A method, device and apparatus for adaptive delay estimation for satellite positioning

Abstract

The present specification discloses an adaptive delay estimation method, device and equipment for satellite positioning, which relates to the field of signal processing technology, including: S1, obtaining target navigation positioning results at time t0 and time t1 as pre-order mark data and subsequent mark data respectively; S2, obtaining T according to the pre-order mark data N The target navigation and positioning estimation result at the moment, T N The time is between time t0 and time t1; S3, according to the target navigation positioning estimation result and the subsequent marking data, obtain the adaptive estimation delay; S4, determine whether there is a target navigation positioning result corresponding to time t2; if so, take the subsequent marking data as the new preceding marking data, time t1 as the new time t0, the target navigation positioning result at time t2 as the new subsequent marking data, time t2 as the new time t1, and execute steps S2-S4. In this way, an adaptive delay estimation result that changes with the actual delay can be obtained, and then the satellite navigation positioning result can be corrected to make it more accurate.

Description

Technical Field

[0001] This document relates to the field of signal processing technology, and in particular to an adaptive delay estimation method, device and equipment for satellite positioning. Background Art

[0002] With the development of navigation and positioning technology, especially satellite navigation technology, satellite navigation systems can provide users with all-weather, continuous and real-time navigation and positioning results. In application scenarios such as navigation and positioning, situation display, analysis, prediction and guidance, after the target obtains the satellite navigation and positioning results, it is necessary to send the satellite navigation results to the external system for application processing. However, the delay generated during the transmission process will cause certain errors in the satellite navigation and positioning result data.

[0003] The prior art discloses a missile-borne telemetry positioning information extrapolation algorithm, which analyzes the positioning information transmission delay and calculates a fixed delay value, thereby performing time compensation on the positioning information. Although this technical solution solves the error problem caused by the positioning information transmission delay to a certain extent, since the calculated delay value is a fixed number, it does not conform to the actual situation that the positioning information transmission delay is constantly changing. Therefore, the positioning information after time compensation in this technical solution is not completely accurate and still has a certain error.

[0004] Therefore, a method for estimating the ever-changing outbound delay is needed to make the data processing of satellite navigation positioning results more accurate. Summary of the invention

[0005] The present specification provides an adaptive delay estimation method for satellite positioning, which is used to solve the problem that the satellite navigation positioning result is inaccurately calculated due to the delay in sending the satellite navigation positioning result, thus causing errors in the satellite navigation positioning result.

[0006] To solve this technical problem, this specification provides the following technical solutions:

[0007] An adaptive delay estimation method for satellite positioning, comprising:

[0008] S1, obtaining the target navigation and positioning result corresponding to time t0 as the preceding marking data, and obtaining the target navigation and positioning result corresponding to time t1 as the subsequent marking data, wherein time t1 is after time t0;

[0009] Optionally, the relationship between time t1 and time t0 is:

[0010] t0+NT≤t1<t0+(N+1)T

[0011] S2. Calculate T according to the preceding tag data. N The target navigation positioning estimation result at the moment, the TN The time refers to the Nth sampling time and is between time t0 and time t1;

[0012] S3, calculating an adaptive estimated delay according to the target navigation positioning estimation result and the subsequent marking data;

[0013] S4, determining whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1;

[0014] If so, the subsequent marking data is used as the new preceding marking data, the time t1 is used as the new time t0, the target navigation positioning result corresponding to the time t2 is used as the new subsequent marking data, the time t2 is used as the new time t1, and steps S2-S4 are executed to obtain a new adaptive estimated delay.

[0015] The embodiment of this specification also provides an adaptive delay estimation device for satellite positioning, including:

[0016] An acquisition module is used to obtain a target navigation and positioning result corresponding to time t0 as the preceding marking data, and obtain a target navigation and positioning result corresponding to time t1 as the subsequent marking data, wherein time t1 is after time t0;

[0017] The estimation module is used to calculate T according to the preceding labeled data. N The target navigation positioning estimation result at the moment, the T N The time refers to the Nth sampling time and is between time t0 and time t1;

[0018] A calculation module, used for calculating the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data;

[0019] A judgment module, used to judge whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1;

[0020] If so, the subsequent marking data is used as the new preceding marking data, the t1 moment is used as the new t0 moment, the target navigation positioning result corresponding to the t2 moment is used as the new subsequent marking data, the t2 moment is used as the new t1 moment, and the estimation module, the calculation module and the judgment module are run to obtain a new adaptive estimated delay.

[0021] The embodiment of this specification also provides an electronic device, including:

[0022] Processor; and

[0023] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform any one of the steps of the above method.

[0024] The embodiment of this specification also provides a storage medium, including:

[0025] The storage medium stores a processing program for adaptive time delay estimation for satellite positioning, and when the processing program for adaptive time delay estimation for satellite positioning is executed by the processor, any step of the above method is implemented.

[0026] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects:

[0027] The navigation satellite positioning result of the target is estimated through the motion model, and the error is compared with the positioning result collected by the navigation satellite, so as to obtain an adaptive time delay estimation result that can change with the actual time delay. Further based on the adaptive time delay estimation result, the satellite navigation positioning result data processing is made more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0029] Figure 1 A schematic diagram of a flow chart of an adaptive delay estimation method for satellite positioning provided in an embodiment of this specification;

[0030] Figure 2 A flowchart of a method for processing target navigation and positioning data provided by another embodiment of this specification;

[0031] Figure 3 A flowchart of a method for processing target navigation and positioning pre-order mark data provided in an embodiment of this specification;

[0032] Figure 4 A schematic diagram of an adaptive delay estimation device for satellite positioning provided by an embodiment of this specification. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of this specification more clear, the technical solutions of this specification will be clearly and completely described below in combination with the specific embodiments of this specification and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0034] The technical solutions provided by the embodiments of this specification are described in detail below in conjunction with the accompanying drawings.

[0035] Latency: Latency refers to the time required for satellite navigation positioning data to be transmitted from one end to another. It includes transmission delay, optical fiber transmission delay, network routing delay, device-side network card processing delay, communication transmission delay, etc.

[0036] Figure 1 This is a flow chart of an adaptive delay estimation method for satellite positioning provided in an embodiment of this specification. The method can be executed by a processor mounted on a navigation satellite or a processor mounted on a ground target. Figure 1 , the method may specifically include the following steps:

[0037] Step 102: Obtain the target navigation and positioning result corresponding to time t0 as the preceding mark data, and obtain the target navigation and positioning result corresponding to time t1 as the subsequent mark data, wherein time t1 is after time t0;

[0038] Among them, navigation and positioning refers to the technology of using navigation satellites to navigate and position users on the ground, ocean, air and space.

[0039] It should be noted that one implementation of step 102 may be:

[0040] At time t0, the navigation satellite collects the positioning result of a specific target on the ground as the target navigation positioning result and sends it to the processor. After the processor obtains the positioning result of the specific target at time t0, it marks the positioning result at time t0 as the preceding mark data. After a certain period of time, at time t1, the navigation satellite again collects the positioning result of the above-mentioned specific target and sends it to the processor. After the processor obtains the positioning result of the specific target at time t1, it marks the positioning result at time t1 as the following mark data.

[0041] Furthermore, in order to obtain a more real-time adaptive delay estimation result, this embodiment provides a limiting rule for the time between time t1 and time t0, which can be specifically implemented as follows:

[0042] t0+NT≤t1<t0+(N+1)T

[0043] Wherein, T represents the sampling period of the navigation satellite.

[0044] Based on this, by limiting the duration between time t1 and time t0 to one sampling period, the adaptive delay estimation result is also updated with one sampling period as the frequency, thereby ensuring that the delay estimation result is more real-time.

[0045] Step 104: Calculate T according to the preceding labeled data N The target navigation positioning estimation result at the moment, the T N The time refers to the Nth sampling time and is between time t0 and time t1;

[0046] It should be noted that one implementation of step 104 may be:

[0047] According to the target's previous marking data, the uniform motion model can be used to calculate the target's T between time t0 and time t1. N The estimated positioning result at time t0. That is, based on the spatial coordinates and coordinate axis velocity components of the previous marking data, it is calculated that the target will be at T0 after NT period. N The estimated positioning result at the moment.

[0048] Specifically, the following formula can be used for calculation:

[0049] ED NT =f(D prev , NT) = (X, Y, Z) prev +(Vx,Vy,Vz) prev ×NT

[0050] Among them, ED NT represents the estimated positioning result of the target at time TN, D prev Represents the preceding labeled data, (X, Y, Z) prev Represents the spatial coordinates of the preceding labeled data, (Vx, Vy, Vz) prev Represents the coordinate axis component of the preceding mark data, and NT represents N sampling interval periods.

[0051] Based on this, this embodiment uses a uniform motion model to obtain an estimated positioning result of the target at a certain moment in a sampling period. Based on this estimated positioning result, the target positioning result collected by the navigation satellite can be compared, and the errors between the two can be processed to finally obtain a more accurate navigation satellite positioning result.

[0052] The use of a uniform motion model to obtain a target navigation and positioning estimation result proposed in this embodiment is one implementation method provided in this specification. Other algorithms that can obtain a target navigation and positioning estimation result can be used as implementation methods of this specification.

[0053] Step 106: Calculate the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data;

[0054] It should be noted that one implementation of step 106 may be:

[0055] The target calculated according to step 104 is T N The estimated results of navigation and positioning at all times, including the target at T N The spatial coordinates (X, Y, Z) and coordinate axis velocity components (Vx, Vy, Vz) at time t1 and the positioning result at time t1 marked as subsequent marking data are used to calculate the adaptive estimated delay of the target.

[0056] In the process of calculating the adaptive estimation delay of the target, the least square method can be used. The least square method (also known as the least square method) is a mathematical optimization technique. It finds the best function match for the data by minimizing the sum of squares of the errors. The least square method can be used to easily obtain unknown data and minimize the sum of squares of the errors between the obtained data and the actual data. The specific calculation formula is as follows:

[0057] ΔT=min∑(ED NT -D next ) 2 .

[0058] Among them, ED NT Indicates T N The target navigation and positioning estimation result at the moment, D next represents the subsequent marked data, and ΔT represents the calculated adaptive estimated delay.

[0059] Based on this, this embodiment obtains the minimum error between the target navigation positioning estimation result and the subsequent marking data, and obtains the adaptive estimated delay. Therefore, the satellite navigation positioning result can be corrected according to the obtained adaptive estimated delay to obtain a more accurate navigation positioning result.

[0060] The least square method proposed in this embodiment for calculating the adaptive estimated delay is one implementation method provided in this specification. Other algorithms that can obtain the adaptive estimated delay can be used as implementation methods of this specification.

[0061] Step 108, determining whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1;

[0062] It should be noted that one implementation of step 108 may be:

[0063] At time t2, the navigation satellite again performs the task of collecting the positioning results of the above-mentioned target, and determines whether the navigation satellite has collected the corresponding target positioning results.

[0064] Step 110. If so, use the subsequent marking data as the new preceding marking data, use the time t1 as the new time t0, use the target navigation positioning result corresponding to the time t2 as the new subsequent marking data, use the time t2 as the new time t1, and execute the step 104110 to obtain a new adaptive estimated delay.

[0065] It should be noted that one implementation of step 110 may be:

[0066] At time t2, if the navigation satellite collects the positioning result of the target, the processor marks the subsequent marking data as the new preceding marking data, and regards the above t1 as the new t0; at the same time, the target positioning result collected at time t2 is marked as the new subsequent marking data, and the t2 is regarded as the new t1. According to the new t0, the new t1, the new preceding marking data, and the new subsequent marking data, the processor executes steps 104 to 110, thereby calculating a new adaptive estimated delay.

[0067] At time t2, if the navigation satellite does not collect the positioning result of the above target, the processor will no longer execute steps 104 to 110, and the process ends.

[0068] To summarize, in an embodiment of the present invention, the navigation satellite positioning result of the target is estimated through a motion model, and the error is compared with the positioning result collected by the navigation satellite, so as to obtain an adaptive time delay estimation result that can change with the actual time delay. Further based on the adaptive time delay estimation result, the satellite navigation positioning result data processing is made more accurate.

[0069] Figure 2 A flowchart of a method for processing target navigation and positioning data is provided in accordance with an embodiment of the present specification. The method may specifically include the following steps:

[0070] Step 202: Obtaining acceleration parameters of the target according to the preceding marked data and the subsequent marked data;

[0071] Among them, the preceding marked data refers to the target navigation positioning result D corresponding to time t0 prev , the subsequent marked data refers to the target navigation positioning result D corresponding to time t1 next The target navigation and positioning results include the target's spatial coordinates (X, Y, Z) and the coordinate axis velocity components (Vx, Vy, Vz). The acceleration parameter refers to the physical quantity a that describes how fast the object's speed changes.

[0072] It should be noted that one implementation of step 202 may be:

[0073] Through the previous data D prev Coordinate axis velocity components (Vx, Vy, Vz) prev With subsequent labeled data D next Coordinate axis velocity components (Vx, Vy, Vz) next Subtract and get the previous data D prev With subsequent labeled data D next The difference of the velocity components of the coordinate axes (ΔVx, ΔVy, ΔVz) is calculated, and then the time difference Δt between time t0 and time t1 is calculated. Finally, the difference of the velocity components of the coordinate axes (ΔVx, ΔVy, ΔVz) is divided by the time difference Δt to obtain the acceleration parameter a.

[0074] a=[(Vx,Vy,Vz) next -(Vx, Vy, Vz) prev ] / (t1-t0)

[0075] Step 204: Calculate the target navigation and positioning data processing result at time t according to the acceleration parameter, the preceding mark data and the adaptive estimated delay.

[0076] The adaptive estimated delay refers to the adaptive estimated delay ΔT obtained by executing step 106 in Example 1, time t refers to any time between the time when the adaptive estimated delay is calculated and the time when the new adaptive estimated delay is obtained, and the target navigation positioning data processing result at time t refers to the result ED after the adaptive delay correction is performed on the target navigation positioning data at time t. t .

[0077] It should be noted that one implementation of step 204 may be:

[0078] Calculate the target's preceding data axis velocity components (Vx, Vy, Vz) prev The product of the time length t+Δt is used to obtain the displacement component of the target in a uniform speed state, and then the displacement component of the target in a uniformly accelerated motion state is calculated. Finally, the spatial coordinates (x, y, z) of the target's previous data and the displacement component of the target in a uniform speed state and the displacement component of the target in a uniformly accelerated motion state are obtained, and finally the target navigation positioning data processing result ED at time t is obtained. t .

[0079] ED t =f(D prev , D next , t+Δt)=(X, Y, Z) prev +(Vx,Vy,Vz) prev ×(t+Δt)+a 2 / 2×(t+Δt)

[0080] Based on this, in this embodiment, the adaptive time delay Δt is a time delay result that conforms to the actual movement of the target. The adaptive time delay Δt is introduced into the target navigation and positioning data processing, the displacement of the target within t+Δt is calculated, and the target navigation and positioning data is corrected using the displacement, so that the target navigation and positioning data is more accurate and more in line with the actual movement of the target.

[0081] Figure 3 A flowchart of a method for processing target navigation and positioning pre-marking data is provided in an embodiment of the present specification. The method may specifically include the following steps:

[0082] Step 302: Obtaining acceleration parameters of the target according to the preceding marked data and the subsequent marked data;

[0083] Among them, the preceding marked data refers to the target navigation positioning result D corresponding to time t0 prev , the subsequent marked data refers to the target navigation positioning result D corresponding to time t1 next ,The target navigation and positioning results include the target's spatial coordinates (x, y, z) and the coordinate axis velocity components (Vx, Vy, Vz). The acceleration parameter refers to the physical quantity a that describes how fast the object's speed changes.

[0084] It should be noted that one implementation of step 302 may be:

[0085] Through the previous data D prev Coordinate axis velocity components (Vx, Vy, Vz) prev With subsequent labeled data D next Coordinate axis velocity components (Vx, Vy, Vz) next Subtract and get the previous data D prev With subsequent labeled data D next The difference of the velocity components of the coordinate axes (ΔVx, ΔVy, ΔVz) is calculated, and then the time difference Δt between time t0 and time t1 is calculated. Finally, the difference of the velocity components of the coordinate axes (ΔVx, ΔVy, ΔVz) is divided by the time difference Δt to obtain the acceleration parameter a.

[0086] a=[(Vx,Vy,Vz) next -(Vx, Vy, Vz) prev ] / (t1-t0)

[0087] Step 304: modify the preceding mark data according to the acceleration parameter, the preceding mark data and the adaptive estimated delay.

[0088] The adaptive estimated delay refers to the adaptive estimated delay ΔT obtained by executing step 106 in Example 1, and the correction of the preceding mark data refers to adding the displacement component of the target within the adaptive delay ΔT based on the spatial coordinates (x, y, z) of the preceding mark data.

[0089] It should be noted that one implementation of step 304 may be:

[0090] Calculate the target's preceding data axis velocity components (Vx, Vy, Vz) prev The product of the adaptive time delay Δt is used to obtain the displacement component of the target in a uniform speed state, and then the displacement component of the target in a uniformly accelerated motion state is calculated. Finally, the spatial coordinates (x, y, z) of the target's pre-order data and the displacement component of the target in a uniform speed state and the displacement component of the target in a uniformly accelerated motion state are obtained, and finally the pre-order data processing result ED of the target is obtained. t ′.

[0091] ED t ′=f(D prev , D next , Δt) = (X, Y, Z) prev +(Vx,Vy,Vz) prev ×(Δt)+ a 2 / 2×(Δt)

[0092] Based on this, in this embodiment, the displacement of the target within the adaptive delay Δt is calculated, and the preceding data of the target is corrected using the displacement, so that the preceding data of the target can also be corrected and the preceding data is more accurate.

[0093] Figure 4 This is a schematic diagram of an adaptive delay estimation device for satellite positioning provided in an embodiment of this specification. The device includes a collection module, an estimation module, a calculation module and a judgment module. Figure 4 , the device may specifically include:

[0094] The acquisition module 402 is used to obtain the target navigation and positioning result corresponding to the time t0 as the preceding marking data, and obtain the target navigation and positioning result corresponding to the time t1 as the subsequent marking data, wherein the time t1 is after the time t0;

[0095] The estimation module 404 is used to calculate T according to the preceding marked data. N The target navigation positioning estimation result at the moment, the T N The time refers to the Nth sampling time and is between time t0 and time t1;

[0096] A calculation module 406 is used to calculate an adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data;

[0097] A judgment module 408 is used to judge whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1;

[0098] If so, the subsequent marking data is used as the new preceding marking data, the t1 moment is used as the new t0 moment, the target navigation positioning result corresponding to the t2 moment is used as the new subsequent marking data, the t2 moment is used as the new t1 moment, and the estimation module, the calculation module and the judgment module are run to obtain a new adaptive estimated delay.

[0099] Based on this, the navigation satellite positioning result of the target is estimated through the motion model, and the error is compared with the positioning result collected by the navigation satellite, so as to obtain an adaptive time delay estimation result that can change with the actual time delay. Further based on the adaptive time delay estimation result, the satellite navigation positioning result data processing is made more accurate.

[0100] Optionally, the device further includes an application module, including:

[0101] Used to obtain acceleration parameters of a target according to the preceding marking data and the subsequent marking data;

[0102] Calculate the target navigation and positioning data processing result at time t according to the acceleration parameter, the preceding mark data and the adaptive estimated delay;

[0103] The time t refers to any time between the time when the adaptive estimated delay is calculated and the time when the new adaptive estimated delay is obtained.

[0104] Based on this, by introducing adaptive time delay in the processing of target navigation and positioning results, the displacement of the target after a certain period of time and with the adaptive time delay is calculated, and the target navigation and positioning data is corrected using the displacement, so that the target navigation and positioning data is more accurate and more in line with the actual movement of the target.

[0105] Optionally, the device further includes a correction module, including:

[0106] Used to obtain acceleration parameters of a target according to the preceding marking data and the subsequent marking data;

[0107] The preceding mark data is modified according to the acceleration parameter, the preceding mark data and the adaptive estimated delay.

[0108] Based on this, in this embodiment, the displacement of the target within the adaptive time delay is calculated, and the displacement is used to correct the target's pre-order data, so that the target's pre-order data can also be corrected, and the pre-order data is more accurate. In another feasible embodiment, this embodiment provides an adaptive time delay estimation device for satellite positioning, and the device may specifically include:

[0109] Processor; and

[0110] A memory arranged to store computer executable instructions, which, when executed, cause the processor to perform the steps in any of the above method embodiments.

[0111] In another feasible embodiment, this embodiment provides an adaptive delay estimation storage medium for satellite positioning, and the storage medium may specifically include:

[0112] The storage medium stores a processing program for adaptive time delay estimation for satellite positioning, and when the processing program for adaptive time delay estimation for satellite positioning is executed by the processor, the steps in any of the above method embodiments are implemented.

[0113] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An adaptive delay estimation method for satellite positioning, characterized in that: include: S1, obtaining the target navigation and positioning result corresponding to time t0 as the preceding marking data, and obtaining the target navigation and positioning result corresponding to time t1 as the subsequent marking data, wherein time t1 is after time t0; S2. Calculate T according to the preceding tag data. N The target navigation positioning estimation result at the moment, the T N The time refers to the Nth sampling time and is between time t0 and time t1; S3, calculating an adaptive estimated delay according to the target navigation positioning estimation result and the subsequent marking data; S4, determining whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1; If so, the subsequent marking data is used as the new preceding marking data, the time t1 is used as the new time t0, the target navigation positioning result corresponding to the time t2 is used as the new subsequent marking data, the time t2 is used as the new time t1, and steps S2-S4 are executed to obtain a new adaptive estimated delay.

2. The method according to claim 1, characterized in that The step of calculating the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data includes: ΔT=min∑(ED NT -D next ) 2 。 Among them, ED NT represents the target navigation and positioning estimation result, D next represents the subsequent marking data, and ΔT represents the calculated adaptive estimated delay.

3. The method according to claim 1, characterized in that After calculating the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data, the method further includes: Obtaining acceleration parameters of a target according to the preceding marking data and the subsequent marking data; Calculate the target navigation and positioning data processing result at time t according to the acceleration parameter, the preceding mark data and the adaptive estimated delay; The time t refers to any time between the time when the adaptive estimated delay is calculated and the time when the new adaptive estimated delay is obtained.

4. The method according to claim 3, characterized in that: The preceding marking data includes: the spatial coordinates of the target and the velocity components of the coordinate axis; The step of calculating the target navigation and positioning data processing result at time t according to the acceleration parameter, the preceding mark data and the adaptive estimated delay includes: Based on the spatial coordinates and coordinate axis velocity components of the target of the preceding marking data, combined with the adaptive estimation delay, determine the navigation positioning result of the target under a uniform speed state; Based on the acceleration parameter and in combination with the adaptive estimation delay, the navigation and positioning result of the target in the uniform speed state is adjusted to obtain the target navigation and positioning data processing result.

5. The method according to claim 1, characterized in that After calculating the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data, the method further includes: Obtaining acceleration parameters of a target according to the preceding marking data and the subsequent marking data; The preceding mark data is modified according to the acceleration parameter, the preceding mark data and the adaptive estimated delay.

6. The method according to claim 1, characterized in that The relationship between time t1 and time t0 is: t0+NT≤t1 <t0+(N+1)T Wherein, T represents the sampling period of the navigation satellite.

7. An adaptive delay estimation device for satellite positioning, characterized in that: include: An acquisition module is used to obtain a target navigation and positioning result corresponding to time t0 as the preceding marking data, and obtain a target navigation and positioning result corresponding to time t1 as the subsequent marking data, wherein time t1 is after time t0; The estimation module is used to calculate T according to the preceding labeled data. N The target navigation positioning estimation result at the moment, the T N The time refers to the Nth sampling time and is between time t0 and time t1; A calculation module, used for calculating the adaptive estimation delay according to the target navigation positioning estimation result and the subsequent marking data; A judgment module, used to judge whether there is a target navigation positioning result corresponding to time t2, where time t2 is after time t1; If so, the subsequent marking data is used as the new preceding marking data, the t1 moment is used as the new t0 moment, the target navigation positioning result corresponding to the t2 moment is used as the new subsequent marking data, the t2 moment is used as the new t1 moment, and the estimation module, the calculation module and the judgment module are run to obtain a new adaptive estimated delay.

8. An electronic device, characterized in that: include: processor; and a memory arranged to store computer executable instructions which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 6.

9. A storage medium, characterized in that: include: The storage medium stores a processing program for adaptive time delay estimation for satellite positioning, and the processing program for adaptive time delay estimation for satellite positioning implements the method steps as described in any one of claims 1 to 6 when executed by the processor.

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