Direct-view satellite identification method and electronic device

Abstract

The application discloses a direct-view satellite identification method and an electronic device, and relates to the field of satellite positioning. The direct-view satellite identification method disclosed by the application comprises the following steps: firstly, determining the angle of a satellite signal of a satellite relative to an electronic device and the angle of the satellite relative to the electronic device; then, determining whether the difference between the two angles is less than a threshold value; and if the difference between the two angles is less than the threshold value, the satellite is a direct-view satellite. The direct-view satellite identification method disclosed by the application does not require prior information such as observation quantities of direct-view satellite signals, can effectively and quickly identify whether a satellite is a direct-view satellite or a non-direct-view satellite, and has low engineering implementation complexity.

Description

Technical Field

[0001] This application relates to the field of satellite positioning, and in particular to methods and electronic devices for identifying line-of-sight satellites. Background Technology

[0002] With the development of electronic technology, electronic devices can perform positioning through global navigation satellite systems (GNSS). GNSS includes global positioning systems (GPS), the BeiDou satellite system, and others.

[0003] After receiving satellite signals, the electronic device determines the time delay by comparing the phase of the satellite signal with a reference signal, and then determines the distance between the electronic device and the satellite based on the time delay. Once the electronic device acquires at least four GNSS satellites, it can determine its own position, thus completing positioning. The method of determining the distance between the electronic device and the GNSS satellite by comparing the phase of the satellite signal with the reference signal requires that the satellite signal be a line-of-sight (LOS) signal. Only when the satellite is a LOS satellite will the distance corresponding to the propagation delay of the satellite signal equal the distance between the electronic device and the satellite.

[0004] A method for identifying whether a satellite signal is a line-of-sight (LOS) signal includes: establishing a 3D map of the city, obtaining the satellite's position through ephemeris, obtaining the position of electronic devices through base station positioning, and then determining whether the satellite signal is obscured by buildings or other terrain based on the satellite's position, the electronic devices' position, and the 3D model of the city, thereby determining whether the satellite is a LOS satellite and whether the satellite signal is a line-of-sight (LOS) satellite signal.

[0005] However, this method requires additional, accurate 3D city maps and other prior information, making its engineering implementation quite complex. Furthermore, the accuracy of this method depends on the location of the electronic device and the precision of the 3D map. Summary of the Invention

[0006] This application provides a method for identifying line-of-sight (LOS) satellites. The method includes: first, determining the angle of the satellite signal relative to an electronic device and the angle of the satellite relative to the electronic device; then, determining whether the difference between the two angles is less than a threshold. If the difference is less than the threshold, the satellite is considered a LOS satellite. This method does not require prior information such as the observations of the LOS satellite signal, effectively and quickly identifying whether a satellite is a LOS satellite or not, and has low engineering implementation complexity.

[0007] In a first aspect, this application provides a method for identifying a line-of-sight satellite, the method comprising: receiving a satellite signal transmitted by a satellite; determining a first angle, the first angle being the angle of incidence of the satellite signal relative to an electronic device; determining a second angle, the second angle being the angle of the satellite relative to the electronic device; comparing the first angle and the second angle; if the difference between the first angle and the second angle is less than a threshold, then determining the satellite as a line-of-sight satellite; if the difference between the first angle and the second angle is greater than or equal to the threshold, then determining the satellite as a non-line-of-sight satellite.

[0008] In the above embodiments, the electronic device determines whether the satellite is a line-of-sight satellite by comparing the angle of the signal relative to the electronic device and the angle between the satellite and the electronic device. This method requires no prior knowledge, can effectively and quickly identify whether a satellite is a line-of-sight satellite or not, and has low engineering implementation complexity.

[0009] In conjunction with some embodiments of the first aspect, in some embodiments, determining the first angle specifically includes: determining the angle of arrival of the satellite signal, the angle of arrival being the angle of the satellite signal relative to the antenna; and converting the angle of arrival into the first angle.

[0010] In the above embodiments, the electronic device can first determine the angle of arrival of the satellite signal, and then determine the first angle.

[0011] In conjunction with some embodiments of the first aspect, in some embodiments, determining the angle of arrival of the satellite signal specifically includes: determining the angle of arrival of the satellite signal based on the phase difference of the satellite signal on different antennas, wherein the number of antennas is greater than or equal to 2.

[0012] In the above embodiments, when the electronic device has multiple receiving antennas, the angle of arrival of the satellite signal can be determined by the phase of the satellite signal on different receiving antennas.

[0013] In conjunction with some embodiments of the first aspect, in some embodiments, converting the angle of arrival into the first angle specifically includes: determining the orientation or heading of the electronic device, and determining the coordinate system of the electronic device based on the orientation or heading; and converting the angle of arrival into the first angle based on the relative spatial position relationship between the antenna and the electronic device.

[0014] In the above embodiments, the electronic device converts the angle of arrival of the satellite signal into a first angle through the relative spatial position of the antenna and the electronic device.

[0015] In conjunction with some embodiments of the first aspect, in some embodiments, determining the first position specifically includes: determining the ephemeris of the satellite; and determining the first position based on the ephemeris.

[0016] In the above embodiments, the electronic device can determine the satellite's position using the satellite's ephemeris.

[0017] In conjunction with some embodiments of the first aspect, in some embodiments, determining the ephemeris of the satellite specifically includes: determining the ephemeris based on the satellite signal.

[0018] In the above embodiments, the electronic device can obtain the satellite's ephemeris from the satellite signal and thus determine the satellite's position.

[0019] In conjunction with some embodiments of the first aspect, in some embodiments, determining the ephemeris of the satellite specifically includes: obtaining the ephemeris from a server via a network.

[0020] In the above embodiments, the electronic device can also obtain the satellite's ephemeris from the server via the network, thereby determining the satellite's position.

[0021] In conjunction with some embodiments of the first aspect, in some embodiments, the weight of non-line-of-sight satellites is reduced during the positioning process.

[0022] In the above embodiments, after determining whether a satellite is a non-line-of-sight satellite or a line-of-sight satellite, the electronic device can reduce the weight of the non-line-of-sight satellite during the positioning process, thereby obtaining an accurate positioning result.

[0023] Secondly, embodiments of this application provide an electronic device, which includes: one or more processors and a memory; the memory is coupled to the one or more processors, and the memory is used to store computer program code, the computer program code including computer instructions, and the one or more processors call the computer instructions to cause the electronic device to perform: receiving a satellite signal transmitted by a satellite; determining a first angle, the first angle being the angle of incidence of the satellite signal relative to the electronic device; determining a second angle, the second angle being the angle of the satellite relative to the electronic device; comparing the first angle and the second angle; if the difference between the first angle and the second angle is less than a threshold, then determining that the satellite is a line-of-sight satellite; if the difference between the first angle and the second angle is greater than or equal to the threshold, then determining that the satellite is a non-line-of-sight satellite.

[0024] In the above embodiments, the electronic device determines whether the satellite is a line-of-sight satellite by comparing the angle of the signal relative to the electronic device and the angle between the satellite and the electronic device. This method requires no prior knowledge, can effectively and quickly identify whether a satellite is a line-of-sight satellite or not, and has low engineering implementation complexity.

[0025] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the angle of arrival of the satellite signal, the angle of arrival being the angle of the satellite signal relative to the antenna; and converting the angle of arrival into the first angle.

[0026] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the angle of arrival of the satellite signal based on the phase difference of the satellite signal on different antennas, the number of which is greater than or equal to 2.

[0027] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: rotating the antenna, determining the antenna gain for the satellite signal at different rotation angles, and determining the angle of arrival of the satellite signal based on the antenna pattern and the antenna gain for the satellite signal at the different rotation angles.

[0028] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the orientation or heading of the electronic device, and determining the coordinate system of the electronic device based on the orientation or heading; and converting the angle of arrival into the first angle based on the relative spatial position relationship between the antenna and the electronic device.

[0029] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining a first position, the first position being the position of the satellite; determining a second position, the second position being the position of the electronic device; and determining a second angle based on the first position and the second position.

[0030] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the ephemeris of the satellite; and determining the first position based on the ephemeris.

[0031] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the ephemeris based on the satellite signal.

[0032] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: retrieving the ephemeris from a server via a network.

[0033] In conjunction with some embodiments of the second aspect, in some embodiments, the one or more processors are further configured to invoke the computer instructions to cause the electronic device to perform: reducing the weight of non-line-of-sight satellites during the positioning process.

[0034] Thirdly, embodiments of this application provide a chip system applied to an electronic device. The chip system includes one or more processors, which are used to invoke computer instructions to cause the electronic device to perform the methods described in the first aspect and any possible implementation thereof.

[0035] Fourthly, embodiments of this application provide a computer program product containing instructions that, when the computer program product is run on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0036] Fifthly, embodiments of this application provide a computer-readable storage medium including instructions that, when executed on an electronic device, cause the electronic device to perform the method described in the first aspect and any possible implementation thereof.

[0037] It is understood that the electronic device provided in the second aspect, the chip system provided in the third aspect, the computer program product provided in the fourth aspect, and the computer storage medium provided in the fifth aspect are all used to execute the methods provided in the embodiments of this application. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. Attached Figure Description

[0038] Figure 1A , Figure 1B This is an exemplary schematic diagram of direct-view signals and non-direct-view signals provided in the embodiments of this application.

[0039] Figure 2A , Figure 2B This is an exemplary schematic diagram of a method for distinguishing between direct-view signals and non-direct-view signals provided in an embodiment of this application.

[0040] Figure 3 This is an exemplary schematic diagram of the line-of-sight satellite identification method provided in the embodiments of this application.

[0041] Figure 4 This is an exemplary schematic diagram of the array angle measurement method provided in the embodiments of this application.

[0042] Figure 5 This is an exemplary schematic diagram of the front and rear antenna gain of the rotating antenna relative to the electronic device coordinate system, provided in an embodiment of this application.

[0043] Figure 6This is an exemplary schematic diagram illustrating the determination of the angle of a satellite signal relative to an electronic device, as provided in an embodiment of this application.

[0044] Figure 7A , Figure 7B This is an exemplary schematic diagram illustrating the acquisition of ephemeris provided in an embodiment of this application.

[0045] Figure 8 This is an exemplary schematic diagram illustrating the determination of whether a satellite is a line-of-sight satellite, as provided in an embodiment of this application.

[0046] Figure 9A This is an exemplary schematic diagram of the electronic device structure provided in an embodiment of this application.

[0047] Figure 9B This is another exemplary schematic diagram of the electronic device structure provided in the embodiments of this application.

[0048] Figure 10A This is an exemplary schematic diagram of the software architecture of an electronic device provided in an embodiment of this application.

[0049] Figure 10B This is an exemplary schematic diagram of the software architecture of an electronic device provided in an embodiment of this application. Detailed Implementation

[0050] The terminology used in the following embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. As used in the specification and appended claims of this application, the singular expressions “a,” “an,” “the,” “the,” “the,” and “this” are intended to include the plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in this application refers to and includes any or all possible combinations of one or more of the listed items.

[0051] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0052] The term "user interface (UI)" used in the following embodiments of this application refers to the medium interface through which an application or operating system interacts and exchanges information with the user. It realizes the conversion between the internal form of information and the form that the user can accept. The user interface is source code written in a specific computer language such as Java or Extensible Markup Language (XML). The interface source code is parsed and rendered on the electronic device, ultimately presenting content that the user can recognize. A common form of user interface is the graphical user interface (GUI), which refers to a user interface related to computer operation displayed graphically. It can be visible interface elements such as text, icons, buttons, menus, tabs, text boxes, dialog boxes, status bars, navigation bars, and widgets displayed on the screen of an electronic device.

[0053] With the development of electronic technology, electronic devices can perform positioning using the Global Navigation Satellite System. Specifically, when the signal received by the electronic device is a line-of-sight (LAS) satellite signal, the distance between the electronic device and the satellites can be determined using methods such as phase measurement pseudorange positioning and code measurement pseudorange positioning. After determining the distances between the electronic device and at least three satellites (at least four satellites considering errors), the position of the electronic device can be determined.

[0054] The signals received by the electronic equipment are non-line-of-sight (LOS) satellite signals. The phase difference and symbol difference between the satellite signal and the reference signal are related to the propagation time of electromagnetic waves on the non-LOS path (or multipath). Since the length of the non-LOS satellite signal propagation path is not equal to the distance between the satellite and the electronic equipment, the distance between the electronic equipment and the satellite determined by methods such as phase pseudorange positioning and code pseudorange positioning has a large error, which in turn affects the positioning accuracy.

[0055] Figure 1A , Figure 1B This is an exemplary schematic diagram of direct-view signals and non-direct-view signals provided in the embodiments of this application.

[0056] like Figure 1A As shown, the satellite signal emitted by satellite 1 can be transmitted to electronic device 1 through two transmission paths or channels. The satellite signals transmitted on these two paths or channels are a line-of-sight (LOS) signal and a non-line-of-sight (NOS) signal, respectively. Electronic device 1 can receive two signals carrying the same information: the LOS signal and the NOS signal. The NOS signal is reflected or refracted by buildings or other obstructions before reaching electronic device 1.

[0057] When the electronic device only receives a direct line-of-sight signal from the satellite, it can determine the symbol delay using a matched filter, and thus determine the time delay T1. After determining the time delay T1, the distance between the electronic device 1 and the satellite can be determined as distance 1 based on the time delay T1 and the signal propagation speed in space. The distance determined through phase-measured pseudorange positioning and code-measured pseudorange positioning is also called pseudorange.

[0058] Similarly, the time delay of a satellite's non-line-of-sight signal can be T2, and the corresponding pseudorange is distance 2.

[0059] When an electronic device receives both line-of-sight (LAS) and non-LAS signals from a satellite, it will determine multiple pseudoranges. The electronic device may then mistake the pseudorange corresponding to the non-LAS signal for the distance between itself and the satellite, leading to incorrect positioning results.

[0060] Electronic devices can receive both line-of-sight (LOS) and non-line-of-sight (NOS) signals from a satellite, or they can receive only NOS signals from a satellite, such as... Figure 1B As shown.

[0061] like Figure 1B As shown, the electronic device receives not only the direct line-of-sight signal from satellite 1 but also the indirect line-of-sight signal from satellite 2. The delay of the indirect line-of-sight signal from satellite 2 is T2. After determining the distance 2 between electronic device 1 and satellite 2 based on the indirect line-of-sight signal from satellite 2, the positioning result based on distance 2 and distance 1 is inaccurate.

[0062] To distinguish whether the signals received by electronic devices are line-of-sight (LOS) or non-line-of-sight (NOS) signals, one feasible method includes: establishing a LOS signal identification model and using this model to distinguish whether the received satellite signals are LOS or NOS signals.

[0063] Figure 2A , Figure 2B This is an exemplary schematic diagram of a method for distinguishing between direct-view signals and non-direct-view signals provided in an embodiment of this application.

[0064] like Figure 2A As shown, the direct-view signal recognition model requires prior information such as a city 3D map, statistical characteristics of signal strength, and statistical characteristics of pseudorange residuals.

[0065] Since line-of-sight (LOS) signal recognition models rely on prior information, the accuracy of this information, such as 3D city maps, statistical characteristics of signal strength, and statistical characteristics of pseudorange residuals, directly affects the performance of the signal model. Furthermore, the high complexity of implementing LOS signals hinders engineering implementation and troubleshooting. Moreover, LOS signals are essentially equivalent to using thresholds of one or more complex parameters to classify a signal as either a LOS signal or a non-LOS signal, which inevitably leads to an inverse relationship between the false alarm probability and the missed detection probability in LOS signal recognition.

[0066] like Figure 2B As shown, the false alarm probability and the false negative probability are inversely proportional. The false alarm probability is the probability that an electronic device will identify a non-line-of-sight signal as a line-of-sight signal; the false negative probability is the probability that an electronic device will identify a line-of-sight signal as a non-line-of-sight signal. That is, it is difficult for a line-of-sight signal recognition model to simultaneously reduce both the false alarm probability and the false negative probability.

[0067] To improve the accuracy of electronic devices in determining whether a satellite signal is a line-of-sight (LOS) signal or a non-LOS signal, and to reduce the complexity of implementation, this application provides a line-of-sight satellite identification method. By comparing the propagation direction of the satellite signal relative to the electronic device and the angle of the satellite relative to the electronic device, the method determines whether the satellite signal is a LOS signal or a non-LOS signal, and then equivalently determines whether the satellite is a LOS satellite or a non-LOS satellite, which helps to improve positioning accuracy.

[0068] The following is combined Figure 3 The content shown exemplarily illustrates the line-of-sight satellite identification method provided in the embodiments of this application.

[0069] Figure 3 This is an exemplary schematic diagram of the line-of-sight satellite identification method provided in the embodiments of this application.

[0070] like Figure 3 As shown, the line-of-sight satellite identification method provided in this application includes four steps: S301, S302, S303, and S304. Steps S301 and S302 do not have a specific temporal relationship. After the electronic device executes step S301, it can determine the angle of the satellite signal relative to the electronic device; after executing step S302, it can determine the angle of the satellite relative to the electronic device; after executing step S303, it can determine whether the satellite is a line-of-sight satellite or not; and after executing step S304, it can obtain a more accurate positioning result.

[0071] S301: Receive satellite signals and determine the angle of the satellite signals relative to electronic equipment.

[0072] Electronic devices can receive satellite signals through a GNSS receiver and determine the angle of the satellite signal relative to the electronic device. Specifically, the electronic device can first determine the angle of the satellite signal relative to the antenna (also known as the array or array surface), and then, based on the transformation relationship between the antenna's coordinate system and the electronic device's coordinate system, determine the angle of the satellite signal relative to the electronic device.

[0073] Electronic devices can determine the angle of arrival of satellite signals in various ways. The angle of arrival is the angle between the direction of satellite signal propagation and the antenna. The angle between the satellite signal and the electronic device is the angle of incidence of the satellite signal relative to the electronic device, which is the angle of the direction of satellite signal propagation in the electronic device's coordinate system.

[0074] The following examples illustrate several methods for determining the angle of arrival of satellite signals.

[0075] (1) Method 1 for determining the angle of arrival of satellite signals.

[0076] An electronic device has an array antenna consisting of at least two antennas. The electronic device can calculate the direction of arrival of the signal by the phase difference between the signals of different array elements, that is, determine the angle of arrival of the satellite signal.

[0077] Figure 4 This is an exemplary schematic diagram of the array angle measurement method provided in the embodiments of this application.

[0078] like Figure 4 As shown, the planar array on the electronic device is a 3*5 planar array. Taking the first row of the array as an example, there is a fixed phase difference between the satellite signals received by different array elements. This phase difference is related to the spacing between the array elements, the wavelength of the satellite signal, and the angle of arrival of the satellite signal.

[0079] exist Figure 4 In this array, the phase difference between the satellite signal received by array element 1 and the satellite signal received by array element 2 is fixed. Similarly, the phase difference between the satellite signal received by array element 2 and the satellite signal received by array element 3 is fixed, and the phase difference between the satellite signal received by array element 3 and the satellite signal received by array element 4 is fixed.

[0080] Since the spacing between array elements and the wavelength of the satellite signal are fixed, the phase difference of the satellite signal received by the array elements is directly related to the angle of arrival of the satellite signal. Based on this, electronic devices can determine the angle of arrival of the satellite signal using methods such as multiple signal classification (MUSIC) and estimating signal parameter via rotational invariance techniques (ESPRIT).

[0081] It is worth noting that, Figure 4 This is merely an exemplary schematic diagram of an array angle measurement method and does not impose any limitations on the implementation method of array angle measurement. For example, the array elements in the array or array surface can be arranged with unequal spacing, the array or array surface can be an irregular array, and the number of array elements in the array or array surface can be greater than or equal to 2.

[0082] (2) Method 2 for determining the angle of arrival of satellite signals.

[0083] An electronic device has at least one antenna. By rotating the at least one antenna, the relative ratio of the satellite signal strength at different rotation angles is recorded, thereby determining the angle of arrival of the satellite signal.

[0084] Figure 5 This is an exemplary schematic diagram of the front and rear antenna gain of the rotating antenna relative to the electronic device coordinate system, provided in an embodiment of this application.

[0085] like Figure 5 As shown, when the satellite is located at an azimuth angle of 30° with the electronic device, the antenna gain for the satellite signal changes as the antenna rotates. For example, when the coordinate system of the antenna coincides with the coordinate system of the electronic device (i.e., when the antenna pattern at 0° coincides with the azimuth angle of the electronic device at 0°), the amplitude or energy of the satellite signal is A1; after the antenna rotates 30°, the amplitude or energy of the satellite signal is A2. The ratio of A1 to A2 is 0.8 / 0.85. The electronic device can determine the angle of arrival of the satellite signal based on the ratio of A1 to A2 and the 30° rotation angle of the antenna.

[0086] Therefore, it is understandable that electronic devices can determine the angle of arrival of satellite signals by combining the antenna pattern, the antenna rotation angle, and the A1 / A2 ratio.

[0087] It is worth noting that the above-mentioned (1) method one for determining the angle of arrival of a satellite signal and (2) method two for determining the angle of arrival of a satellite signal are merely two exemplary introductions of how electronic devices determine the angle of arrival of satellite signals, and do not impose any restrictions on the implementation methods of electronic devices determining the angle of arrival of satellite signals. It is understood that electronic devices can also determine the angle of arrival of satellite signals through other methods. For example, if the electronic device has at least one antenna, depending on whether the electronic device is moving, the electronic device can use the synthetic aperture method or the inverse synthetic aperture method to determine the angle of arrival of the satellite signal.

[0088] Furthermore, when the coordinate system of the array and the coordinate system of the electronic equipment are different, the angle of arrival of the satellite signal can be converted into the angle of the satellite signal relative to the electronic equipment using other parameters such as heading angle and facing angle. Among these parameters, the heading angle, facing angle, and other parameters can be used to determine the coordinate system of the electronic equipment.

[0089] The heading angle can be determined using inertial navigation information and / or geomagnetic information or parameters. The orientation angle can be determined using geomagnetic parameters.

[0090] For example, an electronic device can determine its orientation or instantaneous heading using an electronic compass. In IoT scenarios, for instance, an electronic device can determine its orientation angle and / or heading angle using multiple sensors pre-installed in the scene. Alternatively, an electronic device can determine its heading angle by fitting a flight path over a past period. Furthermore, if the electronic device has a camera, it can determine its orientation angle or heading angle based on one or more images captured by the device, along with map information.

[0091] Figure 6 This is an exemplary schematic diagram illustrating the determination of the angle of a satellite signal relative to an electronic device, as provided in an embodiment of this application.

[0092] like Figure 6 As shown, the coordinate system of the electronic device and the coordinate system of the array (also known as the antenna coordinate system or array coordinate system) may be inconsistent. In this case, it is necessary to convert the angle of arrival of the satellite signal relative to the array into the angle of the satellite signal relative to the electronic device.

[0093] For example, the electronic device establishes its coordinate system with true north as 0°; the array face is oriented north-south, and its coordinate system has true west as 0°; the electronic device's coordinate system and the array face's coordinate system are consistent in the vertical direction, i.e., in the elevation angle. In this case, after the electronic device estimates the azimuth angle of the satellite signal as -45° and the elevation angle as 80° using DOA (direction of arrival), the electronic device determines the azimuth angle of the satellite signal relative to the electronic device as -45° and the elevation angle as 80° based on the transformation relationship between the array face's coordinate system and the electronic device's coordinate system.

[0094] The transformation relationship between the array coordinate system and the electronic device coordinate system is related to the position of the antenna on the electronic device.

[0095] Optionally, in some embodiments of this application, the electronic device can determine the current orientation or heading of the electronic device based on the heading angle, then determine the orientation of the array surface, and finally determine the array surface coordinate system; the electronic device can also determine the electronic device coordinate system based on geomagnetic information or other parameters.

[0096] S302: Determine the satellite's position based on ephemeris data, and then determine the satellite's angle relative to electronic equipment.

[0097] Electronic devices can determine the position of a satellite by using ephemeris data, and thus determine the angle of the satellite relative to the electronic device.

[0098] Ephemeris is information used to determine the position of a satellite. For example, the ephemeris in the BeiDou Navigation Satellite System and the Galileo system can be expressed using Kepler orbital elements plus perturbation corrections; while the ephemeris in the GLONASS system is expressed using state vectors.

[0099] There are many ways for electronic devices to obtain ephemeris data; the following are some examples. Figure 7A , Figure 7B The content shown is an example of how to obtain ephemeris.

[0100] Figure 7A , Figure 7B This is an exemplary schematic diagram illustrating the acquisition of ephemeris provided in an embodiment of this application.

[0101] like Figure 7A As shown, the GNSS receiver on the electronic device can directly receive navigation messages sent by the satellite, which include the satellite's ephemeris.

[0102] like Figure 7B As shown, the electronic device can also receive ephemeris data determined by ground monitoring stations via a network. The ground monitoring stations observe the satellites and then correct or reduce ephemeris errors.

[0103] Among them, such as Figure 7A The ephemeris shown can also be called a broadcast ephemeris, such as Figure 7B The ephemeris shown can also be called a precise ephemeris.

[0104] Optionally, the electronic device can also request precise or broadcast ephemeris from the server via the network.

[0105] It is worth noting that, Figure 7Aand Figure 7B The content shown is merely an illustrative example of how electronic devices acquire ephemeris data and does not impose any limitations on the specific implementation of ephemeris acquisition by electronic devices.

[0106] There are several methods to determine the angle of a satellite relative to electronic equipment.

[0107] (1) Method 1 for determining the angle of a satellite relative to electronic equipment.

[0108] After obtaining the ephemeris data of at least three satellites (or at least four if errors are considered), the positions of at least three satellites can be determined through calculation. Furthermore, the electronic device uses pseudorange as the distance between itself and the satellites; once the positions of at least three satellites and the pseudoranges between them and the electronic device are obtained, the position of the electronic device can be determined.

[0109] After determining the location of the electronic device, the electronic device can determine the angle of each satellite relative to the electronic device based on the location of each satellite and the location of the electronic device.

[0110] It is worth noting that since it is not determined whether the at least three satellites are directly line-of-sight satellites relative to the electronic device, it is possible that some of the at least three satellites are not directly line-of-sight satellites. This could lead to some error in determining the position of the electronic device, and further, to some error in the angle of the satellite relative to the electronic device. However, the error in the angle of the satellite relative to the electronic device is small and roughly uniformly distributed, with the mean being the actual angle of the satellite relative to the electronic device. In contrast, the angle of the satellite signal from a non-directly line-of-sight satellite relative to the electronic device is randomly distributed and independent of the actual angle of the satellite relative to the electronic device. Therefore, the electronic device can still determine whether the satellite is a directly line-of-sight satellite after executing step S303.

[0111] For example, if the azimuth angle of satellite 1 relative to the electronic device is 20°, then the angle of satellite 1 relative to the electronic device determined by method one is located in [19°, 21°], with an error of 1°. However, if satellite 1 is not a line-of-sight satellite, then the angle of satellite signal of satellite 1 relative to the electronic device is [-180°, 180°]. Obviously, determining the angle of the satellite relative to the electronic device by method one does not affect the execution of step S303.

[0112] (2) Method 2 for determining the angle of a satellite relative to electronic equipment.

[0113] After obtaining the ephemeris of at least one satellite, the position of at least one satellite can be determined by calculation. Unlike the method for determining the angle of the satellite relative to the electronic device in (1) above, considering the error of pseudorange, the position of the electronic device is determined by other non-satellite positioning methods such as base station positioning and WIFI positioning, and then the angle of the satellite relative to the electronic device is determined based on the position of the electronic device and the position of the satellite.

[0114] In this case, similar to the method for determining the angle of the satellite relative to the electronic device in (1) above, the position of the electronic device can have a certain error, that is, the angle of the satellite relative to the electronic device is allowed to have a certain error. For details, please refer to the description above, which will not be repeated here.

[0115] It is worth noting that the above is merely an illustrative example of determining the angle of a satellite relative to electronic equipment, and does not impose any restrictions on the specific implementation of electronic equipment determining the pitch and azimuth angles of a satellite relative to electronic equipment.

[0116] S303: Compare the angle of the satellite signal relative to the electronic device and the angle of the satellite relative to the electronic device to determine whether the satellite signal is a line-of-sight signal or a non-line-of-sight signal.

[0117] After executing step S301, the electronic device can determine the angle of the satellite signal relative to the electronic device; after executing step S302, the electronic device can determine the angle of the satellite relative to the electronic device.

[0118] Figure 8 This is an exemplary schematic diagram illustrating the determination of whether a satellite is a line-of-sight satellite, as provided in an embodiment of this application.

[0119] like Figure 8 As shown, the electronic device receives satellite signals from satellite 1, satellite 2, and satellite 3. Specifically, the electronic device can receive satellite signal 1 from satellite 1, satellite signal 21 and satellite signal 22 from satellite 2, and satellite signal 3 from satellite 3, and determine the angles of satellite signal 1, satellite signal 21, satellite signal 22, and satellite signal 3 relative to the electronic device.

[0120] The electronic device can also determine the angles of satellite 1, satellite 2, and satellite 3 relative to the electronic device through ephemeris.

[0121] The electronic device determines that the distance between the angle of satellite signal 1 relative to the electronic device and the angle of satellite 1 relative to the electronic device is less than a threshold, thus confirming that satellite signal 1 is a line-of-sight signal and satellite 1 is a line-of-sight satellite.

[0122] The electronic device determines that the distance between the angle of satellite signal 21 relative to the electronic device and the angle of satellite 2 relative to the electronic device is less than a threshold, and determines that the distance between the angle of satellite signal 22 relative to the electronic device and the angle of satellite 2 relative to the electronic device is greater than a threshold, thus confirming that satellite signal 21 is a line-of-sight signal, satellite signal 22 is a non-line-of-sight signal, and satellite 2 is a line-of-sight satellite or a non-line-of-sight satellite. Among these, the scene of satellite 2 and... Figure 1A The scenario is similar, where electronic devices simultaneously receive both unrefracted and refracted signals from satellite 2.

[0123] The electronic device determines that the distance between the angle of satellite signal 3 relative to the electronic device and the angle of satellite 3 relative to the electronic device is greater than a threshold, and confirms that satellite signal 3 is a non-line-of-sight signal and satellite 3 is a non-line-of-sight satellite.

[0124] It is worth noting that, in Figure 8 In the illustration, the accuracy with which the electronic device determines the angle of the satellite relative to the electronic device is greater than the accuracy with which the satellite signal is relative to the electronic device. In some embodiments of this application, the accuracy with which the electronic device determines the angle of the satellite relative to the electronic device is less than the accuracy with which the satellite signal is relative to the electronic device.

[0125] The accuracy of the angle between the satellite and the electronic device is related to the accuracy of the ephemeris, while the accuracy of the angle between the satellite signal and the electronic device is related to the method by which the electronic device determines the angle of arrival of the satellite signal. For example, if the ephemeris acquired by the electronic device is a precise ephemeris corrected by the ground monitoring station, the accuracy of the angle between the satellite and the electronic device determined by the electronic device will be relatively high. Alternatively, if the electronic device receives the satellite signal through a large-size, multi-element array and then determines the angle of arrival of the satellite signal using an array signal processing algorithm such as the MUSIC algorithm, the accuracy of the angle between the satellite signal and the electronic device will also be relatively high.

[0126] S304: Reduce the weight of non-line-of-sight satellites during the positioning process.

[0127] Since electronic equipment has already determined whether a satellite is a line-of-sight (LOS) satellite or a non-LOS satellite, the weight of non-LOS satellites can be reduced or they can be directly excluded from the positioning process.

[0128] The distance between the electronic device and the satellite can be determined using methods such as phase pseudorange positioning and code pseudorange positioning. After determining the distance between the electronic device and at least three satellites (at least four satellites if errors are considered), the position of the electronic device can be determined, thus completing the positioning of the electronic device.

[0129] Finally, the electronic device provided in the embodiments of this application is introduced.

[0130] Figure 9A This is an exemplary schematic diagram of the electronic device structure provided in an embodiment of this application.

[0131] The electronic device can be a mobile phone, tablet computer, desktop computer, laptop computer, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook, as well as cellular phone, personal digital assistant (PDA), augmented reality (AR) device, virtual reality (VR) device, artificial intelligence (AI) device, wearable device, in-vehicle device, smart home device and / or smart city device. The embodiments of this application do not impose any special restrictions on the specific type of the electronic device.

[0132] The electronic device may include a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, a headphone jack 170D, a sensor module 180, buttons 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, a barometric pressure sensor 180C, a magnetic sensor 180D, an accelerometer sensor 180E, a distance sensor 180F, a proximity sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0133] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the electronic device. In other embodiments of this application, the electronic device may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0134] Processor 110 may include one or more processing units, such as application processors (APs), modem processors, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), baseband processors, and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0135] The controller can generate operation control signals based on the instruction opcode and timing signals to complete the control of instruction fetching and execution.

[0136] The processor 110 may also include a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. This memory can store instructions or data that the processor 110 has just used or that are used repeatedly. If the processor 110 needs to use the instruction or data again, it can retrieve it directly from the memory. This avoids repeated accesses, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0137] In some embodiments, the processor 110 may include one or more interfaces. Interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0138] The I2C interface is a bidirectional synchronous serial bus, including a serial data line (SDA) and a serial clock line (SCL). In some embodiments, the processor 110 may include multiple I2C buses. The processor 110 can couple to the touch sensor 180K, charger, flash, camera 193, etc., through different I2C bus interfaces. For example, the processor 110 can couple to the touch sensor 180K through the I2C interface, enabling the processor 110 and the touch sensor 180K to communicate through the I2C bus interface, thereby realizing the touch function of the electronic device.

[0139] The I2S interface can be used for audio communication. In some embodiments, the processor 110 may include multiple I2S buses. The processor 110 can be coupled to the audio module 170 via the I2S bus to enable communication between the processor 110 and the audio module 170. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the I2S interface to enable the function of answering phone calls through a Bluetooth headset.

[0140] The PCM interface can also be used for audio communication, sampling, quantizing, and encoding analog signals. In some embodiments, the audio module 170 and the wireless communication module 160 can be coupled via the PCM bus interface. In some embodiments, the audio module 170 can also transmit audio signals to the wireless communication module 160 via the PCM interface, enabling the function of answering phone calls through a Bluetooth headset. Both the I2S interface and the PCM interface can be used for audio communication.

[0141] The UART interface is a universal serial data bus used for asynchronous communication. This bus can be a bidirectional communication bus. It converts the data to be transmitted between serial and parallel communication. In some embodiments, the UART interface is typically used to connect the processor 110 and the wireless communication module 160. For example, the processor 110 communicates with the Bluetooth module in the wireless communication module 160 via the UART interface to implement Bluetooth functionality. In some embodiments, the audio module 170 can transmit audio signals to the wireless communication module 160 via the UART interface to enable music playback through Bluetooth headphones.

[0142] The MIPI interface can be used to connect the processor 110 to peripheral devices such as the display screen 194 and the camera 193. The MIPI interface includes a camera serial interface (CSI) and a display serial interface (DSI). In some embodiments, the processor 110 and the camera 193 communicate via the CSI interface to enable the electronic device to capture images. The processor 110 and the display screen 194 communicate via the DSI interface to enable the electronic device to display images.

[0143] The GPIO interface can be configured via software. It can be configured as a control signal or a data signal. In some embodiments, the GPIO interface can be used to connect the processor 110 to a camera 193, a display screen 194, a wireless communication module 160, an audio module 170, a sensor module 180, etc. The GPIO interface can also be configured as an I2C interface, an I2S interface, a UART interface, a MIPI interface, etc.

[0144] USB port 130 is a USB standard compliant interface, which can be a Mini USB port, Micro USB port, USB Type-C port, etc. USB port 130 can be used to connect a charger to charge electronic devices, and can also be used for data transfer between electronic devices and peripheral devices. It can also be used to connect headphones for audio playback. This interface can also be used to connect other electronic devices, such as AR devices.

[0145] It is understood that the interface connection relationships between the modules illustrated in the embodiments of the present invention are merely illustrative and do not constitute a limitation on the structure of the electronic device. In other embodiments of this application, the electronic device may also employ different interface connection methods or combinations of multiple interface connection methods as described in the above embodiments.

[0146] The charging management module 140 receives charging input from a charger. The charger can be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 receives charging input from the wired charger via a USB interface 130. In some wireless charging embodiments, the charging management module 140 receives wireless charging input via the wireless charging coil of the electronic device. While charging the battery 142, the charging management module 140 can also supply power to the electronic device via the power management module 141.

[0147] The power management module 141 connects the battery 142, the charging management module 140, and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, providing power to the processor 110, internal memory 121, display screen 194, camera 193, and wireless communication module 160, etc. The power management module 141 can also monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage current, impedance). In some other embodiments, the power management module 141 may also be located within the processor 110. In other embodiments, the power management module 141 and the charging management module 140 may be located in the same device.

[0148] The wireless communication function of electronic devices can be realized through antenna 1, antenna 2, mobile communication module 150, wireless communication module 160, modem processor and baseband processor, etc.

[0149] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in the electronic device can be used to cover one or more communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antennas can be used in conjunction with a tuning switch.

[0150] The mobile communication module 150 can provide solutions for wireless communication applications including 2G / 3G / 4G / 5G in electronic devices. The mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves via antenna 1, and perform filtering, amplification, and other processing on the received electromagnetic waves before transmitting them to a modem processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modem processor and convert it into electromagnetic waves for radiation via antenna 1. In some embodiments, at least some functional modules of the mobile communication module 150 may be housed in processor 110. In some embodiments, at least some functional modules of the mobile communication module 150 and at least some modules of the processor 110 may be housed in the same device.

[0151] The modem processor may include a modulator and a demodulator. The modulator modulates the low-frequency baseband signal to be transmitted into a mid-to-high frequency signal. The demodulator demodulates the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After processing by the baseband processor, the low-frequency baseband signal is transmitted to the application processor. The application processor outputs sound signals through an audio device (not limited to speaker 170A, receiver 170B, etc.) or displays images or videos through the display screen 194. In some embodiments, the modem processor may be a separate device. In other embodiments, the modem processor may be independent of the processor 110 and may be housed in the same device as the mobile communication module 150 or other functional modules.

[0152] The wireless communication module 160 can provide solutions for wireless communication applications in electronic devices, including wireless local area networks (WLANs) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared (IR) technologies. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via antenna 2, performs frequency modulation and filtering of the electromagnetic wave signals, and sends the processed signal to processor 110. The wireless communication module 160 can also receive signals to be transmitted from processor 110, perform frequency modulation and amplification, and convert them into electromagnetic waves for radiation via antenna 2.

[0153] In some embodiments, antenna 1 of the electronic device is coupled to mobile communication module 150, and antenna 2 is coupled to wireless communication module 160, enabling the electronic device to communicate with networks and other devices via wireless communication technology. The wireless communication technology may include Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Time-Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technologies. The GNSS may include Global Positioning System (GPS), Global Navigation Satellite System (GLONASS), BeiDou Navigation Satellite System (BDS), Quasi-Zenith Satellite System (QZSS), and / or Satellite Based Augmentation Systems (SBAS).

[0154] Electronic devices implement display functions through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, connecting the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations and for graphics rendering. The processor 110 may include one or more GPUs, which execute program instructions to generate or modify display information.

[0155] Display screen 194 is used to display images, videos, etc. Display screen 194 includes a display panel. The display panel may be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a miniature LED, a microLED, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the electronic device may include one or N displays 194, where N is a positive integer greater than 1.

[0156] Electronic devices can achieve shooting functions through ISP, camera 193, video codec, GPU, display 194 and application processor.

[0157] The ISP (Image Signal Processor) is used to process data fed back from the camera 193. For example, when taking a picture, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, and the camera's photosensitive element transmits the electrical signal to the ISP for processing, converting it into an image visible to the naked eye. The ISP can also perform algorithmic optimization on image noise and brightness. The ISP can also optimize parameters such as exposure and color temperature of the shooting scene. In some embodiments, the ISP can be set in the camera 193.

[0158] Camera 193 is used to capture still images or videos. An object is projected onto a photosensitive element by generating an optical image through the lens. The photosensitive element can be a charge-coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the light signal into an electrical signal, which is then passed to an ISP for conversion into a digital image signal. The ISP outputs the digital image signal to a DSP for processing. The DSP converts the digital image signal into image signals in standard RGB, YUV, or other formats. In some embodiments, the electronic device may include one or N cameras 193, where N is a positive integer greater than 1.

[0159] Digital signal processors (DSPs) are used to process digital signals. Besides digital image signals, they can also process other digital signals. For example, when an electronic device is selecting a frequency, a DSP can perform a Fourier transform on the frequency energy.

[0160] Video codecs are used to compress or decompress digital video. Electronic devices can support one or more video codecs. This allows the electronic device to play or record video in various encoded formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0161] An NPU (Neural Processing Unit) is a computational processor for neural networks (NNs). By borrowing the structure of biological neural networks, such as the transmission patterns between neurons in the human brain, it can rapidly process input information and continuously learn on its own. NPUs enable intelligent cognitive applications in electronic devices, such as image recognition, facial recognition, speech recognition, and text understanding.

[0162] Internal memory 121 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM).

[0163] Random access memory can include static random-access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM, for example, fifth generation DDR SDRAM is generally called DDR5 SDRAM), etc.

[0164] Non-volatile memory can include disk storage devices and flash memory.

[0165] Flash memory can be classified according to its operating principle, including NOR FLASH, NAND FLASH, 3D NAND FLASH, etc.; according to the level of the storage cell, including single-level cell (SLC), multi-level cell (MLC), triple-level cell (TLC), quad-level cell (QLC), etc.; and according to the storage specification, including universal flash storage (UFS) and embedded multimedia card (eMMC), etc.

[0166] The random access memory can be directly read and written by the processor 110. It can be used to store executable programs (such as machine instructions) of the operating system or other running programs, as well as user and application data.

[0167] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 110.

[0168] The external memory interface 120 can be used to connect to external non-volatile memory, thereby expanding the storage capacity of the electronic device. The external non-volatile memory communicates with the processor 110 through the external memory interface 120 to perform data storage functions. For example, music, video, and other files can be stored in the external non-volatile memory.

[0169] Electronic devices can implement audio functions through audio modules 170, speakers 170A, receivers 170B, microphones 170C, headphone jacks 170D, and application processors. Examples include music playback and recording.

[0170] The audio module 170 is used to convert digital audio information into analog audio signals for output, and also to convert analog audio input into digital audio signals. The audio module 170 can also be used for encoding and decoding audio signals. In some embodiments, the audio module 170 may be located in the processor 110, or some functional modules of the audio module 170 may be located in the processor 110.

[0171] The speaker 170A, also known as a "loudspeaker," is used to convert audio electrical signals into sound signals. Electronic devices can listen to music or make hands-free calls through the speaker 170A.

[0172] The receiver 170B, also known as the "earpiece," is used to convert audio electrical signals into sound signals. When an electronic device answers a phone call or voice message, the receiver 170B can be brought close to the ear to hear the voice.

[0173] Microphone 170C, also known as a "microphone" or "voice transducer," is used to convert sound signals into electrical signals. When making a phone call or sending a voice message, the user can speak by bringing their mouth close to microphone 170C, inputting the sound signal into microphone 170C. Electronic devices can have at least one microphone 170C. In some embodiments, electronic devices can have two microphones 170C, which, in addition to collecting sound signals, can also perform noise reduction. In other embodiments, electronic devices can have three, four, or more microphones 170C, enabling sound signal collection, noise reduction, sound source identification, and directional recording, among other functions.

[0174] The 170D headphone jack is used to connect wired headphones. The 170D headphone jack can be a USB 130 interface or a 3.5mm Open Mobile Terminal Platform (OMTP) standard interface, a CTIA (Cellular Telecommunications Industry Association of the USA) standard interface.

[0175] Pressure sensor 180A is used to sense pressure signals and convert them into electrical signals. In some embodiments, pressure sensor 180A can be disposed on display screen 194. There are many types of pressure sensors 180A, such as resistive pressure sensors, inductive pressure sensors, and capacitive pressure sensors. A capacitive pressure sensor may include at least two parallel plates with conductive material. When force is applied to pressure sensor 180A, the capacitance between the electrodes changes. The electronic device determines the pressure intensity based on the change in capacitance. When a touch operation is applied to display screen 194, the electronic device detects the intensity of the touch operation based on pressure sensor 180A. The electronic device can also calculate the touch position based on the detection signal from pressure sensor 180A. In some embodiments, touch operations applied to the same touch position but with different touch operation intensities can correspond to different operation commands. For example, when a touch operation with an intensity less than a first pressure threshold is applied to the SMS application icon, a command to view an SMS is executed. When a touch operation with an intensity greater than or equal to the first pressure threshold is applied to the SMS application icon, a command to create a new SMS is executed.

[0176] The gyroscope sensor 180B can be used to determine the motion attitude of an electronic device. In some embodiments, the gyroscope sensor 180B can determine the angular velocity of the electronic device around three axes (i.e., the x, y, and z axes). The gyroscope sensor 180B can be used for image stabilization. For example, when the shutter is pressed, the gyroscope sensor 180B detects the angle of the electronic device's shake, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to counteract the shake of the electronic device by moving in the opposite direction, thus achieving image stabilization. The gyroscope sensor 180B can also be used in navigation and motion-sensing gaming scenarios.

[0177] The barometric pressure sensor 180C is used to measure air pressure. In some embodiments, the electronic device calculates altitude using the air pressure value measured by the barometric pressure sensor 180C to assist in positioning and navigation.

[0178] The magnetic sensor 180D includes a Hall sensor. The electronic device can use the magnetic sensor 180D to detect the opening and closing of the flip cover. In some embodiments, when the electronic device is a flip phone, the electronic device can detect the opening and closing of the flip cover using the magnetic sensor 180D. Then, based on the detected opening and closing state of the cover or the flip cover, features such as automatic flip unlocking can be configured.

[0179] The 180E accelerometer can detect the magnitude of acceleration in various directions (typically three axes) of an electronic device. When the electronic device is stationary, it can detect the magnitude and direction of gravity. It can also be used to identify the posture of electronic devices, and is applicable to screen orientation switching, pedometers, and other applications.

[0180] A distance sensor 180F is used to measure distance. Electronic devices can measure distance using infrared or laser. In some embodiments, during a shooting scene, the electronic device can utilize the distance sensor 180F to measure distance for rapid focusing.

[0181] The proximity sensor 180G may include, for example, a light-emitting diode (LED) and a light detector, such as a photodiode. The LED may be an infrared LED. The electronic device emits infrared light outward through the LED. The electronic device uses the photodiode to detect infrared reflected light from nearby objects. When sufficient reflected light is detected, it can be determined that an object is near the electronic device. When insufficient reflected light is detected, the electronic device can determine that no object is near the electronic device. The electronic device can use the proximity sensor 180G to detect when a user holds the electronic device close to their ear for a call, so as to automatically turn off the screen to save power. The proximity sensor 180G can also be used in holster mode and pocket mode for automatic unlocking and locking of the screen.

[0182] The ambient light sensor 180L is used to detect ambient light levels. Electronic devices can adaptively adjust the brightness of their displays (194) based on the detected ambient light. The ambient light sensor 180L can also be used to automatically adjust white balance when taking photos. Furthermore, the ambient light sensor 180L can work in conjunction with the proximity sensor 180G to detect whether electronic devices are in a pocket, preventing accidental touches.

[0183] The fingerprint sensor 180H is used to collect fingerprints. Electronic devices can utilize the characteristics of the collected fingerprints to achieve fingerprint unlocking, app access locks, fingerprint photography, fingerprint answering of calls, etc.

[0184] Temperature sensor 180J is used to detect temperature. In some embodiments, the electronic device uses the temperature detected by temperature sensor 180J to execute a temperature handling strategy. For example, when the temperature reported by temperature sensor 180J exceeds a threshold, the electronic device reduces the performance of a processor located near temperature sensor 180J to reduce power consumption and implement thermal protection. In other embodiments, when the temperature is below another threshold, the electronic device heats battery 142 to prevent abnormal shutdown of the electronic device due to low temperature. In still other embodiments, when the temperature is below yet another threshold, the electronic device boosts the output voltage of battery 142 to prevent abnormal shutdown due to low temperature.

[0185] Touch sensor 180K, also known as a "touch device," can be located on display screen 194. The touch sensor 180K and display screen 194 together form a touchscreen, also known as a "touchscreen." Touch sensor 180K detects touch operations applied to or near it. The touch sensor can transmit the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through display screen 194. In other embodiments, touch sensor 180K may also be located on the surface of the electronic device, in a different position than display screen 194.

[0186] The bone conduction sensor 180M can acquire vibration signals. In some embodiments, the bone conduction sensor 180M can acquire vibration signals from the vibrating bone segments of the human vocal cords. The bone conduction sensor 180M can also contact the human pulse to receive blood pressure signals. In some embodiments, the bone conduction sensor 180M can also be incorporated into headphones to form bone conduction headphones. The audio module 170 can parse the voice signals from the vibrating bone segments of the vocal cords acquired by the bone conduction sensor 180M to realize voice functionality. The application processor can parse heart rate information from the blood pressure signals acquired by the bone conduction sensor 180M to realize heart rate detection functionality.

[0187] Buttons 190 include a power button, volume buttons, etc. Buttons 190 can be mechanical buttons or touch-sensitive buttons. The electronic device can receive button input and generate key signal inputs related to user settings and function control of the electronic device.

[0188] Motor 191 can generate vibration alerts. Motor 191 can be used for incoming call vibration alerts or for touch vibration feedback. For example, different vibration feedback effects can correspond to touch operations performed on different applications (such as taking photos, playing audio, etc.). Motor 191 can also correspond to different vibration feedback effects for touch operations performed on different areas of the display screen 194. Different application scenarios (such as time reminders, receiving messages, alarm clocks, games, etc.) can also correspond to different vibration feedback effects. The touch vibration feedback effect can also be customized.

[0189] Indicator 192 can be an indicator light, used to indicate charging status, power changes, or to indicate messages, missed calls, notifications, etc.

[0190] The SIM card interface 195 is used to connect a SIM card. The SIM card can be inserted into or removed from the SIM card interface 195 to achieve contact and separation with the electronic device. The electronic device can support one or N SIM card interfaces, where N is a positive integer greater than 1. The SIM card interface 195 can support Nano SIM cards, Micro SIM cards, SIM cards, etc. Multiple cards can be inserted into the same SIM card interface 195 simultaneously. The multiple cards can be of the same or different types. The SIM card interface 195 is also compatible with different types of SIM cards. The SIM card interface 195 is also compatible with external memory cards. The electronic device interacts with the network through the SIM card to achieve functions such as calls and data communication. In some embodiments, the electronic device uses an eSIM, i.e., an embedded SIM card. The eSIM card can be embedded in the electronic device and cannot be separated from it.

[0191] Figure 9B This is another exemplary schematic diagram of the electronic device structure provided in the embodiments of this application.

[0192] like Figure 9B As shown, the processor 110 of the electronic device can receive heading information from the sensor module 180, wherein the heading information is used to determine the heading. For example, the processor 110 of the electronic device obtains the acceleration and velocity of the electronic device from the accelerometer 180E, and obtains the orientation of the electronic device from the magnetic sensor, and then determines the heading.

[0193] The electronic device can receive satellite signals through one or more antennas and radio frequency modules, and then perform related noise reduction, demodulation and other processing through the GNSS receiver measurement engine to independently acquire the satellite signals received on one or more antennas. Then, the processor 110 on the electronic device can determine the angle of arrival of the satellite signal in the manner described above.

[0194] The electronic device can also process satellite signals through the GNSS receiver measurement engine to obtain satellite signal observations. Then, the electronic device outputs the satellite signal observations to the GNSS receiver positioning engine, which in turn obtains the satellite position calculated using ephemeris data and the electronic device's position.

[0195] The processor 110 of the electronic device can obtain the angle of arrival of the satellite signal relative to the electronic device through the heading information and the processed satellite signal; the processor 110 of the electronic device can determine the angle of the satellite relative to the electronic device based on the satellite position and the position of the electronic device; the processor 110 of the electronic device can compare the angle of arrival of the satellite signal relative to the electronic device with the angle of the satellite relative to the electronic device, and thus determine whether the satellite is a line-of-sight satellite or a non-line-of-sight satellite.

[0196] The processor 110 of the electronic device can send the result of whether the satellite is a line-of-sight satellite or not to the GNSS receiver positioning engine, thereby enabling the GNSS receiver positioning engine to calculate a more accurate position of the electronic device.

[0197] The GNSS receiver measurement engine and the GNSS receiver positioning engine can be located on a general-purpose chip / module or on different dedicated chips / modules.

[0198] Figure 10A This is an exemplary schematic diagram of the software architecture of an electronic device provided in an embodiment of this application.

[0199] The software system of an electronic device can adopt a layered architecture, event-driven architecture, microkernel architecture, microservice architecture, or cloud architecture. This embodiment of the invention uses the layered architecture Android system as an example to illustrate the software structure of an electronic device.

[0200] A layered architecture divides software into several layers, each with a clear role and function. Layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers, from top to bottom: the application layer, the application framework layer, the Android runtime and system libraries, and the kernel layer.

[0201] The application layer can include a series of application packages.

[0202] like Figure 10A As shown, the application package can include applications such as camera, gallery, calendar, call, WLAN, music, etc.

[0203] The application framework layer provides application programming interfaces (APIs) and a programming framework for applications in the application layer. The application framework layer includes some predefined functions.

[0204] like Figure 10A As shown, the application framework layer may include a window manager, content provider, view system, phone manager, resource manager, notification manager, etc.

[0205] The window manager is used to manage windowed applications. It can retrieve screen size, determine the presence of a status bar, lock the screen, and capture screenshots, among other things.

[0206] Content providers store and retrieve data, making that data accessible to applications. This data may include videos, images, audio, made and received phone calls, browsing history and bookmarks, phone books, etc.

[0207] A view system includes visual controls, such as controls for displaying text and controls for displaying images. View systems can be used to build applications. A display interface can consist of one or more views. For example, a display interface including a text notification icon could include views for displaying text and views for displaying images.

[0208] A phone manager is used to provide communication functions for electronic devices. For example, it manages call status (including connection and disconnection).

[0209] The file explorer provides applications with various resources, such as localized strings, icons, images, layout files, video files, and more.

[0210] The notification manager allows applications to display notifications in the status bar. These notifications can be used to deliver informational messages and can disappear automatically after a short pause, requiring no user interaction. For example, the notification manager can be used to notify users of completed downloads or message alerts. The notification manager can also display notifications as icons or scrolling text in the top status bar, such as notifications from background applications, or as dialog boxes on the screen. Examples include displaying text messages in the status bar, emitting sounds, vibrating electronic devices, and flashing indicator lights.

[0211] The Android Runtime consists of core libraries and a virtual machine. The Android runtime is responsible for the scheduling and management of the Android system.

[0212] The core library consists of two parts: one part is the functionalities that need to be called by the Java language, and the other part is the Android core library.

[0213] The application layer and application framework layer run in a virtual machine. The virtual machine executes the Java files of the application layer and application framework layer as binary files. The virtual machine is used to perform functions such as object lifecycle management, stack management, thread management, security and exception management, and garbage collection.

[0214] System libraries can include multiple functional modules. For example: surface manager, media libraries, 3D graphics processing libraries (e.g., OpenGL ES), 2D graphics engines (e.g., SGL), etc.

[0215] The Surface Manager is used to manage the display subsystem and provides the blending of 2D and 3D layers for multiple applications.

[0216] The media library supports playback and recording of various common audio and video formats, as well as still image files. It supports multiple audio and video encoding formats, such as MPEG4, H.264, MP3, AAC, AMR, JPG, and PNG.

[0217] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

[0218] A 2D graphics engine is a graphics engine for 2D drawing.

[0219] The kernel layer is the layer between hardware and software. The kernel layer contains at least the display driver, camera driver, audio driver, and sensor driver.

[0220] Figure 10B This is an exemplary schematic diagram of the software architecture of an electronic device provided in an embodiment of this application.

[0221] like Figure 10B As shown, the software architecture of an electronic device may include a navigation module (also known as an inertial navigation module), a signal processing module, a line-of-sight satellite detection module, and a positioning module.

[0222] Among them, combined Figure 10B and Figure 10A The navigation module, the line-of-sight satellite detection module, and the positioning module can be one or more services in the Android system.

[0223] The signal processing module can be located in the driver layer and is used to perform demodulation, noise reduction, and amplification operations on the received signals.

[0224] The navigation module determines navigation information, which can be used to determine the orientation / heading, trajectory, and coordinate system of the electronic device. The navigation module can then send this navigation information to the signal processing module.

[0225] The signal processing module can receive satellite signals transmitted by the antenna and RF front-end, and then determine the angle of arrival (Angle of Arrival) of the satellite signal relative to the antenna. The Angle of Arrival estimation module within the signal processing module can, after receiving navigation information, determine the angle of arrival of the satellite signal relative to the electronic equipment based on the navigation information and the Angle of Arrival of the satellite signal relative to the antenna. The signal processing module can also process the satellite signals and send the processed signals to the positioning module; this processing may include demodulation, noise reduction, and signal spread spectrum.

[0226] The positioning module can receive processed satellite signals, determine the pseudorange between the satellite and the electronic equipment, then determine the satellite's position based on the ephemeris, and finally determine the position of the electronic equipment based on the satellite's position and the pseudorange.

[0227] The direct-line-of-sight (DLS) satellite detection module uses the ephemeris calculations of the satellite position and the electronic equipment position to determine the satellite's angle relative to the electronic equipment. The DLS module can also receive the angle of the satellite signal relative to the electronic equipment, determined by the signal processing module, and then compare this angle with the angle of the satellite signal relative to the electronic equipment to determine whether the satellite is a DLS satellite or a non-DLS satellite.

[0228] The line-of-sight satellite detection module can send the result of whether the satellite is a line-of-sight satellite or not to the positioning module. After receiving the result of whether the satellite is a line-of-sight satellite or not, the positioning module can improve the positioning accuracy of the electronic equipment.

[0229] As used in the above embodiments, depending on the context, the term "when..." can be interpreted as meaning "if...", "after...", "in response to determining...", or "in response to detecting...". Similarly, depending on the context, the phrase "when determining..." or "if (the stated condition or event) is interpreted as meaning "if determining...", "in response to determining...", "when (the stated condition or event) is detected", or "in response to detecting (the stated condition or event)".

[0230] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. This computer program product includes one or more computer instructions. When these computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc.

[0231] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM or random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A method for identifying line-of-sight satellites, characterized in that, include: Receive satellite signals transmitted by satellites; A first angle is determined, which is the angle of incidence of the satellite signal of the satellite relative to the electronic device, and the angle of incidence is the angle of the propagation direction of the satellite signal in the coordinate system of the electronic device; Determine a second angle, which is the angle of the satellite relative to the electronic device; Compare the first angle and the second angle; if the difference between the first angle and the second angle is less than a threshold, then the satellite is determined to be a line-of-sight satellite; if the difference between the first angle and the second angle is greater than or equal to the threshold, then the satellite is determined to be a non-line-of-sight satellite.

2. The method according to claim 1, characterized in that, Determining the first angle specifically includes: Determine the angle of arrival of the satellite signal, which is the angle of the satellite signal relative to the antenna; Convert the angle of arrival into the first angle.

3. The method according to claim 2, characterized in that, Determining the angle of arrival of the satellite signal specifically includes: The angle of arrival of the satellite signal is determined based on the phase difference of the satellite signal on different antennas, wherein the number of antennas is greater than or equal to 2.

4. The method according to claim 2, characterized in that, Determining the angle of arrival of the satellite signal specifically includes: Rotate the antenna to determine the antenna gain for the satellite signal at different rotation angles; The angle of arrival of the satellite signal is determined based on the antenna's radiation pattern and the antenna's gain on the satellite signal at different rotation angles.

5. The method according to any one of claims 2-4, characterized in that, Converting the angle of arrival into the first angle specifically includes: Determine the orientation or heading of the electronic device, and determine the coordinate system of the electronic device based on the orientation or heading; The angle of arrival is converted into the first angle based on the relative spatial position of the antenna and the electronic device.

6. The method according to any one of claims 1-5, characterized in that, Determining the second angle specifically includes: Determine a first position, which is the position of the satellite; Determine a second location, which is the location of the electronic device; The second angle is determined based on the first position and the second position.

7. The method according to claim 6, characterized in that, Determining the first position specifically includes: Determine the ephemeris of the satellite; The first position is determined based on the ephemeris.

8. The method according to claim 7, characterized in that, Determining the ephemeris of the satellite specifically includes: The ephemeris is determined based on the satellite signals.

9. The method according to claim 7, characterized in that, The determination of the satellite's ephemeris specifically includes: The ephemeris is obtained from the server via the network.

10. The method according to any one of claims 1-9, characterized in that, The method also includes reducing the weight of non-line-of-sight satellites during the positioning process.

11. An electronic device, characterized in that, The electronic device includes: one or more processors and memory; The memory is coupled to the one or more processors. The memory stores computer program code, which includes computer instructions. The one or more processors invoke the computer instructions to cause the electronic device to perform the following actions: receiving a satellite signal transmitted by a satellite; determining a first angle, which is the angle of incidence of the satellite signal relative to the electronic device, and the angle of incidence is the angle of the propagation direction of the satellite signal in the coordinate system of the electronic device; determining a second angle, which is the angle of the satellite relative to the electronic device; comparing the first angle and the second angle; if the difference between the first angle and the second angle is less than a threshold, then the satellite is determined to be a line-of-sight satellite; if the difference between the first angle and the second angle is greater than or equal to the threshold, then the satellite is determined to be a non-line-of-sight satellite.

12. The electronic device according to claim 11, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the angle of arrival of the satellite signal, the angle of arrival being the angle of the satellite signal relative to the antenna; and converting the angle of arrival into the first angle.

13. The electronic device according to claim 12, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the angle of arrival of the satellite signal based on the phase difference of the satellite signal on different antennas, wherein the number of antennas is greater than or equal to 2.

14. The electronic device according to claim 12, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: rotating the antenna, determining the antenna gain for the satellite signal at different rotation angles; and determining the angle of arrival of the satellite signal based on the antenna pattern and the antenna gain for the satellite signal at the different rotation angles.

15. The electronic device according to any one of claims 12-14, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the orientation or heading of the electronic device, and determining the coordinate system of the electronic device based on the orientation or heading; and converting the angle of arrival into the first angle based on the relative spatial position relationship between the antenna and the electronic device.

16. The electronic device according to any one of claims 11-15, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining a first position, the first position being the position of the satellite; determining a second position, the second position being the position of the electronic device; and determining a second angle based on the first position and the second position.

17. The electronic device according to claim 16, characterized in that, The one or more processors are specifically configured to invoke the computer instructions to cause the electronic device to perform: determining the ephemeris of the satellite; and determining the first position based on the ephemeris.

18. The electronic device according to claim 17, characterized in that, The one or more processors are specifically used to invoke the computer instructions to cause the electronic device to perform: determining the ephemeris based on the satellite signals.

19. The electronic device according to claim 17, characterized in that, The one or more processors are specifically used to invoke the computer instructions to cause the electronic device to perform: retrieving the ephemeris from the server via the network.

20. The electronic device according to claim 17, characterized in that, The one or more processors are also configured to invoke the computer instructions to cause the electronic device to perform: reducing the weight of non-line-of-sight satellites during the positioning process.

21. A chip system applied to an electronic device, the chip system comprising one or more processors, the processors being configured to invoke computer instructions to cause the electronic device to perform the method as described in any one of claims 1-10.

22. A computer-readable storage medium comprising instructions, characterized in that, When the instructions are executed on an electronic device, the electronic device causes the electronic device to perform the method as described in any one of claims 1-10.

23. A computer program product comprising computer instructions that, when executed by one or more processors, implement the method as described in any one of claims 1-10.

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