A positioning method and device

Abstract

The present invention provides a positioning method and device, belonging to the field of positioning technology. In the method, a control device receives a request for obtaining positioning enhancement information of a user device from at least two navigation satellites, and determines the distance from the user device to at least two navigation satellites, and then determines the position of the user device and the altitude angle of the navigation satellite relative to the user device; then, based on the altitude angle and the position of the user device, the positioning enhancement information required for accurate positioning of the user device is obtained from a positioning enhancement information library. In the case where the communication capacity of the satellite navigation system is relatively limited, the method can simultaneously meet the positioning service needs of more user devices.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning method and device. Background Art

[0002] During the positioning process using the Global Navigation Satellite System (GNSS), the user device (such as a vehicle) first receives signals from at least four navigation satellites (including the satellite's location information and the time information when the signal was sent), and calculates the distance between the user device and each navigation satellite (i.e., pseudorange observation value) based on the propagation time of the signal from the navigation satellite to the user device. The user device is then accurately positioned using a positioning algorithm combined with the positioning enhancement information broadcast by the reference station.

[0003] With the advancement of technology, the demand for positioning services of user equipment around the world is increasing year by year, and the communication demand in satellite navigation systems is getting bigger and bigger. However, the bandwidth resources of existing satellite navigation systems are limited and cannot meet the positioning service needs of more user equipment at the same time. Summary of the invention

[0004] The present invention provides a positioning method and a positioning device, which can simultaneously meet the positioning service requirements of more user equipments under the condition that the communication capacity of the existing satellite navigation system is relatively limited.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] In the first aspect, the present invention provides a positioning method, comprising: after receiving a request for obtaining positioning enhancement information of a user device sent by at least two navigation satellites, the control device determines the position of the user device according to the ranging code carried in the request and the satellite identifier of each navigation satellite of at least two navigation satellites; wherein the positioning enhancement information includes a first type of positioning enhancement information related to the navigation satellite, and a second type of positioning enhancement information related to the position. The control device then determines the altitude angle of each navigation satellite of the multiple navigation satellites of the satellite navigation system relative to the user device according to the position of the user device. The control device also determines the target positioning enhancement information from the positioning enhancement information library; the positioning enhancement information library includes the first type of positioning enhancement information corresponding to the satellite identifiers of multiple navigation satellites, and the second type of positioning enhancement information corresponding to multiple position information; the first type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation conditions in the positioning enhancement information library, and the second type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the position of the user device in the positioning enhancement information library. Finally, the control device sends the target positioning enhancement information to the user device; the target positioning enhancement information is used to locate the user device.

[0007] In a positioning method provided by the present invention, in the process of providing positioning enhancement information to a user device, multiple navigation satellites are first screened, and then the first type of positioning enhancement information related to the navigation satellites with better observation effect on the user device is obtained from the positioning enhancement information library, and the second type of positioning enhancement information is determined according to the position of the user device. There is no need to send the positioning enhancement information related to all navigation satellites in the GNSS to the user device. In this way, the amount of positioning enhancement information is reduced, thereby reducing the bandwidth resources occupied by transmitting the positioning enhancement information to the user device. Then, in the case of limited communication capacity of the satellite navigation system, it can support providing positioning enhancement information to more user devices at the same time, thereby meeting the positioning service needs of more user devices.

[0008] On this basis, the positioning method selects the first type of positioning enhancement information related to the navigation satellite that has a better observation effect on the user equipment from the positioning enhancement information library, and provides it to the user equipment. There is no need to send all the positioning enhancement information related to the navigation satellites in the GNSS to the user equipment. The amount of target positioning enhancement information transmitted to the user equipment can be reduced, and the positioning enhancement information can be provided to the user quickly under limited bandwidth resources, thereby ensuring that the satellite navigation system has a high positioning efficiency.

[0009] In some implementations, in order to meet the positioning needs of more users, the bandwidth of the satellite navigation system can also be expanded, but the cost of bandwidth expansion is high. This positioning method filters the positioning enhancement information, and does not need to send all the positioning enhancement information related to the navigation satellites in the GNSS to the user equipment, thereby reducing the bandwidth resources required for transmitting the target positioning enhancement information, and can save the cost of bandwidth expansion of the satellite navigation system.

[0010] In an implementation manner of the first aspect, before the control device sends the positioning enhancement information to the user equipment, the method further includes: the control device determines a transmission path for sending the positioning enhancement information to the user equipment.

[0011] In the above implementation, the control device determines the transmission path for sending the target positioning enhancement information to the user device (ie, determines the return link of the positioning enhancement information), and can smoothly and quickly send the target positioning enhancement information to the user device.

[0012] In an implementation manner of the first aspect, the method further includes: the control device constructs a positioning enhancement information library.

[0013] In the above implementation, through the pre-constructed positioning enhancement information library, there is no need to calculate the target positioning enhancement information after receiving the request, so that the control device can quickly provide the target positioning enhancement information to the user device.

[0014] In a second aspect, the present invention provides a positioning device, including a position determination module, an altitude determination module, an enhancement information determination module and a sending module. The position determination module is used to determine the position of the user equipment according to the ranging code carried in the request and the satellite identification of each navigation satellite of the at least two navigation satellites after receiving the request for obtaining the positioning enhancement information of the user equipment sent by at least two navigation satellites; wherein the positioning enhancement information includes the first type of positioning enhancement information related to the navigation satellite and the second type of positioning enhancement information related to the position. The altitude determination module is used to determine the altitude angle of each navigation satellite of the multiple navigation satellites of the satellite navigation system relative to the user equipment according to the position of the user equipment. The enhancement information determination module is used to determine the target positioning enhancement information from the positioning enhancement information library; the positioning enhancement information library includes the first type of positioning enhancement information corresponding to the satellite identification of multiple navigation satellites, and the second type of positioning enhancement information corresponding to multiple position information; the first type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation condition in the positioning enhancement information library, and the second type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information library. The sending module is used to send the target positioning enhancement information to the user equipment; the target positioning enhancement information is used to locate the user equipment.

[0015] In an implementation of the first aspect and the second aspect, the first type of positioning enhancement information includes at least one of the following: satellite orbit deviation, satellite clock error, satellite phase deviation or code pseudorange deviation. The second type of positioning enhancement information includes ionospheric delay deviation and / or tropospheric delay deviation.

[0016] In an implementation manner of the first aspect and the second aspect, the observation condition is that the altitude angle of the navigation satellite relative to the user equipment is greater than zero.

[0017] In the above implementation, when the altitude angle between the user device and the navigation satellite is greater than zero, the path for the satellite signal to pass through the atmosphere to reach the user device is relatively short, and the signal strength of the navigation satellite is relatively high. The signals based on these navigation satellites and the positioning enhancement information help to improve the accuracy and reliability of the positioning of the user device.

[0018] In an implementation manner of the second aspect, the positioning device further includes a path optimization module. The path optimization module is used to determine a transmission path for sending the positioning enhancement information to the user equipment.

[0019] In an implementation manner of the second aspect, the positioning device further includes a construction module, where the construction module is used to construct a positioning enhancement information library.

[0020] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device performs the method described in the first aspect or any one of its implementations.

[0021] In a fourth aspect, the present invention provides a computer-readable storage medium, comprising computer program instructions, which, when executed by a computer, enable the computer to execute the method as described in the first aspect or any one of its implementations.

[0022] In a fifth aspect, the present invention provides a computer program product, comprising computer program instructions, which, when executed on a computer, cause the computer to execute the method as described in the first aspect or any one of its implementations.

[0023] The technical effects corresponding to the above-mentioned second to fifth aspects and their possible implementations can refer to the above-mentioned description of the technical effects of the first aspect and its possible implementations, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is one of the framework schematic diagrams of a global satellite navigation system provided in an embodiment of the present application;

[0025] Figure 2 This is the second framework schematic diagram of a global satellite navigation system provided in an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of the structure of a user device provided in an embodiment of the present application;

[0027] Figure 4 is a schematic diagram of a positioning method provided in an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of the altitude angle provided in the embodiment of the present application;

[0029] Figure 6 It is a schematic diagram of the station center rectangular coordinate system provided in an embodiment of the present application;

[0030] Figure 7 This is one of the structural schematic diagrams of a positioning device provided in an embodiment of the present application;

[0031] Figure 8 This is the second structural schematic diagram of a positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In the description and claims of the present invention, the terms "first" and "second" are used to distinguish different objects, rather than to describe a specific order of the objects;

[0033] In the embodiments of the present application, "and / or" indicates the relationship between objects. For example, ionospheric delay bias and / or tropospheric delay bias may indicate the following three situations: the existence of ionospheric delay bias alone, the existence of tropospheric delay bias alone, and the existence of both ionospheric delay bias and tropospheric delay bias.

[0034] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions; any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or design schemes; to be specific, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way;

[0035] In the description of the present invention, unless otherwise specified, the meaning of "multiple" refers to two or more than two; for example, multiple navigation satellites refers to two or more navigation satellites;

[0036] The method and apparatus provided in the embodiments of the present application involve positioning a user device based on a global navigation satellite system (hereinafter referred to as GNSS). The core function of GNSS is to measure the distance between a satellite and a receiver based on the propagation time of radio waves, and calculate the precise position of the receiver using triangulation. Existing GNSS include the Global Positioning System (GPS), the GLONASS Satellite Navigation System (GLONASS), the Galileo Satellite Navigation System (Galileo), and the BeiDou Satellite Navigation System (BDS).

[0037] For example, Figure 1 It is a schematic diagram of the architecture of a GNSS; Figure 1 As shown, GNSS may include three parts, namely, a space part, a ground control part, and a user equipment part; the space part includes a plurality of navigation satellites 101, the ground control part (i.e., the ground control system) includes a plurality of monitoring stations 102 and at least one operation control center 103, and the user equipment part includes a user equipment 104; links for transmitting radio waves are established between the various parts of the GNSS ( Figure 1 The lines in the can represent links);

[0038] Among them, multiple navigation satellites 101 in the satellite navigation system are distributed on different orbits to ensure continuous coverage around the world; the satellite signal transmitted by the navigation satellite 101 may include a ranging code and a data code), and the ranging code is used to measure the distance between the navigation satellite 101 and the ground equipment (for example, the monitoring station 102, the operation control center 103, the user equipment 104, etc.) that receives the satellite signal of the navigation satellite 101; it should be understood that all devices in the GNSS generate ranging codes, and the ranging codes generated by all devices at the same time are the same; the data code includes the satellite's position information, the time information of the signal transmission, and the satellite's ephemeris data (the satellite ephemeris data includes the satellite's orbital parameters);

[0039] The monitoring station 102 in the ground control system (which is equipped with a GNSS receiver) is used to monitor the navigation satellite 101 and collect satellite signals transmitted by the satellite, and process the received satellite signals to obtain the observation data of the navigation satellite 101, and then send the observation data to the operation control center 103; multiple monitoring stations 102 are deployed in the GNSS and distributed in different areas;

[0040] The observation data includes pseudo-range observation values, etc. The monitoring station 102 calculates the product of the time required for the ranging code transmitted by the navigation satellite 101 to reach the monitoring station 102 and the speed of light to obtain the pseudo-range observation value; due to the existence of various error sources (such as satellite clock error, orbit error, etc.), the pseudo-range is not the real geometric distance;

[0041] The operation control center 103 in the ground control system can calculate the positioning enhancement information (also called navigation positioning enhancement information) based on the observation data of the navigation satellite 101 obtained by the monitoring station 102 and the satellite ephemeris data of the navigation satellite 101. The positioning enhancement information is used to reduce or eliminate satellite clock errors, orbit errors, atmospheric delays (especially ionosphere and troposphere delays) and multipath effects, so that the GNSS receiver can calculate a more accurate position;

[0042] The operation control center 103 may also send the positioning enhancement information to the user equipment 104 through a backhaul link for GNSS positioning of the user equipment 104; the backhaul link may include an uplink (a link in which the operation control center 103 sends the positioning enhancement information to the navigation satellite 101), an intersatellite link (a link in which the navigation satellite 101 forwards the positioning enhancement information to the navigation satellite 101), and a downlink (a link in which the navigation satellite 101 forwards the positioning enhancement information to the user equipment 104);

[0043] Optionally, the positioning enhancement information may also be transmitted through a satellite-based augmentation system (SBAS). For details, reference may be made to the prior art, and the present embodiment of the application does not introduce SBAS.

[0044] After receiving satellite signals from at least four navigation satellites 101, the user equipment 104 is used to determine the transmission time of the satellite signals (the reception time of the satellite signals minus the transmission time of the satellite signals), and use the product of the signal propagation speed and the signal transmission time as the distance between the user equipment 104 and the navigation satellite 101 (i.e., pseudo-range observation value); at the same time, the user equipment 104 corrects the pseudo-range observation value according to the acquired positioning enhancement information, and then combines the corrected pseudo-range observation value with the ephemeris data in the satellite signal of the navigation satellite 101 received by the user equipment 104, to determine the three-dimensional position (i.e., latitude, longitude and altitude) of the user equipment 104, so as to achieve accurate positioning of the user equipment 104;

[0045] Exemplarily, the user equipment 104 includes various terminals with positioning functions (i.e. equipped with a GNSS receiver), such as mobile phones, transportation equipment (such as cars, airplanes, ships, etc.), cameras, wearable devices, etc.;

[0046] In order to solve the problem in the background technology that the bandwidth resources of the satellite navigation system are limited and cannot meet the positioning service needs of more user devices at the same time, the embodiment of the present application provides a positioning method and device, in which a control device receives a request for obtaining positioning enhancement information from at least two navigation satellites (the request is sent by the user device to the navigation satellite, and then sent by the navigation satellite to the control device), and determines the distance from the user device to the at least two navigation satellites, and then determines the position of the user device. Then, the control device calculates the altitude angle of the navigation satellite relative to the user device based on the position of the user device; then, the first type of positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation conditions and the second positioning enhancement information corresponding to the user device position are screened out from the positioning enhancement information library, thereby obtaining The positioning enhancement information required for the user equipment to achieve accurate positioning is provided; in the positioning method, in the process of providing the positioning enhancement information to the user equipment, a plurality of navigation satellites are first screened, and then the first type of positioning enhancement information related to the navigation satellite with better observation effect for the user equipment is obtained from the positioning enhancement information library, and the second type of positioning enhancement information is determined according to the position of the user equipment. It is not necessary to send the positioning enhancement information related to all navigation satellites in the GNSS to the user equipment. In this way, the amount of positioning enhancement information is reduced, thereby reducing the bandwidth resources occupied by transmitting the positioning enhancement information to the user equipment. Then, in the case of limited communication capacity of the satellite navigation system, it can support providing positioning enhancement information to more user equipment at the same time, thereby meeting the positioning service needs of more user equipment;

[0047] Optionally, the positioning method provided in the embodiment of the present application may be a global positioning system (GPS), a GLONASS satellite navigation system (GLONASS), a Galileo satellite navigation system (Galileo) and a Beidou satellite navigation system (BDS), etc.;

[0048] Combination Figure 1 , Figure 2 A schematic diagram of the architecture of a satellite navigation system provided in an embodiment of the present application, wherein the satellite navigation system includes a plurality of navigation satellites 101, an operation control center 103, a user device 104, and a positioning enhancement information library 105 disposed in the operation control center 103;

[0049] refer to Figure 3The user equipment 104 is provided with a module supporting RDSS service, a module supporting RNSS service and a data processing module for performing GNSS positioning on the user equipment; the user equipment 104 sends a request for obtaining positioning enhancement information through the module supporting RDSS service, and receives target positioning enhancement information sent by the operation control center 103; the user equipment 104 can also receive satellite signals of at least four navigation satellites 101 (the satellite signals are used for positioning the user equipment) through the module supporting RNSS service; wherein, RNSS (Radio Navigation Satellite System), i.e., satellite radio navigation system, is a service system that allows the user equipment 104 to receive satellite radio navigation signals and autonomously complete distance measurements to at least four navigation satellites;

[0050] The plurality of navigation satellites 101 are all navigation satellites that can provide RDSS services; the plurality of navigation satellites 101 are used to receive requests for obtaining positioning enhancement information sent by user equipment 104; and the received requests and satellite identifiers of the navigation satellites 101 are sent to the operation control center 103; wherein RDSS (Radio Determination Satellite Service) is a satellite radio determination service, which allows users to perform distance measurement and position calculation through two-way communication with satellites;

[0051] The operation control center 103 is used to determine the distance between the user equipment 104 and each of the at least two navigation satellites 101 according to the ranging code carried in the request sent by the navigation satellite 101 and the satellite identifier of each of the at least two navigation satellites 101; and to calculate the position of the user equipment 104 (i.e., the approximate position of the user equipment) according to the distance between the user equipment 104 and each of the at least two navigation satellites 101 and the geodetic height at which the user equipment 104 is located as a three-sphere intersection positioning condition, wherein the geodetic height at which the user equipment 104 is located refers to the distance between the user equipment 104 and the center of the earth;

[0052] The positioning enhancement information library 105 is used to store positioning enhancement information; the positioning enhancement information library 105 includes first-category positioning enhancement information corresponding to satellite identifiers of multiple navigation satellites 101, and second-category positioning enhancement information corresponding to multiple position information;

[0053] The operation control center 103 is further used to determine the target positioning enhancement information used for positioning a certain user equipment 104 from the positioning enhancement information library 105, and send the target positioning enhancement information to the user equipment 104 through the backhaul link;

[0054] After receiving the satellite signals of at least four navigation satellites 101, the user equipment 104 determines the distance between the user equipment 104 and the navigation satellite 101 (i.e., the pseudo-range observation value); and the user equipment 104 corrects the pseudo-range observation value based on the target positioning enhancement information, and then combines the corrected pseudo-range observation value with the ephemeris data in the satellite signal of the navigation satellite 101 to locate the user equipment 104 and obtain the precise position of the user equipment;

[0055] Optionally, the positioning enhancement information library 105 may not be set inside the operation control center 103, and the operation control center 103 may access / acquire the positioning enhancement information library 105 through interfaces such as a data interface and a network interface;

[0056] For example, the positioning method provided in the embodiment of the present application can be performed by Figure 1 or Figure 2 The operation control center 103 (also referred to as a control device) executes, and the control device may be, for example, a computer, a server, etc. In the embodiment of the present application, the hardware structure of the control device is introduced by taking the control device as a computer as an example. The hardware part of the computer may include: a processor, a memory, a network interface, a user interface, a communication bus, etc.

[0057] The processor is used to control the computer to perform related processing and computing tasks. For example, the processor can determine the position of the user equipment, determine the altitude angle of the navigation satellite relative to the user equipment, and determine the target positioning enhancement information. The processor may include a central processing unit (CPU) or other processors. The processor may be single-core or multi-core. For example, the processor may include multiple CPUs.

[0058] The memory is used to store computer instructions and related data, for example, to store the positioning enhancement information library 105, the target positioning enhancement information, etc.; the memory may be a random access memory (RAM), a read only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, or an optical memory, a disk storage medium or other magnetic storage device, or any other medium capable of storing program codes or data accessible by a computer; optionally, the memory may be integrated in the processor, or the memory may be independent of the processor;

[0059] The network interface is used for the computer to communicate with other devices (such as navigation satellites) or communication networks. The network interface may be a transceiver with transceiver functions; optionally, the network interface may include a standard wired interface, a wireless interface (such as a WI-FI interface, a Bluetooth interface, a 5G interface);

[0060] The communication bus is used to realize the connection and communication between various components. For example, the processor, memory, network interface and user interface mentioned above can be interconnected through the communication bus;

[0061] The user interface may include a display screen, an input unit (such as a keyboard), and optionally, the user interface may also include a standard wired interface or a wireless interface;

[0062] Those skilled in the art can understand that the above-mentioned computer can also include more or fewer components, or combine certain components, or arrange components in different ways, which is not limited in the embodiments of the present application;

[0063] Combination Figure 2 The architecture and related description of the satellite navigation system shown in the figure, the positioning method provided in the embodiment of the present application is described in detail from the perspective of interaction between the user equipment, the navigation satellite and the control equipment (ie, the operation control center 103); Figure 4 As shown, the positioning method provided in the embodiment of the present application includes S101-S108;

[0064] S101, the user equipment determines at least two navigation satellites from the GNSS;

[0065] Taking the Beidou satellite navigation system as an example, the user equipment first searches and identifies navigation satellites that are visible to the user equipment and support the RDSS / Beidou short message service; and selects at least two navigation satellites that are closer to the user equipment and have stronger signal strength from the navigation positions that meet the above conditions, so as to request the at least two navigation satellites to obtain positioning enhancement information for positioning the user equipment;

[0066] S102: The user equipment sends a request for acquiring positioning enhancement information of the user equipment to at least two navigation satellites;

[0067] The request for obtaining the positioning enhancement information of the user equipment carries a request code and a ranging code, and the request code is used to indicate that the request is a request for obtaining the positioning enhancement information; for the convenience of description, in the following embodiments, the request for obtaining the positioning enhancement information of the user equipment is referred to as a positioning enhancement information request;

[0068] It should be understood that the user equipment continuously sends out ranging codes. In the following embodiments, the ranging codes in the positioning enhancement information request refer to the ranging codes at the moment when the user equipment sends out the request for obtaining the positioning enhancement information;

[0069] S103, at least two navigation satellites send a positioning enhancement information request and a satellite identifier of the navigation satellite to a control device;

[0070] The satellite signal sent by each of the at least two navigation satellites to the control device includes: a request code representing a request to obtain positioning enhancement information, a ranging code, and a satellite identifier of the navigation satellite;

[0071] Exemplarily, when the user equipment sends a positioning enhancement information request to the control device through two navigation satellites (the satellite identifiers of the two navigation satellites are U1 and U2 respectively), the request content sent by the first navigation satellite is: {U1, request code 1, ranging code 1}, and the request content sent by the second navigation satellite is: {U2, request code 1, ranging code 1};

[0072] Optionally, after the above-mentioned navigation satellite receives the positioning enhancement information request from the user equipment, the navigation satellite may directly send the positioning enhancement information request to the control device; or, when the control device is outside the visible range of the navigation satellite (at this time, the control device cannot receive the signal sent by the navigation satellite), the navigation satellite may forward the request to the control device through other navigation satellites (the control device is within the visible range of other navigation satellites);

[0073] S104: After receiving the request for obtaining the positioning enhancement information of the user equipment sent by at least two navigation satellites, the control device determines the position of the user equipment according to the ranging code carried in the request and the satellite identifier of each of the at least two navigation satellites;

[0074] The positioning enhancement information may include multiple types, for example, including but not limited to: satellite orbit deviation, satellite clock error, satellite phase deviation, code pseudorange deviation, ionospheric delay deviation and tropospheric delay deviation; in the embodiment of the present application, the positioning enhancement information is divided into two categories according to the relationship with the navigation satellite and the relationship with the position, namely: the first type of positioning enhancement information related to the navigation satellite, and the second type of positioning enhancement information related to the position;

[0075] Optionally, the first type of positioning enhancement information may include at least one of the following: satellite orbit deviation, satellite clock error, satellite phase deviation or code pseudorange deviation; the second type of positioning enhancement information may include ionospheric delay deviation and / or tropospheric delay deviation;

[0076] In one implementation, S104 includes S1041-S1042;

[0077] S1041. Determine, according to the ranging code carried in the positioning enhancement information request and the ranging code when the control device receives the positioning enhancement information request, the distance between the user equipment and each of the at least two navigation satellites;

[0078] Taking a navigation satellite as an example, the process by which the control device determines the distance between the user device and the navigation satellite includes:

[0079] Step 1: The control device determines the transmission distance of the positioning enhancement information request;

[0080] The control device determines the transmission time of the positioning enhancement information request from the user equipment to the control device according to the ranging code carried in the positioning enhancement information request and the ranging code when receiving the positioning enhancement information request; determines the transmission distance of the positioning enhancement information request according to the transmission time of the positioning enhancement information request, the transmission distance is the product of the transmission time and the speed of light, and the distance between the user equipment and the navigation satellite plus the distance between the navigation satellite and the control device is the transmission distance of the positioning enhancement information request;

[0081] Step 2: The control device determines the distance from the navigation satellite to the control device;

[0082] It should be understood that the control equipment continuously receives signals transmitted by the navigation satellite, and generates and stores the ephemeris of the navigation satellite according to the signals generated, and the ephemeris includes the orbit information of the navigation satellite (such as orbit parameters, etc.);

[0083] Step 3: The control device determines the distance between the user device and the navigation satellite according to the transmission distance of the positioning enhancement information request and the distance between the navigation satellite and the control device;

[0084] The distance between the user equipment and the navigation satellite is the transmission distance of the above positioning enhancement information request minus the distance between the navigation satellite and the control equipment;

[0085] S1042. The control device calculates the position of the user equipment according to the distance between the user equipment and each of the at least two navigation satellites and the geodetic height of the user equipment as a condition for three-sphere intersection positioning. The position of the user equipment determined by the three-sphere positioning method is a probabilistic position of the user equipment.

[0086] It can be understood that three-sphere intersection positioning is a positioning method based on distance measurement, which takes the intersection of three spheres of known positions as the position of an unknown point (such as a user device); in the embodiment of the present application, taking two navigation satellites (navigation satellite 1 and navigation satellite 2) as an example, the three spheres are: a sphere with navigation satellite 1 as the center and the distance from navigation satellite 1 to the user device as the radius; a sphere with navigation satellite 2 as the center and the distance from navigation satellite 2 to the user device as the radius; and a sphere with the center of the earth as the center and the distance from the center of the earth to the user device as the radius;

[0087] Optionally, the location of the user equipment may be represented by the coordinates of a point in a cgcs2000 coordinate system (China Geodetic CoordinateSystem2000), for example, the location of the user equipment is represented as (x, y, z);

[0088] S105. The control device determines, according to the position of the user equipment, an altitude angle of each navigation satellite of the satellite navigation system relative to the user equipment;

[0089] The altitude angle of the navigation satellite relative to the user equipment refers to the angle between the line connecting the user equipment to the navigation satellite and the horizon, for example Figure 5 The altitude angle h ;

[0090] Taking a navigation satellite as an example, in one implementation, a method for determining an altitude angle of the navigation satellite relative to a user equipment includes S1051-S1052;

[0091] S1051. The control device establishes a station-center rectangular coordinate system with the position of the user device as the origin, and determines the position coordinates of the navigation satellite in the station-center rectangular coordinate system;

[0092] refer to Figure 6 , taking the location of the user's device as the origin (point O r ) Establish a station-centered rectangular coordinate system, which includes an N axis, a U axis, and an E axis; the N axis of the station-centered rectangular coordinate system points to the meridian passing through the user device, and the north direction is the positive direction of the N axis; the U axis coincides with the WGS84 ellipsoid normal on the user device, and the direction in which the WGS84 ellipsoid normal points to the outside of the WGS84 ellipsoid is the positive direction of the U axis; the E axis, the N axis, and the U axis form a right-handed rectangular coordinate system; wherein the WGS84 ellipsoid normal refers to a straight line through any point on the surface of the earth in the WGS84 coordinate system (World Geodetic System 1984), which is tangent to the surface of the earth ellipsoid and perpendicular to the equatorial plane of the earth ellipsoid; since the WGS84 coordinate system is common knowledge in the art, no further limitation is made here;

[0093] Taking one of the multiple navigation satellites as an example, the position coordinates of the navigation satellite in the station center coordinate system are satisfy: ;in, represents the rotation matrix, Indicates the coordinates of the navigation satellite in the cgcs2000 coordinate system. Indicates the coordinates of the user device in the cgcs2000 coordinate system;

[0094] The above rotation matrix satisfy: ,in, Indicates the geodetic latitude of the user device, Indicates the geodetic longitude of the user equipment;

[0095] The geodetic latitude of the above user equipment The geodetic longitude of the user's device The coordinates of the user equipment in the cgcs2000 coordinate system are converted into the coordinates of the user equipment in the Earth-Centered, Earth-Fixed (ECEF) coordinate system; the Earth-Centered, Earth-Fixed coordinate system is common knowledge in the art and will not be further introduced here;

[0096] S1052. The control device determines the altitude angle of the navigation satellite relative to the user equipment according to the position coordinates of the navigation satellite in the station center rectangular coordinate system;

[0097] The position coordinates of the navigation satellite in the station center coordinate system are , then the altitude angle of the navigation satellite relative to the user equipment satisfies: ;

[0098] S106. The control device determines the target positioning enhancement information from the positioning enhancement information database;

[0099] The above positioning enhancement information database includes first-category positioning enhancement information corresponding to satellite identifiers of multiple navigation satellites, and second-category positioning enhancement information corresponding to multiple position information;

[0100] Optionally, in the embodiment of the present application, the control device may construct a positioning enhancement information library; through the pre-constructed positioning enhancement information library, there is no need to calculate the target positioning enhancement information after receiving the request, so that the control device can quickly provide the target positioning enhancement information to the user device;

[0101] Specifically, the control device obtains real-time observation data of multiple monitoring stations in the GNSS, location information of multiple monitoring stations, and ephemeris data of multiple navigation satellites, and obtains first-type positioning enhancement information corresponding to satellite identifiers of multiple navigation satellites and second-type positioning enhancement information corresponding to the location information of multiple monitoring stations through state domain modeling;

[0102] The calculation formula for the above state domain modeling satisfies:

[0103] ;

[0104] ;

[0105] In the above formula, i Indicates the receiver number (i.e., the receiver code in the monitoring station), k Indicates the satellite ID of the navigation satellite. Indicates the receiver i Navigation satellites observed at the receiving time k The phase observation value of Indicates the receiver i Navigation satellites observed at the receiving time k location information, Indicates that the satellite signal is from the navigation satellite k Transmit to receiver i The ionospheric error is Indicates that the satellite signal is from the navigation satellite k Transmit to receiver i The tropospheric error is represents the propagation speed of satellite signals in a vacuum (equal to the speed of light), Indicates that the satellite signal has reached the receiver i The receiver clock error at the antenna, Indicates that the satellite signal has left the navigation satellite k The satellite antenna satellite clock error, represents the carrier wavelength, Indicates the carrier phase from the navigation satellite k To Receiver i The unknown integer ambiguity between Indicates the receiver i The residual contains the non-modal phase deviation, Indicates navigation satellite k The residual contains the non-modal phase deviation, represents the phase error caused by multipath effect, Indicates navigation satellite k To Receiver i The carrier phase noise error between Indicates the receiveri Navigation satellites observed at the receiving time k The pseudorange observation value of Indicates navigation satellite k To Receiver i The pseudorange measurement residual between ; where, , , Indicates the reference time Receiver i The initial phase observation value of Indicates that the satellite signal has reached the receiver i The receiver phase hardware delay error at the antenna, Indicates the reference time Navigation Satellite k The initial phase observation value of Indicates that the satellite signal has left the navigation satellite k The satellite phase hardware delay error;

[0106] From the above content, it can be seen that in the first type of positioning enhancement information, satellite orbit deviation, satellite clock error, satellite phase deviation and code pseudorange deviation can be obtained by , , as well as The ionospheric delay bias and tropospheric delay bias in the second type of positioning augmentation information can be obtained by and get;

[0107] Taking the Beidou satellite navigation system as an example, the storage format of the first type of positioning enhancement information and the second type of positioning enhancement information in the positioning enhancement information database is shown in Table 1;

[0108] Table 1

[0109]

[0110] Referring to Table 1, for the first type of positioning enhancement information, the storage format of the satellite orbit deviation and the satellite clock error may also include the standard deviation of the satellite orbit deviation and the standard deviation of the satellite clock error; the L1C signal, L2W signal and L5W signal in the storage format of the satellite phase deviation and the code pseudorange deviation are signals used for positioning in the Beidou-3 system;

[0111] For the second type of positioning enhancement information, the above-mentioned ionospheric delay deviation can first establish an ionospheric grid map with a grid size of 1 degree × 1 degree through a global ionospheric TEC modeling method based on spherical harmonics, and store the ionospheric delay deviations corresponding to the four points of each grid through the positioning enhancement information library 105; the above-mentioned tropospheric delay deviation can first establish an ionospheric grid map with a grid size of 1 degree × 1 degree through a regional precise tropospheric delay model based on an improved BP neural network, and store the tropospheric delay deviations corresponding to the four points of each grid through the positioning enhancement information library 105;

[0112] Specifically, the second type of positioning enhancement information may include: ionospheric delay deviations corresponding to four points of a square in an ionospheric grid diagram where the user equipment is located, and / or tropospheric delay deviations corresponding to four points of a square in a tropospheric grid diagram where the user equipment is located;

[0113] As for the global ionospheric TEC modeling method based on spherical harmonics and the regional precise tropospheric delay model based on the improved BP neural network, both are prior arts and will not be further described in the embodiments of the present application;

[0114] In the embodiment of the present invention, in the target positioning enhancement information used to position the user equipment, the first type of positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation condition in the positioning enhancement information library, and the second type of positioning enhancement information is the positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information library;

[0115] Optionally, the above observation condition is that the altitude angle of the navigation satellite relative to the user equipment is greater than zero; it should be understood that when the altitude angle between the user equipment and the navigation satellite is greater than zero, the path of the satellite signal passing through the atmosphere to reach the user equipment is relatively short, and the signal strength of the navigation satellite is high. Based on the signals of these navigation satellites and the positioning enhancement information, it is helpful to improve the accuracy and reliability of positioning the user equipment;

[0116] The control device uses the satellite identifier of the navigation satellite with an altitude angle greater than zero as a search condition according to the altitude angle determined in S105, and retrieves the first type of positioning enhancement information corresponding to the satellite identifier from the positioning enhancement information library; the control device uses the position of the user equipment determined in S104 as a search condition, and retrieves the second type of positioning enhancement information corresponding to the position of the user equipment from the positioning enhancement information library, thereby obtaining the target positioning enhancement information;

[0117] As the demand for positioning services of user equipment increases year by year, the bandwidth resources of the existing satellite navigation system are limited (for example, the communication capacity of the BeiDou-3 short message service in China is only 1750 bytes, and the communication capacity abroad is only 80 bytes). Therefore, in order to meet the positioning needs of more users, more bandwidth resources of the satellite navigation system will be occupied; accordingly, when there are many users, the positioning efficiency of the satellite navigation system will be low due to the limited bandwidth of the satellite navigation system; through S106 of the embodiment of the present application, the first type of positioning enhancement information related to the navigation satellite with good observation effect on the user equipment is screened out from the positioning enhancement information library, and provided to the user equipment, without sending all the positioning enhancement information related to the navigation satellites in the GNSS to the user equipment, which can reduce the amount of target positioning enhancement information transmitted to the user equipment, and can quickly provide the user with positioning enhancement information under limited bandwidth resources, thereby ensuring that the satellite navigation system has a high positioning efficiency;

[0118] In some implementations, in order to meet the positioning needs of more users, the bandwidth of the satellite navigation system may also be expanded, but the cost of bandwidth expansion is high; by screening the positioning enhancement information in S106 of the embodiment of the present application, it is not necessary to send all the positioning enhancement information related to the navigation satellites in the GNSS to the user equipment, thereby reducing the bandwidth resources required for transmitting the target positioning enhancement information, and saving the cost of bandwidth expansion of the satellite navigation system;

[0119] S107. The control device sends the target positioning enhancement information to the user device, where the target positioning enhancement information is used to locate the user device.

[0120] In one implementation, before the control device sends the target positioning enhancement information to the user equipment, the positioning method further includes: the control device determines a transmission path for sending the target positioning enhancement information to the user equipment (i.e., determines a return link of the positioning enhancement information) so as to smoothly and quickly send the target positioning enhancement information to the user equipment; the return link may include an uplink (a link for the operation and control center to send the positioning enhancement information to the navigation satellite), an inter-satellite link (a link for the navigation satellite to forward the positioning enhancement information to the navigation satellite), and a downlink (a link for the navigation satellite to forward the positioning enhancement information to the user equipment);

[0121] In the embodiment of the present application, after the user equipment receives the target positioning enhancement information, the user equipment determines the precise location of the user equipment according to the target positioning enhancement information and the positioning signal received by the user equipment from the navigation satellite;

[0122] In one implementation, the user equipment determines the precise location of the user equipment according to the positioning signals of the four navigation satellites and the first positioning enhancement information related to the at least four navigation satellites in the target positioning enhancement information, and the second type of positioning enhancement information in the target enhancement information;

[0123] Specifically, the user equipment receives the target positioning enhancement information sent by the control equipment through the module supporting the RDSS service, and receives the positioning signals of four navigation satellites through the module supporting the RNSS service;

[0124] Taking a navigation satellite as an example, the user equipment determines the transmission time of the positioning signal (the reception time of the positioning signal of the navigation satellite minus the transmission time of the positioning signal), and takes the product of the signal propagation speed and the signal transmission time as the distance between the user equipment and the navigation satellite (i.e., the pseudo-range observation value); the user equipment uses the first positioning enhancement information related to the navigation satellite in the target positioning enhancement information and the second type of positioning enhancement information in the target enhancement information to correct the pseudo-range observation value to obtain the corrected distance;

[0125] The user equipment processes the corrected distances of the four navigation satellites through GNSS data processing software to obtain the precise position of the user equipment;

[0126] Optionally, the GNSS data processing software may be Trimble Business Center (TBC), Leica Geo Office (LGO) or Bernese GNSS Software, etc.;

[0127] In summary, an embodiment of the present application provides a positioning method in which a control device obtains a request for positioning enhancement information from at least two navigation satellites (the request is sent by a user device to a navigation satellite, and then sent by the navigation satellite to the control device), and determines the distance from the user device to the at least two navigation satellites, and then determines the position of the user device. Then, the control device calculates the altitude angle of the navigation satellite relative to the user device based on the position of the user device; then, the first type of positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation conditions and the second positioning enhancement information corresponding to the position of the user device are screened from a positioning enhancement information library, thereby obtaining the positioning enhancement information required for the user device to achieve precise positioning; the positioning method In the method, in the process of providing positioning enhancement information to the user equipment, multiple navigation satellites are first screened, and then the first type of positioning enhancement information related to the navigation satellite with better observation effect on the user equipment is obtained from the positioning enhancement information library, and the second type of positioning enhancement information is determined according to the position of the user equipment. It is not necessary to send the positioning enhancement information related to all navigation satellites in the GNSS to the user equipment. In this way, the amount of positioning enhancement information is reduced, thereby reducing the bandwidth resources occupied by transmitting the positioning enhancement information to the user equipment. Then, in the case of limited communication capacity of the satellite navigation system, it can support providing positioning enhancement information to more user equipment at the same time, thereby meeting the positioning service needs of more user equipment;

[0128] Furthermore, compared with the existing method of relying on ground monitoring stations to obtain enhanced information for positioning (i.e., ground-based enhancement method), the positioning method provided in the embodiment of the present application can achieve higher-precision positioning without relying on ground monitoring stations; compared with the existing method of obtaining enhanced information for positioning by renting the broadcast channel of a navigation satellite (i.e., satellite-based enhancement method), the embodiment of the present application can also achieve higher-precision positioning in areas that are not covered by the broadcast channel.

[0129] Accordingly, the present application embodiment provides a positioning device, such as Figure 7 As shown, it includes a position determination module 801, an altitude angle determination module 802, an enhancement information determination module 803 and a sending module 804;

[0130] The location determination module 801 is used to, after receiving a request for obtaining positioning enhancement information of the user equipment sent by at least two navigation satellites, determine the location of the user equipment according to the ranging code carried in the request and the satellite identifier of each of the at least two navigation satellites; wherein the positioning enhancement information includes a first type of positioning enhancement information related to the navigation satellite and a second type of positioning enhancement information related to the location; for example, the location determination module 801 is used to implement S103 of the above positioning method;

[0131] The altitude angle determination module 802 is used to determine the altitude angle of each navigation satellite of the plurality of navigation satellites of the satellite navigation system relative to the user equipment according to the position of the user equipment; for example, the altitude angle determination module 802 is used to implement S104 of the above positioning method;

[0132] The enhancement information determination module 803 is used to determine the target positioning enhancement information from the positioning enhancement information library; the positioning enhancement information library includes the first type of positioning enhancement information corresponding to the satellite identifiers of multiple navigation satellites, and the second type of positioning enhancement information corresponding to multiple position information; the first type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation condition in the positioning enhancement information library, and the second type of positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information library; for example, the enhancement information determination module 803 is used to implement S105 of the above positioning method;

[0133] The sending module 804 is used to send the target positioning enhancement information to the user equipment; the target positioning enhancement information is used to locate the user equipment; the sending module 804 is used to implement S106 of the above positioning method;

[0134] Optionally, combined Figure 7 ,like Figure 8 As shown, the positioning device further includes: a construction module 805 and a path optimization module 806;

[0135] The construction module 805 is used to construct a positioning enhancement information library;

[0136] The path optimization module 806 is used to determine a transmission path for sending the target positioning enhancement information to the user equipment.

[0137] Each module of the above positioning device can also be used to execute other steps in the above method embodiment. All relevant contents involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0138] An embodiment of the present application also provides an electronic device, including: a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method in the above embodiment; wherein the processor can implement the above position determination module 801, altitude angle determination module 802, enhancement information determination module 803, and path optimization module 806; the above memory can also be used to store a positioning enhancement information library, target positioning enhancement information, etc.

[0139] An embodiment of the present application further provides a computer-readable storage medium, which includes a computer program. When the computer program runs on a computer, the method described in the above embodiment is executed.

[0140] An embodiment of the present application further provides a computer program product, which includes computer program instructions. When the computer program instructions are run on a computer, the method described in the above embodiment is executed.

[0141] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, characterized in that: After receiving the request for obtaining the positioning enhancement information of the user equipment sent by at least two navigation satellites, the control device determines the position of the user equipment according to the ranging code carried in the request and the satellite identifier of each of the at least two navigation satellites; wherein the positioning enhancement information includes first-type positioning enhancement information related to the navigation satellite and second-type positioning enhancement information related to the position; The control device determines, according to the position of the user equipment, an altitude angle of each navigation satellite of a plurality of navigation satellites of a satellite navigation system relative to the user equipment; The control device determines the target positioning enhancement information from the positioning enhancement information library; the positioning enhancement information library includes first-category positioning enhancement information corresponding to satellite identifiers of multiple navigation satellites, and second-category positioning enhancement information corresponding to multiple position information; the first-category positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation conditions in the positioning enhancement information library, and the second-category positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information library; the first-category positioning enhancement information includes at least one of the following: satellite orbit deviation, satellite clock error, satellite phase deviation or code pseudorange deviation; the second-category positioning enhancement information includes ionospheric delay deviation and / or tropospheric delay deviation; The control device sends the target positioning enhancement information to the user equipment; the target positioning enhancement information is used to locate the user equipment.

2. The positioning method according to claim 1, characterized in that: The observation condition is that the altitude angle of the navigation satellite relative to the user equipment is greater than zero.

3. The positioning method according to claim 1, characterized in that: Before the control device sends the positioning enhancement information to the user equipment, the method further includes: The management and control device determines a transmission path for sending the positioning enhancement information to the user equipment.

4. The positioning method according to claim 1, characterized in that: The method further comprises: The control device constructs the positioning enhancement information database.

5. A positioning device, characterized in that: It includes a position determination module, an altitude angle determination module, an enhanced information determination module and a sending module; The position determination module is used to, after receiving a request for obtaining positioning enhancement information of a user equipment sent by at least two navigation satellites, determine the position of the user equipment according to a ranging code carried in the request and a satellite identifier of each of the at least two navigation satellites; wherein the positioning enhancement information includes first-type positioning enhancement information related to the navigation satellite and second-type positioning enhancement information related to the position; The altitude angle determination module is used to determine, according to the position of the user equipment, the altitude angle of each navigation satellite of the plurality of navigation satellites of the satellite navigation system relative to the user equipment; The enhancement information determination module is used to determine the target positioning enhancement information from the positioning enhancement information library; the positioning enhancement information library includes first-category positioning enhancement information corresponding to satellite identifiers of multiple navigation satellites, and second-category positioning enhancement information corresponding to multiple position information; the first-category positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the navigation satellite whose altitude angle meets the observation conditions in the positioning enhancement information library, and the second-category positioning enhancement information in the target positioning enhancement information is the positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information library; the first-category positioning enhancement information includes at least one of the following: satellite orbit deviation, satellite clock error, satellite phase deviation or code pseudorange deviation; the second-category positioning enhancement information includes ionospheric delay deviation and / or tropospheric delay deviation; The sending module is used to send the target positioning enhancement information to the user equipment; the target positioning enhancement information is used to locate the user equipment.

6. An electronic device, characterized in that: It comprises a processor and a memory coupled to the processor; the memory is used to store computer instructions, and when the electronic device is running, the processor executes the computer instructions stored in the memory, so that the electronic device executes the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The method comprises computer program instructions, which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 4.

8. A computer program product, characterized in that The method comprises computer program instructions, which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 4.

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