A hot start fast capture method, device, electronic device and storage medium

Abstract

The present invention discloses a hot start fast capture method, device, electronic device and storage medium. The method includes performing normal satellite reception and positioning solution after cold start, obtaining and storing valid positioning information, ephemeris and positioning time; writing the receiver time after clock error correction into the real-time clock module and performing time keeping; after the receiver is turned off and restarted, obtaining the positioning time and reading the time keeping time of the real-time clock module; adaptively matching the corresponding time search ambiguity according to the positioning time and the time keeping time; performing capture search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the valid positioning information and the ephemeris. The solution provided by the present invention makes full use of the time ambiguity of different hot start startup moments, and adaptively uses different search time ambiguities, so as to achieve the purpose of accelerating hot start.

Description

Technical Field

[0001] The present invention relates to the field of navigation and positioning technology, and in particular to a hot start fast capture method, device, electronic equipment and storage medium. Background Art

[0002] With the promotion and application of the BeiDou-3 satellite navigation system, the time characteristics of ground military authorized terminal products have become increasingly important, among which the hot start function is an important application in navigation equipment. If the navigation equipment is restarted within two hours after being turned off, the ephemeris is still valid according to the toe reference time, and the RTC timekeeping time is added, the navigation receiver can quickly calculate the satellite position and ranging pseudorange, so as to quickly locate.

[0003] The capture of authorization signal requires setting a relatively accurate time and then setting a fixed search time ambiguity for capture. The current authorization signal hot start cannot achieve adaptive fast capture and can only search according to fixed ambiguity, which takes a long time to capture and has a slow response speed. Summary of the invention

[0004] In order to solve the technical problem that the current authorization signal hot start can only be searched according to a fixed ambiguity, the capture is time-consuming and the response speed is slow, the embodiments of the present invention provide a hot start fast capture method, device, electronic device and storage medium.

[0005] The technical solution of the embodiment of the present invention is achieved as follows:

[0006] The embodiment of the present invention provides a hot start fast capture method, which includes: after a cold start, performing normal satellite reception and positioning solution, obtaining and storing valid positioning information, ephemeris and positioning time; writing the receiver time after the clock error is corrected into a real-time clock module and performing time keeping; after the receiver is turned off and restarted, obtaining the positioning time, and reading the time keeping time of the real-time clock module; adaptively matching the corresponding time search ambiguity according to the positioning time and the time keeping time; performing capture search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the valid positioning information and the ephemeris; wherein, according to the positioning time and the time keeping time, The method comprises the following steps: determining a time search ambiguity corresponding to the time, comprising: calculating a difference between the timekeeping time and the positioning time; when the difference is less than or equal to a preset first threshold, determining a corresponding time search ambiguity as a deviation of the real-time clock module for 1 hour under extreme working conditions; when the difference is greater than the preset first threshold and less than or equal to a preset second threshold, setting a corresponding time search ambiguity as twice the deviation of the real-time clock module for 1 hour under extreme working conditions; and when the difference is greater than the preset second threshold and less than or equal to a preset third threshold, setting a corresponding time search ambiguity as three times the deviation of the real-time clock module for 1 hour under extreme working conditions.

[0007] In one embodiment, the preset first threshold is set to 3600 seconds, the preset second threshold is set to 7200 seconds, and the preset third threshold is set to 10800 seconds.

[0008] In one embodiment, after calculating the difference between the punctual time and the positioning time, the method further includes: determining whether the difference is greater than a preset third threshold; and performing a cold start process if the difference is greater than the preset third threshold.

[0009] In one embodiment, after performing capture search, tracking and positioning calculations for all visible stars, the method further includes: updating the data stored in the memory using the valid positioning information, ephemeris and positioning time obtained by this positioning solution, and writing the current positioning time into the real-time clock module to complete the time update.

[0010] In one embodiment, after a cold start, normal satellite reception and positioning calculation is performed to obtain and store valid positioning information, ephemeris and positioning time, including: performing normal satellite reception and positioning calculation once every preset first time period or every preset first distance, and obtaining and updating the stored valid positioning information, ephemeris and positioning time.

[0011] In one embodiment, the preset first duration is 1800 seconds, and the preset first distance is 1000 meters.

[0012] The embodiment of the present invention also provides a hot start fast capture device, which includes: a cold start module, which is used to perform normal satellite reception and positioning solution after cold start, and obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after the clock error is corrected into the real-time clock module and perform time keeping; an acquisition module, which is used to obtain the positioning time and read the time keeping time of the real-time clock module after the receiver is turned off and restarted; an adaptive matching module, which is used to adaptively match the corresponding time search ambiguity according to the positioning time and the time keeping time; a capture module, which is used to perform capture search of all visible stars according to the time search ambiguity, the valid positioning information and the ephemeris. Search, tracking and positioning calculation; wherein the adaptive matching module is specifically used to calculate the difference between the timekeeping time and the positioning time; when the difference is less than or equal to a preset first threshold, determine the corresponding time search ambiguity as the deviation of the real-time clock module in 1 hour under extreme working conditions; when the difference is greater than the preset first threshold and less than or equal to a preset second threshold, set the corresponding time search ambiguity to twice the deviation of the real-time clock module in 1 hour under extreme working conditions; when the difference is greater than the preset second threshold and less than or equal to a preset third threshold, set the corresponding time search ambiguity to three times the deviation of the real-time clock module in 1 hour under extreme working conditions.

[0013] An embodiment of the present invention further provides an electronic device, comprising: a processor and a memory for storing a computer program that can be run on the processor; wherein the processor executes the steps of the above-mentioned method when running the computer program.

[0014] An embodiment of the present invention further provides a storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0015] The hot start fast capture method, device, electronic device and storage medium provided by the embodiment of the present invention perform normal satellite reception and positioning after cold start, obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after the clock error correction into the real-time clock module and perform time keeping; after the receiver is turned off and restarted, obtain the positioning time and read the time keeping time of the real-time clock module; adaptively match the corresponding time search ambiguity according to the positioning time and the time keeping time; perform capture search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the valid positioning information and the ephemeris. The solution provided by the present invention makes full use of the time ambiguity of different hot start startup times, and adaptively uses different search time ambiguities, so as to achieve the purpose of accelerating hot start. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of a hot start fast capture method according to an embodiment of the present invention;

[0017] Figure 2 A detailed flow chart of the hot start fast capture method according to an embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of a hot start rapid capture device according to an embodiment of the present invention;

[0019] Figure 4 The figure is a diagram showing the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

[0021] The embodiment of the present invention provides a hot start fast capture method, such as Figure 1 As shown, the method includes:

[0022] Step 101: After a cold start, perform normal satellite positioning and calculation, obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after the clock error correction into the real-time clock module and perform time keeping;

[0023] Step 102: After the receiver is turned off and then turned on again, the positioning time is obtained, and the timekeeping time of the real-time clock module is read;

[0024] Step 103: adaptively matching the corresponding time search ambiguity according to the positioning time and the punctual time;

[0025] Step 104: Perform capture search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the positioning validity information and the ephemeris.

[0026] The authorization signal is a non-periodic signal, which requires a relatively accurate time input to start the signal capture. In the hot start, the time source is the RTC time. Considering the different RTC timekeeping accuracy, the RTC deviation is different under different shutdown intervals. The traditional method cannot perform adaptive fuzzy search according to the deviation size, and the capture is slow, resulting in a long hot start time. This method uses adaptive RTC deviation for fast capture and shortens the hot start time.

[0027] In this embodiment, the hot start adaptive capture search time ambiguity plays a vital role, mainly including counting the time interval between power-off and power-on to obtain the time deviation corresponding to the time interval; and dividing the time deviation according to the time interval.

[0028] Specifically, the difference between the punctual time and the positioning time , the temporal ambiguity is set to , It is the deviation of RTC in 1 hour under extreme working conditions, which can be read from the manual;

[0029] exist , the temporal ambiguity is set to 2 , similarly, It is the deviation of RTC in 1 hour under extreme working conditions, which can be read from the manual;

[0030] exist , the temporal ambiguity is set to 3 , similarly, This is the deviation of the RTC in one hour under extreme working conditions and can be read from the manual.

[0031] Specifically, see Figure 2 In a specific embodiment, the detailed process is:

[0032] Step 1: Cold start, complete the positioning calculation, and store the ephemeris, positioning information, etc. in the memory FLASH, and write the receiver time after clock error correction into the RTC.

[0033] After cold start and power on, during the normal satellite positioning stage, the ephemeris update is detected and stored. The position is 1800 seconds or the difference between the last distance and this distance is 1000 meters. The positioning result, positioning time, ephemeris, etc. are stored in flash at regular intervals.

[0034] Step 2: Turn off the receiver.

[0035] Step 3: Turn on the receiver, read the positioning information and ephemeris stored in FLASH, read the RTC time, and determine the interval between the ephemeris time and the RTC time.

[0036] Step 4: Determine whether the time interval is greater than 10800s. If so, jump to step 1 for cold start processing; otherwise, perform hot start processing and continue to step 5.

[0037] Step 5: Divide the time interval into hours according to the size of the time interval to obtain different RTC time deviations.

[0038] Step 6: According to different time deviations, set the corresponding capture search time ambiguity.

[0039] The time search ambiguity in this embodiment is based on the receiver time as the code stream output moment, and the authorization code stream output by the authorization module is matched with the input signal. The matching related range is called the search time ambiguity. If there is no phase difference between the code stream output by the authorization module and the actual received signal, the matching related range is 0 and the time ambiguity is 0; if the phase relationship between the code stream output by the authorization module and the actual received signal differs by 40ms, the matching related range is 40ms and the time ambiguity is 40ms.

[0040] In the capture in this embodiment, when the phase of the code stream output locally is consistent with the code stream broadcast by the satellite signal, there is a maximum autocorrelation peak. When the phase of the local code stream differs from the phase of the satellite signal code stream by more than one chip, there is no correlation peak. That is, the code stream phase needs to be completely consistent to be successfully captured.

[0041] For civil codes, the code stream is a periodic code. To capture the periodic code, it is only necessary to successfully match it locally with any periodic code of the input signal. For authorization signals, the code stream is a non-periodic long code. Successful capture requires a unique match between the time corresponding to the code stream and the signal input phase.

[0042] For example, when the receiver reads the specific UTC time from the RTC and converts the UTC time to BDT Beidou, the BDT Beidou time is set to enter the authorization module. The authorization module starts to output the code stream at the set BDT time, and uses the output code stream to match the received signal. If there is the highest correlation peak at the 0 phase time, the time phase difference is considered to be 0; if there is the highest correlation peak at the 40ms phase, the time phase difference is considered to be 40ms. At this time, at least 40ms of time ambiguity is required to search for the true phase. The above authorization signal is different from the capture of the civil short-cycle code.

[0043] According to the time interval between power-off and power-on, the maximum time deviation of RTC is calculated, that is, the time ambiguity of capture search.

[0044] Step 7: Initiate capture and tracking, complete positioning calculation, store positioning information and ephemeris update to FLASH, and write time information to RTC to complete time update.

[0045] After setting the time search ambiguity, the authorization code stream output according to the local time of the receiver is matched and correlated with the input intermediate frequency satellite signal. If the maximum peak value is found and the peak value passes the set capture threshold, it means that the satellite signal is successfully captured.

[0046] Step 8: End.

[0047] The effects of this embodiment are:

[0048] 1. According to the positioning information stored in FLASH and the RTC timekeeping time, different time deviations are obtained according to different time intervals, so as to set different time search ambiguities.

[0049] 2. Shorten the acquisition time and speed up the hot start time by setting the minimum time search ambiguity.

[0050] The hot start fast capture method provided by the embodiment of the present invention performs normal satellite reception and positioning after cold start, obtains and stores valid positioning information, ephemeris and positioning time; writes the receiver time after the clock error correction into the real-time clock module and performs time keeping; after the receiver is turned off and restarted, the positioning time is obtained, and the time keeping time of the real-time clock module is read; the corresponding time search ambiguity is adaptively matched according to the positioning time and the time keeping time; the capture search, tracking and positioning calculation of all visible stars are performed according to the time search ambiguity, the valid positioning information and the ephemeris. The solution provided by the present invention makes full use of the time ambiguity at different startup times of hot start, and adaptively uses different search time ambiguities, so as to achieve the purpose of accelerating hot start.

[0051] In order to implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a hot start fast capture device, such as Figure 3 As shown, the hot start fast capture device 300 includes: a cold start module 301, an acquisition module 302, an adaptive matching module 303 and a capture module 304; wherein:

[0052] The cold start module 301 is used to perform normal satellite positioning after cold start, obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after the clock error correction into the real-time clock module and perform time keeping;

[0053] The acquisition module 302 is used to acquire the positioning time and read the timekeeping time of the real-time clock module after the receiver is turned off and then turned on again;

[0054] An adaptive matching module 303, configured to adaptively match the corresponding time search ambiguity according to the positioning time and the punctual time;

[0055] The acquisition module 304 is used to perform acquisition search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the positioning validity information and the ephemeris.

[0056] In actual application, the cold start module 301, the acquisition module 302, the adaptive matching module 303 and the capture module 304 can be implemented by a processor in the hot start fast capture device.

[0057] It should be noted that: when the above-mentioned device provided in the above-mentioned embodiment is executed, only the division of the above-mentioned program modules is used as an example. In actual application, the above-mentioned processing can be assigned to different program modules as needed, that is, the internal structure of the terminal is divided into different program modules to complete all or part of the above-mentioned processing. In addition, the above-mentioned device provided in the above-mentioned embodiment belongs to the same concept as the above-mentioned method embodiment. The specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0058] In order to implement the method of the embodiment of the present invention, the embodiment of the present invention also provides a computer program product, which includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps of the above method.

[0059] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present invention, the embodiment of the present invention further provides an electronic device (computer device). Specifically, in one embodiment, the computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, the method of any one of the above embodiments is implemented. The display screen A04 of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0060] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0061] The device provided by the embodiment of the present invention includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method of any one of the above embodiments is implemented.

[0062] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0063] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0067] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0068] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0069] It can be understood that the memory of the embodiment of the present invention can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present invention are intended to include, but are not limited to, these and any other suitable types of memories.

[0070] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0071] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A hot start fast capture method, characterized in that: The method comprises: After cold start, perform normal satellite positioning and calculation, obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after clock error correction into the real-time clock module and keep time; After the receiver is turned off and then turned on again, the positioning time is obtained, and the timekeeping time of the real-time clock module is read; Adaptively matching the corresponding time search ambiguity according to the positioning time and the punctual time; Performing capture search, tracking and positioning calculation for all visible stars according to the time search ambiguity, the effective positioning information and the ephemeris; Wherein, determining a corresponding time search ambiguity according to the positioning time and the keeping time includes: calculating a difference between the keeping time and the positioning time; when the difference is less than or equal to a preset first threshold, determining the corresponding time search ambiguity as a deviation of the real-time clock module for 1 hour under extreme working conditions; when the difference is greater than the preset first threshold and less than or equal to a preset second threshold, setting the corresponding time search ambiguity to twice the deviation of the real-time clock module for 1 hour under extreme working conditions; when the difference is greater than the preset second threshold and less than or equal to a preset third threshold, setting the corresponding time search ambiguity to three times the deviation of the real-time clock module for 1 hour under extreme working conditions.

2. The hot start fast capture method according to claim 1, characterized in that: The preset first threshold is set to 3600 seconds, the preset second threshold is set to 7200 seconds, and the preset third threshold is set to 10800 seconds.

3. The hot start fast capture method according to claim 2, characterized in that: After calculating the difference between the punctual time and the positioning time, the method further comprises: Determining whether the difference is greater than a preset third threshold; When the difference is greater than a preset third threshold, a cold start process is performed.

4. The hot start fast capture method according to claim 1, characterized in that: After performing capture search, tracking and positioning calculation of all visible stars, the method further includes: The data stored in the memory is updated using the valid positioning information, ephemeris and positioning time obtained from this positioning solution, and the positioning time of this time is written into the real-time clock module to complete the time update.

5. The hot start fast capture method according to claim 1, characterized in that: After a cold start, perform normal satellite positioning and calculation to obtain and store valid positioning information, ephemeris and positioning time, including: A normal satellite reception and positioning solution is performed every preset first time period or every preset first distance to obtain and update the stored positioning valid information, ephemeris and positioning time.

6. The hot start fast capture method according to claim 5, characterized in that: The preset first duration is 1800 seconds, and the preset first distance is 1000 meters.

7. A hot start rapid capture device, characterized in that: The device comprises: The cold start module is used to perform normal satellite positioning after cold start, obtain and store valid positioning information, ephemeris and positioning time; write the receiver time after clock error correction into the real-time clock module and keep time; An acquisition module, used to acquire the positioning time and read the punctuality time of the real-time clock module after the receiver is turned off and then turned on again; An adaptive matching module, configured to adaptively match the corresponding time search ambiguity according to the positioning time and the punctual time; A capture module, used for performing capture search, tracking and positioning calculation of all visible stars according to the time search ambiguity, the effective positioning information and the ephemeris; Among them, the adaptive matching module is specifically used to calculate the difference between the timekeeping time and the positioning time; when the difference is less than or equal to a preset first threshold, the corresponding time search ambiguity is determined to be the deviation of the real-time clock module for 1 hour under extreme working conditions; when the difference is greater than the preset first threshold and less than or equal to a preset second threshold, the corresponding time search ambiguity is set to 2 times the deviation of the real-time clock module for 1 hour under extreme working conditions; when the difference is greater than the preset second threshold and less than or equal to a preset third threshold, the corresponding time search ambiguity is set to 3 times the deviation of the real-time clock module for 1 hour under extreme working conditions.

8. An electronic device, characterized in that: include: A processor and a memory for storing a computer program that can be run on the processor; wherein, when the processor is used to run the computer program, the steps of the method according to any one of claims 1 to 6 are executed.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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