Satellite positioning method and apparatus

Abstract

The application discloses a satellite positioning method, which comprises the following steps: acquiring current satellite positioning information and satellite information used for current satellite positioning through a global navigation satellite system on the side of a positioning device; identifying a stable critical point by using the satellite information and the displacement between the current satellite positioning information and adjacent satellite positioning information adjacent to the current satellite positioning information in time, wherein the stable critical point is used for representing the timing of obtaining a first positioning accuracy within a first time in a positioning process; determining the satellite positioning information acquired at the stable critical point as a satellite positioning result; and ending satellite positioning. The application solves the defects in the prior art, i.e., the need to increase hardware and / or improve satellite positioning accuracy based on a large amount of satellite positioning data.

Description

Technical Field

[0001] This invention relates to the field of location positioning, and in particular, to a satellite positioning method. Background Technology

[0002] GNSS (Global Navigation Satellite System) is a space-based radio navigation and positioning system that uses artificial Earth satellites for point measurement. It provides users with all-weather 3D coordinates, velocity, and time information at any location on the Earth's surface or in near-Earth space. Currently, there are four major GNSS systems globally: the US GPS (Global Positioning System), Russia's GLONASS, the EU's GALILEO (Galileo satellite navigation system), and China's BeiDou Navigation Satellite System.

[0003] Currently, there are multiple global satellite positioning systems, all operating on similar principles. They measure the distance between satellites at a known location and the user's receiver, then combine data from multiple satellites to calculate the receiver's position. Take GPS, the most widely used system, as an example. This positioning system consists of 24 satellites evenly distributed across six orbital planes, with four satellites in each plane. These orbital planes maintain a certain angle relative to the Earth's equatorial plane, ensuring that at least four satellites can be detected at any location and at any time globally. Because the satellites are extremely far from the Earth's surface, it takes time for a ground-based receiver to detect their signals. This also means that maintaining communication with satellites at such great distances consumes a significant amount of power. Therefore, user devices typically only activate the satellite positioning function when needed and deactivate it once the positioning result is obtained.

[0004] Existing satellite positioning methods mainly fall into two categories: one is fusion positioning, which combines satellite positioning with other positioning methods (such as Wi-Fi, base stations, etc.) to improve the accuracy of the final positioning result. This method increases the hardware cost of the positioning equipment. The other is for positioning scenarios involving continuous movement, such as driving route navigation. Based on satellite positioning data, it smoothly corrects any deviations along the trajectory path and uses the corrected positioning result as the satellite positioning result. This method requires a large amount of satellite positioning data, resulting in a longer positioning process. Summary of the Invention

[0005] This invention provides a satellite positioning method to obtain the most accurate satellite positioning results within a limited time.

[0006] This application provides a satellite positioning method, which includes:

[0007] On the positioning device side,

[0008] By using the Global Navigation Satellite System, we obtain current satellite positioning information and satellite information used for current satellite positioning.

[0009] By utilizing the satellite information and the displacement between the current satellite positioning information and the adjacent satellite positioning information that is temporally close to the current satellite positioning information, a stable critical point is identified. This stable critical point characterizes the opportunity to obtain a first positioning accuracy within a first time frame during the positioning process.

[0010] The satellite positioning information obtained at the stable critical point is determined as the satellite positioning result, and the satellite positioning ends.

[0011] Preferably, the step of identifying a stable critical point using the satellite information and the displacement between the current satellite positioning information and the adjacent satellite positioning information that is temporally adjacent to the current satellite positioning information includes:

[0012] Based on the satellite information, the reliability of the current satellite positioning information is determined, whereby the reliability characterizes the probability that the current satellite positioning information reaches a set accuracy threshold.

[0013] Calculate the displacement between the current satellite positioning information and the previous satellite positioning information that is adjacent to the current satellite positioning information in time.

[0014] Based on the displacement, the stability of the current satellite positioning information is determined, wherein the stability is used to characterize the stability of the current satellite positioning information.

[0015] Based on the stability of the current satellite positioning information, determine whether the stability has reached the stability threshold corresponding to the credibility of the current satellite positioning information. If so, determine that the current position is at the critical point of stability.

[0016] in,

[0017] Each level of confidence corresponds to a stability threshold.

[0018] Preferably, determining the reliability of the current satellite positioning information based on the satellite information includes:

[0019] The confidence level is determined based on the number of satellites searched when obtaining the current satellite positioning information and the average value of the searched satellite signals.

[0020] in,

[0021] The higher the credibility level, the higher the credibility.

[0022] The mean of the satellite signals found is the average of the total number of satellite signals found from each satellite relative to the number of satellites found.

[0023] Preferably, determining the stability of the current satellite positioning information based on the displacement includes:

[0024] Determine whether the displacement is not greater than a set distance threshold. If it is, assign a stability value of a set first value; otherwise, assign a stability value of a set second value.

[0025] in,

[0026] The higher the stability, the larger the stability value, with the first value being greater than the second value;

[0027] The distance threshold varies depending on the distance the positioning device travels.

[0028] Preferably, the distance threshold is the sum of a fixed threshold and the moving distance of the positioning device.

[0029] in,

[0030] The fixed threshold is determined based on the equipment parameters of the positioning device.

[0031] The distance traveled by the positioning device is calculated based on the acquired acceleration information, the time information between the current satellite positioning information and the previous satellite positioning information.

[0032] Preferably, the step of determining whether the stability reaches the stability threshold corresponding to the reliability of the current satellite positioning information based on the stability of the current satellite positioning information further includes:

[0033] If the stability does not reach the stability threshold corresponding to the credibility of the current satellite positioning information, it is determined that the current position is not at a stable critical point, and the next satellite positioning information is obtained.

[0034] Preferably, obtaining the current satellite positioning information includes:

[0035] Satellite positioning information is acquired periodically according to the set periodic intervals;

[0036] The step of using satellite positioning information acquired at a stable critical point as the satellite positioning result includes:

[0037] If the current location is at a stable critical point, then the current satellite positioning information will be used as the satellite positioning result.

[0038] or,

[0039] The satellite positioning information obtained after reaching the stable critical point is used as the satellite positioning result;

[0040] The global navigation satellite system includes at least one of the following: BeiDou Navigation Satellite System, GPS, GLONASS, and GALILEO.

[0041] This application provides a positioning device, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of any of the satellite positioning methods described above.

[0042] Preferably, the positioning device is a wearable electronic device.

[0043] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of any of the satellite positioning methods described above.

[0044] The satellite positioning method provided in this application identifies stable critical points by utilizing the satellite information and the displacement between the current satellite positioning information and the adjacent satellite positioning information that is temporally adjacent to the current satellite positioning information. The satellite positioning information obtained at the stable critical point is determined as the satellite positioning result, thereby obtaining the highest possible satellite positioning accuracy in the shortest possible time. Without adding hardware or requiring a large amount of satellite positioning data, this method solves the defects of the prior art that require adding hardware and / or relying on a large amount of satellite positioning data to improve satellite positioning accuracy, and is beneficial to the power consumption control of the positioning device. Attached Figure Description

[0045] Figure 1 This is a schematic diagram illustrating the qualitative relationship between positioning time and positioning accuracy.

[0046] Figure 2 This is a schematic flowchart of a satellite positioning method according to an embodiment of this application.

[0047] Figure 3 This is a flowchart illustrating a satellite positioning method based on a stable critical point, as described in an embodiment of this application.

[0048] Figure 4 This is a schematic diagram of a satellite positioning device according to an embodiment of this application.

[0049] Figure 5 This is another schematic diagram of a satellite positioning device according to an embodiment of this application. Detailed Implementation

[0050] To make the objectives, technical means, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings.

[0051] The applicant discovered that, based on the basic principles of satellite positioning, after activating the satellite positioning function, the positioning device (such as a user receiver) continuously searches for satellite signals. Once it receives signals from a set number of satellites, it can output satellite positioning information. For example, in a GPS positioning system, it can output positioning information after receiving signals from at least four satellites. However, because the initial number of satellites receiving signals is small, or the optimal angle and signal haven't yet been found, the output positioning information may have a significant deviation (actual test deviations range from tens to hundreds of meters). If positioning is stopped at this point, the positioning result is likely to deviate significantly from the actual location. If the satellite signal search time is extended, the number of satellites receiving signals increases, and the optimal angle and signal for the current location can be found, resulting in a more accurate positioning result. Once a certain critical point is reached, when the positioning information is already relatively accurate, for example, with a deviation of about 10 meters, continuing satellite signal searching and positioning at this point offers little or no improvement in positioning accuracy, while unnecessarily consuming device power.

[0052] To facilitate understanding, we can use a curve to describe the qualitative relationship between positioning time and positioning accuracy. (See also...) Figure 1 As shown, Figure 1 This is a schematic diagram illustrating the qualitative relationship between positioning time and positioning accuracy. As shown in the figure, the horizontal axis represents the duration of the positioning process from when the satellite positioning function is activated, and the vertical axis represents the accuracy of the satellite positioning information. As can be seen from the figure, there may be fluctuations in the early stage, a relatively rapid increase in the middle stage, and a slower increase followed by a period of stabilization in the later stage. Thus, it can be seen that there are several inflection points in the positioning accuracy from the middle stage to the later stage, and these inflection points may be critical points.

[0053] In view of this, this application proposes a satellite positioning method that controls the shutdown of the satellite positioning function based on a stable critical point, and uses the satellite positioning information obtained at the stable critical point as the final positioning result. The stable critical point characterizes the moment when a first positioning accuracy is achieved within a first time period, corresponding to a stable inflection point in the set of inflection points included in the process of positioning accuracy increasing rapidly and then slowly. The stable critical point can describe the opportunity to obtain relatively accurate satellite positioning information in the shortest possible time. Thus, by identifying the stable critical point, positioning can be terminated at the optimal time, minimizing power consumption while obtaining a highly accurate positioning result.

[0054] See Figure 2 As shown, Figure 2This is a flowchart illustrating a satellite positioning method implemented according to an embodiment of this application. The method is applied to the positioning device side; it should be understood that the positioning device includes, but is not limited to, any electronic device capable of satellite positioning, such as wearable terminal devices and smart terminals. The method includes:

[0055] Step 201: Obtain current satellite positioning information and satellite information used for current satellite positioning through the Global Navigation Satellite System.

[0056] In this step, at least one of the following global navigation satellite systems is used: BeiDou Navigation Satellite System, GPS, GLONASS, and GALILEO.

[0057] As an example, satellite positioning information can be acquired periodically according to a set periodic interval. For example, positioning information can be output every 1 second, and satellite information used for current satellite positioning can also be saved, including the number of satellites searched and the satellite signals themselves.

[0058] Step 202: Using the satellite information and the displacement between the current satellite positioning information and the adjacent satellite positioning information that are time-adjacent to the current satellite positioning information, identify whether the current positioning is at a stable critical point.

[0059] in,

[0060] The stable critical point is used to characterize the timing of achieving the first positioning accuracy within the first time frame during the positioning process. The first time frame broadly refers to the shortest possible positioning time during the positioning process, while the first positioning accuracy broadly refers to the most accurate positioning information possible. Figure 1 In other words, it can be understood as the inflection point where the positioning accuracy reaches the set accuracy threshold within a set time threshold.

[0061] Adjacent satellite positioning information can be the previous satellite positioning information that is adjacent to the current satellite positioning information in time, or it can be the next satellite positioning information.

[0062] As an example, identifying stable critical points includes:

[0063] Based on satellite information, the credibility of the current satellite positioning information is determined. Credibility is used to characterize the probability that the current satellite positioning information reaches a set accuracy threshold. The more satellites searched and the higher the average value of all satellite signals searched, the higher the credibility of the current satellite positioning information.

[0064] Credibility can be measured using a credibility level; for example, a higher credibility level indicates greater reliability of the current satellite positioning information. It should be understood that credibility can also be measured numerically.

[0065] Calculate the displacement between the current satellite positioning information and the previous satellite positioning information, that is, calculate the distance between the two based on the coordinate information in the positioning information.

[0066] Based on the displacement, the stability of the current satellite positioning information is determined. Stability characterizes the stability of the current satellite positioning information and can be measured using a stability value. For example, a larger stability value indicates greater stability. If the displacement is not greater than a set distance threshold, it indicates that the stability of the current satellite positioning information is high; otherwise, it indicates that the stability of the current satellite positioning information is low. The distance threshold varies with the moving speed of the positioning device; specifically, it is related to a fixed threshold and the moving distance of the positioning device.

[0067] Based on the stability of the current satellite positioning information, determine whether the stability has reached the stability threshold corresponding to the credibility of the current satellite positioning information. If it has, then the current satellite positioning information is determined to be at a stable critical point; otherwise, the current satellite positioning information is determined not to be at a stable critical point.

[0068] in,

[0069] Each level of confidence corresponds to its own stability threshold, and different levels of confidence correspond to different stability thresholds.

[0070] Step 203: Use the satellite positioning information obtained at the stable critical point as the satellite positioning result, and end the satellite positioning process.

[0071] As an example, if the current satellite positioning information is at a stable critical point, then the current satellite positioning information is used as the satellite positioning result. Alternatively, the next satellite positioning information obtained after the stable critical point and which is adjacent to the current satellite positioning information in time is used as the satellite positioning result. After obtaining the satellite positioning result, the satellite positioning function is turned off to end the satellite positioning process.

[0072] This application embodiment detects and identifies stable critical points by assessing the reliability and stability of the current positioning information. The positioning information obtained based on the stable critical points is used as the positioning result, which not only achieves high positioning accuracy but also terminates the positioning at an appropriate time. Furthermore, the entire positioning process requires less positioning information data, avoiding the shortcomings of existing technologies that require a large amount of positioning information for correction. This improves the accuracy of satellite positioning results without adding extra hardware.

[0073] To facilitate understanding of the embodiments of this application, detailed descriptions are provided below.

[0074] See Figure 3 As shown, Figure 3This is a flowchart illustrating a satellite positioning method based on a stable critical point, according to an embodiment of this application. The method includes, on the positioning device side, such as a wearable terminal device, a smart terminal, or other electronic device side, initiating satellite positioning...

[0075] Step 301: Search for satellite signals to obtain current location information.

[0076] For example, location information can be output at set time intervals.

[0077] Step 302: Obtain the reliability of the current satellite positioning information.

[0078] In this step, reliability is used to characterize the probability that the positioning information reaches a set accuracy threshold. The higher the reliability, the greater the probability that the positioning information reaches the set accuracy threshold. As an example, the reliability of the current positioning information can be determined based on the satellite information used for positioning corresponding to the current positioning information. Specifically, the reliability of the current positioning information is determined based on the number of satellites searched during the acquisition of the current positioning information and the average value of the total signal of each source satellite searched relative to the number of satellites searched. The more satellites searched and the higher the average value of all satellite signals searched relative to the number of satellites, the higher the reliability of the current satellite positioning information.

[0079] The average value of the searched satellite signals can be expressed mathematically as follows:

[0080]

[0081] Where s is the average value of the satellite signals searched. The signal originating from satellite m is the satellite signal found, and M is the total number of satellites found.

[0082] As one implementation method, different levels of credibility can be distinguished using different levels. Without loss of generality, there can be n levels of credibility, and the credibility range corresponding to each level can be the same or different. For example, there can be three levels of credibility: high, medium, and low.

[0083] Step 303: Obtain the stability of the current satellite positioning information.

[0084] In this step, the stability of the satellite positioning information is evaluated using two time-adjacent satellite positioning data points.

[0085] Specifically, calculate the straight-line distance (displacement) between the current satellite positioning information and the previous satellite positioning information that is adjacent to the current satellite positioning information in time, and perform the following judgments and processing:

[0086] If the straight-line distance is less than or equal to (fixed threshold + moving distance), it means that the two adjacent positioning information are stable. Assign the first value to the stable value, for example, increment it by 1, which is equivalent to counting and obtaining the stability of the current satellite positioning information, that is, the current stability. Otherwise, it means that the two adjacent positioning information are not stable. Assign the stable value to the second value, for example, reset it to 0, and return to step 301 to obtain the next satellite positioning information.

[0087] in,

[0088] The fixed threshold is determined by the device parameters of the positioning device itself, such as the chip type.

[0089] The moving distance is the actual distance traveled by the positioning device.

[0090] If the positioning device is currently stationary, the movement distance is 0.

[0091] If the positioning device is in motion, the distance between the two positioning times is calculated based on the acceleration information output by the satellite positioning system and the time information between the current satellite positioning information and the previous satellite positioning information.

[0092] This also means that the distance threshold used for comparison varies depending on the moving speed of the positioning device. The distance threshold is smallest when the device is stationary. The faster the positioning device moves and the greater the distance it moves, the larger the corresponding distance threshold becomes.

[0093] It should be understood that a stabilization operation is performed on each satellite positioning information, so that the stability of the satellite positioning information can be obtained through the stability.

[0094] Step 304: Based on the current stability, identify whether it is at a critical point of stability.

[0095] If so, it is determined that a stable critical point has been reached, and the current positioning information or the next positioning information that is adjacent to the current positioning information in time is taken as the final positioning result, and the satellite positioning function is turned off.

[0096] Otherwise, return to step 301 to obtain the next satellite positioning information.

[0097] In this step, the stability critical point is identified in the following way:

[0098] Determine whether the stability of the current satellite positioning information is greater than the stability threshold corresponding to the credibility of the current positioning information. If it is, it is determined to be at the critical point of stability; otherwise, it is determined not to be at the critical point of stability.

[0099] Different levels of credibility correspond to different stability thresholds. The higher the credibility level, the lower the corresponding stability threshold. For example, the stability threshold for high-level credibility is 1, for medium-level credibility it is 2, and for low-level credibility it is 3. See the table below for examples; different levels of credibility correspond to different stability thresholds.

[0100]

[0101] This embodiment uses a dynamic distance threshold to accommodate various positioning scenarios, including stationary, slow-moving (such as walking), and fast-moving (such as driving) scenarios. This embodiment requires no additional hardware costs and only needs to compare a small amount of satellite positioning data to obtain highly accurate positioning results while minimizing power consumption. It is suitable for scenarios with high requirements for power control and positioning accuracy, such as wearable devices.

[0102] See Figure 4 As shown, Figure 4 This is a schematic diagram of a satellite positioning device according to an embodiment of this application. The device includes:

[0103] The positioning information acquisition module is used to acquire current satellite positioning information and satellite information used for current satellite positioning through the Global Navigation Satellite System.

[0104] The stable critical point identification module is used to identify stable critical points by utilizing the satellite information and the displacement between the current satellite positioning information and the previous satellite positioning information that is temporally adjacent to the current satellite positioning information. The stable critical point is used to characterize the timing of obtaining the first positioning accuracy in the first time period during the positioning process.

[0105] The positioning result output module is used to determine the satellite positioning information acquired at the stable critical point as the satellite positioning result and end the satellite positioning process.

[0106] in,

[0107] The positioning information acquisition module is configured to periodically acquire satellite positioning information at set intervals.

[0108] The stable critical point identification module is configured as follows:

[0109] Based on the satellite information, the reliability of the current satellite positioning information is determined, whereby the reliability characterizes the probability that the current satellite positioning information reaches a set accuracy threshold.

[0110] Calculate the displacement between the current satellite positioning information and the previous satellite positioning information.

[0111] Based on the displacement, the stability of the current satellite positioning information is determined, wherein the stability is used to characterize the stability of the current satellite positioning information.

[0112] Based on the stability of the current satellite positioning information, determine whether the stability has reached the stability threshold corresponding to the credibility of the current satellite positioning information. If so, determine that the current location is at a critical point of stability.

[0113] The positioning result output module is configured to: if the current point is a stable critical point, use the current satellite positioning information as the satellite positioning result; or, use satellite positioning information obtained after the point is a stable critical point as the satellite positioning result.

[0114] See Figure 5 As shown, Figure 5 This is another schematic diagram of a satellite positioning device according to an embodiment of this application. The device includes a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to implement the steps of the satellite positioning method according to an embodiment of this application.

[0115] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0116] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0117] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of a satellite positioning method.

[0118] For the device / network-side equipment / storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant parts can be referred to in the description of the method embodiments.

[0119] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0120] The above description is only a preferred embodiment of the present invention and is not intended to limit 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 satellite positioning method, characterized in that, The method includes: On the positioning device side, By using the Global Navigation Satellite System, we obtain current satellite positioning information and satellite information used for current satellite positioning. By utilizing the satellite information and the displacement between the current satellite positioning information and the adjacent satellite positioning information that is temporally close to the current satellite positioning information, a stable critical point is identified. This stable critical point characterizes the opportunity to obtain a first positioning accuracy within a first time frame during the positioning process. The satellite positioning information obtained at the stable critical point is determined as the satellite positioning result, and the satellite positioning is terminated. The step of identifying stable critical points using the satellite information and the displacement between the current satellite positioning information and adjacent satellite positioning information that are time-adjacent to the current satellite positioning information includes: Based on the satellite information, the reliability of the current satellite positioning information is determined. Reliability characterizes the probability that the current satellite positioning information reaches a set accuracy threshold. Each reliability level corresponds to a stability threshold. Calculate the displacement between the current satellite positioning information and the previous satellite positioning information that is adjacent to the current satellite positioning information in time. Based on the displacement, the stability of the current satellite positioning information is determined, wherein the stability is used to characterize the stability of the current satellite positioning information. Based on the stability of the current satellite positioning information, determine whether the stability has reached the stability threshold corresponding to the credibility of the current satellite positioning information. If so, determine that the current position is at the critical point of stability. Determining the reliability of the current satellite positioning information based on the satellite information includes: The confidence level is determined based on the number of satellites searched when obtaining the current satellite positioning information and the average value of the searched satellite signals. in, The higher the credibility level, the higher the credibility. The mean of the satellite signals found is the average of the total number of satellite signals found from each satellite relative to the number of satellites found.

2. The satellite positioning method as described in claim 1, characterized in that, The determination of the stability of the current satellite positioning information based on the displacement includes: Determine whether the displacement is not greater than a set distance threshold. If it is, assign a stability value of a set first value; otherwise, assign a stability value of a set second value. in, The higher the stability, the larger the stability value, with the first value being greater than the second value; The distance threshold varies depending on the distance the positioning device travels.

3. The satellite positioning method as described in claim 2, characterized in that, The distance threshold is the sum of a fixed threshold and the moving distance of the positioning device. in, The fixed threshold is determined based on the equipment parameters of the positioning device. The distance traveled by the positioning device is calculated based on the acquired acceleration information, the time information between the current satellite positioning information and the previous satellite positioning information.

4. The satellite positioning method as described in claim 2, characterized in that, The step of determining whether the stability based on the stability of the current satellite positioning information reaches the stability threshold corresponding to the reliability of the current satellite positioning information further includes: If the stability does not reach the stability threshold corresponding to the credibility of the current satellite positioning information, it is determined that the current position is not at a stable critical point, and the next satellite positioning information is obtained.

5. The satellite positioning method as described in claim 2, characterized in that, The acquisition of current satellite positioning information includes: Satellite positioning information is acquired periodically according to the set periodic intervals; The step of using satellite positioning information acquired at a stable critical point as the satellite positioning result includes: If the current location is at a stable critical point, then the current satellite positioning information will be used as the satellite positioning result. or, The satellite positioning information obtained after reaching the stable critical point is used as the satellite positioning result; The global navigation satellite system includes at least one of the following: BeiDou Navigation Satellite System, GPS, GLONASS, and GALILEO.

6. A positioning device, characterized in that, The device includes a memory and a processor, the memory storing a computer program and the processor being configured to execute the computer program to implement the steps of the satellite positioning method as described in any one of claims 1 to 5.

7. The positioning device as described in claim 6, characterized in that, The positioning device is a wearable electronic device.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the satellite positioning method as described in any one of claims 1 to 5.

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