A method for designing pseudolite ephemeris parameters based on a motion model

Abstract

The application relates to a pseudo-satellite ephemeris parameter design method based on a motion model. The method comprises the following steps: a pseudo-satellite transmitter acquires real-time position, real-time cruise speed, real-time cruise acceleration, a cruise standard route, a standard cruise speed and a standard position of the pseudo-satellite on the cruise standard route, calculates a difference value between the real-time position at a signal transmission moment and the standard position, obtains a first difference value, fits ephemeris parameters according to a history speed and acceleration of the pseudo-satellite in real-time cruise before the signal transmission moment, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the user receiver receives the pseudo-satellite signal, obtains a second difference value according to the first difference value, a difference speed and a difference acceleration; and a predicted position of the pseudo-satellite at a signal receiving moment is obtained according to the second difference value, the standard position and the standard cruise speed. The method can calculate the position of the pseudo-satellite while fully considering the motion of the pseudo-satellite.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pseudolite, in particular to a pseudolite ephemeris parameter design method based on a motion model. BACKGROUND

[0002] With the development of pseudolite technology, when GNSS satellite signals are unavailable in a region, a UAV-mounted pseudolite mode can be considered to broadcast signals by a temporary pseudolite system to build a temporary space-time reference for users in the region. After the air-based pseudolite platform is built, the pseudolite position information needs to be broadcast to the ground users to ensure that the users can perform positioning calculation.

[0003] However, when broadcasting signals, the position of the pseudolite needs to be broadcast to the users, but due to the influence of air resistance and the like, the position of the dynamic pseudolite is not fixed, so that the real-time position of the pseudolite is not on the cruise route of the UAV, thereby causing position error and affecting the accuracy of the pseudolite position calculated by the user. SUMMARY

[0004] Therefore, it is necessary to provide a pseudolite ephemeris parameter design method based on a motion model to solve the above technical problems.

[0005] A pseudolite ephemeris parameter design method based on a motion model, the method comprising:

[0006] The pseudolite transmitter obtains the real-time position, real-time cruise speed, real-time cruise acceleration, pre-set cruise standard route, and standard cruise speed of the pseudolite on the cruise standard route;

[0007] The pseudolite transmitter obtains the standard position of the pseudolite according to the cruise standard route, calculates the difference value between the real-time position and the standard position at the signal transmission time to obtain a first difference value, and fits the ephemeris parameter according to the historical speed and historical acceleration of the real-time cruise of the pseudolite before the signal transmission time, and broadcasts the ephemeris parameter to the user receiver through the pseudolite signal; the ephemeris parameter comprises the first difference value, the standard cruise speed, the standard position, the difference speed and difference acceleration between the real-time motion trajectory fitted according to the historical speed and the historical acceleration and the cruise standard route;

[0008] The user receiver receives the pseudolite signal, and calculates a second difference value according to the first difference value, the difference speed, and the difference acceleration; the second difference value is a difference value prediction between the real-time position and the standard position of the pseudolite at the signal reception time;

[0009] The user receiver calculates the predicted position of the pseudolite at the signal reception time according to the second difference value, the standard position, and the standard cruise speed.

[0010] In one of the embodiments, it further comprises: calculating a second difference value according to the first difference value, the difference speed and the difference acceleration:

[0011]

[0012] wherein t k is the signal receiving time, t0 is the signal transmitting time, (δ x0 , δ y0 , δ z0 ) is the first difference value, is the second difference value, (V δx0 , V δy0 , V δz0 ) is the difference speed at t0 in the ephemeris, (a δx , a δy , a δz ) is the difference acceleration at t0 in the ephemeris.

[0013] In one of the embodiments, it further comprises: the predicted position of the pseudo-satellite at the signal receiving time is:

[0014]

[0015] wherein, is the predicted position of the pseudo-satellite at the signal receiving time, is the standard position of the pseudo-satellite at the signal transmitting time, is the standard cruising speed of the pseudo-satellite at the signal transmitting time, is the second difference value.

[0016] In one of the embodiments, it further comprises: the user receiver receives the pseudo-satellite signal, and calculates the pseudo-satellite time according to the ephemeris parameters and the signal receiving time.

[0017] In one of the embodiments, it further comprises: the user receiver receives the pseudo-satellite signal, and interprets the ephemeris parameters in the pseudo-satellite signal to obtain the clock difference parameters and the signal transmitting time; the user receiver calculates the pseudo-satellite time according to the clock difference parameters, the signal transmitting time and the signal receiving time.

[0018] In one of the embodiments, it further comprises: the pseudo-satellite time is:

[0019] t tk = t k + aUf0+ aUf1(t k -t0)

[0020] wherein t tk is the pseudo-satellite time, tk a second difference value is a difference value prediction between the real-time position of the pseudolite at the signal receiving moment and the standard position; is a clock error parameter, and t0 is a signal transmitting moment.

[0021] In one of the embodiments, the method further comprises: when the cruise standard route is a straight line, obtaining the standard position of the pseudolite according to the projection of the pseudolite on the cruise standard route; and when the cruise standard route is an arc, obtaining the standard position of the pseudolite according to the intersection between the line connecting the pseudolite and the center of the cruise standard route on the cruise standard route.

[0022] In one of the embodiments, the method further comprises: updating the ephemeris parameters in the pseudolite signal at an ephemeris update period.

[0023] A device for designing ephemeris parameters of a pseudolite based on a motion model, the device comprising:

[0024] a motion parameter acquisition module, configured to acquire, by a pseudolite transmitter, a real-time position, a real-time cruise speed, a real-time cruise acceleration, a pre-set cruise standard route, and a standard cruise speed of the pseudolite on the cruise standard route;

[0025] an ephemeris parameter design module, configured to obtain, by the pseudolite transmitter, a standard position of the pseudolite according to the cruise standard route, calculate a difference value between the real-time position and the standard position at a signal transmitting moment to obtain a first difference value, fit ephemeris parameters according to a historical speed and a historical acceleration of the pseudolite in real-time cruise before the signal transmitting moment, and broadcast the ephemeris parameters to a user receiver through a pseudolite signal; the ephemeris parameters comprise the first difference value, the standard cruise speed, the standard position, a difference speed and a difference acceleration between a real-time motion trajectory fitted according to the historical speed and the historical acceleration and the cruise standard route;

[0026] a second difference value calculation module, configured to receive, by a user receiver, the pseudolite signal, and calculate a second difference value according to the first difference value, the difference speed, and the difference acceleration; the second difference value is a difference value prediction between the real-time position of the pseudolite at a signal receiving moment and the standard position;

[0027] a real-time position output module, configured to calculate, by the user receiver, a predicted position of the pseudolite at the signal receiving moment according to the second difference value, the standard position, and the standard cruise speed.

[0028] A computer device, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0029] The pseudo-satellite transmitter obtains real-time position, real-time cruising speed, real-time cruising acceleration, a pre-set cruising standard route and a standard cruising speed of the pseudo-satellite on the cruising standard route;

[0030] The pseudo-satellite transmitter obtains a standard position of the pseudo-satellite according to the cruising standard route, calculates a difference value between the real-time position and the standard position at a signal transmitting moment to obtain a first difference value, fits ephemeris parameters according to a historical speed and a historical acceleration of the pseudo-satellite in real-time cruising before the signal transmitting moment, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the ephemeris parameters include the first difference value, the standard cruising speed, the standard position, a difference speed and a difference acceleration between a real-time motion trajectory fitted according to the historical speed and the historical acceleration and the cruising standard route;

[0031] The user receiver receives the pseudo-satellite signal, calculates a second difference value according to the first difference value, the difference speed and the difference acceleration; the second difference value is a difference value prediction between the real-time position and the standard position of the pseudo-satellite at a signal receiving moment;

[0032] The user receiver calculates a predicted position of the pseudo-satellite at the signal receiving moment according to the second difference value, the standard position and the standard cruising speed.

[0033] A computer readable storage medium, which stores a computer program, the computer program is executed by a processor to implement the following steps:

[0034] The pseudo-satellite transmitter obtains real-time position, real-time cruising speed, real-time cruising acceleration, a pre-set cruising standard route and a standard cruising speed of the pseudo-satellite on the cruising standard route;

[0035] The pseudo-satellite transmitter obtains a standard position of the pseudo-satellite according to the cruising standard route, calculates a difference value between the real-time position and the standard position at a signal transmitting moment to obtain a first difference value, fits ephemeris parameters according to a historical speed and a historical acceleration of the pseudo-satellite in real-time cruising before the signal transmitting moment, and broadcasts the ephemeris parameters to a user receiver through a pseudo-satellite signal; the ephemeris parameters include the first difference value, the standard cruising speed, the standard position, a difference speed and a difference acceleration between a real-time motion trajectory fitted according to the historical speed and the historical acceleration and the cruising standard route;

[0036] The user receiver receives the pseudo-satellite signal, calculates a second difference value according to the first difference value, the difference speed and the difference acceleration; the second difference value is a difference value prediction between the real-time position and the standard position of the pseudo-satellite at a signal receiving moment;

[0037] The user receiver calculates a predicted position of the pseudolite at a signal receiving moment according to the second difference value, the standard position and the standard cruise speed.

[0038] The pseudolite ephemeris parameter design method based on the motion model can obtain the dynamic motion state of the pseudolite by the pseudolite transmitter obtaining the real-time position, the real-time cruise speed, the real-time cruise acceleration, the pre-set cruise standard route and the standard cruise speed of the pseudolite on the cruise standard route, and can make the ephemeris parameter contain the dynamic motion state information of the pseudolite by fitting the ephemeris parameter according to the historical speed and acceleration of the real-time cruise of the pseudolite before the signal transmitting moment, so that the user receiver can calculate the real-time position of the pseudolite by using the ephemeris parameter, and the positioning accuracy of the user itself is improved. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 FIG. 1 is a flowchart of the pseudolite ephemeris parameter design method based on the motion model in one embodiment;

[0040] Figure 2 FIG. 1 is a flowchart of the pseudolite ephemeris parameter design method based on the motion model in one embodiment;

[0041] Figure 3 FIG. 2 is a schematic diagram of the dynamic pseudolite motion in one embodiment;

[0042] Figure 4 FIG. 3 is a structural block diagram of the pseudolite ephemeris parameter design device based on the motion model in one embodiment;

[0043] Figure 5 FIG. 4 is an internal structure diagram of the computer device in one embodiment. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application is further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0045] In one embodiment, as shown in FIG. 1, a pseudolite ephemeris parameter design method based on a motion model is provided, including the following steps: Figure 1

[0046] In step 102, the pseudolite transmitter obtains the real-time position, the real-time cruise speed, the real-time cruise acceleration, the pre-set cruise standard route and the standard cruise speed of the pseudolite on the cruise standard route.

[0047] ​The real-time cruising speed refers to the cruising speed of the dynamic pseudolite when cruising along the real-time movement track, the real-time cruising acceleration refers to the cruising acceleration of the dynamic pseudolite when cruising along the real-time movement track, and the standard cruising speed refers to the speed of the pseudolite when cruising along the standard cruising route.

[0048] In step 104, the pseudolite transmitter obtains the standard position of the pseudolite according to the standard cruising route, calculates the difference between the real-time position and the standard position at the signal transmission time, obtains a first difference, fits the ephemeris parameters according to the historical speed and the historical acceleration of the pseudolite when cruising in real time before the signal transmission time, and broadcasts the ephemeris parameters to the user receiver through the pseudolite signal.

[0049] The ephemeris parameters include the first difference, the standard cruising speed, the standard position, the difference speed and the difference acceleration between the real-time movement track and the standard cruising route fitted according to the historical speed and the historical acceleration. Figure 3 As shown in the dynamic pseudolite movement schematic diagram, the dynamic pseudolite does not cruise completely according to the standard cruising route. Figure 2 As shown in the flowchart of the pseudolite ephemeris parameter design method based on the movement model, the method of the present application fits the broadcasted ephemeris parameters from the historical data of the pseudolite when cruising in real time, so that the user can calculate the position of the pseudolite when receiving the signal, thereby realizing the accurate positioning of the user himself.

[0050] In step 106, the user receiver receives the pseudolite signal, and calculates a second difference according to the first difference, the difference speed and the difference acceleration.

[0051] The second difference is the difference prediction value between the real-time position and the standard position of the pseudolite at the signal receiving time.

[0052] In step 108, the user receiver calculates the predicted position of the pseudolite at the signal receiving time according to the second difference, the standard position and the standard cruising speed.

[0053] The user receiver predicts the position of the pseudolite at the signal receiving time according to the second difference and the standard position and the standard cruising speed in the ephemeris parameters.

[0054] In the above motion model-based pseudolite ephemeris parameter design method, the real-time position, real-time cruising speed, real-time cruising acceleration, pre-set cruising standard route and standard cruising speed of the pseudolite on the cruising standard route of the pseudolite are acquired by the pseudolite transmitter to acquire the dynamic motion state of the pseudolite, the ephemeris parameters are fitted according to the historical speed and historical acceleration of the real-time cruising of the pseudolite before the signal transmission time, so that the ephemeris parameters can contain the dynamic motion state information of the pseudolite, thereby enabling the user receiver to calculate the position of the pseudolite by using the ephemeris parameters, and improving the positioning accuracy of the user itself. In the embodiment of the application, the position of the pseudolite can be calculated while fully considering the motion of the pseudolite.

[0055] In one embodiment, the second difference value is calculated according to the first difference value, the difference speed and the difference acceleration, and the calculation of the second difference value according to the first difference value, the difference speed and the difference acceleration comprises:

[0056]

[0057] wherein t k is the signal reception time, t0 is the signal transmission time, is the first difference value is the second difference value, is the difference speed broadcast in the ephemeris at t0, (a δx ,a δy ,a δz is the difference acceleration broadcast in the ephemeris at t0.

[0058] In one embodiment, the predicted position of the pseudolite at the signal reception time is:

[0059]

[0060] wherein is the predicted position of the pseudolite at the signal reception time, is the standard position of the pseudolite at the signal transmission time, is the standard cruising speed of the pseudolite at the signal transmission time, is the second difference value.

[0061] In one embodiment, the method further comprises: the user receiver receives the pseudolite signal, and calculates the pseudolite time according to the ephemeris parameters and the signal reception time.

[0062] In one embodiment, the user receiver receives the pseudolite signal, and calculates the pseudolite time according to the ephemeris parameters and the signal receiving time. The step of calculating the pseudolite time according to the ephemeris parameters and the signal receiving time comprises: the user receiver receives the pseudolite signal, decodes the ephemeris parameters in the pseudolite signal to obtain the clock difference parameter and the signal transmitting time; and the user receiver calculates the pseudolite time according to the clock difference parameter, the signal transmitting time and the signal receiving time.

[0063] In one embodiment, the pseudolite time is:

[0064]

[0065] wherein, t tk is the pseudolite time, t k is the signal receiving time, is the clock difference parameter, and t0 is the signal transmitting time.

[0066] In one embodiment, the step of obtaining the standard position of the pseudolite according to the pre-set cruise standard route comprises: when the cruise standard route is a straight line, obtaining the standard position of the pseudolite according to the projection of the pseudolite on the cruise standard route; and when the cruise standard route is an arc, obtaining the standard position of the pseudolite according to the intersection point of the line connecting the pseudolite and the center of the cruise standard route on the cruise standard route.

[0067] In one embodiment, the ephemeris parameters in the pseudolite signal are updated at an ephemeris update period.

[0068] In one specific embodiment, the ephemeris parameters are updated at a period T up The ephemeris parameters of the pseudolite are designed as follows:

[0069]

[0070] The user calculates the pseudolite position and time according to the broadcast parameters, thereby realizing accurate timing and positioning.

[0071] It should be understood that, although each step in the flowchart of Figure 1 is shown in order according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps in may comprise multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0072] In one embodiment, as shown in Figure 4 A motion model-based pseudolite ephemeris parameter design device is provided, comprising a motion parameter acquisition module 402, an ephemeris parameter design module 404, a second difference calculation module 406, and a real-time position output module 408, wherein:

[0073] The motion parameter acquisition module 402 is configured to acquire, by a pseudolite transmitter, a real-time position, a real-time cruise speed, a real-time cruise acceleration, a pre-set cruise standard route, and a standard cruise speed of the pseudolite on the cruise standard route.

[0074] The ephemeris parameter design module 404 is configured to obtain, by the pseudolite transmitter, a standard position of the pseudolite according to the cruise standard route, calculate a difference between the real-time position and the standard position at a signal transmission time to obtain a first difference, and fit to obtain ephemeris parameters according to a historical speed and a historical acceleration of the pseudolite in real-time cruise before the signal transmission time, and broadcast the ephemeris parameters to a user receiver through a pseudolite signal; the ephemeris parameters include the first difference, the standard cruise speed, the standard position, a difference speed, and a difference acceleration.

[0075] The second difference calculation module 406 is configured to receive, by a user receiver, a pseudolite signal, and calculate a second difference according to the first difference, the difference speed, and the difference acceleration; the second difference is a difference prediction value between a real-time position and a standard position of the pseudolite at a signal reception time.

[0076] The real-time position output module 408 is configured to calculate, by the user receiver, a predicted position of the pseudolite at the signal reception time according to the second difference, the standard position, and the standard cruise speed.

[0077] In one embodiment, the second difference is calculated according to the first difference, the difference speed, and the difference acceleration.

[0078]

[0079] wherein t k is the signal reception time, t0 is the signal transmission time, is the first difference, is the second difference, is the difference speed at the t0 time broadcast in the ephemeris, (a δx ,a δy ,a δz ) is the difference acceleration at the t0 time broadcast in the ephemeris.

[0080] In one embodiment, the predicted position of the pseudolite at the signal reception time is:

[0081]

[0082] wherein, is a predicted position of the pseudolite at the signal reception moment, is a standard position of the pseudolite at the signal transmission moment, is a standard cruising speed of the pseudolite at the signal transmission moment, is a second difference.

[0083] In one of the embodiments, the device is further configured to receive, by the user receiver, the pseudolite signal, and calculate the pseudolite time according to the ephemeris parameters and the signal reception moment.

[0084] In one of the embodiments, the device is further configured to receive, by the user receiver, the pseudolite signal, interpret the ephemeris parameters in the pseudolite signal to obtain the clock difference parameter and the signal transmission moment, and calculate the pseudolite time according to the clock difference parameter, the signal transmission moment and the signal reception moment.

[0085] In one of the embodiments, the pseudolite time is:

[0086]

[0087] wherein, t tk is the pseudolite time, t k is the signal reception moment, is the clock difference parameter, and t0 is the signal transmission moment.

[0088] In one of the embodiments, the device is further configured to obtain the standard position of the pseudolite according to the projection of the pseudolite on the standard cruising route when the standard cruising route is a straight line, and obtain the standard position of the pseudolite according to the intersection point of the line segment between the pseudolite and the center of the standard cruising route on the standard cruising route when the standard cruising route is an arc.

[0089] In one of the embodiments, the ephemeris parameters in the pseudolite signal are updated at an ephemeris update period.

[0090] The specific limitations of the pseudolite ephemeris parameter design device based on the motion model can refer to the limitations of the pseudolite ephemeris parameter design method based on the motion model in the foregoing, which will not be repeated here. Each module in the above pseudolite ephemeris parameter design device based on the motion model can be realized by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0091] In one embodiment, a computer device is provided, which can be a terminal, and its internal structure diagram can be as shown in Figure 5As shown in the figure. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, 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 operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is used to communicate with the external terminal through the network connection. The computer program is executed by the processor to implement a pseudo-satellite ephemeris parameter design method based on a motion model. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad or mouse, etc.

[0092] Those skilled in the art can understand that, Figure 5 The skilled in the art can understand that,

[0093] In one embodiment, a computer device is provided, comprising a memory and a processor, the memory stores a computer program, and the processor executes the computer program to implement the steps of the method in the above embodiments.

[0094] In one embodiment, a computer readable storage medium is provided, which stores a computer program, and the computer program is executed by the processor to implement the steps of the method in the above embodiments.

[0095] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0096] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0097] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method for designing pseudo-satellite ephemeris parameters based on a motion model, characterized in that, The method includes: The pseudo-satellite transmitter acquires the pseudo-satellite's real-time position, real-time cruise speed, real-time cruise acceleration, pre-set cruise standard route, and the pseudo-satellite's standard cruise speed on the cruise standard route. The pseudo-satellite transmitter obtains the standard position of the pseudo-satellite based on the standard cruise route, calculates the difference between the real-time position and the standard position at the time of signal transmission to obtain a first difference, and fits the historical velocity and historical acceleration of the pseudo-satellite's real-time cruise before the time of signal transmission to obtain ephemeris parameters. The ephemeris parameters are then broadcast to the user receiver via the pseudo-satellite signal. The ephemeris parameters include the first difference, the standard cruise velocity, the standard position, and the difference velocity and difference acceleration between the real-time trajectory fitted based on the historical velocity and the historical acceleration and the standard cruise route. The user receiver receives the pseudo-satellite signal and calculates a second difference based on the first difference, the difference velocity, and the difference acceleration; the second difference is a predicted value of the difference between the real-time position and the standard position of the pseudo-satellite at the time of signal reception. The user receiver calculates the predicted position of the pseudo-satellite at the moment of signal reception based on the second difference, the standard position, and the standard cruise speed.

2. The method according to claim 1, characterized in that, The step of calculating the second difference based on the first difference, the difference velocity, and the difference acceleration includes: Based on the first difference, the difference velocity, and the difference acceleration, the second difference is calculated as follows: in, The time of signal reception. The time of signal transmission. The first difference, The second difference, Broadcast in the ephemeris The velocity difference at time, Broadcast in the ephemeris The acceleration due to the time difference.

3. The method according to claim 1, characterized in that, The predicted position of the pseudo-satellite at the time of signal reception is: in, This represents the predicted position of the pseudosatellite at the moment of signal reception. This is the standard position of the pseudosatellite at the moment of signal transmission. The standard cruising speed of a pseudosatellite at the moment of signal transmission. This is the second difference.

4. The method according to claim 1, characterized in that, The method further includes: The user receiver receives the pseudo-satellite signal and calculates the pseudo-satellite time based on the ephemeris parameters and the signal reception time.

5. The method according to claim 4, characterized in that, The step of the user receiver receiving the pseudosatellite signal and calculating the signal reception time based on the ephemeris parameters and the signal reception time includes: The user receiver receives the pseudo-satellite signal, decodes the ephemeris parameters in the pseudo-satellite signal, and obtains the clock difference parameters and the signal transmission time. The user receiver calculates the pseudo-satellite time based on the clock difference parameters, the signal transmission time, and the signal reception time.

6. The method according to claim 5, characterized in that, The pseudo-satellite time is: in, For pseudo-satellite time, The time of signal reception. , For clock bias parameters, This refers to the moment the signal was transmitted.

7. The method according to claim 1, characterized in that, The step of obtaining the standard position of the pseudo-satellite based on the cruise standard route includes: When the standard cruise route is a straight line, the standard position of the pseudo-satellite is obtained based on the projection of the pseudo-satellite onto the standard cruise route; When the standard cruise route is an arc, the standard position of the pseudosatellite is obtained by the intersection of the line connecting the center of the pseudosatellite and the center of the standard cruise route on the standard cruise route.

8. The method according to claim 1, characterized in that, The ephemeris parameters in the pseudo-satellite signal are updated according to the ephemeris update cycle.

9. A pseudo-satellite ephemeris parameter design device based on Kalman filtering, characterized in that, The device includes: The motion parameter acquisition module is used by the pseudo-satellite transmitter to acquire the pseudo-satellite's real-time position, real-time cruise speed, real-time cruise acceleration, pre-set cruise standard route, and the pseudo-satellite's standard cruise speed on the cruise standard route. The ephemeris parameter design module is used by the pseudosatellite transmitter to obtain the standard position of the pseudosatellite based on the standard cruise route, calculate the difference between the real-time position and the standard position at the time of signal transmission to obtain a first difference, and fit ephemeris parameters based on the historical velocity and historical acceleration of the pseudosatellite's real-time cruise before the time of signal transmission. The ephemeris parameters are then broadcast to the user receiver via the pseudosatellite signal. The ephemeris parameters include the first difference, the standard cruise velocity, the standard position, and the difference velocity and difference acceleration between the real-time trajectory fitted based on the historical velocity and historical acceleration and the standard cruise route. The second difference calculation module is used by the user receiver to receive the pseudo-satellite signal and calculate the second difference based on the first difference, the difference velocity, and the difference acceleration; the second difference is the predicted difference between the real-time position and the standard position of the pseudo-satellite at the time of signal reception. The real-time position output module is used by the user receiver to calculate the predicted position of the pseudo-satellite at the time of signal reception based on the second difference, the standard position, and the standard cruise speed.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

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