Signal strength determination method and apparatus, computer device, and storage medium

Abstract

The application relates to a signal strength determination method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring an environment parameter of a to-be-measured point at a current time and ephemeris data of a satellite corresponding to the current time; determining an occlusion relationship between the satellite and the to-be-measured point according to the environment parameter and the ephemeris data; and determining the signal strength of the to-be-measured point according to the occlusion relationship and attribute information of an occlusion object. The application determines the occlusion relationship between the satellite and the to-be-measured point based on the actual environment parameter of the to-be-measured point and the ephemeris data of the satellite at the current time, and then determines the signal strength of the to-be-measured point according to the occlusion relationship and the environment parameter of the to-be-measured point. Compared with the existing signal strength of the to-be-measured point determined in a static and open unoccluded scene, the application considers the actual environment parameter around the to-be-measured point, thereby further improving the accuracy of the signal strength of the to-be-measured point.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a signal strength determination method and device, computer equipment and storage medium. BACKGROUND

[0002] The Beidou satellite navigation system is composed of space segment, ground segment and user segment, and can provide high-precision, high-reliability positioning, navigation and timing services for various users around the world at all times. With the large-scale and industrialized development of the Beidou satellite navigation system, it has become an urgent problem to analyze and evaluate the signal strength of the Beidou satellite navigation system at the user end.

[0003] At present, the existing signal strength determination method mainly includes the following steps: professional personnel sets up a Beidou positioning instrument at a plurality of test point positions arranged in advance, and receives the positioning signal of the Beidou satellite navigation system through the Beidou positioning instrument to perform field measurement, so as to determine the signal strength of the Beidou satellite navigation system at the user end according to the results obtained by multiple measurements.

[0004] However, in the face of complex geographical environment, the above signal strength determination method has the problem of inaccuracy. SUMMARY

[0005] Therefore, it is necessary to provide a signal strength determination method and device, computer equipment and storage medium capable of improving the accuracy of signal strength in complex geographical environment.

[0006] In a first aspect, the present application provides a signal strength determination method. The method comprises:

[0007] Obtaining the environmental parameters of a to-be-measured point at a current time, and the ephemeris data of a satellite corresponding to the current time; the environmental parameters include attribute information of an occlusion object;

[0008] Determining the occlusion relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data; the occlusion relationship represents the state of whether the to-be-measured point is occluded;

[0009] Determining the signal strength of the to-be-measured point according to the occlusion relationship and the attribute information of the occlusion object.

[0010] In one of the embodiments, the determination of the occlusion relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data comprises:

[0011] Determining the first angle information between the occlusion object and the to-be-measured point in a geographical coordinate system, and the second angle information between the satellite and the to-be-measured point in the geographical coordinate system according to the attribute information of the occlusion object and the ephemeris data;

[0012] The first angle information and the second angle information are determined whether to satisfy a preset shielding condition, if yes, it is determined that the to-be-measured point is in a shielding state; if not, it is determined that the to-be-measured point is in an unshielded state.

[0013] In one of the embodiments, the first angle information comprises a first angle between a position where the highest point of the shielding object is located and a horizon where the to-be-measured point is located, the second angle information comprises a second angle between a position where the satellite is located and the horizon where the to-be-measured point is located, and the determination of whether the first angle information and the second angle information satisfy the preset shielding condition comprises:

[0014] The determination of whether the first angle is less than the second angle comprises: if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition; if not, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0015] In one of the embodiments, the attribute information comprises position information of the highest point of the shielding object, the ephemeris data comprises position information of the satellite, and the determination of the first angle information between the shielding object and the to-be-measured point in the geographic coordinate system and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system according to the attribute information of the shielding object and the ephemeris data comprises:

[0016] The determination of the first angle comprises: according to the position information of the highest point of the shielding object and position coordinates of the to-be-measured point in the geographic coordinate system.

[0017] The determination of the second angle comprises: according to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system.

[0018] In one of the embodiments, the first angle information further comprises a third angle between a first surface of the shielding object and a north polar line where the to-be-measured point is located, the second angle information further comprises a fourth angle between the position where the satellite is located and the north polar line where the to-be-measured point is located, and the determination of whether the first angle information and the second angle information satisfy the preset shielding condition comprises:

[0019] The determination of whether the third angle is greater than the fourth angle comprises: if yes, it is determined that the third angle information and the fourth angle information satisfy the preset shielding condition; if not, it is determined that the third angle information and the fourth angle information do not satisfy the preset shielding condition.

[0020] In one of the embodiments, the attribute information comprises position information of the first surface of the shielding object, the ephemeris data comprises position information of the satellite, and the determination of the first angle information between the shielding object and the to-be-measured point in the geographic coordinate system and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system according to the attribute information of the shielding object and the ephemeris data comprises:

[0021] determine the third angle according to the position information of the first face of the shield and the position coordinates of the point to be measured in the geographic coordinate system;

[0022] determine the fourth angle according to the position information of the satellite and the position coordinates of the point to be measured in the geographic coordinate system.

[0023] In one of the embodiments, the first angle information further includes a fifth angle between the second face of the shield and the North Pole line where the point to be measured is located, and the second angle information further includes a sixth angle between the position where the satellite is located and the North Pole line where the point to be measured is located, and the determination of whether the first angle information and the second angle information satisfy the preset shielding condition includes:

[0024] In the case where the third angle is greater than the fourth angle, it is determined whether the fifth angle is greater than the sixth angle, and if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition, and if no, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0025] In one of the embodiments, the attribute information includes the position information of the second face of the shield, the ephemeris data includes the position information of the satellite, and the determination of the first angle information between the shield and the point to be measured in the geographic coordinate system and the second angle information between the satellite and the point to be measured in the geographic coordinate system according to the attribute information of the shield and the ephemeris data includes:

[0026] determine the fifth angle according to the position information of the second face of the shield and the position coordinates of the point to be measured in the geographic coordinate system, and the distance between the second face and the North Pole line is greater than the distance between the second face and the North Pole line;

[0027] determine the sixth angle according to the position information of the satellite and the position coordinates of the point to be measured in the geographic coordinate system.

[0028] In one of the embodiments, the attribute information includes the material of the shield, and the determination of the signal strength of the point to be measured according to the shielding relationship and the attribute information of the shield includes:

[0029] In the case where it is determined according to the shielding relationship that the point to be measured is in the shielded state, it is determined whether the material of the shield is of a shielding type, and if yes, it is determined that the signal strength of the point to be measured is a preset value, and if no, the signal strength of the point to be measured is determined according to the signal strength of the signal sent by the satellite and a preset attenuation coefficient.

[0030] In one of the embodiments, the signal strength of the point to be measured is determined according to the signal strength of the signal sent by the satellite and a preset attenuation coefficient, and the determination of the signal strength of the point to be measured according to the shielding relationship and the attribute information of the shield includes:

[0031] the preset attenuation coefficient is determined according to the material of the shield;

[0032] According to the preset attenuation coefficient, the signal strength of the satellite sending signal is attenuated to obtain the signal strength of the to-be-measured point.

[0033] In one of the embodiments, the environment parameter of the to-be-measured point at the current time is acquired, including:

[0034] The position information of the to-be-measured point is input into the preset shielding model for analysis to obtain the environment parameter of the to-be-measured point; the preset shielding model is constructed in advance according to the correspondence between the environment parameters and the position information of the plurality of to-be-measured points in the current environment region.

[0035] In a second aspect, the present application further provides a signal strength determination device. The device comprises:

[0036] The acquisition module is configured to acquire the environment parameter of the to-be-measured point at the current time and the ephemeris data of the satellite corresponding to the current time; the environment parameter comprises attribute information of a shielding object;

[0037] The first determination module is configured to determine the shielding relationship between the satellite and the to-be-measured point according to the environment parameter and the ephemeris data; the shielding relationship represents the state of whether the to-be-measured point is shielded;

[0038] The second determination module is configured to determine the signal strength of the to-be-measured point according to the shielding relationship and the attribute information of the shielding object.

[0039] In a third aspect, the present application further provides a computer device. The computer device comprises a memory and a processor; the memory stores a computer program; and the processor implements the following steps when executing the computer program:

[0040] The environment parameter of the to-be-measured point at the current time and the ephemeris data of the satellite corresponding to the current time are acquired; the environment parameter comprises attribute information of a shielding object;

[0041] The shielding relationship between the satellite and the to-be-measured point is determined according to the environment parameter and the ephemeris data; the shielding relationship represents the state of whether the to-be-measured point is shielded;

[0042] The signal strength of the to-be-measured point is determined according to the shielding relationship and the attribute information of the shielding object.

[0043] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program; and the computer program is executed by a processor to implement the following steps:

[0044] The environment parameter of the to-be-measured point at the current time and the ephemeris data of the satellite corresponding to the current time are acquired; the environment parameter comprises attribute information of a shielding object;

[0045] According to the environmental parameters and the ephemeris data, a shielding relationship between the satellite and the to-be-measured point is determined; the shielding relationship represents a shielding state of the to-be-measured point;

[0046] According to the shielding relationship and the attribute information of the shielding object, a signal strength of the to-be-measured point is determined.

[0047] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, which, when executed by a processor, implements the following steps:

[0048] Obtaining environmental parameters of the to-be-measured point at a current time, and ephemeris data of a satellite corresponding to the current time; the environmental parameters comprise attribute information of a shielding object;

[0049] According to the environmental parameters and the ephemeris data, a shielding relationship between the satellite and the to-be-measured point is determined; the shielding relationship represents a shielding state of the to-be-measured point;

[0050] According to the shielding relationship and the attribute information of the shielding object, a signal strength of the to-be-measured point is determined.

[0051] The above signal strength determination method, device, computer equipment and storage medium, obtain environmental parameters of the to-be-measured point at a current time, and ephemeris data of a satellite corresponding to the current time, determine a shielding relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data, and determine a signal strength of the to-be-measured point according to the shielding relationship and attribute information of a shielding object. Based on actual environmental parameters of the to-be-measured point and ephemeris data of the satellite at the current time, the shielding relationship between the satellite and the to-be-measured point is determined, and then the signal strength of the to-be-measured point is determined according to the shielding relationship and the environmental parameters of the to-be-measured point, so that the determined signal strength of the to-be-measured point depends not only on the environmental parameters of the to-be-measured point, but also on the shielding relationship between the satellite and the to-be-measured point. Compared with the existing signal strength of the to-be-measured point determined in a static and open unshielded scene, the present application considers the actual environmental parameters around the to-be-measured point, thereby further improving the accuracy of the signal strength of the to-be-measured point. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 It is an application environment diagram of the signal strength determination method in one embodiment;

[0053] Figure 2 It is a flowchart of the signal strength determination method in one embodiment;

[0054] Figure 3 It is attribute information of a shielding object around the to-be-measured point;

[0055] Figure 4 It is an environment diagram and a material diagram of a shielding object around the to-be-measured point;

[0056] Figure 5 The shielding relationship between the shielding object and the satellite at the to-be-measured point;

[0057] Figure 6 Flowchart of the method for determining the signal strength in another embodiment;

[0058] Figure 7 Flowchart of the method for determining the signal strength in another embodiment;

[0059] Figure 8 Schematic diagram of the positional relationship among the satellite, the shielding object, and the to-be-measured object;

[0060] Figure 9 Flowchart of the method for determining the signal strength in another embodiment;

[0061] Figure 10 Flowchart of the method for determining the signal strength in another embodiment;

[0062] Figure 11 Flowchart of the method for determining the signal strength in another embodiment;

[0063] Figure 12 Flowchart of the method for determining the signal strength in another embodiment;

[0064] Figure 13 Flowchart of the method for determining the signal strength in another embodiment;

[0065] Figure 14 Structural block diagram of the device for determining the signal strength in an embodiment;

[0066] Figure 15 Structural block diagram of the device for determining the signal strength in an embodiment;

[0067] Figure 16 Structural block diagram of the device for determining the signal strength in an embodiment. DETAILED DESCRIPTION

[0068] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0069] The Beidou satellite navigation system is composed of space segment, ground segment and user segment, and can provide high-precision, high-reliability positioning, navigation and timing services for various users around the world all-weather and all-day. The function, performance and role of the Beidou satellite navigation system are realized and benefits are brought through the terminal supporting Beidou, so while accelerating the application of the Beidou satellite navigation system and promoting the industrialization development, it is urgent to analyze and evaluate the positioning performance and stability of the Beidou satellite navigation system at the user end.

[0070] At present, in a complex scene, the performance test of the Beidou satellite navigation system is often carried out by manual road test, that is, professional personnel set up Beidou positioning instruments at a plurality of test point positions laid in advance, and receive the positioning signals of the Beidou satellite navigation system through the Beidou positioning instruments to carry out field measurement, so as to determine the positioning performance and stability of the Beidou satellite navigation system at the user end according to the results obtained by multiple measurements. However, with the continuous expansion of the test area, the labor cost and equipment cost of manual road test are also increasing, and in the actual process, the satellite signal propagation in the air will be affected by many factors (for example, distance, terrain and buildings), and with the change of time, the relative position of the road test and the satellite will also change periodically, thereby leading to the problem of inaccuracy of the above-mentioned signal strength determination method when facing complex geographical environment. The present patent aims to solve this problem.

[0071] After the background technology of the signal strength determination method provided by the embodiments of the present application is introduced above, the implementation environment related to the signal strength determination method provided by the embodiments of the present application will be briefly described below. The signal strength determination method provided by the embodiments of the present application can be applied to, for example Figure 1The computer device can be a Global Navigation Satellite System (GNSS) device or a terminal. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, NFC (Near Field Communication), or other technologies. The computer program is executed by the processor to implement a signal strength determination method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad arranged on the shell of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0072] Those skilled in the art can understand that, Figure 1 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. Specifically, a terminal can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0073] After the above describes the application scenario of the signal strength determination method provided by the embodiments of the present application, the signal strength determination method described in the present application is mainly introduced.

[0074] In one embodiment, as Figure 2 shown, a signal strength determination method is provided. The method is applied to the computer device in Figure 1 for example, and includes the following steps:

[0075] S201, acquiring an environmental parameter of a to-be-measured point at a current time, and ephemeris data of a satellite corresponding to the current time.

[0076] The environment parameter includes attribute information of the shelter, and the attribute information of the shelter includes height information of the shelter, position information of a highest point of the shelter, material information of the shelter, area information of the shelter, and position information of each face of the shelter.

[0077] The ephemeris data of the satellite includes longitude information of the satellite, latitude information of the satellite, and altitude information of an orbit where the satellite is located.

[0078] In the embodiment of the application, before determining the signal strength of the Beidou satellite at the to-be-measured point at the current time, the environment parameter of the to-be-measured point at the current time can be acquired by actual measurement of the acquisition device, and the ephemeris data of a plurality of satellites that can be used to locate the to-be-measured point at the current time can be acquired from the Beidou satellite navigation system. Optionally, the attribute information of the shelter around the to-be-measured point at the current time can be acquired by actual measurement of a radar or a camera device, the attribute information of the shelter includes height information of the shelter, position information of a highest point of the shelter, material information of the shelter, area information of the shelter, and position information of each face of the shelter, and the longitude information of the satellite, the latitude information of the satellite, and the altitude information of the orbit where the satellite is located can be acquired from the Beidou satellite navigation system. For example, as shown in FIG. 1, the acquisition device 100 is used to acquire the environment parameter of the to-be-measured point at the current time. Figure 3 The attribute information of the shelter around the to-be-measured point.

[0079] For example, the process of acquiring the environment parameter of the to-be-measured point at the current time can include that the acquisition device (for example, a radar) with satellite positioning function first acquires the longitude information, the latitude information, and the altitude information of the to-be-measured point, then acquires the height information, the position information, the material information, the area information, and the position information of each face of the shelter (for example, a building, a tree, or a hill) around the to-be-measured point at every preset angle (for example, 10°), and then generates an environment map around the to-be-measured point based on the height information, the position information, the area information, and the position information of each face of the shelter around the to-be-measured point acquired at each angle, and generates a material map around the to-be-measured point based on the material information of the shelter around the to-be-measured point. For example, as shown in FIG. 2, the acquisition device 200 is used to acquire the environment parameter of the to-be-measured point at the current time. Figure 4 As shown in FIG. 3, it is an integrated map composed of the environment map and the material map around the to-be-measured point at every 15°.

[0080] Optionally, in actual application, the environment parameters of the multiple to-be-measured points on the to-be-selected path can also be acquired, that is, the environment parameters of the multiple to-be-measured points on the to-be-selected path are recorded, and the process of acquiring the multiple environment parameters on the to-be-selected path can include: pushing the collection device (for example, a radar) with satellite positioning function to move along the target path, and acquiring the environment parameters of each to-be-measured point every preset distance (for example, 10 meters, 50 meters, etc.) in the moving process, so as to constitute the environment map and the material map of each to-be-measured point on the target path.

[0081] S202, determining the shielding relationship between the satellite and the to-be-measured point according to the environment parameter and the ephemeris data.

[0082] The shielding relationship represents the state of whether the to-be-measured point is shielded.

[0083] In the embodiment of the present application, after the environment parameter of the to-be-measured point at the current time and the ephemeris data of the satellite corresponding to the current time are acquired, whether each satellite and the to-be-measured point are blocked by the shielding object can be determined according to whether the environment parameter and the ephemeris data meet the preset condition. Optionally, the shielding relationship between each satellite and the to-be-measured point can be determined according to the height of the shielding object in the environment parameter and the orbital height of each satellite, and the longitude and latitude information of the shielding object and the longitude and latitude information of each satellite; for example, if the included angle between the satellite and the highest point of the shielding object on the horizon is much smaller than the included angle between the highest point of the shielding object and the to-be-measured point on the horizon, and the ratio of the horizontal distance between the highest point of the shielding object and the satellite to the horizontal distance between the satellite and the to-be-measured point is much smaller than the ratio of the vertical distance between the highest point of the shielding object and the satellite to the vertical distance between the satellite and the to-be-measured point, it is determined that the satellite and the to-be-measured point are completely blocked by the shielding object. For example, as shown in FIG. 1, the shielding relationship between the shielding object and the satellite at the to-be-measured point is determined. Figure 5

[0084] S203, determining the signal strength of the to-be-measured point according to the shielding relationship and the attribute information of the shielding object.

[0085] The attribute information of the shielding object is the material information of the shielding object, for example, a cement building, a glass building, a hillside, a tree, etc.

[0086] ​In the embodiments of this application, after the shielding relationship between the satellite and the to-be-measured point and the attribute information of the shielding object are determined, it is determined whether the shielding object completely shields the signal of the satellite according to the shielding relationship and the attribute information of the shielding object, and the signal strength of the satellite at the to-be-measured point is determined according to the shielding result of the shielding object. For example, if the shielding relationship determined in the above S202 step is that the first satellite and the to-be-measured point are completely blocked by the shielding object, and the attribute information of the shielding object is determined to be a cement building, it is determined that the shielding object completely shields the signal of the first satellite, and thus the signal strength of the first satellite at the to-be-measured point is determined to be a first value. Similarly, if the shielding relationship determined in the above S202 step is that the second satellite and the to-be-measured point are completely blocked by the shielding object, and the attribute information of the shielding object is determined to be a tree, it is determined that the shielding object does not completely shield the signal of the satellite, and thus the signal strength of the satellite at the to-be-measured point is determined to be a second value. Based on the above method, the signal strengths of the satellites at the to-be-measured point are calculated, and the signal strengths of the satellites at the to-be-measured point are accumulated and operated to obtain the signal strength of the to-be-measured point.

[0087] The method for determining the signal strength provided in the embodiments of this application acquires the environmental parameters of the to-be-measured point at the current moment and the ephemeris data of the satellite corresponding to the current moment, determines the shielding relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data, and determines the signal strength of the to-be-measured point according to the shielding relationship and the attribute information of the shielding object. Based on the actual environmental parameters of the to-be-measured point and the ephemeris data of the satellite at the current moment, the shielding relationship between the satellite and the to-be-measured point is determined, and then the signal strength of the to-be-measured point is determined according to the shielding relationship and the environmental parameters of the to-be-measured point, so that the determined signal strength of the to-be-measured point depends not only on the environmental parameters of the to-be-measured point, but also on the shielding relationship between the satellite and the to-be-measured point. Compared with the existing signal strength of the to-be-measured point determined in a static and open unshielded scene, the actual environmental parameters around the to-be-measured point are considered, and thus the accuracy of the signal strength of the to-be-measured point is further improved.

[0088] Optionally, the computer device can pre-acquire the environmental parameters of each to-be-measured point on the target path, construct an environmental model based on the environmental parameters of each to-be-measured point, and simulate the signal strength of the satellite transmitted and received by each to-be-measured point on the target path based on the environmental model to obtain the signal strength of each to-be-measured point on the target path. Since the environmental parameters of each to-be-measured point consider the shielding condition in the environment, this method can solve the problem of inaccurate signal strength measurement caused by incomplete coverage of the traditional static instrument simulation test scene to a certain extent.

[0089] In one embodiment, in the process of determining the shielding relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data, Figure 2 Based on the embodiments shown, the process of determining the shielding relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data can be described as follows: Figure 6As shown, the S202 "determining the shielding relationship between the satellite and the to-be-measured point according to the environmental parameters and the ephemeris data" comprises:

[0090] S301, determining first angle information between the shielding object and the to-be-measured point in the geographic coordinate system and second angle information between the satellite and the to-be-measured point in the geographic coordinate system according to the attribute information of the shielding object and the ephemeris data.

[0091] In the embodiment of the present application, after the attribute information of the shielding object and the ephemeris data at the current moment are obtained, the first angle information between the shielding object and the to-be-measured point in the geographic coordinate system can be determined according to the attribute information of the shielding object and the position information of the to-be-measured point, and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system can be determined according to the ephemeris data of the satellite and the position information of the to-be-measured point.

[0092] S302, determining whether the first angle information and the second angle information meet a preset shielding condition.

[0093] S303, if yes, determining that the to-be-measured point is in a shielding state.

[0094] S304, if no, determining that the to-be-measured point is in a non-shielding state.

[0095] In the embodiment of the present application, after the first angle information and the second angle information are determined, it is determined whether the first angle information and the second angle information meet the preset shielding condition, if the preset shielding condition is met, it is determined that the to-be-measured point is in the shielding state, and if the preset shielding condition is not met, it is determined that the to-be-measured point is in a non-shielding state. For example, if the first angle information is greater than the second angle information, the preset shielding condition is met, and at this time it is considered that the to-be-measured point is in the shielding state, if the first angle information is not greater than the second angle information, the preset shielding condition is not met, and at this time it is considered that the to-be-measured point is in the non-shielding state.

[0096] Optionally, three methods of determining the first angle information between the shielding object and the to-be-measured point in the geographic coordinate system and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system according to the attribute information of the shielding object and the ephemeris data, determining whether the first angle information and the second angle information meet the preset shielding condition, if yes, determining that the to-be-measured point is in the shielding state, and if no, determining that the to-be-measured point is in the non-shielding state are provided as follows:

[0097] Example one, as Figure 7As shown, if the attribute information comprises the position information of the highest point of the occluder, the ephemeris data comprises the position information of the satellite, and if the first angle information comprises a first angle between the position where the highest point of the occluder is located and the horizon where the point to be measured is located, and the second angle information comprises a second angle between the position where the satellite is located and the horizon where the point to be measured is located, S301“determining, according to the attribute information of the occluder and the ephemeris data, first angle information between the occluder and the point to be measured in the geographic coordinate system, and second angle information between the satellite and the point to be measured in the geographic coordinate system” comprises:

[0098] S401, determining the first angle according to the position information of the highest point of the occluder and the position coordinates of the point to be measured in the geographic coordinate system.

[0099] The position information of the highest point of the occluder comprises the position coordinates of the highest point of the occluder and the height of the highest point of the occluder.

[0100] In the embodiment of the application, after obtaining the position information of the highest point of the occluder and the position coordinates of the point to be measured in the geographic coordinate system, an angle between a connecting line of the position coordinates of the highest point of the occluder and the position coordinates of the point to be measured in the geographic coordinate system and the horizon can be determined as the first angle. As shown, Figure 8 A1 is the first angle.

[0101] S402, determining the second angle according to the position information of the satellite and the position coordinates of the point to be measured in the geographic coordinate system.

[0102] In the embodiment of the application, after obtaining the position information of the satellite and the position coordinates of the point to be measured in the geographic coordinate system, an angle between a connecting line of the position coordinates of the satellite and the position coordinates of the point to be measured in the geographic coordinate system and the horizon can be determined as the second angle. As shown, Figure 8 A2 is the second angle.

[0103] Further, S302“determining whether the first angle information and the second angle information satisfy the preset occlusion condition” comprises:

[0104] S403, determining whether the first angle is less than the second angle.

[0105] S404, if yes, determining that the first angle information and the second angle information satisfy the preset occlusion condition.

[0106] S405, if no, determining that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0107] In the embodiments of this application, after the first angle and the second angle are determined, it is judged whether the first angle is less than the second angle. If the first angle is less than the second angle, it is determined that the first angle information and the second angle information satisfy the preset blocking condition. If the first angle is not less than the second angle, it is determined that the first angle information and the second angle information do not satisfy the preset blocking condition. For example, as shown in FIG. 7, the first angle A1 is not less than the second angle A2, so the first angle information and the second angle information do not satisfy the preset blocking condition, that is, the to-be-measured point is in an unblocked state. Figure 8

[0108] Example two, as shown in FIG. 8, if the attribute information includes the position information of the first face of the blocking object, the ephemeris data includes the position information of the satellite, and if the first angle information further includes a third angle between the first face of the blocking object and the north polar line where the to-be-measured point is located, and the second angle information further includes a fourth angle between the position where the satellite is located and the north polar line where the to-be-measured point is located, S301“determining, according to the attribute information of the blocking object and the ephemeris data, the first angle information between the blocking object and the to-be-measured point in the geographic coordinate system, and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system” includes: Figure 9 S501, determining the third angle according to the position information of the first face of the blocking object and the position coordinates of the to-be-measured point in the geographic coordinate system.

[0109] The position information of the first face of the blocking object is a straight line where the closest face of the blocking object to the north pole is located.

[0110] In the embodiments of this application, after the position information of the first face of the blocking object and the position coordinates of the to-be-measured point in the geographic coordinate system are obtained, the included angle between the north polar line where the position information of the first face of the blocking object and the position coordinates of the to-be-measured point in the geographic coordinate system are located can be determined as the third angle. As shown in FIG. 9, A5 is the third angle.

[0111] Figure 8

[0112] S502, determining the fourth angle according to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system.

[0113] In the embodiments of this application, after the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system are obtained, the included angle between the connecting line of the position coordinates of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system and the north polar line can be determined as the fourth angle. As shown in FIG. 10, A3 is the fourth angle. Figure 8

[0114] Further, S302“determining whether the first angle information and the second angle information satisfy the preset blocking condition” includes:

[0115] ​​​​S503. If it is determined that the first angle is less than the second angle, determine whether the third angle is greater than the fourth angle.

[0116] S504. If it is greater than, then the first angle information and the second angle information are determined to satisfy the preset occlusion conditions.

[0117] S505. If it is not greater than, then it is determined that the first angle information and the second angle information do not meet the preset occlusion conditions.

[0118] In this embodiment of the application, when the first angle is determined to be less than the second angle, a third angle and a fourth angle are determined, and it is then determined whether the third angle is greater than the fourth angle. If the third angle is greater than the fourth angle, it is determined that the first angle information and the second angle information meet the preset occlusion condition; if the third angle is not greater than the second angle, it is determined that the first angle information and the second angle information do not meet the preset occlusion condition. For example, as... Figure 8 As shown, the third angle A5 is greater than the fourth angle A3. Therefore, the first angle information and the second angle information satisfy the preset occlusion condition, that is, the point to be measured is in an occluded state.

[0119] Example 3, such as Figure 10 As shown, if the attribute information includes the position information of the second side of the obstruction, the ephemeris data includes the position information of the satellite, and if the first angle information also includes the fifth angle between the second side of the obstruction and the North Pole line where the point to be measured is located, and the second angle information also includes the sixth angle between the location of the satellite and the North Pole line where the point to be measured is located, then S301 "determine the first angle information between the obstruction and the point to be measured in the geographic coordinate system, and the second angle information between the satellite and the point to be measured in the geographic coordinate system, based on the attribute information of the obstruction and the ephemeris data", includes:

[0120] S601. Determine the fifth angle based on the position information of the second side of the obstruction and the position coordinates of the point to be measured in the geographic coordinate system.

[0121] The distance between the second surface and the North Pole line is greater than the distance between the second surface and the North Pole line. The position information of the second surface of the obstruction is the straight line containing the surface of the obstruction farthest from the North Pole.

[0122] In this embodiment of the application, after obtaining the position information of the second side of the obstruction and the position coordinates of the point to be measured in the geographic coordinate system, the angle between the position information of the second side of the obstruction and the position coordinates of the point to be measured in the geographic coordinate system on the horizon can be determined as the fifth angle. For example... Figure 8 As shown, A4 is the fifth angle.

[0123] S602. Determine the sixth angle based on the satellite's position information and the position coordinates of the point to be measured in the geographic coordinate system.

[0124] In this embodiment of the application, after obtaining the satellite's position information and the position coordinates of the point to be measured in the geographic coordinate system, the angle between the line connecting the satellite's position coordinates and the point's position coordinates in the geographic coordinate system and the North Pole line can be determined as the fourth angle. For example... Figure 8 As shown, A3 is the sixth angle.

[0125] Furthermore, S302 "determining whether the first angle information and the second angle information meet the preset occlusion conditions" includes:

[0126] S603. If it is determined that the third angle is greater than the fourth angle, determine whether the fifth angle is greater than the sixth angle.

[0127] S604. If it is greater than, then the first angle information and the second angle information are determined to meet the preset occlusion conditions.

[0128] S605. If it is not greater than, then it is determined that the first angle information and the second angle information do not meet the preset occlusion conditions.

[0129] In this embodiment of the application, after determining that the third angle is greater than the fourth angle, the fifth and sixth angles are determined, and it is determined whether the fifth angle is greater than the sixth angle. If the fifth angle is greater than the sixth angle, it is determined that the first angle information and the second angle information meet the preset occlusion condition; if the fifth angle is not greater than the sixth angle, it is determined that the first angle information and the second angle information do not meet the preset occlusion condition. For example, as... Figure 8 As shown, the fifth angle A4 is greater than the sixth angle A3. Therefore, the first angle information and the second angle information satisfy the preset occlusion condition, that is, the point to be measured is in an occluded state.

[0130] The signal strength determination method provided in this application determines whether the test point is blocked by an obstruction based on the current ephemeris data and the environmental parameters of the obstruction at the test point. This lays the foundation for determining the signal strength of the test point based on the obstruction relationship and the environmental parameters of the test point. The determined signal strength of the test point depends not only on the environmental parameters of the test point but also on the obstruction relationship between the satellite and the test point. Compared with the existing method that relies on static, open, and unobstructed scenarios to determine the signal strength of the test point, this application considers the actual environmental parameters around the test point, thereby further improving the accuracy of the signal strength of the test point.

[0131] In one embodiment, in Figures 2-10 Based on the illustrated embodiment, the attribute information includes the material of the occlusion object. This allows for a description of the process of determining the signal strength of the test point based on the occlusion relationship and the attribute information of the occlusion object. Figure 11As shown in the above S203, "determining the signal strength of the to-be-tested point according to the shielding relationship and the attribute information of the shielding object", comprises:

[0132] S701, in the case of determining that the to-be-tested point is in the shielding state according to the shielding relationship, determining whether the material of the shielding object is of a shielding type.

[0133] The material of the shielding object comprises a concrete material, a glass material, a hillside material, and a tree material, etc.

[0134] In the embodiment of the present application, in the case of determining that the to-be-tested point is in the shielding state according to the shielding relationship, if the material of the shielding object is of the concrete material and the hillside material, the material of the shielding object is of the shielding type at this time, and if the material of the shielding object is of the glass material and the tree material, the material of the shielding object is not of the shielding type, i.e., of a semi-shielding type.

[0135] S702, if yes, determining the signal strength of the to-be-tested point as a preset value.

[0136] In the embodiment of the present application, in the case of determining that the to-be-tested point is in the shielding state according to the shielding relationship and determining that the material of the shielding object is of the shielding type, the signal strength of the to-be-tested point is determined as the preset value. For example, in the case of determining that the to-be-tested point is in the shielding state and determining that the material of the shielding object is of the shielding type, the signal strength of the to-be-tested point is determined as 0.

[0137] S703, if no, determining the signal strength of the to-be-tested point according to the signal strength of the satellite transmitted signal and a preset attenuation coefficient.

[0138] The preset attenuation coefficient can be a specific attenuated signal strength, or a number between 0 and 1.

[0139] In the embodiment of the present application, in the case of determining that the to-be-tested point is in the shielding state according to the shielding relationship and determining that the material of the shielding object is not of the shielding type, the signal strength of the to-be-tested point is determined according to the signal strength of the satellite transmitted signal and the preset attenuation coefficient. Optionally, in the case of having acquired the signal strength of the satellite transmitted signal as 100 PB and the preset attenuation coefficient as 20 PB, the signal strength of the to-be-tested point is determined as 80 PB according to the difference between the signal strength of the satellite transmitted signal and the preset attenuation coefficient.

[0140] Optionally, a method for determining the signal strength of the to-be-tested point according to the signal strength of the satellite transmitted signal and the preset attenuation coefficient is provided as follows, Figure 12 As shown in the above S703, "determining the signal strength of the to-be-tested point according to the signal strength of the satellite transmitted signal and the preset attenuation coefficient", comprises:

[0141] S801, determining the preset attenuation coefficient according to the material of the shielding object.

[0142] wherein the material of the shielding object is different, the preset attenuation coefficient is also different.

[0143] In the embodiments of the present application, the preset attenuation coefficient is determined according to the material of the shielding object. For example, if the material of the shielding object is glass material, the preset attenuation coefficient determined according to the glass material is 10%; if the material of the shielding object is tree material, the preset attenuation coefficient determined according to the glass material is 5%.

[0144] S802, attenuate the signal strength of the satellite transmitting signal according to the preset attenuation coefficient to obtain the signal strength of the to-be-measured point.

[0145] In the embodiments of the present application, after the preset attenuation coefficient corresponding to the material of each shielding object is obtained, the signal strength of each satellite transmitting signal can be attenuated according to the preset attenuation coefficient to obtain the signal strength of each satellite at the to-be-measured point, and then the signal strengths of each satellite at the to-be-measured point are accumulated and operated to obtain the signal strength of the to-be-measured point. For example, the preset attenuation coefficient is 10%, the signal strength of the satellite A transmitting signal is 100 PB, then the signal strength of the satellite A at the to-be-measured point is 90 PB; the preset attenuation coefficient is 50%, the signal strength of the satellite B transmitting signal is 50 PB, then the signal strength of the satellite B at the to-be-measured point is 25 PB, the signal strength of the satellite A at the to-be-measured point 90 PB and the signal strength of the satellite B at the to-be-measured point 25 PB are accumulated and operated to obtain the signal strength of the to-be-measured point A as 115 PB.

[0146] The method for determining the signal strength provided by the embodiments of the present application determines the signal strength of the shielding object with different materials at the to-be-measured point based on the shielding relationship and the material of the shielding object, so that the determined signal strength of the to-be-measured point depends not only on the shielding relationship of the to-be-measured point, but also on the material of the shielding object. Compared with the existing signal strength of the to-be-measured point determined in a static and open unshielded scene, the present application considers the actual environmental parameters around the to-be-measured point, thereby further improving the accuracy of the signal strength of the to-be-measured point.

[0147] In one embodiment, based on the embodiment shown in Figures 2-12 Based on the embodiment shown, the process of obtaining the environmental parameters of the to-be-measured point at the current time can be described, and the above S201 "obtaining the environmental parameters of the to-be-measured point at the current time" includes:

[0148] The position information of the to-be-measured point is input into the preset shielding model for analysis to obtain the environmental parameters of the to-be-measured point.

[0149] The preset shielding model is constructed in advance according to the correspondence between the environmental parameters and the position information of the plurality of to-be-measured points in the current environment region. The obtaining process of the preset shielding model can include: obtaining the environmental parameters of the plurality of to-be-measured points in the current environment region, that is, recording the environmental parameters of the plurality of to-be-measured points in the current environment region, and the process of obtaining the plurality of environmental parameters in the current environment region can include: pushing a collection device (for example, a radar) with satellite positioning function to move along the target path, and obtaining the environmental parameters of each to-be-measured point every preset distance (for example, 10 meters, 50 meters, etc.) during the movement, thereby constructing the environmental map and the material map of each to-be-measured point in the current environment region, further, synthesizing the environmental parameters of the current environment region, and then obtaining the correspondence between the environmental parameters of the plurality of to-be-measured points and the position information of the plurality of to-be-measured points in the current environment region.

[0150] In the embodiments of the present application, the above-mentioned preset shielding model can be constructed in advance. When it is necessary to determine the signal strength of the to-be-measured point in each preset shielding model, the position information of the to-be-measured point is input into the preset shielding model for analysis, so as to obtain the environmental parameters of the to-be-measured point.

[0151] The signal strength determination method provided by the embodiments of the present application can construct a preset shielding model in advance. The environmental parameters of the to-be-measured point can be obtained by inputting the position information of the to-be-measured point into the preset shielding model. When it is necessary to determine the signal strength of the to-be-measured point, it is not necessary to obtain the environmental parameters of the to-be-measured point in the field, but the preset shielding model can be directly called, which to some extent simplifies the signal strength determination step.

[0152] In one embodiment, as shown in Figure 13 a complete signal strength determination method is also provided, which includes:

[0153] S10, obtaining the attribute information of the shielding object of the to-be-measured point at the current time, and the ephemeris data of the satellite corresponding to the current time;

[0154] S11, determining the first angle information between the shielding object and the to-be-measured point in the geographic coordinate system and the second angle information between the satellite and the to-be-measured point in the geographic coordinate system according to the attribute information of the shielding object and the ephemeris data;

[0155] S12, determining whether the first angle information and the second angle information satisfy a preset shielding condition;

[0156] S13, if yes, determining that the to-be-measured point is in a shielding state;

[0157] S14, if no, determining that the to-be-measured point is in an unshielded state;

[0158] S15, in a case where it is determined that the to-be-tested point is in the shielded state according to the shielding relationship, determining whether the material of the shielding object is of a shielding type;

[0159] S16, if yes, determining that the signal strength of the to-be-tested point is a preset value;

[0160] S17, if no, determining a preset attenuation coefficient according to the material of the shielding object;

[0161] S18, performing attenuation processing on the signal strength of the satellite transmission signal according to the preset attenuation coefficient to obtain the signal strength of the to-be-tested point.

[0162] The method for determining the signal strength provided by the embodiments of the present application acquires the environmental parameter of the to-be-tested point at the current moment and the ephemeris data of the satellite corresponding to the current moment, determines the shielding relationship between the satellite and the to-be-tested point according to the environmental parameter and the ephemeris data, and determines the signal strength of the to-be-tested point according to the shielding relationship and the attribute information of the shielding object. Based on the actual environmental parameter of the to-be-tested point and the ephemeris data of the satellite at the current moment, the embodiments of the present application determine the shielding relationship between the satellite and the to-be-tested point, and then determine the signal strength of the to-be-tested point according to the shielding relationship and the environmental parameter of the to-be-tested point, so that the determined signal strength of the to-be-tested point depends not only on the environmental parameter of the to-be-tested point, but also on the shielding relationship between the satellite and the to-be-tested point. Compared with the existing signal strength of the to-be-tested point determined in a static and open unshielded scene, the embodiments of the present application consider the actual environmental parameter around the to-be-tested point, thereby further improving the accuracy of the signal strength of the to-be-tested point. In addition, the embodiments of the present application can pre-acquire the environmental parameter of each to-be-tested point on a target path, and construct an environmental model based on the environmental parameter of each to-be-tested point. The model and the ephemeris data of the satellite are input into a Global Navigation Satellite System (GNSS) device for simulation to obtain the signal strength of each to-be-tested point on the target path, thereby solving the problem of incomplete coverage of the traditional static instrument simulation test scene.

[0163] It should be understood that, although each step in the flowchart involved in each of the above-described embodiments is shown in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each of the above-described embodiments can include multiple steps or stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps.

[0164] Based on the same inventive concept, the embodiments of the present application also provide a signal strength determination apparatus for implementing the signal strength determination method described above. The apparatus provides a solution to the problem similar to the implementation described in the above method, so the specific limitations in one or more signal strength determination apparatus embodiments provided below can refer to the limitations of the signal strength determination method described above, which will not be described here.

[0165] In one embodiment, as shown in Figure 14 a signal strength determination apparatus is provided, comprising: an acquisition module 10, a first determination module 11 and a second determination module 12, wherein:

[0166] The acquisition module 10 is configured to acquire an environmental parameter of a to-be-tested point at a current time and ephemeris data of a satellite corresponding to the current time; the environmental parameter comprises attribute information of an occluder.

[0167] The first determination module 11 is configured to determine an occlusion relationship between the satellite and the to-be-tested point according to the environmental parameter and the ephemeris data; the occlusion relationship represents a state of whether the to-be-tested point is occluded.

[0168] The second determination module 12 is configured to determine the signal strength of the to-be-tested point according to the occlusion relationship and the attribute information of the occluder.

[0169] In one embodiment, as shown in Figure 15 the first determination module 11 described above comprises a first determination unit 110 and a second determination unit 111, wherein,

[0170] The first determination unit 110 is specifically configured to determine first angle information between the occluder and the to-be-tested point in a geographic coordinate system and second angle information between the satellite and the to-be-tested point in the geographic coordinate system according to the attribute information of the occluder and the ephemeris data;

[0171] The second determination unit 111 is specifically configured to determine whether the first angle information and the second angle information satisfy a preset occlusion condition, and if yes, determine that the to-be-tested point is in an occluded state; if not, determine that the to-be-tested point is in an unoccluded state.

[0172] In one embodiment, the first angle information comprises a first angle between a position of a highest point of the occluder and a horizon of the to-be-tested point, and the second angle information comprises a second angle between a position of the satellite and the horizon of the to-be-tested point, and the second determination unit 111 is specifically configured to determine whether the first angle is less than the second angle, and if yes, determine that the first angle information and the second angle information satisfy the preset occlusion condition; if not, determine that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0173] In one embodiment, the attribute information includes position information of the highest point of the occluder, the ephemeris data includes position information of the satellite, the first determining unit 110 is specifically configured to determine a first angle according to the position information of the highest point of the occluder and a position coordinate of the point to be measured in a geographic coordinate system; and determine a second angle according to the position information of the satellite and the position coordinate of the point to be measured in the geographic coordinate system.

[0174] In one embodiment, the first angle information further includes a third angle between the first face of the occluder and the North Pole line where the point to be measured is located, and the second angle information further includes a fourth angle between the position where the satellite is located and the North Pole line where the point to be measured is located, and the second determining unit 111 is specifically configured to determine whether the third angle is greater than the fourth angle in the case that the first angle is less than the second angle, and if yes, determine that the first angle information and the second angle information satisfy the preset occlusion condition; and if not, determine that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0175] In one embodiment, the attribute information includes position information of the first face of the occluder, the ephemeris data includes position information of the satellite, and the first determining unit 110 is specifically configured to determine a third angle according to the position information of the first face of the occluder and a position coordinate of the point to be measured in a geographic coordinate system; and determine a fourth angle according to the position information of the satellite and the position coordinate of the point to be measured in the geographic coordinate system.

[0176] In one embodiment, the first angle information further includes a fifth angle between the second face of the occluder and the North Pole line where the point to be measured is located, and the second angle information further includes a sixth angle between the position where the satellite is located and the North Pole line where the point to be measured is located, and the second determining unit 111 is specifically configured to determine whether the fifth angle is greater than the sixth angle in the case that the third angle is greater than the fourth angle, and if yes, determine that the first angle information and the second angle information satisfy the preset occlusion condition; and if not, determine that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0177] In one embodiment, the attribute information includes position information of the second face of the occluder, the ephemeris data includes position information of the satellite, and the first determining unit 110 is specifically configured to determine a fifth angle according to the position information of the second face of the occluder and a position coordinate of the point to be measured in a geographic coordinate system; and determine a sixth angle according to the position information of the satellite and the position coordinate of the point to be measured in the geographic coordinate system.

[0178] In one embodiment, the attribute information includes a material of the occluder, such as Figure 16As shown, the second determining module 12 includes a third determining unit 120, which is specifically configured to, in the case that it is determined according to the shielding relationship that the to-be-tested point is in the shielded state, determine whether the material of the shielding object is of a shielding type, and if so, determine that the signal strength of the to-be-tested point is a preset value; and if not, determine the signal strength of the to-be-tested point according to the signal strength of the satellite transmitted signal and a preset attenuation coefficient.

[0179] In one embodiment, the third determining unit 120 is specifically configured to determine the preset attenuation coefficient according to the material of the shielding object, and perform attenuation processing on the signal strength of the satellite transmitted signal according to the preset attenuation coefficient to obtain the signal strength of the to-be-tested point.

[0180] In one embodiment, the acquisition module 10 includes an analysis unit, which is specifically configured to input the position information of the to-be-tested point into a preset shielding model for analysis to obtain the environmental parameter of the to-be-tested point; and the preset shielding model is obtained in advance according to the correspondence between the environmental parameters and the position information of a plurality of to-be-tested points in a current environmental region.

[0181] The various modules in the signal strength determination apparatus can be all or partially implemented by software, hardware, and combinations thereof. The various modules can be embedded in or independent of a processor in a computer device in a hardware form, or stored in a memory in a computer device in a software form, so as to be called and executed by a processor to perform the operations corresponding to the various modules.

[0182] In one embodiment, a computer device is provided, which can be a server, and an internal structure diagram of the computer device can be as shown in FIG. 8. Figure 1The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus. The communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be implemented through WIFI, mobile cellular network, NFC (Near Field Communication), or other technologies. The computer program is executed by the processor to implement a signal strength determination method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, a trackball, or a touchpad arranged on the shell of the computer device. The input device can also be an external keyboard, a touchpad, or a mouse, etc.

[0183] Those skilled in the art can understand that Figure 1 The skilled in the art can understand that

[0184] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the following steps:

[0185] Obtaining an environmental parameter of a to-be-tested point at a current time, and ephemeris data of a satellite corresponding to the current time; the environmental parameter includes attribute information of an occluder;

[0186] Determining an occlusion relationship between the satellite and the to-be-tested point according to the environmental parameter and the ephemeris data; the occlusion relationship represents a state of whether the to-be-tested point is occluded;

[0187] Determining a signal strength of the to-be-tested point according to the occlusion relationship and the attribute information of the occluder.

[0188] In one embodiment, the processor executing the computer program further implements the following steps:

[0189] According to the attribute information of the shelter and the ephemeris data, first angle information between the shelter and the to-be-measured point in a geographical coordinate system and second angle information between a satellite and the to-be-measured point in the geographical coordinate system are determined.

[0190] It is determined whether the first angle information and the second angle information satisfy a preset shelter condition, and if yes, it is determined that the to-be-measured point is in a sheltered state; and if no, it is determined that the to-be-measured point is in an unsheltered state.

[0191] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0192] It is determined whether the first angle is smaller than the second angle, and if yes, it is determined that the first angle information and the second angle information satisfy the preset shelter condition; and if no, it is determined that the first angle information and the second angle information do not satisfy the preset shelter condition.

[0193] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0194] The first angle is determined according to position information of a highest point of the shelter and position coordinates of the to-be-measured point in the geographical coordinate system.

[0195] The second angle is determined according to position information of the satellite and the position coordinates of the to-be-measured point in the geographical coordinate system.

[0196] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0197] In a case where it is determined that the first angle is smaller than the second angle, it is determined whether a third angle is greater than a fourth angle, and if yes, it is determined that the first angle information and the second angle information satisfy the preset shelter condition; and if no, it is determined that the first angle information and the second angle information do not satisfy the preset shelter condition.

[0198] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0199] The third angle is determined according to position information of a first face of the shelter and the position coordinates of the to-be-measured point in the geographical coordinate system.

[0200] The fourth angle is determined according to the position information of the satellite and the position coordinates of the to-be-measured point in the geographical coordinate system.

[0201] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0202] In a case where the third angle is greater than the fourth angle, it is determined whether the fifth angle is greater than the sixth angle, and if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition; and if no, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0203] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0204] According to the position information of the second surface of the shielding object and the position coordinates of the to-be-measured point in the geographic coordinate system, the fifth angle is determined; the distance between the second surface and the north polar line is greater than the distance between the second surface and the north polar line;

[0205] According to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system, the sixth angle is determined.

[0206] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0207] In a case where it is determined according to the shielding relationship that the to-be-measured point is in a shielded state, it is determined whether the material of the shielding object is of a shielding type, and if yes, it is determined that the signal strength of the to-be-measured point is a preset value;

[0208] If no, the signal strength of the to-be-measured point is determined according to the signal strength of the satellite transmitted signal and a preset attenuation coefficient.

[0209] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0210] According to the material of the shielding object, the preset attenuation coefficient is determined;

[0211] The signal strength of the satellite transmitted signal is subjected to attenuation processing according to the preset attenuation coefficient to obtain the signal strength of the to-be-measured point.

[0212] In one embodiment, the processor, when executing the computer program, further implements the following steps:

[0213] The position information of the to-be-measured point is input into a preset shielding model for analysis to obtain the environmental parameters of the to-be-measured point; the preset shielding model is constructed in advance according to the correspondence between the environmental parameters and the position information of a plurality of to-be-measured points in the current environmental region.

[0214] In one embodiment, a computer readable storage medium is provided, and the computer readable storage medium has stored thereon a computer program, and the computer program, when executed by a processor, implements the following steps:

[0215] The environmental parameters of the to-be-measured point at the current moment and the ephemeris data of the satellite corresponding to the current moment are obtained; the environmental parameters include attribute information of a shielding object;

[0216] According to the environmental parameters and the ephemeris data, a shielding relationship between the satellite and the point to be measured is determined; the shielding relationship represents a shielding state of the point to be measured;

[0217] According to the shielding relationship and attribute information of the shielding object, a signal strength of the point to be measured is determined.

[0218] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0219] According to the attribute information of the shielding object and the ephemeris data, first angle information between the shielding object and the point to be measured in a geographical coordinate system and second angle information between the satellite and the point to be measured in the geographical coordinate system are determined;

[0220] It is determined whether the first angle information and the second angle information satisfy a preset shielding condition, if yes, it is determined that the point to be measured is in a shielding state; if no, it is determined that the point to be measured is in an unshielding state.

[0221] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0222] It is determined whether the first angle is smaller than the second angle, if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition; if no, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0223] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0224] According to position information of a highest point of the shielding object and position coordinates of the point to be measured in the geographical coordinate system, the first angle is determined;

[0225] According to position information of the satellite and the position coordinates of the point to be measured in the geographical coordinate system, the second angle is determined.

[0226] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0227] In a case where it is determined that the first angle is smaller than the second angle, it is determined whether a third angle is greater than a fourth angle, if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition; if no, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0228] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0229] According to position information of a first face of the shielding object and the position coordinates of the point to be measured in the geographical coordinate system, the third angle is determined;

[0230] According to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system, the fourth angle is determined.

[0231] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0232] In a case where the third angle is greater than the fourth angle, it is determined whether the fifth angle is greater than the sixth angle, and if yes, it is determined that the first angle information and the second angle information satisfy the preset shielding condition; and if no, it is determined that the first angle information and the second angle information do not satisfy the preset shielding condition.

[0233] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0234] According to the position information of the second surface of the shielding object and the position coordinates of the to-be-measured point in the geographic coordinate system, the fifth angle is determined; the distance between the second surface and the north polar line is greater than the distance between the second surface and the north polar line;

[0235] According to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system, the sixth angle is determined.

[0236] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0237] In a case where it is determined according to the shielding relationship that the to-be-measured point is in a shielded state, it is determined whether the material of the shielding object is of a shielding type, and if yes, it is determined that the signal strength of the to-be-measured point is a preset value;

[0238] If no, the signal strength of the to-be-measured point is determined according to the signal strength of the satellite transmitted signal and a preset attenuation coefficient.

[0239] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0240] The preset attenuation coefficient is determined according to the material of the shielding object;

[0241] The signal strength of the satellite transmitted signal is subjected to attenuation processing according to the preset attenuation coefficient, to obtain the signal strength of the to-be-measured point.

[0242] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0243] The position information of the to-be-measured point is input into a preset shielding model for analysis, to obtain the environmental parameter of the to-be-measured point; the preset shielding model is constructed in advance according to the correspondence between the environmental parameters and the position information of a plurality of to-be-measured points in the current environmental region.

[0244] In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the following steps:

[0245] obtaining an environmental parameter of the to-be-tested point at the current moment, and ephemeris data of the satellite corresponding to the current moment; the environmental parameter comprises attribute information of an occluder;

[0246] determining an occlusion relationship between the satellite and the to-be-tested point according to the environmental parameter and the ephemeris data; the occlusion relationship represents a state of whether the to-be-tested point is occluded;

[0247] determining a signal strength of the to-be-tested point according to the occlusion relationship and the attribute information of the occluder.

[0248] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0249] determining first angle information between the occluder and the to-be-tested point in a geographic coordinate system, and second angle information between the satellite and the to-be-tested point in the geographic coordinate system according to the attribute information of the occluder and the ephemeris data;

[0250] determining whether the first angle information and the second angle information satisfy a preset occlusion condition, and if so, determining that the to-be-tested point is in an occluded state; if not, determining that the to-be-tested point is in an unoccluded state.

[0251] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0252] determining whether the first angle is smaller than the second angle, and if so, determining that the first angle information and the second angle information satisfy the preset occlusion condition; if not, determining that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0253] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0254] determining the first angle according to position information of a highest point of the occluder and position coordinates of the to-be-tested point in the geographic coordinate system;

[0255] determining the second angle according to position information of the satellite and the position coordinates of the to-be-tested point in the geographic coordinate system.

[0256] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0257] in a case where it is determined that the first angle is smaller than the second angle, determining whether a third angle is greater than a fourth angle, and if so, determining that the first angle information and the second angle information satisfy the preset occlusion condition; if not, determining that the first angle information and the second angle information do not satisfy the preset occlusion condition.

[0258] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0259] According to the position information of the first surface of the shield and the position coordinates of the to-be-measured point in the geographic coordinate system, a third angle is determined.

[0260] According to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system, a fourth angle is determined.

[0261] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0262] In the case where the third angle is greater than the fourth angle, it is determined whether a fifth angle is greater than a sixth angle, and if it is greater, it is determined that the first angle information and the second angle information meet the preset shielding condition; if it is not greater, it is determined that the first angle information and the second angle information do not meet the preset shielding condition.

[0263] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0264] According to the position information of the second surface of the shield and the position coordinates of the to-be-measured point in the geographic coordinate system, a fifth angle is determined; the distance between the second surface and the North Pole is greater than the distance between the second surface and the North Pole.

[0265] According to the position information of the satellite and the position coordinates of the to-be-measured point in the geographic coordinate system, a sixth angle is determined.

[0266] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0267] In the case where the to-be-measured point is determined to be in a shielded state according to the shielding relationship, it is determined whether the material of the shield is of a shielding type, and if it is, the signal strength of the to-be-measured point is determined to be a preset value.

[0268] If not, the signal strength of the to-be-measured point is determined according to the signal strength of the satellite transmitted signal and a preset attenuation coefficient.

[0269] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0270] According to the material of the shield, a preset attenuation coefficient is determined;

[0271] According to the preset attenuation coefficient, the signal strength of the satellite transmitted signal is attenuated to obtain the signal strength of the to-be-measured point.

[0272] In one embodiment, the computer program, when executed by the processor, further implements the following steps:

[0273] The position information of the to-be-tested point is input into the preset shielding model for analysis to obtain the environmental parameter of the to-be-tested point; the preset shielding model is constructed in advance according to the correspondence between the environmental parameters and the position information of the plurality of to-be-tested points in the current environmental region.

[0274] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiments. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0275] The technical features of the above embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0276] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method of determining signal strength, characterized by, The method comprises: obtaining an environmental parameter of a to-be-tested point at a current moment, and ephemeris data of a satellite corresponding to the current moment; the environmental parameter comprises attribute information of an occluder; the attribute information comprises position information of a highest point of the occluder, position information of a first surface of the occluder, and material of the occluder; determining, according to the position information of the highest point of the occluder, the position information of the first surface of the occluder, and the ephemeris data, first angle information between the occluder and the to-be-tested point in a geographic coordinate system, and second angle information between the satellite and the to-be-tested point in the geographic coordinate system; the first angle information comprises a first angle between a position where the highest point of the occluder is located and a horizon where the to-be-tested point is located, and a third angle between the first surface of the occluder and a north pole line where the to-be-tested point is located; the second angle information comprises a second angle between a position where the satellite is located and the horizon where the to-be-tested point is located, and a fourth angle between the position where the satellite is located and the north pole line where the to-be-tested point is located; in a case where the first angle is determined to be smaller than the second angle, determining whether the third angle is greater than the fourth angle, if yes, determining that the to-be-tested point is in an occluded state, and if no, determining that the to-be-tested point is in an unoccluded state; in a case where an included angle between a straight line between the satellite and the highest point of the occluder and the horizon is much smaller than an included angle between a straight line between the highest point of the occluder and the to-be-tested point and the horizon, and a ratio of a horizontal distance between the highest point of the occluder and the satellite to a horizontal distance between the satellite and the to-be-tested point is much smaller than a ratio of a vertical distance between the highest point of the occluder and the satellite to a vertical distance between the satellite and the to-be-tested point, determining that the to-be-tested point is in the occluded state; determining a signal strength of the to-be-tested point according to the occlusion relationship and the material of the occluder; the occlusion relationship represents a state of whether the to-be-tested point is occluded.

2. The method of claim 1, wherein, The determination of whether the first angle information and the second angle information satisfy a preset occlusion condition further comprises: determining whether the first angle is smaller than the second angle, if yes, determining that the first angle information and the second angle information satisfy the preset occlusion condition, and if no, determining that the first angle information and the second angle information do not satisfy the preset occlusion condition.

3. The method of claim 2, wherein, The ephemeris data comprises position information of the satellite, and the determination of the first angle information between the occluder and the to-be-tested point in the geographic coordinate system and the second angle information between the satellite and the to-be-tested point in the geographic coordinate system according to the attribute information of the occluder and the ephemeris data comprises: determining the first angle according to the position information of the highest point of the occluder and position coordinates of the to-be-tested point in the geographic coordinate system; determining the second angle according to the position information of the satellite and the position coordinates of the to-be-tested point in the geographic coordinate system.

4. The method of claim 1, wherein, The ephemeris data comprises position information of the satellite, the first angle information between the blocking object and the to-be-measured point in a geographical coordinate system and the second angle information between the satellite and the to-be-measured point in the geographical coordinate system are determined according to the attribute information of the blocking object and the ephemeris data, and the first angle information and the second angle information comprise: The third angle is determined according to the position information of the first face of the blocking object and the position coordinates of the to-be-measured point in the geographical coordinate system; The fourth angle is determined according to the position information of the satellite and the position coordinates of the to-be-measured point in the geographical coordinate system.

5. The method of claim 1, wherein, The first angle information further comprises a fifth angle between the second face of the blocking object and the north polar line where the to-be-measured point is located, the second angle information further comprises a sixth angle between the position where the satellite is located and the north polar line where the to-be-measured point is located, and the determination of whether the first angle information and the second angle information satisfy the preset blocking condition comprises: In a case where the third angle is greater than the fourth angle, it is determined whether the fifth angle is greater than the sixth angle, if yes, it is determined that the first angle information and the second angle information satisfy the preset blocking condition, and if no, it is determined that the first angle information and the second angle information do not satisfy the preset blocking condition.

6. The method of claim 5, wherein, The attribute information comprises position information of the second face of the blocking object, the ephemeris data comprises position information of the satellite, the first angle information between the blocking object and the to-be-measured point in a geographical coordinate system and the second angle information between the satellite and the to-be-measured point in the geographical coordinate system are determined according to the attribute information of the blocking object and the ephemeris data, and the first angle information and the second angle information comprise: The fifth angle is determined according to the position information of the second face of the blocking object and the position coordinates of the to-be-measured point in the geographical coordinate system; the distance between the second face and the north polar line is greater than the distance between the second face and the north polar line; The sixth angle is determined according to the position information of the satellite and the position coordinates of the to-be-measured point in the geographical coordinate system.

7. The method according to any one of claims 1 to 6, characterized in that, The signal strength of the to-be-measured point is determined according to the blocking relationship and the attribute information of the blocking object, comprising: In a case where the to-be-measured point is in a blocked state according to the blocking relationship, it is determined whether the material of the blocking object is of a shielding type, if yes, the signal strength of the to-be-measured point is determined as a preset value, and if no, the signal strength of the to-be-measured point is determined according to the signal strength of the satellite sending signal and a preset attenuation coefficient.

8. The method of claim 7, wherein, The signal strength of the to-be-measured point is determined according to the signal strength of the satellite sending signal and a preset attenuation coefficient, comprising: The preset attenuation coefficient is determined according to the material of the blocking object; The signal strength of the to-be-measured point is obtained by performing attenuation processing on the signal strength of the satellite sending signal according to the preset attenuation coefficient.

9. The method according to any one of claims 1 to 6, characterized in that, The environment parameter of the to-be-measured point at the current time is acquired, comprising: The position information of the to-be-tested point is input into a preset shielding model for analysis to obtain an environmental parameter of the to-be-tested point; the preset shielding model is constructed in advance according to a corresponding relationship between environmental parameters and position information of a plurality of to-be-tested points in a current environmental region.

10. A signal strength determination apparatus, characterized by The device comprises: The acquisition module is configured to acquire an environmental parameter of a to-be-tested point at a current time and ephemeris data of a satellite corresponding to the current time; the environmental parameter comprises attribute information of a shielding object; the attribute information comprises position information of a highest point of the shielding object, position information of a first surface of the shielding object, and a material of the shielding object; The first determination module is configured to determine, according to the position information of the highest point of the shielding object, the position information of the first surface of the shielding object, and the ephemeris data, first angle information between the shielding object and the to-be-tested point in a geographic coordinate system and second angle information between the satellite and the to-be-tested point in the geographic coordinate system; the first angle information comprises a first angle between a position where the highest point of the shielding object is located and a horizon where the to-be-tested point is located and a third angle between the first surface of the shielding object and a north pole line where the to-be-tested point is located; the second angle information comprises a second angle between a position where the satellite is located and the horizon where the to-be-tested point is located and a fourth angle between the position where the satellite is located and the north pole line where the to-be-tested point is located; in a case where the first angle is less than the second angle, it is determined whether the third angle is greater than the fourth angle; if yes, it is determined that the to-be-tested point is in a shielding state; if no, it is determined that the to-be-tested point is in a non-shielding state; in a case where an included angle between a straight line between the satellite and the highest point of the shielding object and the horizon is much smaller than an included angle between a straight line between the highest point of the shielding object and the to-be-tested point and the horizon, and a ratio of a horizontal distance between the highest point of the shielding object and the satellite to a horizontal distance between the satellite and the to-be-tested point is much smaller than a ratio of a vertical distance between the highest point of the shielding object and the satellite to a vertical distance between the satellite and the to-be-tested point, it is determined that the to-be-tested point is in the shielding state; The second determination module is configured to determine a signal strength of the to-be-tested point according to the shielding relationship and the material of the shielding object; the shielding relationship represents a state of whether the to-be-tested point is shielded. 11.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-10 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method of any one of claims 1 to 9.

12. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 9.

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