Atmosphere correction positioning method, system, device and medium based on low earth orbit satellite

Abstract

The application discloses a positioning method, system, device and medium based on low-orbit satellites, and relates to the technical field of navigation and positioning. The method comprises the following steps: a middle-end transmission device acquires original observation data broadcast by navigation satellites; the middle-end transmission device uploads atmospheric correction numbers to low-orbit satellites and uploads GNSS navigation text information to GNSS satellites; a user terminal receives the atmospheric correction numbers broadcast by the low-orbit satellites and receives the GNSS navigation text information broadcast by the GNSS satellites, and uses the atmospheric correction numbers and the GNSS navigation text information to solve and obtain the positioning result of the user terminal; and the satellite is used as a relay station of enhanced data to solve the problem that there is no mobile network coverage in complex terrain or unmanned areas, such as valleys and oceans; the low-orbit satellites are used to broadcast atmospheric correction information, and the Beidou signal is used to broadcast precise information such as clock error and orbit error, so that the problem of large amount of enhanced information and high satellite data bandwidth requirement is solved, and the satellite communication burden is reduced.

Description

Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and more specifically, to atmospheric correction positioning methods, systems, devices, and media based on low-Earth orbit satellites. Background Technology

[0002] With the advent of the Internet of Things era, the demand for high-precision location services from new mass users, such as drones and autonomous driving, is becoming increasingly urgent, and the application of PPP and PPP-RTK positioning methods is becoming more and more widespread. However, PPP has the problem of excessively long convergence time in achieving centimeter-level positioning, and it requires nearly half an hour of reconvergence when the signal is lost or interrupted, which hinders its application and promotion. In contrast, PPP-RTK technology uses existing ground-based reference networks to calculate atmospheric correction parameters and various error parameters in real time, and sends them to users through error modeling and other methods, which can quickly fix ambiguity and achieve instantaneous centimeter-level positioning.

[0003] However, the use of PPP-RTK technology has the following problems:

[0004] Currently, most domestic atmospheric correction products are broadcast to users through terrestrial mobile networks. However, due to the limited coverage of terrestrial networks, PPP-RTK technology is difficult to implement in uninhabited areas such as oceans and deserts. On the other hand, GNSS / BeiDou satellites broadcast their own messages (ephemeris, clock bias, time information) as well as precise clock bias and precise orbital errors, which places a heavy communication burden and requires high data bandwidth. Summary of the Invention

[0005] The purpose of this invention is to provide an atmospheric correction positioning method, system, device and medium based on low-Earth orbit satellites. It adopts a method of broadcasting augmentation information based on low-Earth orbit satellites and GNSS / BeiDou satellites to solve the problems of dependence on terrestrial networks and large data volume in augmentation information broadcasting, and to achieve PPP-RTK high-precision positioning.

[0006] The above-mentioned technical objective of the present invention is achieved through the following technical solution:

[0007] In a first aspect, embodiments of this application provide an atmospheric correction positioning method based on low-Earth orbit satellites, including a mid-range transmission device. The mid-range transmission device generates and uploads raw ephemeris and navigation enhancement information from the satellites. When a mobile network exists at the location of the user terminal, the mid-range transmission device transmits positioning information to the user terminal via the mobile network. The positioning information includes regional atmospheric correction information and observation data. The user terminal uses the acquired positioning information for positioning. When no mobile network exists at the location of the user terminal, the method includes:

[0008] Mid-range transmission equipment generates and uploads GNSS navigation message information and navigation enhancement data, with the navigation enhancement information including at least atmospheric corrections;

[0009] The intermediate transmission equipment uploads atmospheric correction data to the low-Earth orbit satellite and GNSS navigation message information to the GNSS satellite. The low-Earth orbit satellite and the GNSS satellite broadcast the atmospheric correction data and GNSS navigation message information respectively.

[0010] The user terminal receives atmospheric correction data broadcast by low-orbit satellites and GNSS navigation message information broadcast by GNSS satellites. It then uses the atmospheric correction data and GNSS navigation message information to perform calculations and obtain the positioning result of the user terminal.

[0011] The beneficial effects of this invention are: by using satellites as relay stations for augmented data, the problem of no mobile network coverage in areas with complex terrain or no one else, such as valleys and oceans, is solved; by using low-orbit satellites to broadcast atmospheric correction information, and by using BeiDou signals to broadcast precise information such as clock errors and orbital errors, the problem of large data volume of augmented information and high satellite data bandwidth requirements is solved, thus reducing the burden on satellite communication.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, the aforementioned GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of low-Earth orbit satellites and GNSS satellites.

[0014] The beneficial effect of adopting the above-mentioned further scheme is that GNSS satellite navigation signals and BeiDou satellite navigation signals can improve the positioning accuracy.

[0015] Furthermore, the aforementioned user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the positioning result of the user terminal is obtained by calculating using atmospheric corrections and GNSS navigation message information, including:

[0016] The radio frequency front-end processing unit performs down-conversion processing on the GNSS navigation message information to obtain an analog positioning signal in the form of an intermediate frequency signal; the radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in digital form that corresponds to the analog positioning signal.

[0017] The positioning information corresponding to the positioning signal is obtained through the baseband signal processing unit;

[0018] The positioning calculation unit demodulates the atmospheric correction data to obtain the ionospheric and tropospheric parameters. The positioning calculation unit then uses the ionospheric parameters, tropospheric parameters, and positioning information to perform joint calculations to obtain the positioning result of the user terminal.

[0019] Furthermore, the aforementioned intermediate transmission equipment includes at least a monitoring station, an operation and control center, and a gateway station connected in sequence. The intermediate transmission equipment monitors navigation satellites in real time, uploads the generated GNSS navigation message information to the GNSS satellites, and uploads atmospheric correction data to low-Earth orbit satellites, including:

[0020] The monitoring station monitors navigation satellites in real time, receives monitoring data transmitted from navigation satellites and ground monitoring data, and transmits it to the operation and control center. Navigation satellites include GNSS satellites and low-orbit satellites.

[0021] Based on monitoring data and ground monitoring data, the operation control center generates augmentation information and sends it to the gateway station via the ground network. The augmentation information includes GNSS navigation message information and atmospheric correction data.

[0022] Atmospheric correction data is uploaded to low-Earth orbit satellites via gateway stations, and GNSS navigation message information is uploaded to GNSS satellites.

[0023] Secondly, embodiments of this application provide an atmospheric correction positioning system based on low-Earth orbit (LEO) satellites, applicable to any of the LEO satellite-based atmospheric correction positioning methods in the first aspect. The system includes a mid-range transmission device for generating and uploading raw ephemeris and navigation enhancement information from satellites. When a mobile network exists at the location of the user terminal, the mid-range transmission device transmits positioning information to the user terminal via the mobile network. The positioning information includes regional atmospheric correction information and observation data. The user terminal uses the acquired positioning information for positioning. When no mobile network exists at the location of the user terminal, the system includes:

[0024] The signal acquisition module is used to generate and upload GNSS navigation message information and navigation enhancement data through intermediate transmission equipment. The navigation enhancement information includes at least atmospheric corrections.

[0025] The signal transmission module is used to upload atmospheric correction data to the low-Earth orbit satellite via intermediate transmission equipment and to upload GNSS navigation message information to the GNSS satellite. The low-Earth orbit satellite and the GNSS satellite broadcast the atmospheric correction data and the GNSS navigation message information respectively.

[0026] The positioning calculation module is used to receive atmospheric corrections broadcast by low-orbit satellites and GNSS navigation messages broadcast by GNSS satellites through the user terminal, and to perform calculations using the atmospheric corrections and GNSS navigation messages to obtain the positioning result of the user terminal.

[0027] Furthermore, in the aforementioned signal acquisition module, the GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of the low-Earth orbit satellite and the GNSS satellite.

[0028] Furthermore, the aforementioned user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the positioning calculation module includes:

[0029] The signal processing submodule is used to perform down-conversion processing on the GNSS navigation message information through the radio frequency front-end processing unit to obtain an analog positioning signal in the form of an intermediate frequency signal; the radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in digital form that corresponds to the analog positioning signal.

[0030] The information enhancement submodule is used to obtain the positioning information corresponding to the positioning signal through the baseband signal processing unit;

[0031] The demodulation operator module is used to demodulate the atmospheric correction data through the positioning calculation unit to obtain the ionospheric parameters and tropospheric parameters in the atmospheric correction data. The positioning calculation unit uses the ionospheric parameters, tropospheric parameters and positioning information to perform joint calculation to obtain the positioning result of the user terminal.

[0032] Furthermore, the aforementioned intermediate transmission equipment includes at least a monitoring station, an operation control center, and a gateway station connected in sequence, wherein the signal transmission module includes:

[0033] The signal receiving submodule is used to monitor navigation satellites in real time through the monitoring station, receive monitoring data transmitted from navigation satellites and ground monitoring data, and transmit them to the operation and control center. Navigation satellites include GNSS satellites and low-Earth orbit satellites.

[0034] The signal acquisition submodule is used to generate augmentation information based on monitoring data and ground monitoring data through the operation and control center, and send the augmentation information to the gateway station through the ground network. The augmentation information includes GNSS navigation message information and atmospheric correction data.

[0035] The signal broadcasting submodule is used to upload atmospheric correction data to low-Earth orbit satellites and GNSS navigation message information to GNSS satellites via gateway stations.

[0036] Thirdly, embodiments of this application provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of the first aspects.

[0037] Fourthly, embodiments of this application provide a non-transitory computer-readable storage medium that stores computer instructions that cause a computer to perform any of the methods in the first aspect.

[0038] Compared with the prior art, the present invention has at least the following beneficial effects:

[0039] By using satellites as relay stations for enhanced data, the problem of lack of terrestrial network (mobile network) coverage in areas with complex terrain or no one else, such as valleys and oceans, has been solved.

[0040] By broadcasting atmospheric correction information via low-orbit satellites and simultaneously using BeiDou signals to broadcast precise information such as clock bias and orbital error, the problems of large data volume and high satellite data bandwidth requirements for augmentation information are solved, reducing the burden on satellite communication. Finally, the delay is solved by using a grid model in the ionosphere and troposphere, achieving a positioning accuracy of centimeter level. Attached Figure Description

[0041] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0042] Figure 1 This is a flowchart of the positioning method in an embodiment of the present invention;

[0043] Figure 2 This is a connection diagram of the positioning system in an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the connection of the electronic device in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the positioning method in an embodiment of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0047] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0048] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0049] In the description of the embodiments of the present invention, "multiple" means at least two.

[0050] Example 1

[0051] This application provides an atmospheric correction positioning method based on low-Earth orbit satellites, including a mid-range transmission device. The mid-range transmission device generates and uploads raw ephemeris and navigation enhancement information from the satellites. When a mobile network exists at the user terminal's location, the mid-range transmission device transmits positioning information to the user terminal via the mobile network. The positioning information includes regional atmospheric correction information and observation data. The user terminal uses the acquired positioning information for positioning. When a mobile network does not exist at the user terminal's location, such as... Figure 1 As shown, the method includes:

[0052] S1, the intermediate transmission equipment generates and uploads GNSS navigation message information and navigation enhancement data, the navigation enhancement information including at least atmospheric corrections.

[0053] The role of the intermediate transmission equipment is to obtain the corresponding raw observation data from navigation satellites and then transmit the raw observation data to GNSS satellites and low-orbit satellites.

[0054] Optionally, the aforementioned GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of low-Earth orbit satellites and GNSS satellites.

[0055] The GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of low-orbit satellites and GNSS satellites, indicating that the intermediate transmission equipment acquires signals from at least the GNSS satellite navigation system and the BeiDou satellite navigation system. Specifically, the GNSS satellite navigation signal may include system identifier, satellite number, broadcast ephemeris (16 parameters), satellite clock bias, satellite clock data version number, group delay parameter, integrity parameter, and satellite monitoring information flag data, etc. The BeiDou satellite navigation signal may include precision corrections, including GNSS orbital error number, clock bias correction number, code deviation correction number, carrier phase deviation correction number, and distance accuracy index, etc.

[0056] S2, the intermediate transmission equipment uploads atmospheric correction data to the low-Earth orbit satellite and GNSS navigation message information to the GNSS satellite, and the low-Earth orbit satellite and GNSS satellite broadcast the atmospheric correction data and GNSS navigation message information respectively.

[0057] Optionally, the aforementioned intermediate transmission equipment includes at least a monitoring station, an operation control center, and a gateway station connected in sequence, see [link to relevant documentation]. Figure 4 The intermediate transmission equipment monitors navigation satellites in real time, uploads the generated GNSS navigation message information to the GNSS satellites, and uploads atmospheric correction data to low-Earth orbit satellites, including:

[0058] The monitoring station monitors navigation satellites in real time, receives monitoring data transmitted from navigation satellites and ground monitoring data, and transmits it to the operation and control center. Navigation satellites include GNSS satellites and low-orbit satellites.

[0059] Based on monitoring data and ground monitoring data, the operations control center generates augmentation information and sends it to the gateway station via the ground network. The augmentation information includes GNSS navigation message information and atmospheric correction data.

[0060] Atmospheric correction data is uploaded to low-Earth orbit satellites via gateway stations, and GNSS navigation message information is uploaded to GNSS satellites.

[0061] The communication burden is significant due to the broadcasting of GNSS / BeiDou satellite messages (ephemeris, clock bias, time information), as well as precise clock bias and precise orbital errors, resulting in high data bandwidth requirements. Therefore, atmospheric corrections are obtained through low-Earth orbit satellites. The two systems work together to achieve precise positioning. Specifically, the raw observation data is broadcast through three links, see [link to relevant documentation]. Figure 4 These can be GNSS satellite navigation signals, BDS-B2b signals (BeiDou satellite navigation signals), and low-Earth orbit (LEO) satellite communication signals. GNSS satellites broadcast GNSS navigation message information (including GNSS and BeiDou satellite navigation signals), while LEO satellites broadcast atmospheric corrections. Specifically, GNSS satellite navigation signals mainly broadcast system identifiers, satellite numbers, broadcast ephemeris (16 parameters), satellite clock bias, satellite clock data version number, group delay parameters, integrity parameters, and satellite monitoring information flags; BDS-B2b signals (BeiDou...)... Satellite navigation signals broadcast GNSS orbital error numbers, clock error correction numbers, code deviation correction numbers, carrier phase deviation correction numbers, and range accuracy indexes. Communication signals broadcast by low-Earth orbit satellites carry atmospheric correction parameters, which may include tropospheric correction numbers (tropospheric parameters) and ionospheric correction numbers (ionospheric parameters). The broadcast atmospheric correction parameters may include ionospheric grid model parameters, the corresponding ionospheric vertical delay at each grid point, and the tropospheric delay number. Ionospheric correction numbers are broadcast according to the number of GNSS satellites and frequency points, while tropospheric correction numbers are broadcast according to the grid point delay.

[0062] S3, the user terminal receives atmospheric correction data broadcast by low-orbit satellites and GNSS navigation message information broadcast by GNSS satellites, and uses the atmospheric correction data and GNSS navigation message information to perform calculations to obtain the positioning result of the user terminal.

[0063] In this process, without a mobile network, the user terminal acquires atmospheric correction data from low-Earth orbit satellites and GNSS navigation message information from GNSS satellites by having the function of obtaining raw observation data. The atmospheric correction data and GNSS navigation message information are then processed to obtain the positioning result of the user terminal, thus achieving the final positioning goal.

[0064] Among these methods, using satellites as relay stations for augmented data solves the problem of lack of terrestrial network (mobile network) coverage in complex terrain or uninhabited areas such as valleys and oceans; by using low-orbit satellites to broadcast atmospheric correction information and simultaneously using BeiDou signals to broadcast precise information such as clock bias and orbital error, the problems of large augmented information data volume and high satellite data bandwidth requirements are solved, reducing the burden on satellite communication; finally, by using a grid model to solve for the delay through the ionosphere and troposphere, the positioning accuracy reaches the centimeter level.

[0065] Optionally, the aforementioned user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the positioning result of the user terminal is obtained by calculating using atmospheric corrections and GNSS navigation message information, including:

[0066] The radio frequency front-end processing unit performs down-conversion processing on the GNSS navigation message information to obtain an analog positioning signal in the form of an intermediate frequency signal; the radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in the form of a digital quantity corresponding to the analog positioning signal.

[0067] The positioning information corresponding to the positioning signal is obtained through the baseband signal processing unit.

[0068] The positioning calculation unit demodulates the atmospheric correction data to obtain the ionospheric and tropospheric parameters. The positioning calculation unit then uses the ionospheric parameters, tropospheric parameters, and positioning information to perform joint calculations to obtain the positioning result of the user terminal.

[0069] After acquiring atmospheric correction data and GNSS navigation message information, the user terminal needs to perform calculations on the atmospheric correction data and GNSS navigation message information to obtain the positioning result from the calculation results. Specifically, the user terminal receives GNSS satellite navigation signals and BeiDou satellite navigation signals through a GNSS antenna. After filtering and amplification by the pre-filter and pre-amplifier in the radio frequency front-end processing unit, it undergoes down-conversion processing to obtain an analog positioning signal in the form of an intermediate frequency signal. Then, the analog positioning signal in the form of an intermediate frequency signal is converted into a digital positioning signal by the analog-to-digital (A / D) converter in the radio frequency front-end processing unit.

[0070] Specifically, the baseband digital signal processing unit captures and tracks the positioning signal output by the radio frequency front-end processing unit, obtaining GNSS pseudorange and carrier phase, as well as demodulated navigation messages, GNSS clock bias, and orbital error enhancement information. Simultaneously, the user terminal receives atmospheric correction data transmitted from low-Earth orbit satellites via USB or serial port. The positioning calculation unit receives and processes the navigation messages, observations, clock bias, and orbital error enhancement data transmitted from the baseband digital signal processing unit, as well as the atmospheric correction data transmitted from low-Earth orbit satellites. It combines the various data sources and flexibly uses the PPP-RTK algorithm to perform the required positioning calculation and other processing, ultimately outputting the positioning result.

[0071] The atmospheric corrections received by the user terminal can include ionospheric correction information (ionospheric parameters) and tropospheric correction information (tropospheric parameters). Both ionospheric correction information (ionospheric parameters) and tropospheric correction information (tropospheric parameters) are regional spatial state information. The user needs to calculate the ionospheric delay number and tropospheric delay number of the current region based on this information, so as to achieve rapid fixation of ambiguity.

[0072] Specifically, the ionospheric correction information includes grid model parameters, grid number, and the vertical ionospheric delay corresponding to each grid point. The ionospheric delay calculation process is as follows:

[0073] First, the user terminal's probabilistic location obtained from single-point positioning is used to determine whether it is within the target area. If not, the ionospheric correction information is invalid; if it is, proceed to the next step.

[0074] Secondly, the puncture point of the connection between the user terminal and the satellite in the ionosphere is calculated, and the ionospheric height is usually set to 300KM.

[0075] After calculating the latitude and longitude of the puncture point, the user needs to determine the ionospheric grid points to use based on the received grid mask information. The selection of ionospheric grid points is related to the latitude of the puncture point. The latitude determines the selected strategy, and the grid points around the puncture point and the number of grid points are determined according to the strategy.

[0076] Next, the vertical ionospheric delay number of the puncture point is calculated based on the vertical ionospheric delay number of the grid points around the puncture point. An appropriate function expression is used for interpolation, usually a four-point interpolation function, with an accuracy of centimeters.

[0077] Finally, the vertical ionospheric delay at the puncture point is multiplied by the tilt factor to obtain the ionospheric delay number at the puncture point. Similarly, the calculation process and method of the tropospheric parameters (tropospheric delay number) are the same as those of the ionospheric parameters. Furthermore, the calculation of the troposphere and ionosphere is already mature enough in the existing technology, and will not be elaborated here.

[0078] Example 2

[0079] This application provides an atmospheric correction positioning system based on low-Earth orbit (LEO) satellites, applicable to the LEO satellite-based atmospheric correction positioning method in any of Embodiment 1. The system includes a mid-range transmission device for generating and uploading raw ephemeris and navigation enhancement information from the satellites. When a mobile network exists at the user terminal's location, the mid-range transmission device transmits positioning information to the user terminal via the mobile network. The positioning information includes regional atmospheric correction information and observation data. The user terminal uses the acquired positioning information for positioning. When a mobile network does not exist at the user terminal's location, see [link to relevant documentation]. Figure 2 The system includes:

[0080] The signal acquisition module is used to generate and upload GNSS navigation message information and navigation enhancement data through intermediate transmission equipment. The navigation enhancement information includes at least atmospheric corrections.

[0081] Optionally, in the above signal acquisition module, the GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of the low-orbit satellite and the GNSS satellite.

[0082] The signal transmission module is used to upload atmospheric correction data to the low-Earth orbit satellite via intermediate transmission equipment and to upload GNSS navigation message information to the GNSS satellite. The low-Earth orbit satellite and the GNSS satellite broadcast the atmospheric correction data and the GNSS navigation message information respectively.

[0083] Optionally, the aforementioned intermediate transmission equipment includes at least a monitoring station, an operation control center, and a gateway station connected in sequence, wherein the signal transmission module includes:

[0084] The signal receiving submodule is used to monitor navigation satellites in real time through the monitoring station, receive monitoring data transmitted down from navigation satellites and ground monitoring data, and transmit them to the operation and control center. Navigation satellites include GNSS satellites and low-orbit satellites.

[0085] The signal acquisition submodule is used by the operation control center to generate augmentation information based on monitoring data and ground monitoring data, and then send the augmentation information to the gateway station via the ground network. The augmentation information includes GNSS navigation message information and atmospheric correction data.

[0086] The signal broadcasting submodule is used to upload atmospheric correction data to low-Earth orbit satellites and GNSS navigation message information to GNSS satellites via gateway stations.

[0087] The positioning calculation module is used to receive atmospheric corrections broadcast by low-orbit satellites and GNSS navigation messages broadcast by GNSS satellites through the user terminal, and to perform calculations using the atmospheric corrections and GNSS navigation messages to obtain the positioning result of the user terminal.

[0088] Optionally, the aforementioned user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the positioning calculation module includes:

[0089] The signal processing submodule is used to perform down-conversion processing on the GNSS navigation message information through the radio frequency front-end processing unit to obtain an analog positioning signal in the form of an intermediate frequency signal. The radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in the form of a digital quantity that corresponds to the analog positioning signal.

[0090] The information enhancement submodule is used to obtain the positioning information corresponding to the positioning signal through the baseband signal processing unit.

[0091] The demodulation operator module is used to demodulate the atmospheric correction data through the positioning calculation unit to obtain the ionospheric parameters and tropospheric parameters in the atmospheric correction data. The positioning calculation unit uses the ionospheric parameters, tropospheric parameters and positioning information to perform joint calculation to obtain the positioning result of the user terminal.

[0092] Example 3

[0093] This application provides an electronic device, see [link to relevant documentation] Figure 3 It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the methods in Embodiment 1.

[0094] Example 4

[0095] This application provides a non-transitory computer-readable storage medium that stores computer instructions that cause a computer to perform any of the methods in Embodiment 1.

[0096] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for atmospheric correction positioning based on low earth orbit satellites, comprising a middle-end transmission device for uploading original ephemeris and navigation enhancement information of satellites, characterized in that, When a mobile network exists at the location of the user terminal, the intermediate transmission device transmits the location information to the user terminal through the mobile network. The location information includes regional atmospheric correction information and observation data. The user terminal uses the acquired location information to perform positioning. When there is no mobile network at the location of the user terminal, the method includes: The intermediate transmission equipment generates and uploads GNSS navigation message information and navigation enhancement information, wherein the navigation enhancement information includes at least atmospheric corrections. The intermediate transmission device uploads the atmospheric correction data to the low-Earth orbit satellite and the GNSS navigation message information to the GNSS satellite. The low-Earth orbit satellite and the GNSS satellite broadcast the atmospheric correction data and the GNSS navigation message information, respectively. The user terminal receives atmospheric correction data broadcast by low-orbit satellites and GNSS navigation message information broadcast by GNSS satellites, and uses the atmospheric correction data and the GNSS navigation message information to perform calculations to obtain the positioning result of the user terminal.

2. The low earth orbit satellite based atmospheric correction positioning method of claim 1, wherein, The GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of the GNSS satellite.

3. The low earth orbit satellite based atmospheric correction positioning method of claim 1, wherein, The user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the user terminal uses the atmospheric correction and the GNSS navigation message information to calculate and obtain the positioning result of the user terminal, including: The radio frequency front-end processing unit performs down-conversion processing on the received BDS-B2b signal to obtain an analog positioning signal in the form of an intermediate frequency signal; the radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in digital form that corresponds to the analog positioning signal. The baseband signal processing unit obtains the corresponding positioning information from the positioning signal and the GNSS navigation message information. The positioning calculation unit demodulates the atmospheric correction data to obtain the ionospheric parameters and tropospheric parameters in the atmospheric correction data. The positioning calculation unit uses the ionospheric parameters, tropospheric parameters and positioning information to perform joint calculation to obtain the positioning result of the user terminal.

4. The low earth orbit satellite based atmospheric correction positioning method according to any one of claims 1-3, characterized in that, The intermediate transmission equipment includes at least a monitoring station, an operation control center, and a gateway station connected in sequence. The intermediate transmission equipment monitors navigation satellites in real time, uploads the generated GNSS navigation message information to the GNSS satellites, and uploads the atmospheric correction data to low-Earth orbit satellites, including: The monitoring station monitors navigation satellites in real time, receives monitoring data transmitted from navigation satellites and ground monitoring data, and transmits it to the operation and control center. The navigation satellites include GNSS satellites and low-orbit satellites. The operation control center generates enhanced information based on the monitoring data and ground monitoring data, and sends the enhanced information to the gateway station through the ground network. The enhanced information includes GNSS navigation message information and atmospheric corrections. The atmospheric correction data and the GNSS navigation message information are uploaded to the GNSS satellite through the gateway station.

5. The low earth orbit satellite based atmospheric correction positioning system according to any one of claims 1 to 4, characterized in that, It includes a mid-range transmission device, which is used to upload the original ephemeris and navigation enhancement information of the satellite. When there is a mobile network at the location of the user terminal, the mid-range transmission device transmits the positioning information to the user terminal through the mobile network. The positioning information includes regional atmospheric correction information and observation data. The user terminal uses the acquired positioning information to perform positioning. When there is no mobile network at the location of the user terminal, the system includes: The signal acquisition module is used to generate and upload GNSS navigation message information and navigation enhancement information through the intermediate transmission equipment, wherein the navigation enhancement information includes at least atmospheric corrections. The signal transmission module is used to upload the atmospheric correction data to the low-Earth orbit satellite through the intermediate transmission equipment, and to upload the GNSS navigation message information to the GNSS satellite. The low-Earth orbit satellite and the GNSS satellite respectively broadcast the atmospheric correction data and the GNSS navigation message information. The positioning calculation module is used to receive atmospheric corrections broadcast by low-orbit satellites and GNSS navigation messages broadcast by GNSS satellites through the user terminal, and to perform calculations using the atmospheric corrections and the GNSS navigation messages to obtain the positioning result of the user terminal.

6. The low earth orbit satellite based atmospheric correction positioning system of claim 5, wherein, In the signal acquisition module, the GNSS navigation message information includes at least the satellite ephemeris, orbit information, and clock information of the GNSS satellite.

7. The low earth orbit satellite based atmospheric correction positioning system of claim 5, wherein, The user terminal includes at least a radio frequency front-end processing unit, a baseband signal processing unit, and a positioning calculation unit connected in sequence; wherein, the positioning calculation module includes: The signal processing submodule is used to perform down-conversion processing on the received BDS-B2b signal through the radio frequency front-end processing unit to obtain an analog positioning signal in the form of an intermediate frequency signal; the radio frequency front-end processing unit also performs analog-to-digital conversion processing on the analog positioning signal to obtain a positioning signal in the form of a digital quantity corresponding to the analog positioning signal. The information enhancement submodule is used to obtain corresponding positioning information from the positioning signal and the GNSS navigation message information through the baseband signal processing unit; The demodulation operator module is used to demodulate the atmospheric correction data through the positioning calculation unit to obtain the ionospheric parameters and tropospheric parameters in the atmospheric correction data. The positioning calculation unit uses the ionospheric parameters, tropospheric parameters and positioning information to perform joint calculation to obtain the positioning result of the user terminal.

8. The low earth orbit satellite based atmospheric correction positioning system according to any one of claims 5-7, characterized in that, The intermediate transmission equipment includes at least a monitoring station, an operation control center, and a gateway station connected in sequence, wherein the signal transmission module includes: The signal receiving submodule is used to monitor navigation satellites in real time through the monitoring station, receive monitoring data and ground monitoring data transmitted by the navigation satellites and transmit them to the operation and control center. The navigation satellites include GNSS satellites and low-orbit satellites. The signal acquisition submodule is used to generate enhanced information based on monitoring data and ground monitoring data through the operation and control center and send the enhanced information to the gateway station through the ground network. The enhanced information includes GNSS navigation message information and atmospheric correction data. The signal broadcasting submodule is used to upload the atmospheric correction data to the low-orbit satellite and the GNSS navigation message information to the GNSS satellite through the gateway station.

9. An electronic device, comprising: It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of any one of claims 1-4.

10. A non-transitory computer-readable storage medium, comprising: The non-transitory computer-readable storage medium stores computer instructions that cause the computer to perform the method of any one of claims 1-4.

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