Gnss receiver, power saving method thereof, stationary determination method, and storage medium

Abstract

The application provides a GNSS receiver and an energy-saving method, a static state determining method and a storage medium thereof. The method comprises the following steps: selecting four satellites and recording the pseudo distances of the satellites; for each satellite, subtracting the pseudo distance of each epoch from the pseudo distance of the previous epoch to obtain epoch difference data; subtracting the epoch difference data of the other three satellites from the epoch difference data corresponding to the satellite with the highest signal-to-noise ratio to obtain difference difference data; performing time difference between epochs on the three groups of difference difference data to obtain difference time difference data; for each group of difference time difference data, selecting 2N epochs and determining whether the change curvatures of the front and rear N epochs are consistent; if yes, the receiver is in a static state, the acquisition of other satellites is stopped, and positioning calculation is skipped. The technical scheme uses simple data processing to determine the static state of the receiver, avoids subsequent complicated calculation when the receiver is static, and saves energy consumption.

Description

Technical Field

[0001] This invention relates to power-saving technology for satellite receivers, and more particularly to a GNSS receiver and its power-saving method, a method for determining stationary status, and a storage medium. Background Technology

[0002] A Global Navigation Satellite System (GNSS) is a satellite-based radio navigation system that provides a time / space reference and all real-time dynamic information related to position. Currently, existing GNSS receivers acquire all available satellites over extended periods and then select the usable ones for positioning calculations, resulting in significant energy consumption. Furthermore, this repetitive positioning process causes unnecessary energy consumption when the receiver is stationary for extended periods. Summary of the Invention

[0003] The embodiments of the present invention provide a GNSS receiver and its power-saving method, a method for determining whether the receiver is stationary by performing simple data processing on the pseudorange of the selected satellite, and stop capturing other satellites other than the selected satellite when the receiver is stationary, and skip positioning calculations, thus avoiding repetitive and tedious calculations.

[0004] To achieve the above objectives, one approach is to provide a power-saving method for a GNSS receiver, comprising:

[0005] Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period.

[0006] Step S2: For each of the four satellites, the pseudorange epoch difference data of each satellite within a predetermined time length is obtained by subtracting the pseudorange of the previous epoch from the pseudorange of each epoch.

[0007] Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites to obtain three sets of difference data.

[0008] Step S4: Perform interepoch time difference on the three sets of difference difference data obtained in step S3 again to obtain three sets of difference time difference data.

[0009] Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epochs of data in each set is consistent with the curvature of the last N epochs of data. If so, determine that the GNSS receiver is in a stationary state, stop capturing all satellites except the four satellites, and skip the positioning calculation of the GNSS receiver.

[0010] Preferably, in the power-saving method, in step S5, after determining that the GNSS receiver is in a stationary state, stopping the acquisition of all satellites except the four satellites, and skipping the positioning calculation of the GNSS receiver, steps S1 to S5 are repeated. If it is found that in the three sets of differential time difference data, at least one set of differential time difference data has a curvature of change of the first N epoch data that is inconsistent with the curvature of change of the last N epoch data, then the four satellites are used to perform preliminary positioning calculation, and the acquisition of other satellites besides these four satellites begins.

[0011] Preferably, in the power-saving method, step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes:

[0012] Calculate the standard deviation of the first N historical data and the standard deviation of the last N historical data;

[0013] Determine whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold; if so, determine that the curvature of change of the first N epoch data is consistent with the curvature of change of the last N epoch data; otherwise, determine that the curvature of change of the first N epoch data is inconsistent with the curvature of change of the last N epoch data.

[0014] Preferably, in the power-saving method, the difference threshold is 3%.

[0015] Preferably, in the power-saving method, in step S1, the four satellites with the highest signal-to-noise ratios are selected from the multiple satellites connected to the GNSS receiver, based on their signal-to-noise ratio rankings, with the highest signal-to-noise ratio ranked first.

[0016] On the other hand, a method for determining the stationarity of a GNSS receiver is provided, including:

[0017] Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period.

[0018] Step S2: For each of the four satellites, the pseudorange epoch difference data of each satellite within a predetermined time length is obtained by subtracting the pseudorange of the previous epoch from the pseudorange of each epoch.

[0019] Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites to obtain three sets of difference data.

[0020] Step S4: Perform interepoch time difference on the three sets of difference difference data obtained in step S3 again to obtain three sets of difference time difference data.

[0021] Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epoch data and the curvature of the last N epoch data are consistent for each set; if so, determine that the GNSS receiver is in a stationary state.

[0022] Preferably, in the static determination method, step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes:

[0023] Calculate the standard deviation of the first N historical data and the standard deviation of the last N historical data;

[0024] Determine whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold; if so, determine that the curvature of change of the first N epoch data is consistent with the curvature of change of the last N epoch data; otherwise, determine that the curvature of change of the first N epoch data is inconsistent with the curvature of change of the last N epoch data.

[0025] Preferably, in the stationary determination method, in step S1, the four satellites with the highest signal-to-noise ratios are selected from multiple satellites connected to the GNSS receiver, based on their signal-to-noise ratio rankings, with the highest signal-to-noise ratio ranked first.

[0026] In another aspect, a GNSS receiver is provided, including a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the power-saving method or the stationary determination method as described above.

[0027] In another aspect, a computer-readable storage medium is provided, wherein at least one program is stored therein, the at least one program being executed by a processor to implement the power-saving method or the static determination method as described above.

[0028] The above technical solution has the following technical effects:

[0029] The technical solution of this invention determines whether the receiver is stationary by performing simple data processing on the pseudorange of the selected satellite. When the receiver is stationary, it stops acquiring other satellites besides the selected satellite and skips the positioning calculation, thus avoiding subsequent tedious calculations and saving power consumption.

[0030] Specifically, for shipborne GNSS receivers, when the GNSS receiver is stationary, the ship is generally also stationary. At this time, it is not necessary to repeatedly locate the ship. In this case, the acquisition of satellites other than the selected satellite is stopped and the positioning calculation is skipped, saving the receiver's energy consumption.

[0031] Similarly, the technical solution of this invention is also applicable to vehicle-mounted satellite receivers. When a vehicle is parked on the roadside for an extended period, the technical solution of this invention can be used to skip tedious calculations and multi-satellite acquisition, thereby reducing energy consumption. Existing receiver positioning methods do not consider reducing energy consumption; they acquire all available satellites over a long period and select usable satellites for positioning calculations, which is unnecessary energy consumption when the receiver is stationary for extended periods. This technology acquires four satellites and performs simple data processing for pseudorange, replacing tedious calculations in a stationary state, greatly reducing energy consumption. Attached Figure Description

[0032] Figure 1 This is a flowchart illustrating a power-saving method for a GNSS receiver according to an embodiment of the present invention.

[0033] Figure 2 and Figure 3 Example of pseudorange variation over time for four selected satellites in a power-saving method according to an embodiment of the present invention;

[0034] Figure 4 and Figure 5 In a power-saving method according to an embodiment of the present invention, an example of the pseudo-range epoch difference data obtained by processing the four selected satellites in step S2, namely the curve of the pseudo-range difference value changing with time.

[0035] Figure 6 and Figure 7 An example of the curves showing the change of three sets of differential difference data over time obtained after processing in step S3 in a power-saving method according to an embodiment of the present invention.

[0036] Figure 8 and Figure 9 An example of the curves showing the change of three sets of time difference data over time obtained after processing in step S4 in a power-saving method according to an embodiment of the present invention.

[0037] Figure 10 This is a schematic diagram of the structure of a GNSS receiver according to an embodiment of the present invention. Detailed Implementation

[0038] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0039] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0040] Example 1:

[0041] Figure 1 This is a flowchart illustrating a power-saving method for a GNSS receiver according to an embodiment of the present invention. Figure 1 The determination method in this embodiment includes the following steps:

[0042] Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period.

[0043] Pseudorange refers to the distance between a satellite and a receiver. Because of ionospheric errors, tropospheric errors, and other factors, this value differs from the true value, hence the name pseudorange.

[0044] Preferably, in step S1, the satellites with the highest signal-to-noise ratios are ranked first, and the four satellites with the highest signal-to-noise ratios are selected from the multiple satellites connected to the GNSS receiver. That is, the four satellites with the best signal-to-noise ratios are selected, and their pseudorange changes are recorded.

[0045] Figure 2 and Figure 3 Here are examples of pseudorange curves over time for four selected satellites; where, Figure 2 The pseudorange variation curve of a GNSS receiver in a stationary state; Figure 3 The graph shows the pseudorange variation curve of a GNSS receiver in motion; the horizontal axis represents time, and the vertical axis represents the recorded pseudorange value.

[0046] Step S2: For each of the four satellites mentioned above, the pseudorange of each epoch is subtracted from the pseudorange of the previous epoch to perform time difference between epochs, thereby obtaining pseudorange epoch difference data for each satellite within a predetermined time length; through this step, the change value of the satellite's pseudorange over time (epoch) can be calculated.

[0047] Figure 4 and Figure 5 Example of a curve showing the pseudorange epoch difference data (i.e., the pseudorange difference value) changing over time after processing the selected four satellites in step S2; where, Figure 4 The curve showing the change of pseudorange epoch differential data over time when the GNSS receiver is stationary. Figure 5 The graph shows the change of pseudorange epoch difference data over time when the GNSS receiver is in motion; the horizontal axis represents time, and the vertical axis represents the acquired pseudorange epoch difference data, i.e., the pseudorange difference between the current epoch or the previous epoch.

[0048] from Figure 4 and Figure 5 It can be seen that when the receiver is stationary, the slope of the pseudorange difference change is a constant value in a short period of time; when the receiver is in motion, the slope of the pseudorange difference change.

[0049] Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites obtained in step S2, to obtain three sets of difference data.

[0050] Although the change in pseudorange difference obtained in step S2 can be used to make a preliminary judgment on the receiver status, the judgment conditions cannot be quantified due to the existence of various errors. Therefore, the data obtained in step S2 needs to be further processed in subsequent steps. Step S3 eliminates the receiver error. The changes in ionospheric error and tropospheric error are not significant in a short period of time, so these errors can be eliminated through step S3.

[0051] Figure 6 and Figure 7 Here are examples of curves showing the changes in the three sets of difference data obtained after step S3 over time; where, Figure 6 Example of curves showing the change of three sets of differential difference data over time when the GNSS receiver is stationary; Figure 7 The figure shows three sets of differential difference data when the GNSS receiver is in motion; the horizontal axis represents time, and the vertical axis represents the differential difference data obtained in step S3.

[0052] Step S4: Perform inter-epoch time difference on the three sets of difference difference data obtained in step S3 to obtain three sets of difference time difference data; specifically, subtract the difference difference data value of the previous epoch from the difference difference data value of each epoch.

[0053] In order to determine the slope of the value obtained in step S3, in step S4, the value of the previous epoch is subtracted from the value of the current epoch.

[0054] Figure 8 and Figure 9 Here are examples of curves showing the change of three sets of time difference data obtained after processing in step S4 over time; where, Figure 8 Example of a curve when the GNSS receiver is stationary; Figure 9 The curve represents the GNSS receiver in motion; the horizontal axis represents time, and the vertical axis represents the time difference data obtained in step S4.

[0055] Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epochs of data in each set is consistent with the curvature of the last N epochs of data. If so, determine that the GNSS receiver is in a stationary state, stop acquiring all satellites except the four satellites mentioned above, and skip the positioning calculation of the GNSS receiver.

[0056] For example, the difference time difference data value of 120 epochs is selected, that is, N is 60 in this example. It is judged whether the rate of change of the data of the preceding and following 60 epochs is consistent. If they are consistent, it is determined that the receiver is in a stationary state; otherwise, it is determined that the receiver is in a moving state. As needed, N can take other different values. Generally speaking, the larger N is, the more reliable the judgment result. According to a large amount of data processing, it can be seen that the judgment result when N=60 has extremely high reliability.

[0057] Propagation noise is a type of white noise, and its impact will decrease over time. Through steps S4 and S5, after a certain period of accumulation, the judgment error caused by propagation noise can be further eliminated, ensuring the accuracy of the judgment.

[0058] Preferably, in step S5, after determining that the GNSS receiver is in a stationary state, stopping the acquisition of all satellites other than the four satellites, and skipping the positioning calculation of the GNSS receiver, steps S1 to S5 are repeated. If it is found that in the three sets of differential time difference data, at least one set of differential time difference data has a curvature of change of the first N epoch data that is inconsistent with the curvature of change of the last N epoch data, then the four satellites are used to perform preliminary positioning calculation, and the acquisition of other satellites other than these four satellites begins.

[0059] Preferably, in step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes: calculating the standard deviation of the first N epoch data and the standard deviation of the last N epoch data; determining whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold, such as 3%; if so, it is determined that the curvature of change is consistent; otherwise, it is determined that the curvature of change is inconsistent. The difference threshold can be selected as needed.

[0060] Example 2:

[0061] This invention also provides a method for determining the stationary state of a GNSS receiver, comprising:

[0062] Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period.

[0063] Step S2: For each of the four satellites mentioned above, the pseudorange epoch difference data of each satellite within a predetermined time length is obtained by subtracting the pseudorange of the previous epoch from the pseudorange of each epoch.

[0064] Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites to obtain three sets of difference data.

[0065] Step S4: Perform interepoch time difference again on the three sets of difference difference data obtained in step S3 to obtain three sets of difference time difference data.

[0066] Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epoch data and the curvature of the last N epoch data are consistent for each set; if so, determine that the GNSS receiver is in a stationary state.

[0067] Preferably, in the above-described determination method, step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes: calculating the standard deviation of the first N epoch data and the standard deviation of the last N epoch data; determining whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold; if so, then it is determined that the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data; otherwise, it is determined that the two curvatures are inconsistent. In specific implementation, the determination of consistent curvature can adopt the standard deviation determination method in Embodiment 1 above, which will not be repeated here.

[0068] Preferably, in the above-mentioned method for determining stationary status, in step S1, satellites with the highest signal-to-noise ratio are ranked first, and the four satellites with the highest signal-to-noise ratio are selected from the multiple satellites connected to the GNSS receiver.

[0069] The power-saving method for a GNSS receiver in Embodiment 1 of the present invention uses the above-described method for determining whether the receiver is stationary to determine whether it is stationary, and takes possible energy-saving operations when it is stationary, such as stopping the acquisition of other satellites besides those involved in the stationary determination and stopping positioning calculations, until the determination of the receiver's stationary state ends.

[0070] Example 3:

[0071] The present invention also provides a GNSS receiver. In addition to the conventional hardware and software modules for receiving satellite data, the receiver further includes a processor 1001, a memory 1002, a bus 1003, and a computer program stored in the memory 1002 and executable on the processor 1001. The processor 1001 includes one or more processing cores. The memory 1002 is connected to the processor 1001 via the bus 1003 and is used to store program instructions. When the processor executes the computer program, it implements the steps in the above-described power-saving method or static determination method embodiment of the present invention.

[0072] Furthermore, as an executable solution, the device for determining whether the satellite receiver is stationary can be a computer unit, which can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0073] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0074] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0075] Example 4:

[0076] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the power-saving methods or static determination methods described above in the embodiments of the present invention.

[0077] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0078] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A power-saving method for a GNSS receiver, characterized in that, include: Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period. Step S2: For each of the four satellites, the pseudorange epoch difference data of each satellite within a predetermined time length is obtained by subtracting the pseudorange of the previous epoch from the pseudorange of each epoch. Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites to obtain three sets of difference data. Step S4: Perform interepoch time difference on the three sets of difference difference data obtained in step S3 again to obtain three sets of difference time difference data. Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epoch data and the curvature of the last N epoch data are consistent for each set. If so, the GNSS receiver is determined to be in a stationary state, the acquisition of all satellites except the four satellites is stopped, and the positioning calculation of the GNSS receiver is skipped. In step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes: Calculate the standard deviation of the first N historical data and the standard deviation of the last N historical data; Determine whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold; if so, determine that the curvature of change of the first N epoch data is consistent with the curvature of change of the last N epoch data; otherwise, determine that the curvature of change of the first N epoch data is inconsistent with the curvature of change of the last N epoch data.

2. The power-saving method according to claim 1, characterized in that, In step S5, after determining that the GNSS receiver is in a stationary state, stopping the acquisition of all satellites except the four satellites, and skipping the positioning calculation for the GNSS receiver, steps S1 to S5 are repeated. If it is found that the curvature of the first N epoch data in at least one of the three sets of differential time difference data is inconsistent with the curvature of the last N epoch data, then the four satellites are used to perform preliminary positioning calculations, and the acquisition of other satellites besides these four satellites begins.

3. The power-saving method according to claim 1, characterized in that, The difference threshold is 3%.

4. The power-saving method according to claim 1, characterized in that, In step S1, the satellites with the highest signal-to-noise ratios are ranked according to their signal-to-noise ratios, with the highest signal-to-noise ratios ranked first. The four satellites with the highest signal-to-noise ratios among the multiple satellites connected to the GNSS receiver are selected.

5. A method for determining stationary status in a GNSS receiver, characterized in that, include: Step S1: Select four satellites that meet the preset signal-to-noise ratio conditions from multiple satellites connected to the GNSS receiver, and record the pseudorange between the four selected satellites and the GNSS receiver within a predetermined time period. Step S2: For each of the four satellites, the pseudorange epoch difference data of each satellite within a predetermined time length is obtained by subtracting the pseudorange of the previous epoch from the pseudorange of each epoch. Step S3: Subtract the pseudo-range epoch difference data of the other three satellites from the pseudo-range epoch difference data of the satellite with the highest signal-to-noise ratio among the four satellites to obtain three sets of difference data. Step S4: Perform interepoch time difference on the three sets of difference difference data obtained in step S3 again to obtain three sets of difference time difference data. Step S5: For each of the three sets of time difference data obtained in step S4, select an even number of 2N epochs of data, where N is a natural number, and determine whether the curvature of the first N epoch data and the curvature of the last N epoch data are consistent for each set. If so, the GNSS receiver is determined to be in a stationary state; In step S5, determining whether the curvature of the change in the first N epoch data is consistent with the curvature of the change in the last N epoch data includes: Calculate the standard deviation of the first N historical data and the standard deviation of the last N historical data; Determine whether the difference between the standard deviation of the first N epoch data and the standard deviation of the last N epoch data is less than a predetermined difference threshold; if so, determine that the curvature of change of the first N epoch data is consistent with the curvature of change of the last N epoch data; otherwise, determine that the curvature of change of the first N epoch data is inconsistent with the curvature of change of the last N epoch data.

6. The method for determining stillness according to claim 5, characterized in that, In step S1, the satellites with the highest signal-to-noise ratios are ranked according to their signal-to-noise ratios, with the highest signal-to-noise ratios ranked first. The four satellites with the highest signal-to-noise ratios among the multiple satellites connected to the GNSS receiver are selected.

7. A GNSS receiver, characterized in that, It includes a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement the power-saving method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one program, which is executed by a processor to implement the power-saving method as described in any one of claims 1 to 4.

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