A method and device for determining whether a satellite receiver is stationary, and a storage medium

Abstract

The application provides a method for determining whether a satellite receiver is static, comprising the following steps: S1, selecting three satellites satisfying preset conditions, and recording the pseudo distances or carrier phases of the satellites within a predetermined time T; S2, performing epoch difference on the recorded pseudo distances or carrier phases to obtain time difference data corresponding to the three satellites respectively; S3, subtracting the time difference data of one group from the time difference data of the other two groups in the three groups of time difference data to obtain two groups of difference data after subtraction; S4, splitting the obtained two groups of difference data into two groups of data with equal number respectively; and S5, calculating the variance values of the two groups of data split from the two groups of difference data respectively, and determining that the satellite receiver is in a static state if the difference between the calculated variance values is within a predetermined threshold. By using the above technical scheme, whether the satellite receiver is in a static state can be determined by using simple data processing, and complicated calculation is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of satellite receiver static determination, in particular to a satellite receiver static determination method, device and storage medium. BACKGROUND

[0002] The satellite receiver acquires and tracks signals of multiple satellites, demodulates navigation message data such as satellite orbit parameters and satellite-borne atomic clock model from the signals, then calculates satellite position, velocity and time parameters at a certain time, and finally estimates the position and velocity of the receiver by integrating satellite measurement values.

[0003] The traditional satellite receiver static state detection method directly uses the amplitude of the estimated velocity of the receiver to make a judgment, mainly adopting two strategies: the first strategy is to calculate the amplitude of the velocity at the kth time, if the amplitude of the velocity exceeds a predetermined threshold, it is judged that the satellite receiver is in a moving state at the kth time; otherwise, it is in a static state. The second strategy is to additionally design an estimator, such as a least squares estimator, to calculate the instantaneous velocity of the receiver using the latest measurement value at the kth time before applying the static state. Both of the two traditional judgment strategies involve velocity calculation, which generally has a large amount of calculation, thereby causing a large load on the hardware device. SUMMARY

[0004] Embodiments of the present application provide a satellite receiver static determination method, device and storage medium to determine whether the satellite receiver is in a static state through simple data processing, thereby reducing the amount of calculation.

[0005] To achieve the above-mentioned purpose, on the one hand, a satellite receiver static determination method is provided, comprising:

[0006] Step S1, selecting three satellites satisfying a predetermined satellite elevation angle condition and a predetermined signal-to-noise ratio condition, and recording the pseudoranges or carrier phases of the selected three satellites with respect to the satellite receiver within a predetermined time length T;

[0007] Step S2, epoch-differencing the recorded pseudoranges or carrier phases of the three satellites to obtain three groups of time-difference data corresponding to the three satellites respectively;

[0008] Step S3, subtracting the time-difference data of one group from the time-difference data of the other two groups in the three groups of time-difference data respectively to obtain two groups of difference data A and B after subtraction;

[0009] Step S4, splitting the obtained two groups of difference data A and B into two groups of data with equal number of data respectively;

[0010] Step S5, for the A, B two groups of difference data, respectively, calculate the variance of the split of the two groups of data before and after the data, if the difference value of the variance value calculated for the A, B two groups of difference data is within the predetermined difference threshold, it is determined that the satellite receiver is in a stationary state.

[0011] Preferably, wherein, in step S4, when the A, B two groups of difference data contain an odd number of data, select an even number of data from the odd number of difference data to split into two groups of data before and after the same number.

[0012] Preferably, wherein, the method further comprises: when it is determined that the satellite receiver is in a stationary state, stopping the positioning calculation of the satellite receiver.

[0013] Preferably, wherein, after step S5, further comprising:

[0014] Step S6, when the difference value of the variance value calculated for the A, B two groups of difference data exceeds the predetermined difference threshold, it is determined that the satellite receiver is in a moving state, the satellite receiver positioning calculation is resumed, and the step S1 is returned.

[0015] Preferably, wherein, in step S3, any one of the three groups of time difference data is selected to be subtracted by the time difference data of the remaining two groups or the time difference data of the satellite with the highest signal-to-noise ratio among the three satellites is selected to be subtracted by the time difference data of the remaining two groups.

[0016] In another aspect, a satellite receiver stationary determination device is provided, comprising a memory and a processor, the memory stores at least one program, the at least one program is executed by the processor to realize the method as described in any of the above.

[0017] In yet another aspect, a satellite receiver is provided, which comprises the satellite receiver stationary determination device as described above.

[0018] In yet another aspect, a computer readable storage medium is provided, the storage medium stores at least one program, the at least one program is executed by the processor to realize the method as described in any of the above.

[0019] In yet another aspect, a method for measuring satellite attitude is provided, which is used for measuring satellite attitude using two satellite receivers, comprising: using the satellite receiver stationary determination method as described above to determine whether the two satellite receivers are in a stationary state; if so, stopping the measurement calculation of the satellite attitude.

[0020] The above technical solutions have the following technical effects:

[0021] The technical scheme of the embodiment of the present application determines whether the satellite receiver is in a stationary state by simple data processing, avoids complicated calculation, and only needs to use the stationary state determination method of the embodiment of the present application when the satellite receiver is in a stationary state, without repeating the calculation of the position, i.e. without subsequent large amount of mathematical calculation, thereby reducing the load of the hard equipment and avoiding extra energy consumption.

[0022] In a further embodiment, the satellite receiver stationary state determination method of the embodiment of the present application is applied to a satellite attitude measurement method and device, and when it is determined that the two satellite receivers for satellite attitude measurement are both in a stationary state, the calculation of the attitude measurement result is not needed to be repeated. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 FIG. 1 is a flowchart of a satellite receiver stationary state determination method according to an embodiment of the present application;

[0024] Figure 2 FIG. 2 is a structural diagram of a satellite receiver stationary state determination device according to an embodiment of the present application. DETAILED DESCRIPTION

[0025] To further illustrate the embodiments, the present application provides accompanying drawings. These drawings are part of the disclosure of the present application, mainly used to illustrate the embodiments, and can be used to explain the operation principle of the embodiments in conjunction with the related description of the specification. Those of ordinary skill in the art should be able to understand other possible implementations and advantages of the present application by referring to these contents. The components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0026] The present application will be further described in conjunction with the accompanying drawings and specific embodiments.

[0027] Embodiment One:

[0028] Figure 1 FIG. 1 is a flowchart of a satellite receiver stationary state determination method according to an embodiment of the present application. As shown in FIG. 1, the determination method of this embodiment includes the following steps: Figure 1

[0029] Step S1, selecting three satellites satisfying a preset satellite elevation angle condition and a preset signal-to-noise ratio condition, and recording the pseudo-range or carrier phase of the selected three satellites to the satellite receiver within a predetermined time length T;

[0030] ​Specifically, the satellite elevation angle refers to the angle between the line connecting the satellite and the satellite receiver and the horizon; for example, as long as the satellite elevation angle is not close to 0° and 90°, the satellite is considered to satisfy the preset satellite elevation angle condition; in a specific implementation, one or two difference threshold values can be set; when the absolute value of the angle difference between the satellite elevation angle and 0° and 90° is greater than the predetermined difference threshold value, it is determined that the satellite satisfies the preset satellite elevation angle condition; of course, according to actual needs, other satellite elevation angle conditions can be preset;

[0031] For example, the preset signal-to-noise ratio condition can be to preset a signal-to-noise ratio threshold value, and the satellites with a signal-to-noise ratio higher than the signal-to-noise ratio threshold value are determined to satisfy the preset signal-to-noise ratio condition; or, the signal-to-noise ratios of the satellites can be sorted according to size, and the satellites with higher signal-to-noise ratios are ranked in front, and the top three satellites in the signal-to-noise ratio ranking are selected from the multiple satellites; in this case, the preset signal-to-noise ratio condition can be the top three satellites in the signal-to-noise ratio ranking; of course, according to actual needs, other signal-to-noise ratio conditions can be preset;

[0032] The predetermined time length T can be selected to have different values according to needs, and generally the longer T is, the higher the accuracy of the judgment is; for example, T can be selected to be 1-10 min;

[0033] In step S2, the recorded pseudoranges or carrier phases of the three satellites are epoch-differenced to obtain three groups of time-difference data respectively corresponding to the three satellites; in this case, the number of each group of time-difference data is determined according to the predetermined time length T and the selected epochs; for example, in the case where the time length T contains T epochs, one group of time-difference data contains T-1 data, that is, the data length is T-1; after epoch-differencing, the curve of the change value of the pseudorange or carrier phase in a unit of time with time can be observed;

[0034] In step S3, one group of the three groups of time-difference data is subtracted from the other two groups of time-difference data to obtain two groups of difference data A and B after subtraction; A and B are only letters used to distinguish the two groups and have no other meanings; for example, one group of the three groups of time-difference data is arbitrarily selected to be subtracted from the other two groups of time-difference data, or the time-difference data of the satellite with the highest signal-to-noise ratio among the three satellites is selected to be subtracted from the other two groups of time-difference data;

[0035] In step S4, the obtained two groups of difference data A and B are respectively split into two groups of data with equal number of data; if each group of the two groups of difference data A and B contains an even number of data, that is, the data length is even, then each group of the split difference data contains half of the data of the original A and B groups; for example, when the data length of the original A and B groups is T-1, the split front and rear groups each have (T-1) / 2 data;

[0036] In a specific implementation, in step S4, when the number of data contained in the two groups of difference data A and B is odd, an even number of data is selected from the odd number of difference data to split into two groups of data in front and back with equal number; for example, the first data in the original group A and B can be removed before splitting.

[0037] In step S5, the variance values of the two groups of data in front and back split from the two groups of difference data A and B are calculated, and if the difference between the variance values calculated for the two groups of difference data A and B is within a predetermined difference threshold, it is determined that the satellite receiver is in a stationary state; otherwise, it is determined that the satellite receiver is in a moving state.

[0038] When it is determined that the satellite receiver is in a stationary state, the positioning calculation of the satellite receiver can be stopped, which can reduce the load of the satellite receiver and save the energy consumption of the satellite receiver.

[0039] In addition, after step S5, step S6 can also be included: when at least one of the variance values calculated for the two groups of difference data A and B exceeds the predetermined variance threshold, it is determined that the satellite receiver is in a moving state, the positioning calculation of the satellite receiver is resumed, and step S1 is returned to start the determination of the stationary state again.

[0040] The method of the embodiment of the application can determine whether the satellite receiver is in a stationary state through simple processing of the pseudo-range or carrier phase epoch difference data, avoiding complicated calculation.

[0041] Embodiment two:

[0042] The application also provides a satellite receiver stationary determination device, as shown in Figure 2 The device includes a processor 201, a memory 202, a bus 203, and a computer program stored in the memory 202 and executable on the processor 201, the processor 201 includes one or more processing cores, the memory 202 is connected to the processor 201 through the bus 203, the memory 202 is used to store program instructions, and the processor executes the computer program to implement the steps in the above method embodiment of the embodiment one of the application.

[0043] Further, as an implementable solution, the satellite receiver stationary determination apparatus can be a computer unit, which can be a desktop computer, a notebook computer, a palm computer, a cloud server, or the like. The computer unit can include, but is not limited to, a processor and a memory. Those skilled in the art can understand that the above-mentioned components of the computer unit are merely examples of the computer unit, and do not constitute a limitation on the computer unit, and the computer unit can include more or fewer components, or combine certain components, or different components. For example, the computer unit can also include an input / output device, a network access device, a bus, and the like, and the embodiments of the present application do not limit this.

[0044] Further, as an implementable solution, the processor can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor and the like, and the processor is the control center of the computer unit, and connects all parts of the computer unit through various interfaces and lines.

[0045] The memory can be used to store the computer program and / or modules, and the processor realizes various functions of the computer unit by running or executing the computer program and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; and the data storage area can store data created according to the use of the mobile phone, and the like. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, at least one disk storage device, a flash memory device, or other volatile solid-state memory devices.

[0046] Embodiment Three:

[0047] The present application also provides a satellite receiver comprising the satellite receiver stationary determination apparatus described above.

[0048] Embodiment four:

[0049] The application further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the steps of any of the determination methods of the embodiments of the application.

[0050] The modules / units integrated by the computer unit, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods of the application can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when being executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM) and software distribution medium, etc. that can carry the computer program code. It should be noted that the computer readable medium can include or exclude contents according to the requirements of legislation and patent practice in the jurisdiction.

[0051] Embodiment five:

[0052] The application provides a method for measuring satellite attitude, which is used for measuring satellite attitude by using two satellite receivers, and includes: determining whether the two satellite receivers are both in a stationary state by using any of the above methods; and if yes, stopping the measurement and calculation of satellite attitude. In this way, repeated calculation of the attitude is avoided when the satellite attitude does not change, the load of the hardware device is reduced, and the energy consumption is saved.

[0053] Although the application is specifically shown and described in combination with the preferred embodiments, it should be understood by those skilled in the art that various changes can be made in form and details without departing from the spirit and scope of the application as defined in the appended claims, and all such changes are intended to be within the protection scope of the application.

Claims

1. A method of determining the stationarity of a satellite receiver, characterized in that, The method comprises: Step S1, selecting three satellites satisfying preset satellite elevation angle conditions and preset signal-to-noise ratio conditions, and recording the pseudoranges or carrier phases of the selected three satellites for a satellite receiver within a predetermined time length T; Step S2, performing epoch difference on the recorded pseudoranges or carrier phases of the three satellites to obtain three groups of time difference data respectively corresponding to the three satellites; Step S3, subtracting the time difference data of one group from the time difference data of the other two groups respectively to obtain two groups of difference data A and B after subtraction; Step S4, splitting the obtained two groups of difference data A and B into two groups of data in equal number respectively; Step S5, calculating the variance values of the two groups of data in equal number obtained by splitting for the two groups of difference data A and B, and determining that the satellite receiver is in a stationary state if the difference between the calculated variance values is within a predetermined difference threshold.

2. The determination method according to claim 1, characterized by In the step S4, when the number of data contained in the two groups of difference data A and B is odd, an even number of data are selected from the odd number of difference data to split into two groups of data in equal number.

3. The determination method according to claim 1, characterized by The method further comprises: stopping positioning calculation of the satellite receiver when it is determined that the satellite receiver is in a stationary state.

4. The determination method according to claim 3, characterized by The method further comprises, after the step S5: Step S6, determining that the satellite receiver is in a moving state when the difference between the calculated variance values of the two groups of difference data A and B exceeds the predetermined difference threshold, resuming positioning calculation of the satellite receiver, and returning to step S1.

5. The determination method according to claim 1, characterized by, In the step S3, the time difference data of one group are subtracted from the time difference data of the other two groups respectively or the time difference data of the satellite with the highest signal-to-noise ratio among the three satellites are subtracted from the time difference data of the other two groups respectively.

6. A device for determining the stationarity of a satellite receiver, characterized in that The device comprises a memory and a processor, and the memory stores at least one program, and the processor executes the at least one program to implement the method according to any one of claims 1 to 5.

7. A satellite receiver comprising the determination device according to claim 6.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one program, and the processor executes the at least one program to implement the method according to any one of claims 1 to 4.

9. A method of measuring a satellite attitude for measuring a satellite attitude using two satellite receivers, characterized in that, The method comprises: using the method according to any one of claims 1 to 4 to determine whether the two satellite receivers are both in a stationary state; if so, stopping measurement and calculation of satellite attitude.

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