Map updating method and system based on satellite communication

Abstract

The present application discloses a map updating method and system based on satellite communication. It relates to the field of satellite technology. The method includes: the gateway determines the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, and regards the area outside the positioning range as the area outside the positioning range; the gateway sends the first navigation data of the area within the positioning range to the low-orbit satellite through the first feeder link, and sends the second navigation data of the area outside the positioning range to the high-orbit satellite through the second feeder link; the low-orbit satellite sends the first navigation data to the vehicle-mounted terminal through the first user link; the high-orbit satellite sends the second navigation data to the vehicle-mounted terminal through the second user link; and the vehicle-mounted terminal updates the map according to the first navigation data and the second navigation data. It solves the technical problem that the vehicle-mounted terminal in the prior art only communicates through low-orbit satellites or high-orbit satellites, which has high limitations.

Description

Technical Field

[0001] The present application relates to the field of satellite technology, and in particular to a map updating method and system based on satellite communication. Background Art

[0002] With the in-depth development of Internet of Vehicles technology, the communication connection between vehicle terminals and digital map servers has become increasingly close and efficient. By utilizing advanced communication technologies such as 5G networks and V2X (Vehicle-to-Everything) technology, vehicle terminals can exchange data with digital map servers in the cloud in real time, which not only enhances navigation accuracy, but also provides drivers with richer information and services.

[0003] First, the vehicle terminal determines the precise location of the vehicle through GPS (Global Positioning System) or other positioning technologies, and sends this information to the digital map server. The digital map server calculates the best driving route based on multiple factors such as current traffic conditions, road closures, and weather conditions, and feeds the above map information back to the vehicle terminal in real time. The vehicle terminal then displays the above map information through the pre-installed digital map application corresponding to the digital map server, allowing the driver to respond to various changes on the road in a timely manner based on real-time map information.

[0004] However, although the continuous advancement of mobile network technology has greatly enhanced the communication capabilities of vehicle-mounted terminals, mobile networks are still susceptible to environmental factors, especially in severe weather conditions such as heavy rain, heavy snow or extreme climate events, which may cause signal weakening or even complete interruption, seriously affecting the stability of the mobile network of vehicle-mounted terminals and hindering the real-time transmission of map information.

[0005] To cope with this situation, the vehicle terminal is designed with a flexible communication switching mechanism, which can automatically switch to satellite communication mode when the mobile network is unavailable, ensuring the continuity and reliability of map information. Satellite communications are carried out through low-orbit satellites or high-orbit satellites, and each type of satellite has its own unique advantages and disadvantages. Although low-orbit satellites can provide lower communication latency, their coverage is limited, and due to the rapid movement of satellites, the coverage area is not fixed; while high-orbit satellites have a fixed coverage area and can provide a large amount of data transmission, but the communication latency is relatively high. Therefore, in the prior art, there are high limitations in the methods of satellite communications through low-orbit satellites or through high-orbit satellites.

[0006] With respect to the technical problem that the vehicle-mounted terminal in the above-mentioned prior art can only communicate via low-orbit satellites or high-orbit satellites, which has high limitations, no effective solution has been proposed so far. Summary of the invention

[0007] The embodiments of the present application provide a map updating method and system based on satellite communication, so as to at least solve the technical problem in the prior art that the vehicle-mounted terminal can only communicate through low-orbit satellites or high-orbit satellites and has high limitations.

[0008] According to one aspect of an embodiment of the present application, a map updating method based on satellite communication is provided, comprising: a gateway determines an area within a positioning range with current coordinate information of a vehicle-mounted terminal as a center, and regards an area outside the positioning range as an area outside the positioning range; the gateway sends first navigation data of the area within the positioning range to a low-orbit satellite via a first feeder link, and sends second navigation data of the area outside the positioning range to a high-orbit satellite via a second feeder link; the low-orbit satellite sends the first navigation data to the vehicle-mounted terminal via a first user link; the high-orbit satellite sends the second navigation data to the vehicle-mounted terminal via a second user link; and the vehicle-mounted terminal updates the map according to the first navigation data and the second navigation data.

[0009] According to another aspect of an embodiment of the present application, a map update system based on satellite communication is also provided, comprising: a vehicle-mounted terminal, a gateway station, a low-orbit satellite and a high-orbit satellite, wherein the gateway station is configured to perform the following operations: determine the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, and regard the area outside the positioning range as the area outside the positioning range; send the first navigation data of the area within the positioning range to the low-orbit satellite through a first feeder link, and send the second navigation data of the area outside the positioning range to the high-orbit satellite through a second feeder link, and the low-orbit satellite is configured to perform the following operations: send the first navigation data to the vehicle-mounted terminal through a first user link, and the high-orbit satellite is configured to perform the following operations: send the second navigation data to the vehicle-mounted terminal through a second user link, and the vehicle-mounted terminal is configured to perform the following operations: update the map according to the first navigation data and the second navigation data.

[0010] According to another aspect of an embodiment of the present application, there is also provided an integrated electronic system, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above method.

[0011] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0012] According to another aspect of the embodiments of the present application, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0013] In the embodiment of the present application, the gateway station finely divides the area within the positioning range close to the vehicle terminal and the area outside the positioning range that is farther away based on the current coordinate information provided by the vehicle terminal. Subsequently, the gateway station transmits the navigation data of the area within the positioning range through low-orbit satellites, because low-orbit satellites can provide extremely low communication delays, although the amount of data transmitted in a single transmission is relatively small; and for the navigation data of the area outside the positioning range, it is transmitted with the help of high-orbit satellites. Although the communication delay of high-orbit satellites is higher, they can support a larger amount of data transmission, ensuring the detailed and timely update of remote area information.

[0014] This technical solution combines low-orbit satellites and high-orbit satellites, making full use of the low-latency characteristics of low-orbit satellites and the wide coverage and high data transmission capacity of high-orbit satellites. This allows this technical solution to not only maintain real-time updates and stable transmission of navigation data in various complex environments, meeting the driver's needs for instant information, but also effectively avoids the limitations caused by a single satellite communication method, such as excessive communication delays or insufficient data volume. This solves the technical problem in the prior art that the vehicle-mounted terminal only communicates through low-orbit satellites or high-orbit satellites, which is highly limited. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0016] Figure 1 is a hardware structure block diagram for implementing the satellite according to Embodiment 1 of the present application;

[0017] Figure 2 is a schematic diagram of a map updating system according to Embodiment 1 of the present application;

[0018] Figure 3 is a module schematic diagram of the vehicle-mounted terminal according to Embodiment 1 of the present application;

[0019] Figure 4 is a flowchart of a map updating method based on satellite communication according to the first aspect of Embodiment 1 of the present application;

[0020] Figure 5 is a schematic diagram of a digital map application program interface according to the first aspect of Embodiment 1 of the present application;

[0021] Figure 6 is a schematic diagram of an area within the positioning range and an area outside the positioning range according to the first aspect of Embodiment 1 of the present application; and

[0022] Figure 7 It is a sequential flow chart of the map updating method based on satellite communication according to Example 1 of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the technical solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices. Example 1

[0025] According to this embodiment, a method embodiment of a map updating method based on satellite communication is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0026] Figure 1 A schematic diagram showing the hardware architecture of the satellite. Figure 1As shown, the low-orbit satellite 210 and the high-orbit satellite 220 include an integrated electronic system, which includes: a processor, a memory, a bus management module and a communication interface. The memory is connected to the processor, so that the processor can access the memory, read the program instructions stored in the memory, read data from the memory or write data to the memory. The bus management module is connected to the processor and is also connected to a bus such as a CAN bus. Therefore, the processor can communicate with the onboard peripherals connected to the bus through the bus managed by the bus management module. In addition, the processor is also connected to communication devices such as cameras, star sensors, measurement and control transponders, and data transmission equipment via the communication interface. It can be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0027] It should be noted that Figure 1 The one or more processors and / or other data processing circuits shown in the figure may generally be referred to as "data processing circuits" herein. The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computing device. As involved in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0028] Figure 1 The memory shown in the figure can be used to store software programs and modules of application software, such as the program instruction / data storage device corresponding to the time scheduling method applied to the satellite system in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the time scheduling method applied to the satellite system of the above-mentioned application program is realized. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0029] It should be noted that, in some optional embodiments, the above Figure 1 The devices shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the above described apparatus.

[0030] Figure 2 is a schematic diagram of a map updating system according to this embodiment. Figure 2 As shown, the system includes: a vehicle-mounted terminal 100, a low-orbit satellite 210, a high-orbit satellite 220, a digital map server 300 and a gateway station 400.

[0031] The low-orbit satellite 210 and the high-orbit satellite 220 are used to communicate with the vehicle-mounted terminal 100 through a user link, and to communicate with the gateway 400 through a feeder link.

[0032] The gateway 400 is in communication connection with the digital map server 300 .

[0033] Figure 3 Schematic diagram of the modules of the vehicle terminal 100 in this embodiment. Figure 3 As shown, the application layer of the vehicle-mounted terminal 100 includes a digital map application 140 . The digital map application 140 is a front-end program of the digital map server 300 .

[0034] The hardware layer of the vehicle-mounted terminal 100 includes a low-orbit satellite communication module 110 , a high-orbit satellite communication module 120 and a navigation module 130 .

[0035] The low-orbit satellite communication module 110 is used to communicate with the low-orbit satellite 210 through a first user link. The high-orbit satellite communication module 120 is used to communicate with the high-orbit satellite 220 through a second user link. The navigation module 130 is used to locate the vehicle-mounted terminal 100.

[0036] In the above operating environment, according to the first aspect of this embodiment, a map updating method based on satellite communication is provided. The method comprises: Figure 2 The map update system implementation shown in . Figure 4 A schematic diagram showing the process of the method is shown in FIG. Figure 4 As shown, the method includes:

[0037] S402: The gateway determines the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, and regards the area outside the area within the positioning range as the area outside the positioning range;

[0038] S404: The gateway sends the first navigation data of the area within the positioning range to the low-orbit satellite through the first feeder link, and sends the second navigation data of the area outside the positioning range to the high-orbit satellite through the second feeder link;

[0039] S406: The low-orbit satellite sends the first navigation data to the vehicle-mounted terminal through the first user link;

[0040] S408: The high-orbit satellite sends the second navigation data to the vehicle-mounted terminal via a second user link; and

[0041] S410: The vehicle terminal updates the map according to the first navigation data and the second navigation data.

[0042] Specifically, the vehicle terminal 100 is preset with a navigation module 130 for positioning, so that when the vehicle terminal 100 starts to communicate with the low-orbit satellite 210 and the high-orbit satellite 220, the navigation module 130 positions the vehicle terminal 100, thereby generating the current coordinate information of the vehicle terminal 100.

[0043] Furthermore, the vehicle terminal 100 sends the current coordinate information to the gateway station 400 via the low-orbit satellite 210. The gateway station 400 receives the current coordinate information of the vehicle terminal 100, and then spreads outward with the current coordinate information as the center to determine the area within the positioning range within the preset range, such as the area with a radius of 500 meters with the current coordinate information as the center. The gateway station 400 then regards the area outside the area within the positioning range as the area outside the positioning range.

[0044] Further, the gateway station 400 obtains navigation data (i.e., first navigation data) of the area within the positioning range from the digital map server 300 according to the area within the positioning range. The navigation data includes road information, road condition information, and event and accident information in the map. Afterwards, the gateway station 400 obtains navigation data (i.e., second navigation data) of the area outside the positioning range from the digital map server 300 according to the area outside the positioning range. The area outside the positioning range is larger than the area within the positioning range, and the data volume of the second navigation data is larger than the data volume of the first navigation data.

[0045] Further, the gateway 400 sends the first navigation data to the low-orbit satellite 210 through the first feeder link, and sends the second navigation data to the high-orbit satellite 220 through the second feeder link. The gateway 400 and the low-orbit satellite 210 have pre-established a first feeder link for communication. And the gateway 400 and the high-orbit satellite 220 have pre-established a second feeder link for communication.

[0046] Further, the low-orbit satellite 210 receives the first navigation data sent by the gateway 400, and then sends the first navigation data to the vehicle terminal 100 through the first user link. The low-orbit satellite 210 and the vehicle terminal 100 have pre-established a first user link for communication.

[0047] Furthermore, the low-orbit satellite communication module 110 of the vehicle terminal 100 receives the first navigation data sent by the low-orbit satellite 210 , and then sends the first navigation data to the digital map application 140 of the vehicle terminal 100 .

[0048] Further, refer to Figure 5 As shown, the digital map application 140 receives the first navigation data, and then uses the road information, traffic information, event and accident information and other data information of the first navigation data as new navigation data, and displays them in the application map interface 150 of the digital map application corresponding to the area within the positioning range, thereby updating the navigation data of the area within the positioning range in the map.

[0049] Further, the high orbit satellite 220 receives the second navigation data sent by the gateway 400, and then sends the second navigation data to the vehicle terminal 100 through the second user link. The high orbit satellite 220 and the vehicle terminal 100 have pre-established a second user link for communication.

[0050] Furthermore, the high-orbit satellite communication module 120 of the vehicle-mounted terminal 100 receives the second navigation data sent by the high-orbit satellite 220 , and then sends the second navigation data to the digital map application 140 of the vehicle-mounted terminal 100 .

[0051] Furthermore, the digital map application 140 receives the second navigation data, and then uses the road information, traffic condition information, event and accident information and other data information of the second navigation data as new navigation data, and displays them in the application map interface 150 of the digital map application corresponding to the area outside the positioning range, thereby updating the navigation data of the area outside the positioning range in the map.

[0052] Furthermore, when the vehicle terminal 100 is moving, that is, when it leaves the location of the current coordinate information, the navigation module 130 locates the vehicle terminal 100 every predetermined time (e.g., 1 second), thereby generating the coordinate information of the vehicle terminal 100. The vehicle terminal 100 then sends the coordinate information to the gateway 400 via the low-orbit satellite 210.

[0053] After receiving the coordinate information, the gateway 400 determines whether the vehicle terminal is close to the edge of the area within the positioning range according to the coordinate information. When the gateway 400 determines that the vehicle terminal 100 is about to leave the area within the positioning range (for example, after moving at the current speed for 1 minute, it will leave the area within the positioning range), the gateway 400 will calculate a new area within the positioning range with the coordinate information as the center. After determining the new area within the positioning range, the gateway 400 will take the area outside the new area within the positioning range as the new area outside the positioning range. This process is repeated until the vehicle terminal 100 closes the digital map application 140.

[0054] As described in the background technology, the vehicle terminal is designed with a flexible communication switching mechanism, which can automatically switch to satellite communication mode when the mobile network is unavailable, ensuring the continuity and reliability of map information. Satellite communication is carried out through low-orbit satellites or high-orbit satellites, and each type of satellite has its own unique advantages and disadvantages. Although low-orbit satellites can provide lower communication delays, their coverage is limited, and due to the rapid movement of satellites, the coverage area is not fixed; while high-orbit satellites have a fixed coverage area and can provide a large amount of data transmission, but the communication delay is relatively high. Therefore, in the prior art, the method of conducting satellite communication through low-orbit satellites or the method of conducting satellite communication through high-orbit satellites have high limitations.

[0055] In view of the technical problems mentioned above, through the technical solutions of the embodiments of the present application, the gateway station finely divides the area within the positioning range close to the vehicle terminal and the area outside the positioning range that is farther away based on the current coordinate information provided by the vehicle terminal. Subsequently, the gateway station transmits the navigation data of the area within the positioning range through low-orbit satellites. This is because low-orbit satellites can provide extremely low communication delays, although the amount of data transmitted in a single transmission is relatively small; and for the navigation data of the area outside the positioning range, it is transmitted with the help of high-orbit satellites. Although the communication delay of high-orbit satellites is higher, they can support a larger amount of data transmission, ensuring the detailed and timely update of remote area information.

[0056] This technical solution combines low-orbit satellites and high-orbit satellites, making full use of the low-latency characteristics of low-orbit satellites and the wide coverage and high data transmission capacity of high-orbit satellites. This allows this technical solution to not only maintain real-time updates and stable transmission of navigation data in various complex environments, meeting the driver's needs for instant information, but also effectively avoids the limitations caused by a single satellite communication method, such as excessive communication delays or insufficient data volume. This solves the technical problem in the prior art that the vehicle-mounted terminal only communicates through low-orbit satellites or high-orbit satellites, which is highly limited.

[0057] Optionally, the gateway station determines the operation of the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, including: the gateway station determines the low-orbit communication duration for satellite communication with the vehicle-mounted terminal using a low-orbit satellite; the gateway station determines the high-orbit communication duration for satellite communication with the vehicle-mounted terminal using a high-orbit satellite; the gateway station calculates the radius length according to the low-orbit communication duration and the high-orbit communication duration using a preset calculation formula for the area within the positioning range; and the gateway station calculates the area within the positioning range according to the radius length with the current coordinate information of the vehicle-mounted terminal as the center.

[0058] Specifically, the gateway 400 times the process of sending a test request to the vehicle terminal 100 via the low-orbit satellite 210 and the vehicle terminal 100 returning a response message to the gateway 400 via the low-orbit satellite 210, and generates a low-orbit communication duration t 1 .

[0059] Furthermore, the gateway 400 times the process of sending a test request to the vehicle terminal 100 via the high-orbit satellite 220 and the vehicle terminal 100 returning a response message to the gateway 400 via the high-orbit satellite 220, and generates a high-orbit communication duration t 2 .

[0060] Furthermore, the gateway 400 uses a preset calculation formula for the area within the positioning range according to the low orbit communication time t 1 Communication time with high orbit t 2 , calculate the radius length r. The calculation formula for the area within the positioning range is:

[0061] (1)

[0062] (2)

[0063] Wherein D represents a distance constant, for example, which is preset to 2 kilometers.

[0064] It represents the delay difference between the low orbit communication time length and the high orbit communication time length, so that the larger the delay difference is, the longer the radius length r of the determined first area is.

[0065] And among them For the logistic regression model:

[0066] (3)

[0067] (4)

[0068] where k 0 and k 1 It is expressed as a linear regression coefficient, which can be determined by training, for example, through machine learning methods.

[0069] Further, refer to Figure 6 As shown, the gateway 400 takes the current coordinate information as the center (ie, the center point P) and calculates the area within the positioning range according to the calculated radius length r.

[0070] Furthermore, the gateway 400 determines other areas outside the area within the positioning range as areas outside the positioning range according to the calculated area within the positioning range.

[0071] Therefore, this technical solution improves the accuracy of position estimation by measuring and analyzing the delay difference between low-orbit satellites and high-orbit satellites. And by using the communication delay difference of satellites in different orbits, combined with the logistic regression model, the position of the vehicle terminal and its surrounding area can be accurately estimated and dynamically divided.

[0072] Optionally, the operation of the gateway determining the low-orbit communication duration of satellite communication between the low-orbit satellite and the vehicle-mounted terminal includes: the gateway sending a low-orbit test request to the low-orbit satellite through a first feeder link; the low-orbit satellite sending the low-orbit test request to the vehicle-mounted terminal through a first user link; the vehicle-mounted terminal sending low-orbit response information corresponding to the low-orbit test request to the low-orbit satellite through the first user link; the low-orbit satellite sending the low-orbit response information to the gateway through the first feeder link; and the gateway timing the process of sending the low-orbit test request and the low-orbit response information to determine the low-orbit communication duration.

[0073] Specifically, the gateway 400 generates a low-orbit test request for counting the low-orbit communication duration corresponding to the low-orbit satellite. Then, the gateway 400 sends the low-orbit test request to the low-orbit satellite 210 through the first feeder link. The gateway 400 starts timing while sending the low-orbit test request.

[0074] Further, the low-orbit satellite 210 sends the received low-orbit test request to the low-orbit satellite communication module 110 of the vehicle terminal 100 through the first user link. After receiving the low-orbit test request, the low-orbit satellite communication module 110 of the vehicle terminal 100 generates corresponding low-orbit response information and returns the low-orbit response information to the low-orbit satellite 210 through the first user link.

[0075] Further, after receiving the low orbit response information, the low orbit satellite 210 sends the low orbit response information to the gateway 400 through the first feeder link. After the gateway 400 receives the returned low orbit response information, the timing ends and the low orbit communication duration is generated.

[0076] Therefore, this technical solution can accurately measure the total communication delay from the gateway to the vehicle terminal and back by sending a test request and recording the round-trip time. This method is not only easy to operate, but also can quickly obtain results, improving the accuracy and efficiency of statistical communication duration.

[0077] Optionally, the operation of the gateway determining the high-orbit communication duration of satellite communication between the high-orbit satellite and the vehicle-mounted terminal includes: the gateway sending a high-orbit test request to the high-orbit satellite through a second feeder link; the high-orbit satellite sending the high-orbit test request to the vehicle-mounted terminal through a second user link; the vehicle-mounted terminal sending high-orbit response information corresponding to the high-orbit test request to the high-orbit satellite through the second user link; the high-orbit satellite sending the high-orbit response information to the gateway through the second feeder link; and the gateway timing the process of sending the high-orbit test request and the high-orbit response information to determine the high-orbit communication duration.

[0078] Specifically, the gateway station 400 generates a high orbit test request for counting the high orbit communication duration corresponding to the high orbit satellite. Then, the gateway station 400 sends the high orbit test request to the high orbit satellite 220 through the second feeder link. The gateway station 400 starts timing while sending the high orbit test request.

[0079] Further, the high-orbit satellite 220 sends the received high-orbit test request to the high-orbit satellite communication module 120 of the vehicle-mounted terminal 100 through the second user link. After receiving the high-orbit test request, the high-orbit satellite communication module 120 of the vehicle-mounted terminal 100 generates corresponding high-orbit response information, and returns the high-orbit response information to the high-orbit satellite 220 through the second user link.

[0080] Further, after receiving the high orbit response information, the high orbit satellite 220 sends the high orbit response information to the gateway 400 through the second feeder link. After the gateway 400 receives the returned high orbit response information, the timing ends and the high orbit communication duration is generated.

[0081] Therefore, this technical solution can accurately measure the total communication delay from the gateway to the vehicle terminal and back by sending a test request and recording the round-trip time. This method is not only easy to operate, but also can quickly obtain results, improving the accuracy and efficiency of statistical communication duration.

[0082] Optionally, the method further includes: the low-orbit satellite sends a first link establishment request to the vehicle-mounted terminal and the gateway station respectively, to establish a first user link with the vehicle-mounted terminal and a first feeder link with the gateway station.

[0083] Specifically, when the low-orbit satellite 210 moves to a position that can cover both the vehicle-mounted terminal 100 and the gateway 400, a user link establishment request (i.e., a first link establishment request) for establishing a user link is sent to the vehicle-mounted terminal 100, thereby establishing a first user link with the vehicle-mounted terminal 100. At the same time, the low-orbit satellite 210 sends a feeder link establishment request (i.e., a first link establishment request) for establishing a feeder link to the gateway 400, thereby establishing a first feeder link with the gateway 400.

[0084] Furthermore, when the low-orbit satellite 210 moves to a position where it can cover both the vehicle terminal 100 and the gateway 400, the next low-orbit satellite that moves to the position establishes a user link with the vehicle terminal 100 and a feeder link with the gateway 400.

[0085] Therefore, the technical solution pre-establishes communication links between the low-orbit satellite and the gateway and the vehicle-mounted terminal, which can ensure immediate use when needed and reduce the risk of service interruption caused by temporary failure to establish a connection.

[0086] Optionally, the method further includes: the high-orbit satellite sends a second link establishment request to the vehicle-mounted terminal and the gateway station respectively, to establish a second user link with the vehicle-mounted terminal and a second feeder link with the gateway station.

[0087] Specifically, the high-orbit satellite 220 sends a user link establishment request (i.e., a second link establishment request) for establishing a user link to the vehicle-mounted terminal 100, thereby establishing a second user link with the vehicle-mounted terminal 100. At the same time, the high-orbit satellite 220 sends a feeder link establishment request (i.e., a second link establishment request) for establishing a feeder link to the gateway 400, thereby establishing a second feeder link with the gateway 400.

[0088] Therefore, this technical solution pre-establishes communication links between high-orbit satellites and the gateway and vehicle-mounted terminals, ensuring immediate use when needed, reducing the risk of service interruption due to temporary failure to establish a connection.

[0089] Optionally, before the gateway determines the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, the operation also includes: the vehicle-mounted terminal generates the current coordinate information through the navigation module; the vehicle-mounted terminal sends the current coordinate information to the low-orbit satellite through the first user link; and the low-orbit satellite sends the current coordinate information to the gateway through the first feeder link.

[0090] Specifically, the vehicle terminal 100 is preset with a navigation module 130 for positioning, so that when the vehicle terminal 100 starts to communicate with the low-orbit satellite 210 and the high-orbit satellite 220, the navigation module 130 locates the vehicle terminal 100, thereby generating the current coordinate information of the vehicle terminal 100 and sending the current coordinate information to the digital map application 140.

[0091] Further, the digital map application 140 sends the current coordinate information to the low-orbit satellite communication module 110. The low-orbit satellite communication module 110 sends the current coordinate information to the low-orbit satellite 210 through the first user link. After receiving the current coordinate information, the low-orbit satellite 210 sends the current coordinate information to the gateway 400 through the first feeder link.

[0092] Therefore, this technical solution forwards the current coordinate information of the vehicle terminal to the gateway station through the low-orbit satellite, so that the gateway station can receive the positioning information in time, with shorter delay and higher efficiency.

[0093] In summary, reference Figure 7 As shown, the technical solution uses low-orbit satellites and high-orbit satellites to update the map in the following order:

[0094] S701: The navigation module 130 locates the vehicle-mounted terminal 100 and generates current coordinate information of the vehicle-mounted terminal 100;

[0095] S702: the navigation module 130 sends the current coordinate information to the digital map application 140, and the digital map application 140 sends the received current coordinate information to the low-orbit satellite communication module 110;

[0096] S703: the low-orbit satellite communication module 110 sends the current coordinate information to the low-orbit satellite 210 through the first user link, and the low-orbit satellite 210 sends the current coordinate information to the gateway station 400 through the first feeder link;

[0097] S704: The gateway 400 determines the area within the positioning range and the area outside the positioning range according to the received current coordinate information and the calculated radius length;

[0098] S705: the gateway 400 obtains from the digital map server 300 first navigation data corresponding to the area within the positioning range and second navigation data corresponding to the area outside the positioning range;

[0099] S706: the gateway 400 sends the first navigation data to the low-orbit satellite 210 through the first feeder link, and the low-orbit satellite 210 sends the first navigation data to the low-orbit satellite communication module 110 through the first user link;

[0100] S707: The low-orbit satellite communication module 110 sends the first navigation data to the digital map application 140;

[0101] S708: The digital map application 140 updates the map of the area within the positioning range according to the first navigation data;

[0102] S709: the gateway 400 sends the second navigation data to the high-orbit satellite 220 through the second feeder link, and the high-orbit satellite 220 sends the second navigation data to the high-orbit satellite communication module 120 through the second user link;

[0103] S710: The high-orbit satellite communication module 120 sends the second navigation data to the digital map application 140;

[0104] S711: The digital map application 140 updates the map of the area outside the positioning range according to the second navigation data.

[0105] In addition, reference Figure 2 As shown, according to the second aspect of the present embodiment, a map update system based on satellite communication is provided, comprising: a vehicle-mounted terminal, a gateway station, a low-orbit satellite and a high-orbit satellite, wherein the gateway station is configured to perform the following operations: determine the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, and regard the area outside the positioning range as the area outside the positioning range; send the first navigation data of the area within the positioning range to the low-orbit satellite through a first feeder link, and send the second navigation data of the area outside the positioning range to the high-orbit satellite through a second feeder link, and the low-orbit satellite is configured to perform the following operations: send the first navigation data to the vehicle-mounted terminal through a first user link, and the high-orbit satellite is configured to perform the following operations: send the second navigation data to the vehicle-mounted terminal through a second user link, and the vehicle-mounted terminal is configured to perform the following operations: update the map according to the first navigation data and the second navigation data.

[0106] In addition, reference Figure 1 As shown, according to the third aspect of this embodiment, there is provided an integrated electronic system, including a memory, a processor and a computer program stored in the memory, and the processor executes the computer program to implement the steps of the above method.

[0107] In addition, reference Figure 1 As shown, according to the fourth aspect of this embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0108] In addition, reference Figure 1As shown, according to the fifth aspect of this embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0109] Therefore, according to this embodiment, the gateway station finely divides the area within the positioning range close to the vehicle terminal and the area outside the positioning range that is farther away based on the current coordinate information provided by the vehicle terminal. Subsequently, the gateway station transmits the navigation data of the area within the positioning range through low-orbit satellites, because low-orbit satellites can provide extremely low communication delays, although the amount of data transmitted in a single transmission is relatively small; and for the navigation data of the area outside the positioning range, it is transmitted with the help of high-orbit satellites. Although the communication delay of high-orbit satellites is higher, they can support a larger amount of data transmission, ensuring the detailed and timely update of the remote area information.

[0110] This technical solution combines low-orbit satellites and high-orbit satellites, making full use of the low-latency characteristics of low-orbit satellites and the wide coverage and high data transmission capacity of high-orbit satellites. This allows this technical solution to not only maintain real-time updates and stable transmission of navigation data in various complex environments, meeting the driver's needs for instant information, but also effectively avoids the limitations caused by a single satellite communication method, such as excessive communication delays or insufficient data volume. This solves the technical problem in the prior art that the vehicle-mounted terminal only communicates through low-orbit satellites or high-orbit satellites, which is highly limited.

[0111] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0112] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0113] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0114] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0116] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0117] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0118] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0119] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A map updating method based on satellite communication, characterized in that: include: The gateway determines the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center, and regards the area outside the area within the positioning range as the area outside the positioning range; The gateway sends the first navigation data of the area within the positioning range to the low-orbit satellite through a first feeder link, and sends the second navigation data of the area outside the positioning range to the high-orbit satellite through a second feeder link; The low-orbit satellite sends the first navigation data to the vehicle-mounted terminal via a first user link; The high-orbit satellite sends the second navigation data to the vehicle-mounted terminal via a second user link; as well as The vehicle terminal updates the map according to the first navigation data and the second navigation data; wherein, The operation of the gateway determining the area within the positioning range with the current coordinate information of the vehicle-mounted terminal as the center includes: the gateway determining the low-orbit communication duration of the satellite communication between the low-orbit satellite and the vehicle-mounted terminal; the gateway determining the high-orbit communication duration of the satellite communication between the high-orbit satellite and the vehicle-mounted terminal; the gateway calculating the radius length according to the low-orbit communication duration and the high-orbit communication duration using a preset calculation formula for the area within the positioning range; and the gateway calculating the area within the positioning range according to the radius length with the current coordinate information of the vehicle-mounted terminal as the center; wherein, The operation of the gateway determining the low-orbit communication duration of satellite communication between the low-orbit satellite and the vehicle-mounted terminal using the low-orbit satellite includes: the gateway sending a low-orbit test request to the low-orbit satellite through the first feeder link; the low-orbit satellite sending the low-orbit test request to the vehicle-mounted terminal through the first user link; the vehicle-mounted terminal sending low-orbit response information corresponding to the low-orbit test request to the low-orbit satellite through the first user link; the low-orbit satellite sending the low-orbit response information to the gateway through the first feeder link; and the gateway timing the process of sending the low-orbit test request and the low-orbit response information to determine the low-orbit communication duration; wherein, The operation of the gateway determining the high-orbit communication duration of satellite communication between the high-orbit satellite and the vehicle-mounted terminal using the high-orbit satellite includes: the gateway sending a high-orbit test request to the high-orbit satellite through the second feeder link; the high-orbit satellite sending the high-orbit test request to the vehicle-mounted terminal through the second user link; the vehicle-mounted terminal sending high-orbit response information corresponding to the high-orbit test request to the high-orbit satellite through the second user link; the high-orbit satellite sending the high-orbit response information to the gateway through the second feeder link; and the gateway timing the process of sending the high-orbit test request and the high-orbit response information to determine the high-orbit communication duration.

2. The method according to claim 1, characterized in that Also includes: The low-orbit satellite sends a first link establishment request to the vehicle-mounted terminal and the gateway station respectively, and establishes a first user link with the vehicle-mounted terminal and a first feeder link with the gateway station.

3. The method according to claim 1, characterized in that Also includes: The high-orbit satellite sends a second link establishment request to the vehicle-mounted terminal and the gateway station respectively, and establishes a second user link with the vehicle-mounted terminal and a second feeder link with the gateway station.

4. The method according to claim 1, characterized in that Before the gateway determines the area within the positioning range based on the current coordinate information of the vehicle-mounted terminal, the following steps are also included: The vehicle-mounted terminal generates the current coordinate information through a navigation module; The vehicle-mounted terminal sends the current coordinate information to the low-orbit satellite through the first user link; and The low-orbit satellite sends the current coordinate information to the gateway through the first feeder link.

5. A map updating system based on satellite communication, characterized in that: include: The vehicle-mounted terminal, the gateway station, the low-orbit satellite and the high-orbit satellite are used to execute the method described in claim 1.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to claim 1 are implemented.

Images