A pseudolite deployment optimization method based on the geometric characteristics of GDOP value

Abstract

The present application relates to a pseudolite deployment optimization method based on the geometric characteristics of GDOP values. The method includes: determining the deployable space for pseudolites based on the elevation cutoff angle at which users receive satellite signals, the radius of the target area, and the deployable altitude range; calculating the radius of a circle at the maximum deployable altitude based on the maximum deployable altitude in the deployable space; and obtaining the pseudolite geometric layout that minimizes the GDOP value of the central user based on the radius, the number of pseudolites, and the pseudolite observation matrix of the central user in the target area; obtaining the measurement matrix corresponding to the user based on the position coordinates of the user in the target area and the pseudolite geometric layout; obtaining the optimal altitude of the top pseudolite based on the measurement matrix and the deployable altitude range; and deploying pseudolites based on the pseudolite geometric layout and the optimal altitude of the top pseudolite. This method can improve the positioning accuracy of users in the target area and quickly optimize pseudolite deployment.

Description

Technical Field

[0001] The present application relates to the technical field of pseudolite optimization deployment, and in particular to a pseudolite deployment optimization method based on the geometric characteristics of GDOP values. Background Art

[0002] Pseudolite systems not only improve satellite positioning accuracy but also serve as a supplementary navigation tool for users in areas where satellite signals cannot reach. Pseudolite systems provide temporary spatiotemporal references for users in a specific area, thus also serving as an anti-interference system for users whose satellite signals are interfered with. In practical applications, pseudolite systems must first provide at least four-fold signal coverage to users in the target area to meet their basic positioning requirements. Secondly, using a limited number of pseudolites, the mean and mean square error (GDOP) of the geometric dilution precision (GDOP) for each user in the target area must be minimized. This improves positioning accuracy for users within the target area and ensures a more balanced positioning accuracy for users within the region.

[0003] However, traditional empirical methods are not robust enough when it comes to pseudolite layout, and optimization algorithms such as genetic algorithms take too long to calculate when optimizing pseudolite layout. Summary of the Invention

[0004] Based on this, it is necessary to provide a pseudo-satellite deployment optimization method, device, computer equipment and storage medium based on the geometric characteristics of the GDOP value to address the above technical problems.

[0005] A pseudolite deployment optimization method based on the geometric characteristics of GDOP values, the method comprising:

[0006] Analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites;

[0007] Determining a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range;

[0008] calculating a radius of a circle at the maximum deployable height in the deployable space, and determining a pseudolite geometric layout that minimizes a GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for a central user in a target area; the pseudolite geometric layout comprising a top pseudolite located directly above the central user in the target area and a base pseudolite forming a regular polygon inscribed in the circle;

[0009] A measurement matrix corresponding to a user in a target area is obtained based on the position coordinates of the user and the geometric layout of the pseudolite. An optimal height of the top-mounted pseudolite is obtained based on the measurement matrix and the deployable height range. Pseudolite deployment is performed based on the geometric layout of the pseudolite and the optimal height of the top-mounted pseudolite.

[0010] In one embodiment, the method further includes: obtaining the position coordinates of the user in the target area according to the azimuth of the user in the target area. ; According to the position coordinates of the user in the target area and the geometric layout of the pseudo-satellite, the measurement matrix corresponding to the user is obtained.

[0011] In one embodiment, the method further includes: obtaining, according to the measurement matrix, an optimization function corresponding to the user:

[0012] ;

[0013] in, is the measurement matrix, To find the determinant, is the altitude of the top pseudo-satellite, is the azimuth of the user in the target area; taking the maximum value of the optimization function within the deployable height range to obtain the optimal height of the top pseudolite; the optimal height of the top pseudolite satisfies:

[0014] ;

[0015] in, is the optimal altitude of the top pseudo-satellite, is the maximum deployable height, This is the minimum deployable height.

[0016] In one embodiment, the method further includes: obtaining the position coordinates of the base pseudo-satellite based on the radius and the geometric layout of the pseudo-satellite; obtaining the position coordinates of the top pseudo-satellite based on the altitude of the top pseudo-satellite and the position coordinates of the user in the center of the target area; and obtaining the measurement matrix corresponding to the user based on the position coordinates of the user in the target area, the position coordinates of the base pseudo-satellite, and the position coordinates of the top pseudo-satellite.

[0017] In one embodiment, the method further includes: calculating, based on the maximum deployable height in the deployable space, the radius of a circle at the maximum deployable height to be:

[0018] ;

[0019] in, is the radius of the circle of the pseudo-satellite at the maximum deployable altitude, is the maximum deployable height, , is the elevation cutoff angle when the user receives the satellite signal, is the radius of the target area.

[0020] In one embodiment, the method further includes: the number of the pseudo-satellites is at least four.

[0021] In one of the embodiments, the method further includes: when the number of the pseudo-satellites is four, the corresponding signal coverage multiplicity is four.

[0022] In one embodiment, the method further includes: when the number of the pseudo-satellites is five, the corresponding signal coverage multiplicity is five.

[0023] A pseudolite deployment optimization device based on the geometric characteristics of GDOP values, the device comprising:

[0024] A task analysis module is used to analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites;

[0025] A deployable space determination module is configured to determine a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range;

[0026] a geometric layout calculation module, configured to calculate the radius of a circle at the maximum deployable height in the deployable space, and to calculate a pseudolite geometric layout that minimizes the GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for the central user in the target area; the pseudolite geometric layout includes a top pseudolite located directly above the central user in the target area and a base pseudolite forming an inscribed regular polygon of the circle;

[0027] The pseudolite deployment module is configured to obtain a measurement matrix corresponding to a user in a target area based on the user's position coordinates and the pseudolite geometric layout, obtain an optimal altitude of the top-mounted pseudolite based on the measurement matrix and the deployable altitude range, and deploy the pseudolite based on the pseudolite geometric layout and the optimal altitude of the top-mounted pseudolite.

[0028] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0029] Analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites;

[0030] Determining a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range;

[0031] calculating a radius of a circle at the maximum deployable height in the deployable space, and determining a pseudolite geometric layout that minimizes a GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for a central user in a target area; the pseudolite geometric layout comprising a top pseudolite located directly above the central user in the target area and a base pseudolite forming a regular polygon inscribed in the circle;

[0032] A measurement matrix corresponding to a user in a target area is obtained based on the position coordinates of the user and the geometric layout of the pseudolite. An optimal height of the top-mounted pseudolite is obtained based on the measurement matrix and the deployable height range. Pseudolite deployment is performed based on the geometric layout of the pseudolite and the optimal height of the top-mounted pseudolite.

[0033] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0034] Analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites;

[0035] Determining a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range;

[0036] calculating a radius of a circle at the maximum deployable height in the deployable space, and determining a pseudolite geometric layout that minimizes a GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for a central user in a target area; the pseudolite geometric layout comprising a top pseudolite located directly above the central user in the target area and a base pseudolite forming a regular polygon inscribed in the circle;

[0037] A measurement matrix corresponding to a user in a target area is obtained based on the position coordinates of the user and the geometric layout of the pseudolite. An optimal height of the top-mounted pseudolite is obtained based on the measurement matrix and the deployable height range. Pseudolite deployment is performed based on the geometric layout of the pseudolite and the optimal height of the top-mounted pseudolite.

[0038] The pseudo-satellite deployment optimization method, device, computer device, and storage medium based on the geometric characteristics of the GDOP value calculate the deployable space of the pseudo-satellite to ensure that every user in the deployable space can receive the signal of the pseudo-satellite deployed in the deployable space, thereby meeting the basic positioning requirements of users in the target area. Then, the pseudo-satellite geometric layout is calculated in the deployable space to minimize the GDOP value of the target user in the central area. At this time, the height of the base pseudo-satellite is the maximum deployable height, so that the GDOP value of the user in the center of the target area is minimized. Finally, the observation matrix of any user in the target area is calculated based on the pseudo-satellite geometric layout, and the GDOP value of all users in the target area is optimized, thereby improving the performance of the entire positioning system while reducing the computational complexity, thereby obtaining the optimal height of the top pseudo-satellite at this time, and deploying the pseudo-satellite according to the current pseudo-satellite geometric layout. The embodiments of the present invention can improve the positioning accuracy of users in the target area, make the positioning accuracy of users in the area more balanced, and can quickly optimize the pseudo-satellite deployment, and can be widely used in the application simulation and practice of pseudo-satellite systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 FIG. 1 is an application scenario diagram of a pseudolite deployment optimization method based on GDOP value geometric characteristics in one embodiment;

[0040] Figure 2 A schematic diagram of a space where pseudolites may be deployed in one embodiment;

[0041] Figure 3 Schematic diagram of the GDOP geometry of a central user in quadruple coverage in one embodiment;

[0042] Figure 4 Schematic diagram of the GDOP geometry of a central user in five-layer coverage in another embodiment;

[0043] Figure 5 1 is a structural block diagram of a pseudolite deployment optimization device based on GDOP value geometric characteristics in one embodiment;

[0044] Figure 6 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0046] In one embodiment, Figure 2 As shown, a pseudolite deployment optimization method based on the geometric characteristics of the GDOP value is provided, comprising the following steps:

[0047] Step 102 , parsing the preset pseudolite deployment task, obtaining the number of pseudolites, deployable altitude range, target area radius of pseudolite service, elevation cutoff angle for users to receive satellite signals, and signal coverage multiplicity corresponding to the number of pseudolites.

[0048] The premise for the pseudolite system to provide positioning services to users in a certain area is that users in the area can receive four or more pseudolite signals at the same time. When , the corresponding signal coverage multiplicity that can meet the basic positioning requirements of the user is also , indicating that users in the target area can receive For example, when the navigation requires the user to perform positioning, the signal coverage multiplicity must be at least 4. Then, when the signal coverage multiplicity is 4, the user can receive the signals of 4 pseudo-satellites at the same time.

[0049] Step 104 : Determine the deployable space for pseudolites based on the elevation cutoff angle for receiving satellite signals by the user, the radius of the target area, and the deployable altitude range.

[0050] The higher the pseudo-satellite is, the larger the area covered by its signal will be. However, depending on the carrier, the pseudo-satellite's altitude will have a certain range. In order to ensure that all users in the target area can receive the signal, there is a certain space for pseudo-satellite deployment. , that is, when the pseudo-satellite is deployed within the space range, users in the target area can receive the signal of the pseudo-satellite, such as Figure 2 As shown in FIG, a schematic diagram of the space where pseudo-satellites can be deployed is provided. Figure 2 In the example, the center of the target area is taken as the origin to establish a spatial rectangular coordinate system. The radius of the target area is , the elevation cutoff angle when the user receives the satellite signal is , the layout height range is By determining the deployable space, the pseudolite layout range can be refined while ensuring that all users in the target area can receive signals, thereby greatly reducing calculation time and improving layout efficiency.

[0051] Step 106 , based on the maximum deployable height in the deployable space, calculate the radius of the circle of pseudolites at the maximum deployable height, and based on the radius, the number of pseudolites, and the observation matrix of pseudolites for the central user in the target area, obtain the pseudolites geometric layout that minimizes the GDOP value of the central user.

[0052] To ensure the minimum GDOP value for the user at the center of the target area, the pseudolite geometric layout includes a top pseudolite located directly above the user at the center of the target area and a base pseudolite forming an inscribed regular polygon. The user at the center of the target area is located at the center of the target area circle. GDOP is used to measure the positioning accuracy of the pseudolite positioning system. The smaller the GDOP value, the higher the pseudolite positioning accuracy.

[0053] In the embodiment of the present invention, when the number of pseudolites is four, the corresponding signal coverage multiplicity is four, that is, the four pseudolites need to form a four-fold coverage of the target area. The GDOP geometric diagram of the central user in the four-fold coverage is calculated as follows: Figure 3 As shown; Figure 3 In the equation, point O is the position of the central user, and points A, B, C, and D are distributed on the unit sphere, which can describe the observation matrix H of the four pseudo-satellites for the central user. The specific layout positions of the pseudo-satellites are on the extension lines of points A, B, C, and D and point O. When the number of pseudo-satellites is five, the corresponding signal coverage multiplicity is fivefold, that is, the five pseudo-satellites need to form fivefold coverage of the target area. The inscribed square of the circle formed by the four base pseudo-satellites is calculated. The GDOP geometric diagram of the central user under five-fold coverage is shown as follows: Figure 4 As shown, Figure 4 In the equation (1), point O is the location of the central user, and points A, B, C, D, and E are distributed on the unit sphere, which can describe the observation matrix H of the five pseudo-satellites for the central user. The specific locations of the pseudo-satellites are on the extension lines of points A, B, C, D, and E and point O.

[0054] By calculating the radius of the circle of the maximum deployable pseudolite at the height and combining it with the pseudolite geometric layout, the position coordinates of the base pseudolite can be obtained. Using the position coordinates of all pseudolite in the pseudolite geometric layout, the measurement equation for pseudolite positioning of any user in the target area can be calculated.

[0055] Step 108: Obtain a measurement matrix corresponding to the user based on the user's position coordinates and the pseudolite geometric layout in the target area, obtain the optimal height of the top pseudolite based on the measurement matrix and the deployable height range, and deploy the pseudolite based on the pseudolite geometric layout and the optimal height of the top pseudolite.

[0056] The location coordinates of any user in the target area are expressed as , then the observation matrix can be obtained according to the measurement equation of any user when performing pseudo-satellite positioning, and the optimization function for:

[0057] ;

[0058] in, is the observation matrix, To find the determinant, is the altitude of the top pseudo-satellite, For the azimuth angle of the user in the target area, obtain the optimization function corresponding to any user in the target area, and take the maximum value of the optimization function within the deployable height range to obtain the candidate height of the top pseudolite. The GDOP value of all users is further optimized for the candidate height under the following conditions to obtain the optimal height of the top pseudolite. The value of the optimal height satisfies the following conditions:

[0059] ;

[0060] in, is the optimal altitude of the top pseudo-satellite, is the minimum deployable height, i.e. Take a binary set In the A larger value is obtained to solve the height of the top pseudo-satellite, and the pseudo-satellite is deployed according to the position coordinates of the top pseudo-satellite and the optimal height of the top pseudo-satellite.

[0061] In the above-mentioned pseudolite deployment optimization method based on the geometric characteristics of GDOP values, by obtaining the deployable space of pseudolites, it is ensured that every user in the deployable space can receive the signal of the pseudolite deployed in the deployable space, thereby meeting the basic positioning requirements of users in the target area. Then, the pseudolite geometric layout is calculated in the deployable space when the GDOP value of the target user in the central area is minimized. At this time, the height of the base pseudolite is the maximum deployable height, so that the GDOP value of the user in the center of the target area is minimized. Finally, the observation matrix of any user in the target area is calculated based on the pseudolite geometric layout, and the GDOP value of all users in the target area is optimized, thereby improving the performance of the entire positioning system while reducing the computational complexity, thereby obtaining the optimal height of the top pseudolite at this time, and deploying pseudolites according to the current pseudolite geometric layout. The embodiment of the present invention can improve the positioning accuracy of users in the target area, make the positioning accuracy of users in the area more balanced, and can quickly optimize the pseudolite deployment, and can be widely used in the application simulation and practice of pseudolite systems.

[0062] In one embodiment, the measurement matrix corresponding to the user is obtained based on the position coordinates of the user in the target area and the geometric layout of the pseudolite. The optimal height of the top pseudolite is obtained based on the measurement matrix and the deployable height range, including: obtaining the position coordinates of the user in the target area based on the azimuth of the user in the target area as follows: ; According to the position coordinates of the user in the target area and the geometric layout of pseudolites, the measurement matrix corresponding to the user is obtained; According to the measurement matrix, the optimization function corresponding to the user is obtained as follows:

[0063] ;

[0064] in, is the measurement matrix, To find the determinant, is the altitude of the top pseudo-satellite, is the azimuth of the user in the target area; according to the optimization function and the deployable height range, the optimal height of the top pseudolite is obtained; the optimal height of the top pseudolite satisfies:

[0065] ;

[0066] in, is the optimal altitude of the top pseudo-satellite, is the maximum deployable height, This is the minimum deployable height.

[0067] In one embodiment, the step of obtaining a measurement matrix corresponding to a user based on the user's position coordinates and the pseudolite geometric layout in the target area includes: obtaining the position coordinates of a base pseudolite based on the radius and the pseudolite geometric layout; obtaining the position coordinates of a top pseudolite based on the altitude of the top pseudolite and the position coordinates of the user at the center of the target area; and obtaining the measurement matrix corresponding to the user based on the user's position coordinates in the target area, the position coordinates of the base pseudolite, and the position coordinates of the top pseudolite.

[0068] In one embodiment, calculating the radius of a circle at the maximum deployable height according to the maximum deployable height in the deployable space includes: calculating the radius of a circle at the maximum deployable height according to the maximum deployable height in the deployable space as:

[0069] ;

[0070] in, is the radius of the circle of the pseudo-satellite at the maximum deployable altitude, is the maximum deployable height, , is the elevation cutoff angle when the user receives the satellite signal, is the radius of the target area.

[0071] In one embodiment, the number of pseudolites includes at least four.

[0072] In one embodiment, when the number of pseudolites is four, the corresponding signal coverage multiplicity is four.

[0073] In one embodiment, when the number of pseudolites is five, the corresponding signal coverage multiplicity is five.

[0074] It should be understood that although Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0075] In one embodiment, Figure 5 As shown, a pseudolite deployment optimization device based on the geometric characteristics of the GDOP value is provided, comprising: a task analysis module 502, a deployable space determination module 504, a geometric layout calculation module 506 and a pseudolite deployment module 508, wherein:

[0076] The task analysis module 502 is used to analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the deployment altitude range, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites;

[0077] A deployable space determination module 504 is configured to determine a deployable space for pseudolites based on an elevation cutoff angle for receiving satellite signals from a user, a radius of a target area, and a deployable altitude range;

[0078] The geometric layout calculation module 506 is configured to calculate the radius of a circle of pseudolites at the maximum deployable height in the deployable space, and to calculate a pseudolite geometric layout that minimizes the GDOP value of the central user based on the radius, the number of pseudolites, and the pseudolite observation matrix of the central user in the target area. The pseudolite geometric layout includes a top pseudolite located directly above the central user in the target area and a base pseudolite forming a regular polygon inscribed in the circle.

[0079] The pseudolite deployment module 508 is used to obtain the measurement matrix corresponding to the user based on the position coordinates of the user in the target area and the geometric layout of the pseudolite, obtain the optimal height of the top pseudolite based on the measurement matrix and the deployable height range, and deploy the pseudolite based on the pseudolite geometric layout and the optimal height of the top pseudolite.

[0080] In one embodiment, the pseudolite deployment module 508 is further configured to obtain the position coordinates of the user in the target area according to the azimuth angle of the user in the target area: ; According to the user's position coordinates and pseudo-satellite geometric layout in the target area, the measurement matrix corresponding to the user is obtained.

[0081] In one embodiment, the pseudolite deployment module 508 is further configured to obtain the optimization function corresponding to the user according to the measurement matrix:

[0082] ;

[0083] in, is the measurement matrix, To find the determinant, is the altitude of the top pseudo-satellite, is the azimuth of the user in the target area; according to the optimization function and the deployable height range, the optimal height of the top pseudolite is obtained; the optimal height of the top pseudolite satisfies:

[0084] ;

[0085] in, is the optimal altitude of the top pseudo-satellite, is the maximum deployable height, This is the minimum deployable height.

[0086] In one embodiment, the geometric layout calculation module 506 is further configured to obtain the position coordinates of the base pseudolite based on the radius and the pseudolite geometric layout; obtain the position coordinates of the top pseudolite based on the height of the top pseudolite and the position coordinates of the user at the center of the target area; and obtain the measurement matrix corresponding to the user based on the position coordinates of the user in the target area, the position coordinates of the base pseudolite, and the position coordinates of the top pseudolite.

[0087] In one embodiment, the geometric layout calculation module 506 is further configured to calculate, based on the maximum configurable height in the configurable space, the radius of a circle at the maximum configurable height as follows:

[0088] ;

[0089] in, is the radius of the circle of the pseudo-satellite at the maximum deployable altitude, is the maximum deployable height, , is the elevation cutoff angle when the user receives the satellite signal, is the radius of the target area.

[0090] In one embodiment, the number of pseudolites is at least four.

[0091] In one embodiment, when the number of pseudolites is four, the corresponding signal coverage multiplicity is four.

[0092] In one embodiment, when the number of pseudolites is five, the corresponding signal coverage multiplicity is five.

[0093] The specific definition of the pseudolite deployment optimization device based on GDOP value geometric characteristics can be found in the definition of the pseudolite deployment optimization method based on GDOP value geometric characteristics above, and will not be repeated here. The various modules in the aforementioned pseudolite deployment optimization device based on GDOP value geometric characteristics can be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each of the aforementioned modules.

[0094] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, memory, network interface, display screen and input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a pseudo-satellite deployment optimization method based on the geometric characteristics of the GDOP value is implemented. The display screen of the computer device can be a liquid crystal display or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0095] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0096] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0097] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0098] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0099] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0100] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A pseudolite deployment optimization method based on the geometric characteristics of GDOP value, characterized by: The method comprises: Analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites; Determining a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range; calculating a radius of a circle at the maximum deployable height in the deployable space, and determining a pseudolite geometric layout that minimizes a GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for a central user in a target area; the pseudolite geometric layout comprising a top pseudolite located directly above the central user in the target area and a base pseudolite forming a regular polygon inscribed in the circle; Obtaining a measurement matrix corresponding to a user in a target area based on the position coordinates of the user and the pseudolite geometric layout, obtaining an optimal altitude of the top-mounted pseudolite based on the measurement matrix and the deployable altitude range, and deploying the pseudolite based on the pseudolite geometric layout and the optimal altitude of the top-mounted pseudolite; Obtaining the optimal height of the top pseudolite according to the measurement matrix and the deployable height range includes: According to the measurement matrix, the optimization function corresponding to the user is obtained as: in, is the measurement matrix, To find the determinant, is the altitude of the top pseudo-satellite, is the azimuth of the user in the target area; The optimization function is maximized within the deployable height range to obtain the optimal height of the top pseudolite; the optimal height of the top pseudolite satisfies: in, is the optimal altitude of the top pseudo-satellite, is the maximum deployable height, This is the minimum deployable height.

2. The method according to claim 1, characterized in that The step of obtaining a measurement matrix corresponding to the user according to the position coordinates of the user in the target area and the geometric layout of the pseudolites includes: According to the azimuth of the user in the target area, the position coordinates of the user in the target area are obtained as follows: ; A measurement matrix corresponding to the user is obtained according to the position coordinates of the user in the target area and the geometric layout of the pseudolites.

3. The method according to claim 2, characterized in that The step of obtaining a measurement matrix corresponding to the user according to the position coordinates of the user in the target area and the geometric layout of the pseudolites includes: Obtaining position coordinates of the base pseudolite according to the radius and the pseudolite geometric layout; Obtaining the position coordinates of the top pseudolite according to the height of the top pseudolite and the position coordinates of the user at the center of the target area; A measurement matrix corresponding to the user is obtained according to the position coordinates of the user in the target area, the position coordinates of the base pseudolite and the position coordinates of the top pseudolite.

4. The method according to any one of claims 1 or 3, characterized in that The calculating, based on the maximum deployable height in the deployable space, to obtain the radius of a circle at the maximum deployable height includes: According to the maximum deployable height in the deployable space, the radius of the circle at the maximum deployable height is calculated as: in, is the radius of the circle of the pseudo-satellite at the maximum deployable altitude, is the maximum deployable height, , is the elevation cutoff angle when the user receives the satellite signal, is the radius of the target area.

5. The method according to claim 1, wherein The number of the pseudo-satellites is at least four.

6. The method according to claim 5, characterized in that When the number of the pseudolites is four, the corresponding signal coverage multiplicity is four.

7. The method according to claim 5, characterized in that When the number of the pseudolites is five, the corresponding signal coverage is five.

8. A pseudolite deployment optimization device based on the geometric characteristics of GDOP values ​​applied to the method according to any one of claims 1 to 7, characterized in that: The device comprises: A task analysis module is used to analyze the pre-set pseudolite deployment task to obtain the number of pseudolites, the range of deployable altitudes, the radius of the target area served by the pseudolite, the elevation cutoff angle for users to receive satellite signals, and the signal coverage multiplicity corresponding to the number of pseudolites; A deployable space determination module is configured to determine a deployable space for pseudolites based on an elevation cutoff angle at which the user receives satellite signals, a radius of the target area, and a deployable altitude range; a geometric layout calculation module, configured to calculate the radius of a circle at the maximum deployable height in the deployable space, and to calculate a pseudolite geometric layout that minimizes the GDOP value of the central user based on the radius, the number of pseudolites, and an observation matrix of pseudolites for the central user in the target area; the pseudolite geometric layout includes a top pseudolite located directly above the central user in the target area and a base pseudolite forming an inscribed regular polygon of the circle; The pseudolite deployment module is configured to obtain a measurement matrix corresponding to a user in a target area based on the user's position coordinates and the pseudolite geometric layout, obtain an optimal altitude of the top-mounted pseudolite based on the measurement matrix and the deployable altitude range, and deploy the pseudolite based on the pseudolite geometric layout and the optimal altitude of the top-mounted pseudolite.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

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