking into account both efficiency and accuracy.

[0042] The embodiments of the present application will be described below in combination with a specific example through calculation.

[0043] Assume the current low-earth orbit satellite constellation with an orbital altitude of 500 km, a total of 1800 satellites, 60 satellites per orbital plane, and 30 orbital planes in total. The overflight time of each satellite is about 10 minutes. The navigation signal uses 7 GHz, the navigation spreading code period is 4096 chips, each main frame of the navigation message is 1500 bits, the data code rate is 100 bps, and the frame length is 15 s.

[0044] According to the satellite visibility analysis, more than 10 satellites can generally be seen at any point within the coverage area. Therefore, only about 180 satellites need to be selected at equal intervals based on the low-earth orbit satellite constellation to ensure that there must be a visible satellite among these 180 satellites, that is, the 1800 satellites are equally spaced into 10 partitions, and every 180 satellites are divided into one partition. Currently, there are generally more than 3000 correlators in the receiver, and these correlators can achieve parallel search for 180 low-earth orbit satellites.

[0045] According to the motion speed of the low-earth orbit satellite and the signal system, the frequency search range and the code phase search range are ±160 kHz and 4092 chips respectively, and a frequency search step size of 500 Hz and a code phase search step size of 0.5 chip are adopted. The total number of dwell units for searching one satellite is N:

[0046]

[0047] The dwell time for searching in each calculation unit is 1 ms, then the search time for one path of correlator is T0:

[0048] T0 = 5245944 * 0.001 = 5246 s

[0049] The number of blindly captured satellites is N1 = 180, and the number of terminal correlators is N2 = 3000. Then the average time for the terminal to capture any one satellite is:

[0050]

[0051] According to the satellite visibility analysis, the number of visible satellites is within 42 at a 15° cut-off elevation angle. Assume that the first captured satellite is at the outermost edge. Then in the worst case, it is necessary to search about 180 satellites around it. Any 3 satellites searched among these 180 satellites can achieve positioning. Therefore, the average capture time is:

[0052]

[0053] Therefore, the total average capture time is:

[0054] T acq = T acq1 + T acq2 = 237 s

[0055] The time T required for the first positioning of the terminal theory TTFF It consists of two parts. T1 is the average acquisition time, and T2 is the time required for demodulating the navigation message:

[0056] T TTFF = T1 + T2 = 237 + 15 = 252 s ≈ 4.25 min

[0057] It can be seen that the time required for the satellite acquisition method of the embodiment of the present application is shorter, that is, the satellite acquisition speed is improved.

[0058] As Figure 3 shown, the embodiment of the present application further provides a satellite acquisition device, which can be used for a receiver. The device includes: an acquisition module 1, configured to acquire the first satellite in each of multiple partitions of a low-earth orbit satellite constellation; the acquisition module 1 is further configured to, when the first satellite in any partition is acquired, use the acquired first satellite as a reference satellite, use the partition to which the reference satellite belongs as a reference partition, and starting from the reference satellite, sequentially acquire other satellites in the reference partition according to a preset order; an information determination module 2, configured to, if the number of satellites acquired in the reference partition reaches n satellites, n ≥ 4, determine the current position and current time of the receiver according to the n satellites; an acquisition module 3, configured to acquire the ephemeris information of the current sky satellites according to the current position and current time of the receiver; the acquisition module 1 is further configured to acquire a preset number of visible satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites.

[0059] This satellite acquisition device can apply the satellite acquisition method in any of the above embodiments. The specific process and principle are the same as those in the above embodiments and will not be elaborated here.

[0060] It should be understood that the above division of the satellite capture device is only a division of logical functions. In actual implementation, it can be fully or partially integrated into a physical entity, or physically separated. And these modules can all be implemented in the form of software called by a processing element; they can also all be implemented in the form of hardware; or some modules can be implemented in the form of software called by a processing element, and some modules can be implemented in the form of hardware. For example, any one of the capture module 1, the information determination module 2, and the acquisition module 3 can be a separately established processing element, or can be integrated into the satellite capture device, for example, implemented in a certain chip of the satellite capture device. In addition, it can also be stored in the memory of the satellite capture device in the form of a program, and called and executed by a certain processing element of the satellite capture device to perform the functions of the above-mentioned respective modules. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together or can be independently implemented. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or the above-mentioned respective modules can be completed through the integrated logic circuit of the hardware in the processor element or the instructions in the form of software.

[0061] For example, the capture module 1, the information determination module 2, and the acquisition module 3 can be one or more integrated circuits configured to implement the above method, for example: one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), etc. Again, when a certain module above is implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processors that can call programs. Again, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0062] In a possible implementation manner, the capture module 1 is further configured to, if the number of satellites captured in the reference partition does not reach n satellites, and the last satellite captured in the reference partition has been reached, then re-execute the capture of the first satellite in each of the multiple partitions of the low-earth orbit satellite constellation.

[0063] In a possible implementation manner, the process of capturing a preset number of satellites according to the current position, current time, and ephemeris information of current sky satellites of a receiver includes: calculating the satellite positions according to the ephemeris information of current sky satellites and the current time; calculating the prior Doppler and predicted code phases according to the satellite positions, current time, and current position of the receiver; and capturing a preset number of satellites according to the satellite positions, prior Doppler, and predicted code phases.

[0064] In a possible implementation manner, the preset order is centered on a reference satellite and gradually extends outward and adjacent in sequence.

[0065] In a possible implementation manner, the number of satellites in each partition ≤ m, where m is the minimum number of visible satellites within the service area of a low-earth orbit satellite constellation.

[0066] In a possible implementation manner, the number of satellites in each partition is greater than the corresponding quantity threshold, and the quantity threshold is used to ensure that when the first satellite in the corresponding partition is at the lowest receiving elevation angle, there are at least n - 1 visible satellites in the corresponding partition.

[0067] In a possible implementation manner, n = 4.

[0068] As Figure 4 shown, an embodiment of the present application further provides an electronic device 10, including: a processor 20 and a memory 30. The memory 30 is used to store at least one instruction, and when the instruction is loaded and executed by the processor 20, the satellite capture method in any of the above embodiments is implemented.

[0069] The processor 20 may include one or more processing units. Among them, different processing units may be independent devices or integrated in one or more processors.

[0070] The memory 30 may be used to store computer-executable program codes, and the executable program codes include instructions. The memory may include a program storage area and a data storage area. In addition, the memory 30 may include a high-speed random access memory and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 20 executes various functional applications and data processing of the electronic device by running the instructions stored in the memory 30.

[0071] The electronic device may be any device or component with satellite positioning or satellite navigation functions, such as a receiver, a chip, a mobile phone, a tablet computer, a personal computer (PC), a wearable electronic device, a vehicle-mounted device, a vehicle, etc.

[0072] An embodiment of the present application also provides a computer storage medium, including computer instructions, which when running on an electronic device, cause the electronic device to execute the satellite capture method of any of the above embodiments.

[0073] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state disk, Solid State Disk), etc.

[0074] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent the cases of A existing alone, A and B existing simultaneously, and B existing alone. Where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0075] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A satellite capture method, characterized in that, Applied to a receiver, the method includes: Capturing a first satellite in each of multiple partitions of a low-earth orbit satellite constellation; After capturing the first satellite in any partition, using the captured first satellite as a reference satellite, taking the partition to which the reference satellite belongs as a reference partition, and starting from the reference satellite, sequentially capturing other satellites in the reference partition in a preset order; If the number of satellites captured in the reference partition reaches n satellites, where n≥4, determining the current position and current time of the receiver based on the n satellites; Obtaining ephemeris information of current sky satellites according to the current position and current time of the receiver; Capturing a preset number of satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites.

2. The method according to claim 1, wherein: If the number of satellites captured in the reference partition does not reach n satellites and the capture has reached the last satellite in the reference partition, re-execute capturing the first satellite in each of multiple partitions of the low-earth orbit satellite constellation.

3. The method according to claim 1, wherein: The process of capturing a preset number of satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites includes: Calculating satellite positions according to the ephemeris information of the current sky satellites and the current time; Calculating prior Doppler and predicted code phases according to the satellite positions, the current time, and the current position of the receiver; Capturing a preset number of satellites according to the satellite positions, the prior Doppler, and the predicted code phases.

4. The method according to claim 1, wherein: The preset order is a gradually outward and adjacent order centered on the reference satellite.

5. The method according to claim 1, wherein: The number of satellites in each partition ≤ m, where m is the minimum number of visible satellites in the service area of the low-earth orbit satellite constellation.

6. The method according to claim 1, wherein: The number of satellites in each partition is greater than the corresponding quantity threshold, and the quantity threshold is used to ensure that when the first satellite in the corresponding partition is at the lowest receiving elevation angle, there are at least n - 1 visible satellites in the corresponding partition.

7. The method according to claim 1, wherein: n＝4。 8. A satellite capture device, characterized in that, Applied to a receiver, the device includes: A capture module for capturing a first satellite in each of multiple partitions of a low-earth orbit satellite constellation; The capture module is further configured to, after capturing the first satellite in any partition, use the captured first satellite as a reference satellite, take the partition to which the reference satellite belongs as a reference partition, and starting from the reference satellite, sequentially capture other satellites in the reference partition in a preset order; An information determination module for determining the current position and current time of the receiver based on n satellites if the number of satellites captured in the reference partition reaches n satellites, where n≥4; An acquisition module, configured to acquire ephemeris information of current sky satellites according to the current position and current time of the receiver; The acquisition module is further configured to capture a preset number of visible satellites according to the current position of the receiver, the current time, and the ephemeris information of the current sky satellites.

9. An electronic device, characterized in that, Comprising: A processor and a memory, where the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, it is used to implement the satellite acquisition method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that, Comprising computer instructions, when the computer instructions run on an electronic device, the electronic device is caused to execute the satellite acquisition method according to any one of claims 1 to 7.

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