Receiver positioning methods, devices, communication systems, storage media, and electronic devices

Abstract

This application discloses a receiver positioning method, apparatus, communication system, storage medium, and electronic device, relating to the field of satellite navigation technology. The method includes: determining second information after signal recovery based on first information before signal loss of the satellite; tracking the signal based on a carrier digitally controlled oscillator frequency control word, a code digitally controlled oscillator frequency control word, and a code start point to determine the frequency error; during signal tracking, detecting whether the second code phase is aligned by code phase sliding; and, in response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, performing navigation calculations based on code epoch values ​​and the tracked third code phase to position the receiver. This application solves the technical problems in related technologies where repositioning of lost-lock signals cannot be achieved in weak signal scenarios, and the repositioning time is slow.

Description

Technical Field

[0001] This application relates to the field of satellite navigation, and more specifically, to a receiver positioning method, apparatus, communication system, storage medium, and electronic device. Background Technology

[0002] When a satellite navigation receiver receives satellite signals, if the antenna is obstructed, in a weak signal environment, or under interference, the signal input level may be lower than normal. In such cases, the receiver cannot continuously and stably track the satellite signal, leading to signal loss. After signal loss, the repositioning time becomes a key performance indicator for evaluating the receiver. Therefore, in dynamic weak signal scenarios, shortening the repositioning time and improving the positioning rate is an important research direction in the field of satellite navigation.

[0003] Currently, navigation receivers employ two methods to shorten relocation time. The first is an assisted acquisition method, which uses the receiver's position, velocity, and ephemeris information before loss of lock to predict the carrier's carrier Doppler frequency, narrowing the Doppler frequency acquisition range and thus reducing reacquisition time. The second method uses the receiver's position and ephemeris information before loss of lock to infer the current ephemeris value of the satellite signal, eliminating bit synchronization and frame synchronization time, thereby performing navigation calculations and relocating the signal. However, both methods rely on the carrier's position, velocity, and ephemeris. The first method requires calling the signal acquisition module, and because it lacks a predicted navigation data start point, it cannot enable long-term coherent integration during tracking transitions, failing to meet the relocation requirements in weak signal scenarios. The second method suffers from carry ambiguity issues, thus limiting its application.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This application provides a receiver positioning method, apparatus, communication system, storage medium, and electronic device to at least solve the technical problems in the related art where repositioning of lost-lock signals cannot be achieved in weak signal scenarios and the repositioning time is slow.

[0006] According to one aspect of the embodiments of this application, a receiver positioning method is provided, comprising: determining second information after signal recovery based on first information before signal loss of a satellite, wherein the first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase; and the second information includes second carrier Doppler frequency, carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, second code phase, code start point, and code epoch value; tracking the signal based on the carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, and code start point to determine a frequency error, wherein the frequency error is used to represent the error between the second carrier Doppler frequency and the actual Doppler frequency; during signal tracking, detecting whether the second code phase is aligned by code phase sliding; and responding to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, performing navigation calculation based on the code epoch value and the tracked third code phase to position the receiver.

[0007] Optionally, the second information after signal recovery, estimated based on the first information before signal loss of lock, includes: linearly fitting the first carrier Doppler frequency based on local time and clock drift value to determine the second carrier Doppler frequency; determining the second code Doppler frequency based on the second carrier Doppler frequency, the first pseudocode reference rate, and the carrier reference frequency; determining the second code phase based on the second code Doppler frequency, the first code Doppler frequency, and the first code phase; determining the carrier digital controlled oscillator frequency control word based on the carrier frequency, the digital controlled oscillator hold register length, and the digital controlled oscillator operating clock; determining the code digital controlled oscillator frequency control word based on the code rate, the digital controlled oscillator hold register length, and the operating clock; and determining the code start point and code epoch value based on the second code phase.

[0008] Optionally, determining the frequency error includes: multiplying the intermediate frequency sampled digital signal by the locally reproduced in-phase carrier and quadrature carrier respectively to obtain a first signal and a second signal; performing pseudo-code despreading processing on the first signal and the second signal respectively to obtain a third signal and a fourth signal; performing coherent integration on the third signal and the fourth signal respectively to obtain a first coherent cumulative value and a second coherent cumulative value; determining a complex coherent value based on the first coherent cumulative value and the second coherent cumulative value; performing a fast Fourier transform operation on the complex coherent value to obtain an operational value; and determining the frequency error based on the peak value of the operational value.

[0009] Optionally, detecting whether the second code phase is aligned by sliding the code phase includes: sliding the second code phase to determine the relationship between the peak value and a preset threshold; continuing to slide in response to the peak value being less than or equal to the preset threshold; and stopping the sliding of the code phase in response to the peak value being greater than the preset threshold, thus determining that the second code phase is aligned.

[0010] Optionally, the navigation calculation based on the epoch value and the tracked third code phase for signal positioning includes: determining a pseudorange observation based on the epoch value and the tracked third code phase, wherein the pseudorange observation is used to represent the distance between the satellite and the receiver; and determining the receiver's position information based on the pseudorange observation and the pseudorange algorithm in response to the pseudorange observation satisfying the navigation calculation conditions, so as to position the receiver.

[0011] Optionally, the code epoch value includes a code 1ms epoch value and a code 20ms epoch value, and the third code phase is the code phase within 1ms epoch obtained by tracking.

[0012] According to another aspect of the embodiments of this application, a receiver positioning device is also provided. The device includes: a determining module, configured to determine second information after signal recovery based on first information before signal loss of lock, wherein the first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase; and the second information includes second carrier Doppler frequency, carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, second code phase, code start point, and code epoch value; a tracking module, configured to track the signal based on the carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, and code start point, and determine a frequency error, wherein the frequency error represents the error between the second carrier Doppler frequency and the actual Doppler frequency; a sliding module, configured to detect whether the second code phase is aligned by sliding the code phase during signal tracking; and a positioning module, configured to perform navigation calculation based on the code epoch value and the tracked third code phase in response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, so as to position the receiver.

[0013] Optionally, the determining module is further configured to perform linear fitting of the first carrier Doppler frequency based on the local time and clock drift value to determine the second carrier Doppler frequency; determine the second code Doppler frequency based on the second carrier Doppler frequency, the first pseudocode reference rate, and the carrier reference frequency; determine the second code phase based on the second code Doppler frequency, the first code Doppler frequency, and the first code phase; determine the carrier digital controlled oscillator frequency control word based on the carrier frequency, the digital controlled oscillator hold register length, and the operating clock of the digital controlled oscillator; determine the code digital controlled oscillator frequency control word based on the code rate, the digital controlled oscillator hold register length, and the operating clock; and determine the code start point and code epoch value based on the second code phase.

[0014] Optionally, the tracking module is further configured to multiply the intermediate frequency sampled digital signal with the locally reproduced in-phase carrier and quadrature carrier respectively to obtain a first signal and a second signal; perform pseudo-code despreading processing on the first signal and the second signal respectively to obtain a third signal and a fourth signal; perform coherent integration on the third signal and the fourth signal respectively to obtain a first coherent cumulative value and a second coherent cumulative value; determine a complex coherent value based on the first coherent cumulative value and the second coherent cumulative value; perform a fast Fourier transform operation on the complex coherent value to obtain the calculated value; and determine the frequency error based on the peak value of the calculated value.

[0015] Optionally, the sliding module is also used to slide the second code phase to determine the relationship between the peak value and the preset threshold; in response to the peak value being less than or equal to the preset threshold, the sliding continues; in response to the peak value being greater than the preset threshold, the sliding code phase is stopped, and the second code phase is aligned.

[0016] Optionally, the positioning module is also used to determine a pseudorange observation based on the code epoch value and the tracked third code phase, wherein the pseudorange observation is used to represent the distance between the satellite and the receiver; in response to the pseudorange observation satisfying the navigation solution conditions, the position information of the receiver is determined based on the pseudorange observation and the pseudorange algorithm to locate the receiver.

[0017] Optionally, the code epoch value includes a code 1ms epoch value and a code 20ms epoch value, and the third code phase is the code phase within 1ms epoch obtained by tracking.

[0018] According to another aspect of the embodiments of this application, a communication system is also provided, including: a receiver positioning device and a satellite, wherein the receiver positioning device is used to perform the receiver positioning method in any of the above-mentioned embodiments, and the satellite is used to transmit and receive signals.

[0019] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer-readable storage medium, and the computer program is configured to execute the receiver positioning method in any of the above-mentioned embodiments when running on a computer or processor.

[0020] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to perform the receiver positioning method of any of the above.

[0021] In this embodiment, the second information after signal recovery is determined based on the first information before the satellite signal is lost. The first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase. The second information includes the second carrier Doppler frequency, carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, second code phase, code start point, and code epoch value. The signal is tracked based on the carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, and code start point to determine the frequency error. The frequency error represents the error between the second carrier Doppler frequency and the actual Doppler frequency. During signal tracking, the second code phase is checked for alignment via code phase sliding. In response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, navigation calculation is performed based on the code epoch value and the tracked third code phase to locate the receiver. Therefore, there is no need to call the signal acquisition module, and each tracking channel processes in parallel without bit synchronization or frame synchronization, thus enabling rapid relocation of lost-lock signals and effectively shortening the relocation time of satellite navigation receivers. Furthermore, based on the information prediction code start point before the loss of lock, long-term coherent integration can be enabled during the tracking transition phase. Simultaneously, the use of a fast Fourier transform frequency estimation method solves the problem of large prediction Doppler frequency deviation, enabling relocation of lost-lock signals in dynamic and weak signal scenarios. This addresses the issues of related technologies that cannot relocate lost-lock signals in weak signal scenarios and suffer from slow relocation times. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0023] Figure 1 A hardware structure block diagram of a computer terminal (or mobile device) for implementing a receiver positioning method is shown.

[0024] Figure 2 This is a flowchart of a receiver positioning method according to an embodiment of this application;

[0025] Figure 3 This is a flowchart illustrating the estimated information after signal recovery according to an embodiment of this application;

[0026] Figure 4 This is a block diagram illustrating the principle of FFT-based fine frequency estimation according to an embodiment of this application.

[0027] Figure 5This is a structural block diagram of a receiver positioning device according to an embodiment of this application;

[0028] Figure 6 This is a structural block diagram of a communication system according to an embodiment of this application. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] When a satellite navigation receiver receives satellite signals, if the antenna is obstructed, in a weak signal environment, or under interference, the signal input level will be lower than normal. The receiver will then be unable to continuously and stably track the satellite signal, easily resulting in signal loss. After signal loss, the relocation time becomes a key performance indicator for evaluating the receiver. The relocation time typically includes signal reacquisition time, loop establishment and stable tracking time, bit synchronization time, frame synchronization time, and navigation calculation time.

[0032] Currently, navigation receivers employ two methods to shorten relocation time. The first is an assisted acquisition method, which uses the receiver's position, velocity, and ephemeris information before loss of lock to predict the carrier's carrier Doppler frequency, narrowing the Doppler frequency acquisition range and thus reducing reacquisition time. The second method uses the receiver's position and ephemeris information before loss of lock to infer the current ephemeris value of the satellite signal, eliminating bit synchronization and frame synchronization time, thereby performing navigation calculations and relocating the signal. However, both methods rely on the carrier's position, velocity, and ephemeris. The first method requires calling the signal acquisition module, and because it lacks a predicted navigation data start point, it cannot enable long-term coherent integration during tracking transitions, failing to meet the relocation requirements in weak signal scenarios. The second method suffers from carry ambiguity issues, thus limiting its application.

[0033] To address the issue of signal loss leading to positioning failure in dynamic, weak-signal applications, this application proposes a relocation method for lost-lock signals based on fine frequency estimation using Fast Fourier Transform (FFT). Without auxiliary data, prior information measured before signal loss is used to estimate the Doppler frequency and code phase after loss of lock. After signal recovery, the integral value is obtained using the tracking channel correlator. This integral value is then buffered and subjected to FFT calculation for fine frequency estimation, yielding the error between the estimated and actual Doppler frequency under dynamic conditions. This enables the conversion from weak signal to tracking functionality in dynamic environments. This solution eliminates the need to invoke the signal acquisition module, allows parallel processing across tracking channels, and eliminates the need for bit and frame synchronization, enabling rapid relocation in dynamic, weak-signal applications. Detailed explanation follows.

[0034] According to an embodiment of this application, an embodiment of a receiver positioning method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] The methods and embodiments provided in this application can be executed on mobile terminals, computer terminals, or similar computing devices. Figure 1 A hardware block diagram of a computer terminal (or mobile device) for implementing a receiver positioning method is shown. Figure 1As shown, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0036] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10 (or mobile device). As involved in the embodiments of this application, the data processing circuits serve as a processor control mechanism (e.g., selection of a variable resistor termination path connected to an interface).

[0037] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the receiver positioning method in the embodiments of this application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby implementing the receiver positioning method of the aforementioned application. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0038] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0039] The display can be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10 (or mobile device).

[0040] Under the above operating environment, this application embodiment provides a flowchart of a receiver positioning method, as follows: Figure 2 As shown, the method includes the following steps:

[0041] Step S201: Determine the second information after signal recovery based on the first information before the satellite signal is lost.

[0042] The first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase. The second information includes second carrier Doppler frequency, carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, second code phase, code start point, and code epoch value.

[0043] The first information can be understood as the prior information obtained by the receiver when it is steadily tracking the signal before the satellite signal is lost. This includes the local time before the signal loss, the clock drift value, the first carrier Doppler frequency, the first code Doppler frequency, the first pseudocode reference rate, and the first code phase. Considering that the prior information still has usable value, a mathematical model is established based on the prior information through linear fitting. This model can predict the second information after the signal is recovered, thereby achieving rapid relocation.

[0044] The second information can be understood as the estimated information after signal recovery, including the second carrier Doppler frequency, carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, second code phase, code start point, and code epoch value, etc., which can be used for signal tracking processing and navigation calculation.

[0045] For example, the average rate of change of the carrier Doppler frequency can be estimated by establishing a mathematical model, and other information can be estimated based on this model. This application does not limit the scope of the embodiments.

[0046] Step S202: Track the signal based on the carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, and code start point to determine the frequency error.

[0047] The frequency error is used to represent the error between the second carrier Doppler frequency and the actual Doppler frequency.

[0048] Based on the estimated carrier digitally controlled oscillator frequency control word, code digitally controlled oscillator frequency control word, and code start point (at which point the code generation from the initial phase is initiated), the tracking transition process is started to track the signal. During the tracking transition phase, there is no need to call the signal acquisition module; each tracking channel processes in parallel, thus effectively shortening the repositioning time of the satellite navigation receiver after lock-down.

[0049] During the tracking phase, the coherent integration time can be selected based on the actual dynamic signal strength, i.e., a longer coherent integration time can be selected. Since the longer the coherent integration time, the greater the gain, the embodiments of this application can track weaker signals and improve the sensitivity of signal tracking.

[0050] Furthermore, based on FFT frequency estimation, the integral value of the channel correlator is collected and subjected to FFT spectrum analysis to track changes in external signals. This allows for further fine-tuning of the estimated second carrier Doppler frequency, determining the frequency error between the second carrier Doppler frequency and the actual Doppler frequency. This narrows the frequency error range, placing it within the loop's traction range, thus resolving the problem of large predicted Doppler frequency deviations. Simultaneously, it meets the requirement for relocation of lost-lock signals in dynamic weak signal scenarios, providing a foundation for subsequent receiver positioning.

[0051] Step S203: During signal tracking, the alignment of the second code phase is detected by code phase sliding.

[0052] Since the estimated second code phase may have deviations, the signal-to-tracking stage needs to use code phase sliding detection to further detect and confirm the second code phase, to determine whether the position of the second code phase is accurate, that is, to determine whether the second code phase is aligned.

[0053] During code phase sliding detection, FFT spectrum analysis is required for each code phase slide. When the FFT peak exceeds the preset threshold, the sliding detection stops and the satellite tracking status is determined to achieve code synchronization, thus providing a basis for subsequent positioning of the receiver.

[0054] Step S204: In response to the frequency error being within a preset range, the second code phase being aligned, and the carrier being synchronized, navigation calculation is performed based on the code epoch value and the tracked third code phase to locate the receiver.

[0055] Once it is determined that the frequency error determined in step S202 is within a preset range, and the second code phase determined in step S203 achieves code synchronization and carrier synchronization, it indicates that the receiver can be located. Therefore, navigation calculation is performed based on the estimated code epoch value and the third code phase obtained during tracking to locate the receiver.

[0056] The method in this application embodiment does not require bit synchronization and frame synchronization during positioning, thus enabling rapid repositioning and effectively shortening the repositioning time of the satellite navigation receiver after lock-out.

[0057] Through the above steps, the second information after signal recovery is determined based on the first information before the satellite signal loss. The first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase. The second information includes the second carrier Doppler frequency, carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, second code phase, code start point, and code epoch value. The signal is tracked based on the carrier digital controlled oscillator frequency control word, code digital controlled oscillator frequency control word, and code start point to determine the frequency error. The frequency error represents the error between the second carrier Doppler frequency and the actual Doppler frequency. During signal tracking, the alignment of the second code phase is detected by code phase sliding. In response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, navigation calculations are performed based on the code epoch value and the tracked third code phase to locate the receiver. Therefore, there is no need to call the signal acquisition module, and each tracking channel processes in parallel without bit synchronization or frame synchronization, thus enabling rapid relocation of lost-lock signals and effectively shortening the relocation time of satellite navigation receivers. Furthermore, based on the information prediction code start point before the loss of lock, long-term coherent integration can be enabled during the tracking transition phase. Simultaneously, the use of a fast Fourier transform frequency estimation method solves the problem of large prediction Doppler frequency deviation, enabling relocation of lost-lock signals in dynamic and weak signal scenarios. This addresses the issues of related technologies that cannot relocate lost-lock signals in weak signal scenarios and suffer from slow relocation times.

[0058] Optionally, in step S201, determining the second information after signal recovery based on the first information before the satellite signal loss may include the following execution steps (the following uses a single satellite as an example to describe step S201 in detail):

[0059] Step S201a: Based on the local time and clock drift value, perform linear fitting on the first carrier Doppler frequency to determine the second carrier Doppler frequency.

[0060] First, estimate the time interval Δt, which can be understood as the time interval between the time before the signal was lost and the current time. Let t1 be the receiver's local time when the signal is lost and t2 be the receiver's local time when the signal is restored. The local time is generated by the local clock, therefore the time interval Δt is affected by clock drift.

[0061] The formula for calculating the time interval Δt is:

[0062] Δt=(t2-t1)(1+ClockDrift) (1)

[0063] ClockDrift represents the clock drift value of the receiver.

[0064] Next, a linear fit is performed on the first carrier Doppler frequency before signal loss of lock to establish a model, thereby predicting the second carrier Doppler frequency after signal recovery. Optionally, the average rate of change of the carrier Doppler frequency can be estimated by establishing a mathematical model, and the remaining information can be estimated based on this.

[0065] Let d be the carrier Doppler frequency obtained by the receiver tracking at time t0 before the satellite signal is lost. carr0 The carrier Doppler frequency obtained by tracking at time t1 is d. carr1 Then the average rate of change of the carrier Doppler frequency can be calculated according to the following formula (2):

[0066]

[0067] The second carrier Doppler frequency d at local time t2 after signal recovery can be predicted based on the average rate of change of the carrier Doppler frequency. carr2 It can be calculated using formula (3):

[0068]

[0069] Step S201b: Determine the second code Doppler frequency based on the second carrier Doppler frequency, the first pseudocode reference rate, and the carrier reference frequency.

[0070] The second code Doppler frequency d at local time t2 after signal recovery code2 It can be calculated using formula (4):

[0071]

[0072] Among them, f code This represents the pseudocode reference rate before lock loss, i.e., the first pseudocode reference rate, expressed in chips per second. carr This indicates the carrier reference frequency before the loss of lock, in Hz.

[0073] Step S201c: Determine the phase of the second code based on the second code Doppler frequency, the first code Doppler frequency, and the first code phase.

[0074] The second code phase at local time t2 after signal recovery This can be understood as the first code phase at time t1 when the lock is lost. The sum of the code phase changes, where the code phase change is the code phase change caused by the code rate (i.e., the sum of the code reference rate and the code Doppler frequency) within the estimated time interval Δt. Therefore, the second code phase at time t2... It can be calculated using formula (5):

[0075]

[0076] in, This represents the code phase at time t1 when the lock is lost, i.e., the first code phase. d code1 This represents the code Doppler frequency at time t1 when the lock is lost, i.e., the first code Doppler frequency.

[0077] Step S201d: Determine the carrier digital controlled oscillator frequency control word based on the carrier frequency, the length of the digital controlled oscillator hold register, and the operating clock of the digital controlled oscillator.

[0078] The carrier and code tracking loop uses a digitally controlled oscillator (NCO) to reproduce the carrier frequency and pseudocode rate. The carrier NCO frequency control word can be calculated using formula (6):

[0079]

[0080] Where f1 represents the carrier frequency, L represents the NCO holding register length, and f s This indicates the operating clock of the NCO.

[0081] Step S201e: Determine the code digital control oscillator frequency control word based on code rate, digital control oscillator hold register length, and operating clock.

[0082] Accordingly, the NCO frequency control word can be calculated using formula (7):

[0083]

[0084] Where f2 represents the code rate.

[0085] Step S201f: Determine the code start point and code epoch value based on the second code phase.

[0086] Based on the second code phase at time t2 in formula (5) From the predicted results, we can know the code phase difference between time t2 and the first integration starting point. Therefore, the code starting point (integration starting point) can be derived.

[0087] Furthermore, based on the second code phase at time t2 The predicted results can be used to obtain the code epoch values ​​after signal recovery, which can then be used for subsequent navigation calculations to locate the receiver.

[0088] Optionally, the code epoch value includes the code 1ms epoch value and the code 20ms epoch value, that is, the code epoch value includes the code 1ms epoch value E. 1ms and 20ms epoch value E 20ms .

[0089] Figure 3 This is a flowchart illustrating the estimated information after signal recovery according to an embodiment of this application, based on... Figure 3 Steps S201a-S201f above are further described. For example... Figure 3 As shown, the second information after signal recovery is determined by a prediction method based on the first information before the loss of lock. Specifically, the time interval Δt is predicted based on the local time and clock drift value in the first information (i.e., formula (1)). The average rate of change of the carrier Doppler frequency is predicted based on the first carrier Doppler frequency. (i.e., formula (2)). The second carrier Doppler frequency d is estimated based on the estimated time interval and the average rate of change of the carrier Doppler frequency. carr2 (i.e., formula (3)). The second code Doppler frequency d is estimated based on the second carrier Doppler frequency. code2 (i.e., formula (4)). Based on the first code Doppler frequency, the first pseudocode reference rate, the first code phase, and the second code Doppler frequency d code2 Predicting the second code phase (i.e., formula (5)). The carrier NCO frequency control word is estimated based on the second carrier Doppler frequency (i.e., formula (6)). The code NCO frequency control word is estimated based on the second code Doppler frequency (i.e., formula (7)). The code start point and code epoch value are estimated based on the second code phase. Thus, the second information after signal recovery can be estimated based on the first information before loss of lock, which can then be used for subsequent signal tracking and navigation calculation.

[0090] Optionally, in step S202, determining the frequency error may include the following steps:

[0091] Step S202a: Multiply the intermediate frequency sampled digital signal with the locally reproduced in-phase carrier and quadrature carrier respectively to obtain the first signal and the second signal.

[0092] Figure 4 This is a block diagram illustrating the principle of FFT-based fine frequency estimation according to an embodiment of this application, as follows: Figure 4As shown, the intermediate frequency sampled digital signal can be understood as the input signal affected by external signals, while the locally reproduced in-phase and quadrature carriers can be understood as local signals f that are not affected by external signals. s .

[0093] The intermediate frequency sampled digital signal is multiplied by the locally reproduced in-phase carrier and quadrature carrier, and then quadrature downconversion is performed to complete carrier stripping, resulting in the first and second signals after carrier stripping, namely the I-channel signal and the Q-channel signal.

[0094] Step S202b: Perform pseudo-code despreading on the first and second signals respectively to obtain the third and fourth signals.

[0095] like Figure 4 As shown, the I and Q signals after carrier stripping are multiplied by the local reproducible instant code (pseudo code) respectively, and pseudo code despreading is performed to obtain the despread third and fourth signals, namely the Ip signal and the Qp signal. The local reproducible instant code comes from the local pseudo code generator.

[0096] Step S202c: Perform coherent integration on the third signal and the fourth signal respectively to obtain the first coherent cumulative value and the second coherent cumulative value.

[0097] like Figure 4 As shown, coherent integration (i.e., integration zeroing) is performed on the despread Ip and Qp signals respectively to obtain the first and second coherent cumulative values, which are the coherent cumulative values ​​I of the Ip branch. psi The coherent cumulative value Q of the Qp branch psi The mathematical models are shown in formulas (8) and (9), respectively:

[0098]

[0099]

[0100] in, The received signal carrier-to-noise ratio is expressed in dB-Hz, T is the integration time in seconds, and D is the signal-to-noise ratio. i Represents navigation data, R(τ) i ) represents the pseudocode correlation function, Δf i Represents frequency error, Δφ i This indicates the phase error.

[0101] In the above formulas (8) and (9) Let it be A i That is, the above formulas (8) and (9) can be transformed into formulas (10) and (11):

[0102] I psi =Ai cos(Δφ i ) + η Ii (10)

[0103] Q psi =A i sin(Δφ i ) + η Qi (11)

[0104] It can be seen from formulas (10) and (11) that I psi and Q psi are modulated with navigation data D i . Since the code epoch value after signal recovery can be accurately predicted using the first information before loss of lock and the prediction algorithm, that is, the starting point of the navigation data bit can be accurately predicted. Therefore, when the number of points cached in the integration value is within one navigation data bit, the D i of all cached values is the same, and there is no bit flip effect. Thus, the FFT operation can be directly performed on I psi and Q psi to obtain an estimated value of the Doppler frequency deviation, that is, an estimated value of the frequency error. <##

[0105] Step S202d, determine the complex coherence value based on the first coherent accumulation value and the second coherent accumulation value.

[0106] As Figure 4 shown, taking I psi and Q psi as the real part and the imaginary part respectively and performing complex processing, the complex coherence value can be obtained, which is expressed as formula (12):

[0107] Z = I ps + jQ ps (12)

[0108] Step S202e, perform a fast Fourier transform operation on the complex coherence value to obtain an operation value; <##

[0109] As Figure 4 shown, the complex coherence value obtained after preprocessing is successively sent into the data buffer, and the complex coherence value in the data buffer is completed by the FFT module for FFT operation, and the FFT operation value can be obtained. <##

[0110] Step S202f, determine the frequency error according to the peak value of the operation value.

[0111] As Figure 4 shown, find the peak value in the FFT operation value and record its index position k, where 0 < k < N - 1 and N is the number of FFT points, and the frequency discrimination can be realized to obtain the frequency error.

[0112] The formula for calculating frequency error is shown in formula (13):

[0113]

[0114] In addition, the frequency error Δf i and the frequency value f at the previous moment i-1 The carrier frequency value f is calculated using formula (14). i And based on the carrier NCO frequency control word obtained from Formula 6, loop tracking processing is performed.

[0115] f i = f i-1 +Δf i (14)

[0116] Optionally, in step S203, detecting whether the second code phase is aligned by code phase sliding may include the following steps:

[0117] Step S203a: Slide the second code phase to determine the relationship between the peak value and the preset threshold;

[0118] Step S203b: In response to the peak value being less than or equal to a preset threshold, continue sliding;

[0119] Step S203c: In response to the peak value being greater than a preset threshold, stop the sliding code phase and determine the second code phase alignment.

[0120] Understandably, when performing sliding detection on the second code phase, an FFT spectral analysis is required for each sliding of the second code phase to determine the relationship between the peak value of the FFT operation and a preset threshold. If the peak value is less than or equal to the preset threshold, it indicates that the second code phase is not aligned, and the sliding continues. If the peak value is greater than the preset threshold, it indicates that the second code phase is aligned, the satellite tracking state achieves code synchronization, and the sliding stops.

[0121] Optionally, in step S204, performing navigation calculation based on the code epoch value and the tracked third code phase to locate the signal may include the following execution steps:

[0122] Step S204a: Determine the pseudorange observation based on the code epoch value and the third code phase obtained from tracking;

[0123] Step S204b: In response to the pseudorange observations satisfying the navigation solution conditions, the position information of the receiver is determined based on the pseudorange observations and the pseudorange algorithm to locate the receiver.

[0124] Among them, pseudorange observations are used to represent the distance between the satellite and the receiver.

[0125] Optionally, the third code phase is the code phase within 1 ms epoch obtained from tracking.

[0126] Using the code epoch value E estimated in step 1 1ms 20ms epoch value E 20ms The pseudorange observations between a satellite and the receiver are determined by the code phase within 1 epoch obtained from tracking. Based on these pseudorange observations, pseudorange equations can be established. After establishing pseudorange equations for multiple satellites, the unknowns in the equations are solved when the pseudorange observations satisfy the navigation solution conditions, thereby obtaining the receiver's position information and enabling rapid positioning of the receiver.

[0127] As can be seen, the method provided in this application, in dynamic weak signal scenarios, employs a fine-grained FFT frequency estimation method to address the problem of large predicted Doppler frequency deviation. After buffering the channel correlator integral value, an FFT operation is performed to compensate for the predicted carrier Doppler frequency value, ensuring that the carrier Doppler frequency remains within the receiver loop's pull range. The FFT operation improves processing gain, thus this method has the advantage of adapting to both dynamic and weak signal scenarios. Furthermore, it eliminates the need for serial acquisition by calling the signal acquisition module, allowing direct transition to tracking processing. Each tracking channel operates in parallel, reducing reacquisition time. Moreover, based on prior information before lock loss, the code start point is predicted, enabling long-term coherent integration during the tracking transition phase. Simultaneously, the fine-grained FFT frequency estimation method solves the problem of large predicted Doppler frequency deviation, meeting the requirements for lock loss relocation in both dynamic and weak signal scenarios.

[0128] Furthermore, by accurately predicting epoch values ​​based on prior information before lock loss, bit synchronization and frame synchronization time can be eliminated, navigation calculation can be completed quickly, further shortening repositioning time. Moreover, it does not rely on auxiliary position and velocity information and ephemeris, making it more widely applicable.

[0129] Furthermore, through engineering implementation and experimental verification, the results show that, according to the receiver positioning method proposed in the embodiments of this application, when the carrier has an acceleration of 10g, a jerk of 2g / s, a signal input power higher than -145dBm, and a lock-out time of less than 5s, the receiver repositioning time is within 1s, which effectively shortens the lock-out repositioning time of the satellite navigation receiver.

[0130] The receiver positioning method proposed in this application does not rely on auxiliary data to solve the problem of lost-lock repositioning of satellite navigation receivers in dynamic weak signal scenarios. In engineering implementation, this method can be embedded based on the original processing flow of satellite navigation receiver software without involving hardware modifications, thus making it more widely applicable.

[0131] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0132] Figure 5 This is a structural block diagram of a receiver positioning device according to an embodiment of this application, such as... Figure 5 As shown, taking a receiver positioning device 500 as an example, the device includes: a determining module 501, which is used to determine second information after signal recovery based on first information before signal loss of lock, wherein the first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase; and the second information includes second carrier Doppler frequency, carrier digitally controlled oscillator frequency control word, code digitally controlled oscillator frequency control word, second code phase, code start point, and code epoch value; and a tracking module 502, which is used to determine second information after signal recovery based on carrier digital... The system controls the oscillator frequency control word, the code digital control oscillator frequency control word, and the code start point to track the signal and determine the frequency error. The frequency error represents the error between the second carrier Doppler frequency and the actual Doppler frequency. A sliding module 503 is used to detect whether the second code phase is aligned by sliding the code phase during signal tracking. A positioning module 504 is used to perform navigation calculation based on the code epoch value and the tracked third code phase in response to the frequency error being within a preset range, the second code phase being aligned, and carrier synchronization, so as to locate the receiver.

[0133] Optionally, the determining module 501 is further configured to perform linear fitting of the first carrier Doppler frequency based on the local time and clock drift value to determine the second carrier Doppler frequency; determine the second code Doppler frequency based on the second carrier Doppler frequency, the first pseudocode reference rate, and the carrier reference frequency; determine the second code phase based on the second code Doppler frequency, the first code Doppler frequency, and the first code phase; determine the carrier digital controlled oscillator frequency control word based on the carrier frequency, the digital controlled oscillator hold register length, and the operating clock of the digital controlled oscillator; determine the code digital controlled oscillator frequency control word based on the code rate, the digital controlled oscillator hold register length, and the operating clock; and determine the code start point and code epoch value based on the second code phase.

[0134] Optionally, the tracking module 502 is further configured to multiply the intermediate frequency sampled digital signal with the locally reproduced in-phase carrier and quadrature carrier respectively to obtain a first signal and a second signal; perform pseudo-code despreading processing on the first signal and the second signal respectively to obtain a third signal and a fourth signal; perform coherent integration on the third signal and the fourth signal respectively to obtain a first coherent cumulative value and a second coherent cumulative value; determine a complex coherent value based on the first coherent cumulative value and the second coherent cumulative value; perform a fast Fourier transform operation on the complex coherent value to obtain an operational value; and determine the frequency error based on the peak value of the operational value.

[0135] Optionally, the sliding module 503 is also used to slide the second code phase to determine the relationship between the peak value and the preset threshold; in response to the peak value being less than or equal to the preset threshold, to continue sliding; in response to the peak value being greater than the preset threshold, to stop sliding the code phase and determine that the second code phase is aligned.

[0136] Optionally, the positioning module 504 is further configured to determine a pseudorange observation based on the code epoch value and the third code phase obtained by tracking, wherein the pseudorange observation is used to represent the distance between the satellite and the receiver; in response to the pseudorange observation satisfying the navigation solution conditions, the position information of the receiver is determined based on the pseudorange observation and the pseudorange algorithm to locate the receiver.

[0137] Optionally, the code epoch value includes a code 1ms epoch value and a code 20ms epoch value, and the third code phase is the code phase within 1ms epoch obtained by tracking.

[0138] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0139] It should be noted that, Figure 5 Preferred embodiments of the shown examples can be found in [reference needed]. Figure 2 The relevant descriptions of the embodiments shown will not be repeated here.

[0140] Figure 6 This is a structural block diagram of a communication system according to an embodiment of this application, such as... Figure 6 As shown, the system includes a receiver positioning device 60 and a satellite 61, wherein the receiver positioning device is used to perform the above-described receiver positioning method, and the satellite is used to transmit and receive signals.

[0141] This application also provides a computer-readable storage medium storing a computer program configured to perform the steps in any of the above method embodiments when run on a computer or processor.

[0142] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0143] Step S201: Determine the second information after the signal is recovered based on the first information before the satellite signal is lost;

[0144] Step S202: Track the signal based on the carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, and code start point to determine the frequency error;

[0145] Step S203: During signal tracking, the alignment of the second code phase is detected by code phase sliding.

[0146] Step S204: In response to the frequency error being within a preset range, the second code phase being aligned, and the carrier being synchronized, navigation calculation is performed based on the code epoch value and the tracked third code phase to locate the receiver.

[0147] Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0148] Embodiments of this application also provide an electronic device including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0149] Optionally, in this embodiment, the processor in the above-described electronic device may be configured to run a computer program to perform the following steps:

[0150] Step S201: Determine the second information after the signal is recovered based on the first information before the satellite signal is lost;

[0151] Step S202: Track the signal based on the carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, and code start point to determine the frequency error;

[0152] Step S203: During signal tracking, the alignment of the second code phase is detected by code phase sliding.

[0153] Step S204: In response to the frequency error being within a preset range, the second code phase being aligned, and the carrier being synchronized, navigation calculation is performed based on the code epoch value and the tracked third code phase to locate the receiver.

[0154] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0155] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0156] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0157] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0158] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0159] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0160] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0161] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A receiver positioning method, characterized in that, The method includes: The second information after the signal recovery is determined based on the first information before the satellite signal is lost. The first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate and first code phase. The second information includes second carrier Doppler frequency, carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, second code phase, code start point and code epoch value. The signal is tracked based on the carrier digital control oscillator frequency control word, the code digital control oscillator frequency control word, and the code start point to determine the frequency error, wherein the frequency error is used to represent the error between the second carrier Doppler frequency and the actual Doppler frequency; During signal tracking, the alignment of the second code phase is detected by code phase sliding. In response to the frequency error being within a preset range, the second code phase being aligned, and the carrier being synchronized, navigation calculation is performed based on the code epoch value and the tracked third code phase to locate the receiver; The determination of frequency error includes: multiplying the intermediate frequency sampled digital signal by the locally reproduced in-phase carrier and quadrature carrier to obtain a first signal and a second signal; performing pseudocode despreading on the first signal and the second signal to obtain a third signal and a fourth signal; performing coherent integration on the third signal and the fourth signal to obtain a first coherent cumulative value and a second coherent cumulative value; determining a complex coherent value based on the first coherent cumulative value and the second coherent cumulative value; performing a fast Fourier transform operation on the complex coherent value to obtain an operational value; and determining the frequency error based on the peak value of the operational value.

2. The method according to claim 1, characterized in that, The step of estimating the second information after signal recovery based on the first information before signal loss includes: Based on the local time and the clock drift value, the first carrier Doppler frequency is linearly fitted to determine the second carrier Doppler frequency; The second code Doppler frequency is determined based on the second carrier Doppler frequency, the first pseudocode reference rate, and the carrier reference frequency; The phase of the second code is determined based on the second code Doppler frequency, the first code Doppler frequency, and the phase of the first code. The carrier digital controlled oscillator frequency control word is determined based on the carrier frequency, the length of the digital controlled oscillator hold register, and the operating clock of the digital controlled oscillator. The code digital controlled oscillator frequency control word is determined based on the code rate, the length of the digital controlled oscillator hold register, and the operating clock. The code start point and the code epoch value are determined based on the second code phase.

3. The method according to claim 1, characterized in that, The step of detecting whether the second code phase is aligned by code phase sliding includes: Slide the second code phase to determine the relationship between the peak value and the preset threshold; If the peak value is less than or equal to the preset threshold, the sliding continues; In response to the peak value being greater than the preset threshold, the sliding code phase is stopped, and the second code phase alignment is determined.

4. The method according to any one of claims 1-3, characterized in that, The step of performing navigation calculations based on the epoch values ​​and the tracked third code phase to locate the signal includes: The pseudorange observation is determined based on the epoch value and the tracked third code phase, wherein the pseudorange observation is used to represent the distance between the satellite and the receiver; In response to the pseudorange observations satisfying the navigation solution conditions, the position information of the receiver is determined based on the pseudorange observations and the pseudorange algorithm to locate the receiver.

5. The method according to any one of claims 1-3, characterized in that, The code epoch value includes a code 1ms epoch value and a code 20ms epoch value, and the third code phase is the code phase within 1ms obtained by tracking.

6. A receiver positioning device, characterized in that, The device includes: The determining module is used to determine the second information after the signal is recovered based on the first information before the signal is lost. The first information includes local time, clock drift value, first carrier Doppler frequency, first code Doppler frequency, first pseudocode reference rate, and first code phase. The second information includes second carrier Doppler frequency, carrier digital control oscillator frequency control word, code digital control oscillator frequency control word, second code phase, code start point, and code epoch value. A tracking module is used to track the signal based on the carrier digital control oscillator frequency control word, the code digital control oscillator frequency control word, and the code start point, and determine the frequency error, wherein the frequency error is used to represent the error between the second carrier Doppler frequency and the actual Doppler frequency; A sliding module is used to detect whether the second code phase is aligned by sliding the code phase during signal tracking; The positioning module is used to perform navigation calculation based on the code epoch value and the tracked third code phase in response to the frequency error being within a preset range, the second code phase being aligned, and the carrier being synchronized, so as to locate the receiver. The tracking module is further configured to multiply the intermediate frequency sampled digital signal with the locally reproduced in-phase carrier and quadrature carrier respectively to obtain a first signal and a second signal; perform pseudo-code despreading processing on the first signal and the second signal respectively to obtain a third signal and a fourth signal; perform coherent integration on the third signal and the fourth signal respectively to obtain a first coherent cumulative value and a second coherent cumulative value; determine a complex coherent value based on the first coherent cumulative value and the second coherent cumulative value; perform a fast Fourier transform operation on the complex coherent value to obtain an operational value; and determine the frequency error based on the peak value of the operational value.

7. A communication system, characterized in that, include: A receiver positioning device and a satellite, wherein the receiver positioning device is used to perform the receiver positioning method as described in any one of claims 1 to 5, and the satellite is used to transmit and receive signals.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the receiver positioning method according to any one of claims 1 to 5 when run on a computer or processor.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the receiver positioning method as described in any one of claims 1 to 5.

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