Positioning method, apparatus, device, and readable storage medium

Abstract

The embodiment of the application provides a positioning method, device and equipment and readable storage medium, the method comprises the following steps: a terminal receives a broadcast message, the broadcast message carries ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites; the terminal determines the position information of the terminal according to the attenuation degree of the broadcast message signal quality, the ephemeris information of the at least three satellites and / or the ground reference point information corresponding to the at least three satellites.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a positioning method, apparatus, device, and readable storage medium. Background Technology

[0002] In related technologies, in non-terrestrial networks (NTNs), if a terminal does not have a Global Navigation Satellite System (GNSS) or if it has GNSS but does not have time-frequency pre-compensation capabilities (e.g., inaccurate GNSS positioning information or indoor scenes), the terminal cannot obtain its own location information. Summary of the Invention

[0003] This application provides a positioning method, apparatus, device, and readable storage medium to solve the problem that terminals cannot obtain their own location information.

[0004] Firstly, a positioning method is provided, including:

[0005] The terminal receives a broadcast message, which carries ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites;

[0006] The terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites.

[0007] Optionally, the method further includes:

[0008] The terminal performs time-frequency domain pre-compensation based on its location information and the ephemeris information of the serving satellite.

[0009] Optionally, the terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites, including:

[0010] The terminal calculates the first distance from the terminal to each of the at least three satellites based on the degree of attenuation of the broadcast message signal quality.

[0011] The terminal calculates the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal, based on the ephemeris information.

[0012] The terminal calculates a second distance from the terminal to each satellite's vertically mapped location on the ground at the same altitude as the terminal, based on the first distance and the first altitude.

[0013] The terminal calculates a third distance based on the coverage information of each satellite: the distance between each satellite vertically mapped to a ground location point at the same altitude as the terminal, and the distance between the center point of the satellite coverage area vertically mapped to a ground location point at the same altitude as the terminal.

[0014] The terminal obtains a fourth distance from the terminal to the center point of the coverage area of ​​each satellite based on the second distance and the third distance;

[0015] The terminal determines its location information by using the fourth distance and vertically mapping each satellite to a ground location point at the same altitude as the terminal.

[0016] Optionally, the terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites, including:

[0017] The terminal calculates the first distance from the terminal to each of the at least three satellites based on the degree of attenuation of the broadcast message signal quality.

[0018] The terminal calculates the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal, based on the ephemeris information.

[0019] The terminal calculates a second distance from the terminal to each satellite's vertically mapped location on the ground at the same altitude as the terminal, based on the first distance and the first altitude.

[0020] The terminal determines its location information based on the second distance and by vertically mapping each satellite to a ground location point at the same altitude as the terminal.

[0021] Secondly, a positioning device is provided for use in a terminal, comprising:

[0022] A receiving module is used for the terminal to receive broadcast messages, wherein the broadcast messages carry ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites;

[0023] The determination module is used by the terminal to determine the terminal's location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites.

[0024] Optionally, the device further includes:

[0025] The processing module is used to perform time-frequency domain pre-compensation based on the location information of the terminal and the ephemeris information of the serving satellite.

[0026] Optionally, the determining module is further configured to:

[0027] Based on the degree of attenuation of the broadcast message signal quality, the first distance from the terminal to each of the at least three satellites is calculated;

[0028] Based on the ephemeris information, the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal is calculated;

[0029] Based on the first distance and the first altitude, a second distance is calculated from the terminal to each satellite's vertically mapped ground location point at the same altitude as the terminal;

[0030] Based on the coverage information of each satellite, a third distance is calculated between the vertical mapping of each satellite to a ground location point at the same altitude as the terminal and the vertical mapping of the center point of the satellite coverage area to a ground location point at the same altitude as the terminal.

[0031] Based on the second distance and the third distance, a fourth distance is obtained from the terminal to the center point of the coverage area of ​​each satellite;

[0032] Based on the fourth distance and the vertical mapping of each satellite to a ground location point at the same altitude as the terminal, the location information of the terminal is determined.

[0033] Optionally, the determining module is further configured to:

[0034] Based on the degree of attenuation of the broadcast message signal quality, the first distance from the terminal to each of the at least three satellites is calculated;

[0035] Based on the ephemeris information, the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal is calculated;

[0036] Based on the first distance and the first altitude, a second distance is calculated from the terminal to each satellite's vertically mapped ground location point at the same altitude as the terminal;

[0037] Based on the second distance and the vertical mapping of each satellite to a ground location point at the same altitude as the terminal, the location information of the terminal is determined.

[0038] Thirdly, a terminal is provided, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, performs the steps of the method described in the first aspect.

[0039] Fourthly, a readable storage medium is provided, on which a program is stored, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0040] In this embodiment of the application, the location information of the terminal is determined based on the attenuation of the broadcast message signal quality, the ephemeris information of at least three satellites and / or the ground reference point information corresponding to at least three satellites. Furthermore, the location information can be updated in real time by combining the terminal's movement speed. Attached Figure Description

[0041] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0042] Figure 1 This is a flowchart of a positioning method provided in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of terminal positioning provided in an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of the terminal to the coverage center of at least 3 satellites in an embodiment of this application;

[0045] Figure 4 This is a schematic diagram of a positioning device provided in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of the terminal provided in an embodiment of this application;

[0047] Figure 6 This is a schematic diagram of the communication device provided in the embodiments of this application. Detailed Implementation

[0048] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0049] The term "comprising," and any variations thereof, used in the specification and claims of this application, is intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus. Furthermore, the use of "and / or" in the specification and claims indicates at least one of the connected objects, such as A and / or B, indicating the inclusion of A alone, B alone, or both A and B.

[0050] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0051] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), and other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. However, the following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description, although these technologies can also be applied to applications other than NR systems, such as 6th Generation (6G) communication systems.

[0052] See Figure 1 This application provides a positioning method, the specific steps of which include:

[0053] Step 101: The terminal receives a broadcast message, which carries ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites;

[0054] At least three satellites can be three, four, or five satellites, etc.

[0055] Step 102: The terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites.

[0056] In one embodiment of this application, the method further includes:

[0057] The terminal performs time-frequency domain pre-compensation based on its location information and the ephemeris information of the serving satellite.

[0058] In one embodiment of this application, the terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites, including:

[0059] The terminal calculates the first distance from the terminal to each of the at least three satellites based on the degree of attenuation of the broadcast message signal quality.

[0060] The terminal calculates the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal, based on the ephemeris information.

[0061] The terminal calculates a second distance from the terminal to each satellite's vertically mapped location on the ground at the same altitude as the terminal, based on the first distance and the first altitude.

[0062] The terminal calculates a third distance based on the coverage information of each satellite: the distance between each satellite vertically mapped to a ground location point at the same altitude as the terminal, and the distance between the center point of the satellite coverage area vertically mapped to a ground location point at the same altitude as the terminal.

[0063] The terminal obtains a fourth distance from the terminal to the center point of the coverage area of ​​each satellite based on the second distance and the third distance;

[0064] The terminal determines its location information by using the fourth distance and vertically mapping each satellite to a ground location point at the same altitude as the terminal.

[0065] In one embodiment of this application, the terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites, including:

[0066] The terminal calculates the first distance from the terminal to each of the at least three satellites based on the degree of attenuation of the broadcast message signal quality.

[0067] The terminal calculates the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal, based on the ephemeris information.

[0068] The terminal calculates a second distance from the terminal to each satellite's vertically mapped location on the ground at the same altitude as the terminal, based on the first distance and the first altitude.

[0069] The terminal determines its location information based on the second distance and by vertically mapping each satellite to a ground location point at the same altitude as the terminal.

[0070] In this embodiment, the location information of the terminal is determined based on the attenuation of the broadcast message signal quality, the ephemeris information of at least three satellites, and / or the ground reference point information corresponding to at least three satellites, and the location information is updated in real time by combining the terminal's movement speed.

[0071] The network indicates the ephemeris information of at least three satellites and the corresponding ground reference point information (such as the center information of the satellite coverage area) in the broadcast message. The terminal calculates its current position information based on the attenuation of the received broadcast message signal quality and the satellite ephemeris information, and then determines its distance (including magnitude and direction) to any ground reference point based on the information of any ground reference point.

[0072] like Figure 2 As shown, the specific steps are as follows:

[0073] First, calculate the distance from the terminal to the coverage center of a certain satellite (steps 1 to 5):

[0074] Step 1: The terminal calculates the distance d from the satellite using the path loss formula based on the attenuation of the satellite broadcast message signal quality. s_UE ;

[0075] Step 2: The terminal calculates the vertical altitude h1 of the satellite to the ground using satellite ephemeris information (which may be included in broadcast messages, Non-Access-Stratum (NAS) signaling, or Radio Resource Control (RRC) signaling).

[0076] Here, we need to consider the larger coverage area of ​​the satellite. The actual satellite vertical mapping point a1 on the ground and the UE's location will be at different altitudes. Therefore, h1 here needs to be increased by the altitude difference Δh between the satellite vertical mapping point on the ground and the UE's location. The UE can calculate Δh based on the satellite's ephemeris information and the altitude of its own area. Then, the UE can calculate the altitude h = h1 + Δh of the satellite vertical mapping point on the ground at the same altitude as the UE.

[0077] Step 3: The terminal calculates the distance d from the terminal to the satellite obtained in Steps 1 and 2. s_ Given the height h of the UE and the satellite's vertical mapping to a ground location point at the same altitude as the UE, calculate the distance from the terminal to the ground location point a, which is also at the same altitude as the UE, as mapped vertically by the satellite.

[0078] Step 4: The terminal calculates the distance d from the satellite's vertical mapping to ground location point a at the same altitude as the UE to the vertical mapping from the satellite's coverage center point c1 to ground location point c at the same altitude as the UE using the satellite's coverage information (including satellite coverage center information and / or satellite coverage radius information, which can be included in the satellite ephemeris information or broadcast in a broadcast message). c_a Similar to the calculation in step 2, the actual satellite coverage center location point c1 on the ground needs to be superimposed with the altitude difference Δh1 between this point and the location of the UE, so as to calculate the actual satellite coverage center point vertically mapped to the ground location point c at the same altitude as the UE.

[0079] Step 5: The terminal uses the d obtained in step 3. a_UE and d obtained in step 4 c_a Calculate the distance d from the terminal to the center point c of the satellite coverage. c_UE =d a_UE -d c_a Centered on point c, d c_UE A planar circle can be determined by the radius, and UE is a point on the circle.

[0080] Optionally, the point d calculated in step 3 can be centered on a ground location 'a' that is vertically mapped from the satellite to the same altitude as the UE. a_UE Define a planar circle with radius, and place the UE at a point on the circle (i.e., omit steps 4 and 5).

[0081] Step 6: Based on steps 1 to 5, calculate the distance from the terminal to the coverage center of at least two other satellites, and determine the corresponding other two planar circles.

[0082] Step 7: As Figure 3 As shown, the terminal deduces its current location based on its distance from the center of coverage of at least three satellites. Figure 3 Reference points 1, 2, and 3 in the diagram are the coverage center points of the three satellites. That is, the specific location information of the UE is calculated using the trilateration method based on at least three circles determined in steps 1 to 6.

[0083] Considering the movement of the satellite and the terminal, after calculating the current position information of the terminal, the terminal calculates the distance it has moved relative to the current time at the next moment based on its own moving speed (vector, including magnitude and direction), and then derives its own position information at the next moment. In this way, the terminal can update its own position information at any time. Furthermore, combined with the satellite's ephemeris information, the terminal can achieve time and frequency domain pre-compensation.

[0084] It should be noted that the above UE location calculation is mainly applied to initial access. Once the UE enters the connected state, the network side can help the UE adjust and calibrate the uplink timing to compensate for the error caused by the UE's own calculation. At the same time, in order for the network side to accurately calibrate the UE's uplink timing, the UE needs to report its own location calculation information.

[0085] See Figure 4 This application provides a positioning device for use in a terminal. The device 400 includes:

[0086] The receiving module 401 is used for the terminal to receive broadcast messages, wherein the broadcast messages carry ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites;

[0087] The determination module 402 is used for the terminal to determine the location information of the terminal based on the attenuation degree of the broadcast message signal quality, the ephemeris information of the at least three satellites and / or the ground reference point information corresponding to the at least three satellites.

[0088] In one embodiment of this application, the apparatus further includes:

[0089] The processing module is used to perform time-frequency domain pre-compensation based on the location information of the terminal and the ephemeris information of the serving satellite.

[0090] In one embodiment of this application, the determining module 402 is further configured to:

[0091] Based on the degree of attenuation of the broadcast message signal quality, the first distance from the terminal to each of the at least three satellites is calculated;

[0092] Based on the ephemeris information, the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal is calculated;

[0093] Based on the first distance and the first altitude, a second distance is calculated from the terminal to each satellite's vertically mapped ground location point at the same altitude as the terminal;

[0094] Based on the coverage information of each satellite, a third distance is calculated between the vertical mapping of each satellite to a ground location point at the same altitude as the terminal and the vertical mapping of the center point of the satellite coverage area to a ground location point at the same altitude as the terminal.

[0095] Based on the second distance and the third distance, a fourth distance is obtained from the terminal to the center point of the coverage area of ​​each satellite;

[0096] Based on the fourth distance and the vertical mapping of each satellite to a ground location point at the same altitude as the terminal, the location information of the terminal is determined.

[0097] In one embodiment of this application, the determining module 402 is further configured to:

[0098] Based on the degree of attenuation of the broadcast message signal quality, the first distance from the terminal to each of the at least three satellites is calculated;

[0099] Based on the ephemeris information, the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal is calculated;

[0100] Based on the first distance and the first altitude, a second distance is calculated from the terminal to each satellite's vertically mapped ground location point at the same altitude as the terminal;

[0101] Based on the second distance and the vertical mapping of each satellite to a ground location point at the same altitude as the terminal, the location information of the terminal is determined.

[0102] The apparatus provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method embodiments shown achieve the same technical effects, and will not be described again here to avoid repetition.

[0103] Specifically, Figure 5To realize the hardware structure diagram of a terminal according to an embodiment of this application, the terminal 500 includes, but is not limited to, at least some of the following components: radio frequency unit 501, network module 502, audio output unit 503, input unit 504, sensor 505, display unit 506, user input unit 507, interface unit 508, memory 509, and processor 510.

[0104] Those skilled in the art will understand that the terminal 500 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 510 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 5 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0105] It should be understood that, in this embodiment, the input unit 504 may include a graphics processing unit (GPU) 5041 and a microphone 5042. The GPU 5041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 506 may include a display panel 5061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 507 includes a touch panel 5071 and other input devices 5072. The touch panel 5071 is also called a touch screen. The touch panel 5071 may include a touch detection device and a touch controller. Other input devices 5072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0106] In this embodiment, the radio frequency unit 501 receives downlink data from the network-side device and processes it for the processor 510; additionally, it sends uplink data to the network-side device. Typically, the radio frequency unit 501 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, etc.

[0107] The memory 509 can be used to store software programs or instructions and various data. The memory 509 may primarily include a program or instruction storage area and a data storage area. The program or instruction storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 509 may include high-speed random access memory and non-transient memory, which may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. For example, at least one disk storage device, flash memory device, or other non-transient solid-state storage device.

[0108] Processor 510 may include one or more processing units; optionally, processor 510 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications or instructions, and the modem processor mainly handles wireless communication, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 510.

[0109] The terminal provided in this application embodiment can achieve... Figure 1 The various processes implemented in the method embodiments shown achieve the same technical effects, and will not be described again here to avoid repetition.

[0110] like Figure 6 As shown, this application embodiment also provides a communication device 600, including a processor 601, a memory 602, and a program or instructions stored in the memory 602 and executable on the processor 601. When the program or instructions are executed by the processor 601, they implement the above-mentioned... Figure 1 The various processes in the method embodiments can achieve the same technical effect. To avoid repetition, they will not be described again here.

[0111] This application embodiment also provides a readable storage medium storing a program or instructions that, when executed by a processor, implement the above-described functionality. Figure 1 The various processes of the method embodiments shown can achieve the same technical effect, and will not be described again here to avoid repetition.

[0112] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0113] The steps of the methods or algorithms described in this application can be implemented in hardware or by executing software instructions on a processor. The software instructions can consist of corresponding software modules, which can be stored in RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, portable hard disk, read-only optical disk, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can be housed in an ASIC. Alternatively, the ASIC can be housed in a core network interface device. Of course, the processor and storage medium can also exist as discrete components in the core network interface device.

[0114] Those skilled in the art will recognize that, in one or more of the examples above, the functions described in this application can be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium accessible to a general-purpose or special-purpose computer.

[0115] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. It should be understood that the above description is only a specific embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of this application should be included within the scope of protection of this application.

[0116] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0117] This application describes embodiments of methods, apparatus (systems), and computer program products according to embodiments of this application with reference to flowchart illustrations and / or block diagrams. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0119] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0120] Obviously, those skilled in the art can make various modifications and variations to the embodiments of this application without departing from the spirit and scope of this application. Therefore, if these modifications and variations to the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A positioning method, characterized in that, include: The terminal receives a broadcast message, which carries ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites; The terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites. The terminal determines its location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites, including: The terminal calculates the first distance from the terminal to each of the at least three satellites based on the degree of attenuation of the broadcast message signal quality. The terminal calculates the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal, based on the ephemeris information. The terminal calculates a second distance from the terminal to each satellite's vertically mapped location on the ground at the same altitude as the terminal, based on the first distance and the first altitude. The terminal determines its location information based on the second distance and by vertically mapping each satellite to a ground location point at the same altitude as the terminal. or, The terminal calculates a third distance based on the coverage information of each satellite: the distance between a ground location point at the same altitude as the terminal and the distance between the center point of the satellite's coverage area and the ground location point at the same altitude as the terminal. Based on the second and third distances, the terminal obtains a fourth distance from the terminal to the center point of each satellite's coverage area. Based on the fourth distance and the distance between the satellite's coverage area and the ground location point at the same altitude as the terminal, the terminal determines its location information.

2. The method according to claim 1, characterized in that, The method further includes: The terminal performs time-frequency domain pre-compensation based on its location information and the ephemeris information of the serving satellite.

3. A positioning device, applied to a terminal, characterized in that, include: A receiving module is used for the terminal to receive broadcast messages, wherein the broadcast messages carry ephemeris information of at least three satellites and / or ground reference point information corresponding to the at least three satellites; The determination module is used by the terminal to determine the terminal's location information based on the attenuation level of the broadcast message signal quality, the ephemeris information of the at least three satellites, and / or the ground reference point information corresponding to the at least three satellites; The determining module is further used for: Based on the degree of attenuation of the broadcast message signal quality, the first distance from the terminal to each of the at least three satellites is calculated; Based on the ephemeris information, the first altitude of each satellite vertically mapped to a ground location point at the same altitude as the terminal is calculated; Based on the first distance and the first altitude, a second distance is calculated from the terminal to each satellite's vertically mapped ground location point at the same altitude as the terminal; Based on the second distance and each satellite's vertical mapping to a ground location point at the same altitude as the terminal, the terminal's location information is determined; or, Based on the coverage information of each satellite, a third distance is calculated between each satellite's vertical mapping to a ground location point at the same altitude as the terminal, and the vertical mapping of the center point of the satellite's coverage area to a ground location point at the same altitude as the terminal. Based on the second distance and the third distance, a fourth distance is obtained from the terminal to the center point of each satellite's coverage area. Based on the fourth distance and the vertical mapping of each satellite to a ground location point at the same altitude as the terminal, the terminal's location information is determined.

4. The apparatus according to claim 3, characterized in that, The device further includes: The processing module is used to perform time-frequency domain pre-compensation based on the location information of the terminal and the ephemeris information of the serving satellite.

5. A terminal, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method as described in any one of claims 1-2.

6. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 2.

Images