Navigation satellite constellation determination method and apparatus, storage medium, and electronic device

Abstract

The present disclosure provides a navigation satellite constellation determination method, device, storage medium and electronic equipment, and relates to the technical field of satellite navigation. The navigation satellite constellation determination method determines the satellite position information of each simulated satellite in the navigation simulated constellation first, then determines the relative angles between each simulated satellite and the receiver according to the satellite position information and the receiving position information of the receiver respectively, then determines the simulated satellites corresponding to the relative angles within the preset target visual angle range as the target navigation satellites, obtains a plurality of target navigation satellites, and finally determines the navigation satellite constellation according to the plurality of target navigation satellites, thereby solving the technical problem of weak stability of the present positioning and navigation system in the prior art, and achieving the technical effects of improving the stability, reliability and flexibility of positioning and navigation.

Description

Technical Field

[0001] This disclosure relates to the field of satellite navigation technology, and in particular to a method, apparatus, storage medium and electronic device for determining a navigation satellite constellation. Background Technology

[0002] Current navigation systems mainly include: the United States' Global Positioning System (GPS), China's BeiDou Navigation Satellite System (COMPASS), Russia's GLONASS system, and Europe's Galileo system. Among them, GPS is currently the most widely used navigation system. If GPS were to become unusable, it would have a significant impact on the normal operation of various industries and sectors.

[0003] Therefore, in order to prevent the GPS system from becoming unusable, there is an urgent need for a satellite constellation capable of navigation. Summary of the Invention

[0004] This disclosure provides a method, apparatus, storage medium, and electronic device for determining a navigation satellite constellation, thereby improving the stability, reliability, and flexibility of positioning and navigation.

[0005] In a first aspect, one embodiment of this disclosure provides a method for determining a navigation satellite constellation, including:

[0006] Determine the satellite position information of each simulated satellite in the navigation simulation constellation;

[0007] The angles between each simulated satellite and the receiver are determined based on the position information of each satellite and the receiving position information of the receiver, resulting in multiple relative angles; the receiver is used to receive satellite signals emitted by each simulated satellite.

[0008] Among multiple relative angles, the simulated satellite corresponding to the relative angle within the preset target viewing angle range is identified as the target navigation satellite, thus obtaining multiple target navigation satellites;

[0009] The navigation satellite constellation is determined based on multiple target navigation satellites.

[0010] In an optional embodiment of this disclosure, the angle between each simulated satellite and the receiver is determined based on the position information of each satellite and the receiving position information of the receiver, resulting in multiple relative angles, including:

[0011] The cosine values ​​of each relative angle are determined based on the satellite position information and the received position information, respectively.

[0012] The relative angle between each simulated satellite and the receiver is determined based on the cosine value.

[0013] In an optional embodiment of this disclosure, the simulated satellite corresponding to the relative angle within a preset target viewing angle range among a plurality of relative angles is determined as the target navigation satellite, resulting in a plurality of target navigation satellites, including:

[0014] The visible and invisible viewing angles of the receiver are determined based on the receiving location information.

[0015] Multiple simulated satellites whose relative angles are within the visible field of view are divided into a high-angle satellite set, a medium-angle satellite set, and a low-angle satellite set according to the preset high-angle range, medium-angle range, and low-angle range, respectively.

[0016] The simulated satellite located within the medium field of view is identified as the target navigation satellite.

[0017] In one optional embodiment of this disclosure, determining a navigation satellite constellation based on a plurality of target navigation satellites includes:

[0018] If the number of multiple target navigation satellites is greater than the preset number, then the preset number of target navigation satellites will be selected from the multiple target navigation satellites;

[0019] The navigation satellite constellation is determined based on a preset number of target navigation satellites.

[0020] In an optional embodiment of this disclosure, the navigation satellite constellation determination method further includes:

[0021] Simulated satellites that are currently in the mid-angle satellite set and were in the high-angle or low-angle satellite set at the previous moment, as well as simulated satellites that are currently in the high-angle satellite set and were in the mid-angle satellite set at the previous moment, are identified as candidate navigation satellites, resulting in multiple candidate navigation satellites.

[0022] In one optional embodiment of this disclosure, determining a navigation satellite constellation based on a plurality of target navigation satellites includes:

[0023] If the number of multiple target navigation satellites is less than the preset number, then the first target candidate navigation satellite of the target number is selected from multiple candidate navigation satellites; where the target number refers to the difference between the preset number and the number of multiple target navigation satellites.

[0024] The navigation satellite constellation is determined based on multiple target navigation satellites and the number of target candidate navigation satellites.

[0025] In an optional embodiment of this disclosure, the navigation satellite constellation determination method further includes:

[0026] If there are failed navigation satellites among multiple target navigation satellites, then a number of candidate navigation satellites equal to the number of failed navigation satellites will be selected as the second target candidate navigation satellite according to a preset priority order. Among them, a failed navigation satellite refers to a target navigation satellite that was located in the mid-view satellite set at the previous moment and is located in the low-view satellite set at the current moment.

[0027] The navigation satellite constellation is updated based on the second target candidate navigation satellite.

[0028] Secondly, one embodiment of this disclosure provides a navigation satellite constellation determination device, the device comprising:

[0029] The first determining module is used to determine the satellite position information of each simulated satellite in the navigation simulation constellation;

[0030] The second determining module is used to determine the angle between each simulated satellite and the receiver based on the position information of each satellite and the receiving position information of the receiver, thereby obtaining multiple relative angles; wherein, the receiver is used to receive the satellite signals emitted by each simulated satellite;

[0031] The third determining module is used to determine the simulated satellite corresponding to the relative angle within the preset target viewing angle range among multiple relative angles as the target navigation satellite, thereby obtaining multiple target navigation satellites;

[0032] The fourth determination module is used to determine the navigation satellite constellation based on multiple target navigation satellites.

[0033] Thirdly, one embodiment of this disclosure provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described above.

[0034] Fourthly, one embodiment of this disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the above-described method by executing the executable instructions.

[0035] The technical solution disclosed herein has the following beneficial effects:

[0036] The aforementioned method for determining a navigation satellite constellation determines the relative angle between each simulated satellite and the receiver based on the satellite position information of each simulated satellite and the receiver's receiving position information. Simulated satellites with relative angles within a preset target viewing angle range are identified as target navigation satellites. Finally, a navigation satellite constellation suitable for navigation and positioning is determined based on multiple target navigation satellites. Since the simulated satellites can be any operational satellite in space, this navigation satellite constellation is not limited to any single fixed satellite system for navigation and positioning. This solves the technical problem of weak stability in current positioning and navigation systems, thus improving the stability, reliability, and flexibility of positioning and navigation.

[0037] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0038] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. It is obvious that the drawings described below are merely some embodiments of this disclosure, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0039] Figure 1 This illustration shows an application scenario diagram of a navigation satellite constellation determination method according to this exemplary embodiment;

[0040] Figure 2 This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0041] Figure 3 This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0042] Figure 4 This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0043] Figure 5 This diagram illustrates the division of the visible and invisible viewing angle ranges in this exemplary embodiment.

[0044] Figure 6 This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0045] Figure 7 This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0046] Figure 8This diagram illustrates a flowchart of a navigation satellite constellation determination method according to this exemplary embodiment;

[0047] Figure 9 This diagram illustrates the structure of a navigation satellite constellation determination device according to this exemplary embodiment.

[0048] Figure 10 A schematic diagram of the structure of an electronic device in this exemplary embodiment is shown. Detailed Implementation

[0049] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this disclosure more comprehensive and complete, and to fully convey the concept of exemplary embodiments to those skilled in the art. The described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a full understanding of embodiments of this disclosure. However, those skilled in the art will recognize that the technical solutions of this disclosure can be practiced with one or more specific details omitted, or other methods, components, apparatus, steps, etc., can be employed. In other instances, well-known technical solutions are not shown or described in detail to avoid obscuring various aspects of this disclosure.

[0050] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0051] The flowchart shown in the attached diagram is merely an illustrative example and does not necessarily include all steps. For example, some steps may be broken down, while others may be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0052] Currently, the main navigation systems include: the US Global Positioning System (GPS), China's BeiDou Navigation Satellite System (COMPASS), Russia's GLONASS system, and Europe's Galileo system. Among these, GPS is the most widely used navigation system. If GPS were to become unusable, it would severely impact the normal operation of various industries and sectors. Therefore, to prevent GPS from becoming unusable, there is an urgent need for a satellite constellation capable of navigation.

[0053] In view of the above problems, this disclosure provides a method for determining a navigation satellite constellation. The method determines the relative angle between each simulated satellite and the receiver based on the satellite position information of each simulated satellite and the receiver's receiving position information. Simulated satellites with relative angles within a preset target viewing angle range are identified as target navigation satellites. Finally, a navigation satellite constellation suitable for navigation and positioning is determined based on multiple target navigation satellites. Since the simulated satellites can be any operational satellite in space, this navigation satellite constellation is not limited to any single fixed satellite system when performing navigation and positioning. This solves the technical problem of weak stability in current positioning and navigation systems in traditional technologies, achieving the technical effect of improving the stability, reliability, and flexibility of positioning and navigation.

[0054] The following is a brief introduction to the application environment of the navigation satellite constellation determination method provided in the embodiments of this disclosure:

[0055] Please see Figure 1 The navigation satellite constellation determination method provided in this disclosure is applied to a satellite navigation system 10, which includes at least: multiple satellites 110, a transmitter 120, a receiver 130, and a control device 140. The transmitter 120 transmits generated satellite signals to the multiple satellites 110 in the space station. The satellite signals are reflected back to Earth by each satellite 110 and received by the receiver 130. The control device 140 is connected to both the transmitter 120 and the receiver 130, and is used for navigation, positioning, or other data processing based on the satellite signals transmitted by the transmitter 120, the satellite signals received by the receiver 130, and other relevant information. It should be noted that the multiple satellites 110 in this disclosure can be any satellite in the space station, and are not limited to existing GPS satellites, BeiDou satellites, GLONASS satellites, and Galileo satellites.

[0056] The following example illustrates how the navigation satellite constellation determination method is applied to the control device 140 to determine the GPS navigation satellite constellation. Please refer to [link to relevant documentation]. Figure 2 The navigation satellite constellation determination method provided in this embodiment includes the following steps 201-204:

[0057] Step 201: The control equipment determines the satellite position information of each simulated satellite in the navigation simulation constellation.

[0058] It should be noted that, as illustrated in the above-disclosed embodiments using a GPS navigation satellite constellation as an example, the corresponding navigation simulation constellation is the GPS navigation satellite constellation. The control device pre-stores the initial positions and trajectories of each simulated satellite. During the operation of the simulated satellite, the current position of the simulated satellite can be calculated using the pre-configured initial position, operating speed, and current operating time, thus obtaining the corresponding satellite position information.

[0059] Step 202: The control equipment determines the angle between each simulated satellite and the receiver based on the position information of each satellite and the receiving position information of the receiver, thus obtaining multiple relative angles.

[0060] The receiver is used to receive satellite signals emitted by each simulated satellite. This position information can be coordinates or other information that can characterize its specific location. The control equipment pre-stores the receiver's position information. After determining the simulated satellite's position information, the relative angle between the receiver and the simulated satellite can be calculated using triangulation.

[0061] Step 203: The control device identifies the simulated satellites corresponding to the relative angles within the preset target viewing angle range from the multiple relative angles as target navigation satellites, thus obtaining multiple target navigation satellites.

[0062] Different simulated satellites correspond to different relative angles with the receiver. The preset target viewing angle range refers to the range of angles within which the receiver can receive signals. This target viewing angle range can be set independently according to actual conditions, and this embodiment does not impose specific limitations. The simulated satellites located within this target viewing angle range have the largest satellite angle, and therefore have the highest positioning accuracy. Thus, the control equipment identifies the simulated satellites within this target viewing angle range as the target navigation satellites.

[0063] Step 204: The control equipment determines the navigation satellite constellation based on multiple target navigation satellites.

[0064] The navigation satellite constellation is used for positioning and navigation. The simulated satellite in this embodiment is any existing working satellite in space. The resulting navigation satellite constellation is also composed of any currently available satellite target navigation satellite. Therefore, navigation and positioning based on this navigation satellite constellation is not limited to any fixed satellite system and has higher flexibility and reliability.

[0065] The navigation satellite constellation determination method provided in this disclosure determines the relative angle between each simulated satellite and the receiver based on the satellite position information of each simulated satellite and the receiver's receiving position information. Simulated satellites with relative angles within a preset target viewing angle range are identified as target navigation satellites. Finally, a navigation satellite constellation suitable for navigation and positioning is determined based on multiple target navigation satellites. Since the simulated satellites can be any operational satellite in space, this navigation satellite constellation is not limited to any single fixed satellite system for navigation and positioning. This solves the technical problem of weak stability in current positioning and navigation systems in traditional technologies, achieving the technical effect of improving the stability, reliability, and flexibility of positioning and navigation.

[0066] Please see Figure 3 In an optional embodiment of this disclosure, step 202 above involves the control device determining the angle between each simulated satellite and the receiver based on the satellite position information and the receiver's receiving position information, thereby obtaining multiple relative angles, including the following steps 301-302:

[0067] Step 301: The control equipment determines the cosine value of each relative angle based on the satellite position information and the received position information.

[0068] After obtaining the satellite position information of each simulated satellite and the receiving position information of the receiver, the control equipment can calculate the cosine value of each relative angle using the following formula (1):

[0069]

[0070] In formula (1), θ represents the relative angle between the simulated satellite and the receiver, cosθ represents the cosine of the relative angle, (x1, y1, z1) represents the position coordinates of the simulated satellite, and (x2, y2, z2) represents the position coordinates of the receiver.

[0071] Similarly, the cosine of the relative angle between other simulated satellites and receivers can be calculated using the formula (1) above.

[0072] Step 302: The control equipment determines the relative angle between each simulated satellite and the receiver based on each cosine value.

[0073] After obtaining each cosine value through step 301 above, the control device can obtain the corresponding relative angle based on the cosine function, and thus obtain the relative position between each simulated satellite and the receiver.

[0074] This embodiment of the invention determines the cosine value of each relative angle based on the position information of each satellite and the position information of the receiver. Then, the relative angle between the simulated satellite and the receiver can be calculated based on each cosine value. The calculation method is simple and fast, which can greatly improve the efficiency of determining the relative angle and further improve the efficiency of determining the navigation satellite constellation in this embodiment of the invention.

[0075] Please see Figure 4 In an optional embodiment of this disclosure, step 203 above involves the control device identifying the simulated satellite corresponding to the relative angle within a preset target viewing angle range from among multiple relative angles as the target navigation satellite, thereby obtaining multiple target navigation satellites, including the following steps 401-403:

[0076] Step 401: The control device determines the visible and invisible viewing angle ranges of the receiver based on the received location information.

[0077] The visible view range refers to the area within the receiver's signal reception range, that is, the area above the horizon AB. Figure 5 The sector-shaped area 502-507 in the image; correspondingly, the invisible viewing angle range refers to the area where the receiver cannot receive signals, that is, the area below the horizon AB, such as... Figure 5 The sector regions 501 and 508 are shown in the diagram. The control device can determine the signal receivable area and the signal non-receivable area of ​​the receiver by using the receiver's location information, such as latitude and longitude or spatial coordinates, which characterizes its specific location. This allows us to obtain the aforementioned visible and invisible viewing angle ranges.

[0078] Step 402: The control device divides multiple simulated satellites whose relative angles are within the visible field of view into a high-angle satellite set, a medium-angle satellite set, and a low-angle satellite set, respectively, according to the preset high-angle range, medium-angle range, and low-angle range.

[0079] The high, medium, and low angle ranges are determined based on the relative angles between them, and each angle range can be specifically set according to the actual situation. For example... Figure 5 In the diagram, sector 504 represents the high-angle range, sector 506 represents the medium-angle range, and sector 507 represents the low-angle range. However, it should be noted that the relative angles in the high-angle satellite set are all greater than the relative angles in the medium-angle satellite set, and the relative angles in the medium-angle satellite set are all greater than the relative angles in the low-angle satellite set.

[0080] Step 403: The control equipment identifies the simulated satellite located within the medium field of view as the target navigation satellite.

[0081] In navigation and positioning, the larger the relative angle between the satellite and the receiver, the more accurate the satellite positioning. In this embodiment, the simulated satellite in the medium field of view has a larger angle and the best visibility. Therefore, the simulated satellite in the medium field of view is identified as the target navigation satellite.

[0082] This embodiment of the disclosure employs a hierarchical approach. First, it determines the visible and invisible viewing angles of the receiver. Then, it divides multiple simulated satellites whose relative angles fall within the visible viewing angle range into high-angle, mid-angle, and low-angle satellite sets. Finally, it determines the target navigation satellite through each set. This significantly improves the efficiency of target navigation satellite determination. Furthermore, the hierarchical processing facilitates priority-based replacement in case of target navigation satellite failure, ensuring the stability and reliability of the navigation satellite constellation in this embodiment. Moreover, the target navigation satellite in this embodiment is determined based on simulated satellites located within the mid-angle range. These satellites have good visibility and a large angular area, resulting in higher navigation and positioning accuracy, further enhancing the reliability of the navigation satellite constellation provided by this embodiment.

[0083] Please see Figure 6 In an optional embodiment of this disclosure, step 204, in which the control device determines the navigation satellite constellation based on multiple target navigation satellites, includes the following steps 601-602:

[0084] Step 601: If the number of multiple target navigation satellites is greater than the preset number, the control device selects the preset number of target navigation satellites from the multiple target navigation satellites.

[0085] Step 602: The control equipment determines the navigation satellite constellation based on the preset number of target navigation satellites.

[0086] The preset number can be set according to the actual situation, and this implementation does not impose a specific limitation. In order to ensure the structural stability of the navigation satellite constellation, the embodiments of this disclosure keep the number of target navigation satellites fixed. When the number of current target navigation satellites is greater than the preset number, the preset number of target navigation satellites are selected from multiple target navigation satellites to determine the navigation satellite constellation. This can maximize the system stability of the navigation satellite constellation and further improve its navigation and positioning stability and reliability.

[0087] In an optional embodiment of this disclosure, the above-described navigation satellite constellation determination method further includes the following step A:

[0088] Step A: The control device identifies the simulated satellites that are currently in the medium-angle satellite set and were in the high-angle or low-angle satellite set at the previous moment, as well as the simulated satellites that are currently in the high-angle satellite set and were in the medium-angle satellite set at the previous moment, as candidate navigation satellites, thus obtaining multiple candidate navigation satellites.

[0089] The current time is continuous with the previous time. For example, as shown in Table (1), the current simulated satellites are: simulated satellite A, simulated satellite B, simulated satellite C, and simulated satellite D. Simulated satellite A is in the mid-angle satellite set at time t1 and in the low-angle satellite set at time t2; simulated satellite B is in the low-angle satellite set at time t1 and in the mid-angle satellite set at time t2; simulated satellite C is in the mid-angle satellite set at time t1 and in the high-angle satellite set at time t2; and simulated satellite D is in the high-angle satellite set at time t1 and in the mid-angle satellite set at time t2. Therefore, simulated satellites B, C, and D are all candidate navigation satellites.

[0090] Satellite number <![CDATA[Time t1]]> <![CDATA[t2 moment <!-- 6 -->]]> Simulated Satellite A Medium-angle satellite collection Low-angle satellite collection Simulated Satellite B Low-angle satellite collection Medium-angle satellite collection Simulated satellite C Medium-angle satellite collection High-view satellite collection Simulated satellite D High-view satellite collection Medium-angle satellite collection

[0091] Table (1)

[0092] After determining the navigation satellite constellation, this embodiment still determines the relative angles of each simulated satellite in real time. Based on the current relative angles, the simulated satellites are divided into a high-angle satellite set, a medium-angle satellite set, and a low-angle satellite set in real time through the same steps as above. Simulated satellites that are currently in the medium-angle satellite set and were previously in the high-angle or low-angle satellite set, as well as simulated satellites that are currently in the high-angle satellite set and were previously in the medium-angle satellite set, are identified as candidate navigation satellites. This facilitates priority-based replacement in case of target navigation satellite failure, ensuring the stability and reliability of the navigation satellite constellation in this embodiment.

[0093] Please see Figure 7 In an optional embodiment of this disclosure, step 204, in which the control device determines the navigation satellite constellation based on multiple target navigation satellites, includes the following steps 701-702:

[0094] Step 701: If the number of multiple target navigation satellites is less than the preset number, the control device selects the first target candidate navigation satellite from the multiple candidate navigation satellites.

[0095] The target number refers to the difference between the preset number and the number of multiple target navigation satellites. For example, if the preset number is 12 and the current number of target navigation satellites is 8, then the target number is the difference of 4, which means that 4 candidate navigation satellites are selected from the current candidate navigation satellites as the first target candidate navigation satellites.

[0096] Step 702: The control equipment determines the navigation satellite constellation based on the multiple target navigation satellites and the first target candidate navigation satellites of the target number.

[0097] For example, in step 701 above, if the number of current target navigation satellites is 8 and the number of first target candidate navigation satellites is 4, then a navigation satellite constellation is formed based on the 8 target navigation satellites and the 4 first target candidate navigation satellites.

[0098] In embodiments of this disclosure, when the number of target navigation satellites is insufficient, a first number of target candidate navigation satellites are selected from the candidate navigation satellites to form a navigation satellite constellation together with the current target navigation satellites, thereby maximizing the stability of the navigation satellite constellation system and further improving the accuracy and reliability of navigation and positioning.

[0099] Please see Figure 8 In an optional embodiment of this disclosure, the above-described navigation satellite constellation determination method further includes the following steps 801-802:

[0100] Step 801: If there are failed navigation satellites among the multiple target navigation satellites, the control device selects a number of candidate navigation satellites equal to the number of failed navigation satellites from the multiple candidate navigation satellites according to a preset priority order as the second target candidate navigation satellite.

[0101] Among multiple target navigation satellites, a failed navigation satellite refers to a target navigation satellite that was in the mid-angle satellite set at the previous moment and is currently in the low-angle satellite set. Each simulated satellite moves along a predetermined trajectory and is constantly in motion. This means that the target navigation satellite from the previous moment has moved to the low-angle range at the current moment, indicating that the simulated target satellite's angle of view is getting lower and lower and is about to fall into the receiver's invisible field of view. The simulated satellite's signal reception capability is already extremely weak, and once it falls into the receiver's invisible field of view, it will be completely unable to transmit or receive signals. Therefore, this type of simulated satellite is identified as a failed navigation satellite.

[0102] Therefore, once a failed navigation satellite is detected among the target navigation satellites, the control equipment selects an equal number of candidate navigation satellites from a pool of backup satellites as the second target candidate navigation satellites. The priority order can be specifically set according to the actual situation; for example, candidate navigation satellites closer to the failed navigation satellites can be selected as the second target candidate navigation satellites with higher priority, or candidate navigation satellites closer to the boundary of the mid-view range can be selected as the second target candidate navigation satellites with higher priority, etc.

[0103] In an optional embodiment, the control device can further refine the multiple candidate navigation satellites obtained in step A above, dividing them into a first candidate satellite set, a second candidate satellite set, and a third candidate satellite set according to the size of the mid-range and low-range satellite sets. The first distance between the first candidate satellite set and the mid-range satellite set is the smallest, the third distance between the third candidate satellite set and the mid-range satellite set is the largest, and the second distance between the second candidate satellite set and the mid-range satellite set is between the first and third distances. When subsequent selection is needed from the candidate satellites, the nearest selection can be made from the first, second, and third candidate satellite sets based on the size of the mid-range satellite set, which can greatly improve the selection efficiency and further improve the determination efficiency of the navigation satellite constellation in this embodiment.

[0104] Step 802: The control equipment updates the navigation satellite constellation based on the second target candidate navigation satellite.

[0105] Updating a navigation satellite constellation means re-determining a new navigation satellite constellation based on the current target navigation satellites (excluding those that have failed) and the second target candidate navigation satellites obtained through the above steps.

[0106] In this embodiment of the invention, when there are failed navigation satellites among the current target navigation satellites, a number of candidate navigation satellites equal to the number of failed navigation satellites are selected from multiple candidate navigation satellites according to a preset priority order as the second target candidate navigation satellites. The navigation satellite constellation is then updated based on the second target candidate navigation satellites, thereby ensuring the stability and reliability of the navigation satellite constellation and further improving the accuracy of navigation and positioning through the navigation satellite constellation.

[0107] Please see Figure 9 In order to implement the above-mentioned business processing method, one embodiment of this disclosure provides a navigation satellite constellation determination device 900. Figure 9A schematic architecture diagram of a navigation satellite constellation determination device 900 is shown. The device includes: a first determination module 910, a second determination module 920, a third determination module 930, and a fourth determination module 940, wherein:

[0108] The first determining module 910 is used to determine the satellite position information of each simulated satellite in the GPS simulated constellation;

[0109] The second determining module 920 is used to determine the angle between each simulated satellite and the receiver based on the position information of each satellite and the receiving position information of the receiver, thereby obtaining multiple relative angles; wherein, the receiver is used to receive the satellite signals emitted by each simulated satellite;

[0110] The third determining module 930 is used to determine the simulated satellite corresponding to the relative angle within the preset target viewing angle range among multiple relative angles as the target navigation satellite, thereby obtaining multiple target navigation satellites;

[0111] The fourth determination module 940 is used to determine the navigation satellite constellation based on multiple target navigation satellites.

[0112] In an optional embodiment, the second determining module 920 is specifically used to determine the cosine value of each relative angle based on the satellite position information and the receiving position information; and to determine the relative angle between each simulated satellite and the receiver based on each cosine value.

[0113] In an optional embodiment, the third determining module 930 is specifically used to: determine the visible and invisible viewing angle ranges of the receiver based on the received location information; divide multiple simulated satellites whose relative angles are within the visible viewing angle range into a high-view satellite set, a medium-view satellite set, and a low-view satellite set according to preset high-view range, medium-view range, and low-view range; and determine the simulated satellites located within the medium-view range as target navigation satellites.

[0114] In an optional embodiment, the fourth determining module 940 is specifically used to: if the number of multiple target navigation satellites is greater than a preset number, select a preset number of target navigation satellites from the multiple target navigation satellites; and determine a navigation satellite constellation based on the preset number of target navigation satellites.

[0115] In an optional embodiment, the fourth determining module 940 is further configured to determine the simulated satellites that are currently in the medium-angle satellite set and were in the high-angle or low-angle satellite set at the previous moment, as well as the simulated satellites that are currently in the high-angle satellite set and were in the medium-angle satellite set at the previous moment, as candidate navigation satellites, thereby obtaining multiple candidate navigation satellites.

[0116] In an optional embodiment, the fourth determining module 940 is specifically used to: if the number of multiple target navigation satellites is less than a preset number, select a first target candidate navigation satellite of a target number from multiple candidate navigation satellites; wherein, the target number refers to the difference between the preset number and the number of multiple target navigation satellites; and determine the navigation satellite constellation based on the multiple target navigation satellites and the first target candidate navigation satellite of the target number.

[0117] In an optional embodiment, the fourth determining module 940 is further configured to, if there are failed navigation satellites among the multiple target navigation satellites, select, according to a preset priority order, a number of candidate navigation satellites equal to the number of failed navigation satellites as the second target candidate navigation satellite; wherein, a failed navigation satellite refers to a target navigation satellite among the multiple target navigation satellites that was located in the mid-view satellite set at the previous moment and is located in the low-view satellite set at the current moment; and update the navigation satellite constellation according to the second target candidate navigation satellite.

[0118] Exemplary embodiments of this disclosure also provide a computer-readable storage medium that can be implemented as a program product including program code, which, when run on an electronic device, causes the electronic device to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of this disclosure. In one embodiment, the program product can be implemented as a portable compact disc read-only memory (CD-ROM) including program code and can run on an electronic device, such as a personal computer. However, the program product of this disclosure is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0119] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0120] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0121] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0122] Program code for performing the operations of this disclosure can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on a user's computing device, partially on a user's computing device, as a standalone software package, partially on a user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via an Internet service provider). In embodiments of this disclosure, the program code stored in a computer-readable storage medium, when executed, can implement any step of the navigation satellite constellation determination method described above.

[0123] Please see Figure 10 Exemplary embodiments of this disclosure also provide an electronic device 1000, which can be a backend server of an information platform. References are provided below. Figure 10 This electronic device 1000 will be described. It should be understood that... Figure 10 The electronic device 1000 shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments disclosed herein.

[0124] like Figure 10 As shown, the electronic device 1000 is presented in the form of a general-purpose computing device. The components of the electronic device 1000 may include, but are not limited to: at least one processing unit 1010, at least one storage unit 1020, and a bus 1030 connecting different system components (including storage unit 1020 and processing unit 1010).

[0125] The storage unit stores program code, which can be executed by the processing unit 1010 to perform the steps described in the "Exemplary Methods" section of this specification according to various exemplary embodiments of the present invention. For example, the processing unit 1010 can perform, as follows: Figure 2 The methods and steps shown are as follows.

[0126] Storage unit 1020 may include volatile storage units, such as random access memory (RAM) 1021 and / or cache memory 1022, and may further include read-only memory (ROM) 1023.

[0127] Storage unit 1020 may also include a program / utility 1024 having a set (at least one) program module 1025, such program module 1025 including but not limited to: operating system, one or more application programs, other program modules and program data, each or some combination of these examples may include an implementation of a network environment.

[0128] Bus 1030 may include a data bus, an address bus, and a control bus.

[0129] Electronic device 1000 can also communicate with one or more external devices 2000 (e.g., keyboards, pointing devices, Bluetooth devices, etc.) via input / output (I / O) interface 1040. Electronic device 1000 can also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via network adapter 1050. As shown, network adapter 1050 communicates with other modules of electronic device 1000 via bus 1030. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 1000, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0130] In this embodiment of the disclosure, the program code stored in the electronic device can be executed to perform any step of the navigation satellite constellation determination method described above.

[0131] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to exemplary embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0132] Those skilled in the art will understand that various aspects of this disclosure can be implemented as systems, methods, or program products. Therefore, various aspects of this disclosure can be embodied in entirely hardware implementations, entirely software implementations (including firmware, microcode, etc.), or implementations combining hardware and software aspects, collectively referred to herein as “circuit,” “module,” or “system.” Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the claims.

[0133] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is defined only by the appended claims.

Claims

1. A method for determining a navigation satellite constellation, characterized in that, include: Determine the satellite position information of each simulated satellite in the navigation simulation constellation; The angle between each simulated satellite and the receiver is determined based on the position information of each satellite and the receiving position information of the receiver, resulting in multiple relative angles; the receiver is used to receive satellite signals emitted by each simulated satellite. The visible and invisible viewing angles of the receiver are determined based on the received location information; the visible viewing angle refers to the area above the horizon, and the invisible viewing angle refers to the area below the horizon. The simulated satellites whose relative angles are within the visible field of view are divided into a high-angle satellite set, a medium-angle satellite set, and a low-angle satellite set according to a preset high-angle range, medium-angle range, and low-angle range, respectively. The simulated satellites located within the medium field of view are identified as target navigation satellites, resulting in multiple target navigation satellites; The navigation satellite constellation is determined based on the multiple target navigation satellites; The step of determining the navigation satellite constellation based on the plurality of target navigation satellites includes: The simulated satellites that are currently in the medium-angle satellite set and were previously in the high-angle or low-angle satellite set, as well as the simulated satellites that are currently in the high-angle satellite set and were previously in the medium-angle satellite set, are identified as candidate navigation satellites, resulting in multiple candidate navigation satellites. If there are failed navigation satellites among the multiple target navigation satellites, then a number of candidate navigation satellites equal to the number of failed navigation satellites are selected from the multiple candidate navigation satellites according to a preset priority order as the second target candidate navigation satellite; The navigation satellite constellation is updated based on the second target candidate navigation satellite.

2. The navigation satellite constellation determination method according to claim 1, characterized in that, The step of determining the angle between each simulated satellite and the receiver based on the satellite position information and the receiver's receiving position information yields multiple relative angles, including: The cosine value of each relative angle is determined based on the satellite position information and the receiving position information, respectively. The relative angle between each of the simulated satellites and the receiver is determined based on the respective cosine values.

3. The method for determining a navigation satellite constellation according to claim 1, characterized in that, The step of determining the navigation satellite constellation based on the plurality of target navigation satellites includes: If the number of the plurality of target navigation satellites is greater than the preset number, then the preset number of target navigation satellites are selected from the plurality of target navigation satellites; The navigation satellite constellation is determined based on the preset number of target navigation satellites.

4. The method for determining a navigation satellite constellation according to claim 1, characterized in that, The step of determining the navigation satellite constellation based on the plurality of target navigation satellites includes: If the number of the plurality of target navigation satellites is less than a preset number, then a first target candidate navigation satellite of the target number is selected from the plurality of candidate navigation satellites; wherein, the target number refers to the difference between the preset number and the number of the plurality of target navigation satellites; The navigation satellite constellation is determined based on the plurality of target navigation satellites and the number of first target candidate navigation satellites.

5. A navigation satellite constellation determination device, characterized in that, The device includes: The first determining module is used to determine the satellite position information of each simulated satellite in the navigation simulation constellation; The second determining module is used to determine the angle between each of the simulated satellites and the receiver based on the position information of each satellite and the receiving position information of the receiver, thereby obtaining multiple relative angles; the receiver is used to receive satellite signals emitted by each of the simulated satellites; The third determining module is used to determine the visible and invisible viewing angle ranges of the receiver based on the received location information; the visible viewing angle range refers to the area above the horizon, and the invisible viewing angle range refers to the area below the horizon. The simulated satellites whose relative angles are within the visible field of view are divided into a high-angle satellite set, a medium-angle satellite set, and a low-angle satellite set according to a preset high-angle range, medium-angle range, and low-angle range, respectively. The simulated satellites located within the medium field of view are identified as target navigation satellites, resulting in multiple target navigation satellites; The fourth determining module is used to determine the navigation satellite constellation based on the plurality of target navigation satellites; The fourth determining module is further configured to determine the simulated satellites that are currently in the medium-angle satellite set and were previously in the high-angle or low-angle satellite set, as well as the simulated satellites that are currently in the high-angle satellite set and were previously in the medium-angle satellite set, as candidate navigation satellites, thereby obtaining multiple candidate navigation satellites. If there are failed navigation satellites among the multiple target navigation satellites, then a number of candidate navigation satellites equal to the number of failed navigation satellites are selected from the multiple candidate navigation satellites according to a preset priority order as the second target candidate navigation satellite; The navigation satellite constellation is updated based on the second target candidate navigation satellite.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method described in any one of claims 1 to 4.

7. An electronic device, characterized in that, include: processor; as well as Memory for storing the executable instructions of the processor; The processor is configured to execute the method of any one of claims 1 to 4 by executing the executable instructions.

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