Rapid positioning method supported by satellite navigation information and system thereof

Abstract

The invention discloses a rapid positioning method and system supported by satellite navigation information, and belongs to the technical field of positioning, and the method comprises the steps: 1, marking a target region, and building a region information feature map according to the target region; 2, identifying a navigation route, acquiring environmental change data on the navigation route in real time, and updating the regional information feature map in real time according to the environmental change data; 3, determining a positioning target, marking the position of the positioning target in the regional information feature map in real time, and determining an evaluation section according to the position of the positioning target; 4, determining a positioning satellite of the positioning target paired application on the evaluation section according to the evaluation section; performing pairing processing according to the determined positioning satellites, and receiving positioning analysis data of the positioning satellites; 5, positioning the positioning target according to the obtained positioning analysis data; by establishing the regional information feature map, the dynamic analysis of the environmental condition in the target region is realized.

Description

Technical Field

[0001] The invention belongs to the field of positioning technology, and in particular to a rapid positioning method and system supported by satellite navigation information. Background Art

[0002] With the rapid development of modern science and technology, positioning technology plays a vital role in many fields such as daily life, transportation, military defense, etc. Traditional positioning methods, such as positioning based on ground signal towers, are limited by factors such as geographical coverage, signal stability and positioning accuracy, and can no longer meet the needs of modern society.

[0003] At present, many satellite navigation systems have been established around the world, such as the Global Positioning System (GPS) of the United States, the GLONASS of Russia, the Galileo of the European Union, and the BeiDou Satellite Navigation System (BDS) of China. These satellite navigation systems achieve accurate positioning around the world by sending radio signals to ground users. The widespread application of satellite navigation technology has greatly promoted the innovation and development of positioning technology.

[0004] However, although the existing satellite navigation system has high positioning accuracy and coverage, in certain specific scenarios, such as cities, canyons, tunnels, basements and other areas with severe signal obstruction, the reception quality of satellite signals will be seriously affected, resulting in reduced positioning accuracy or even inability to locate. In addition, when processing massive positioning requests, the existing fast positioning system often has problems such as slow response speed and unstable positioning accuracy, making it difficult to meet the real-time, high-precision positioning needs.

[0005] Based on this, the present invention provides a rapid positioning method and system supported by satellite navigation information. Summary of the invention

[0006] In order to solve the problems existing in the above solutions, the present invention provides a rapid positioning method and system supported by satellite navigation information.

[0007] The purpose of the present invention can be achieved through the following technical solutions:

[0008] A fast positioning method supported by satellite navigation information, including:

[0009] Step 1: Mark the target area and establish a regional information feature map according to the target area;

[0010] Furthermore, the method for establishing the regional information feature map includes:

[0011] Obtain various environmental factors; set corresponding factor items according to various environmental factors; integrate various factor items and establish corresponding factor templates;

[0012] Obtain target area information, process the target area information through factor templates, and obtain factor feature data corresponding to each position in the target area;

[0013] Obtain a regional map corresponding to the target area; generate a corresponding image surface according to the factor feature data corresponding to each position in the target area and the regional map; merge and analyze each position in the image surface to obtain each feature area and the regional feature data corresponding to each feature area; mark each feature area and the corresponding regional feature data obtained in the regional map; mark the current regional map as a regional information feature map.

[0014] Furthermore, the method for merging and analyzing each position in the image plane includes:

[0015] Step SA1: Identify each candidate satellite, obtain the historical positioning data of each candidate satellite, determine the positioning accuracy and response time of each candidate satellite under different factor characteristic data according to the obtained historical positioning data; determine the equivalent range of different factor characteristic data according to the positioning accuracy and response time; identify the factor characteristic data corresponding to each position in the image surface, and integrate each adjacent position with the same factor characteristic data into a unit area;

[0016] Step SA2: select any unit area as the initial area, identify each unit area adjacent to the initial area, mark the factor feature data of the adjacent unit areas as comparison data, and match the corresponding equivalent range according to the factor feature data of the initial area and the comparison data;

[0017] Step SA3: judging the merging of the factor feature data and the comparison data according to the equivalent range; when it is judged that the merging requirements are met, merging the corresponding adjacent initial area and unit area to obtain a merged area, and determining the merged area feature data of the merged area; when it is judged that the merging requirements are not met, no merging is performed, and corresponding marking is performed, and returning to step SA2;

[0018] Step SA4: determining a merging target adjacent to the merging region, determining corresponding factor feature data and comparison data according to the merging region and the merging target; matching the corresponding equivalent range according to the factor feature data and the comparison data;

[0019] Step SA4: judging the merging of the factor feature data and the comparison data according to the equivalent range; when it is judged that the merging requirements are met, merging the merging area and the merging target to obtain a new merging area, and determining the merging area feature data of the new merging area; when it is judged that the merging requirements are not met, no merging is performed, and corresponding marking is performed, and the process returns to step SA2;

[0020] Step SA5: loop step SA4 until the remaining adjacent unit areas or merged areas do not meet the merge requirements; mark the remaining merged areas and unit areas as feature areas.

[0021] Step 2: Identify the navigation route, obtain environmental change data on the navigation route in real time, and update the regional information feature map in real time according to the environmental change data;

[0022] Step 3: determine the positioning target, mark the position of the positioning target in real time in the regional information feature map, and determine the evaluation segment according to the positioning target position;

[0023] Step 4: Determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite, and receive positioning analysis data from the positioning satellite;

[0024] Further, the method for determining the positioning satellites to be paired and applied to the positioning target on the evaluation segment according to the evaluation segment includes:

[0025] Determine each candidate satellite according to the positioning target; identify each feature area corresponding to the evaluation segment and mark it as the evaluation area; obtain regional feature data corresponding to the evaluation area, evaluate the candidate satellite according to the obtained regional feature data, and obtain each evaluation item data corresponding to the candidate satellite;

[0026] The evaluation item data corresponding to each candidate satellite is compared to determine the positioning satellite for paired application.

[0027] Furthermore, the method for comparing the data of each evaluation item corresponding to each candidate satellite includes:

[0028] Step SC1: Combine the selected satellites in pairs to obtain a plurality of first combinations;

[0029] Step SC2: identifying each evaluation item data corresponding to two candidate satellites in each first combination, marking them as single item data; comparing each single item data to determine the corresponding single optimization value;

[0030] Match the corresponding weight coefficient according to the evaluation item corresponding to a single data item;

[0031] Step SC3: Mark the evaluation item as i, i=1, 2, ..., n, and n is a positive integer; mark the obtained weight coefficient and single optimization value as ηi and DYi respectively;

[0032] According to the formula Calculate the corresponding comparison value;

[0033] Where: PU is the comparison value;

[0034] According to whether the comparison value is greater than 1, marking two satellites to be selected in the first combination as a priority satellite and a lagging satellite respectively;

[0035] Step SC4: Identify the comparison values ​​corresponding to each first combination, eliminate the lagging satellites in each first combination according to the comparison values, and eliminate the candidate satellites lagging behind each lagging satellite to determine the positioning satellite for pairing application.

[0036] Furthermore, the method for performing pairing processing according to the determined positioning satellite includes:

[0037] Mark the positioning satellite currently paired with the positioning target as the first satellite, mark each positioning satellite corresponding to the evaluation segment as the second satellite, compare the first satellite with the second satellite, and determine the pairing change point; perform pairing preprocessing according to the second satellite and the pairing change point; when the positioning target reaches the pairing change point, pair the second satellite;

[0038] When there are no paired change points on the evaluation segment, no corresponding operation is performed.

[0039] Step 5: Locate the target based on the acquired positioning analysis data.

[0040] A rapid positioning system supported by satellite navigation information, including: information map module, target analysis module;

[0041] The information map module is used to establish a regional information feature map, identify a navigation route, obtain environmental change data on the navigation route in real time, and update the regional information feature map in real time according to the environmental change data.

[0042] The target analysis module is used to perform positioning analysis, determine the positioning target, mark the position of the positioning target in real time in the regional information feature map, and determine the evaluation segment according to the position of the positioning target; determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite, receive positioning analysis data from the positioning satellite; and locate the positioning target according to the obtained positioning analysis data.

[0043] Compared with the prior art, the present invention has the following beneficial effects:

[0044] The present invention provides users with real-time location, speed and time information, which enables the rapid positioning system to respond quickly to user needs, update location information in real time, and provide users with continuous and stable positioning services. By establishing a regional information feature map, dynamic analysis of the environmental conditions in the target area is achieved, and different feature areas are divided according to the positioning impact, which facilitates rapid understanding of the positioning environment of the subsequent navigation journey during the positioning process, and then timely positioning adjustments are made; rapid and high-precision positioning is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0047] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] like Figure 1 As shown, a fast positioning method supported by satellite navigation information includes:

[0049] Step 1: The platform marks the target area, which refers to the geographical area where the positioning service is provided; establishes a corresponding regional information feature map based on the target area, and updates the regional information feature map accordingly based on the update of relevant information in the target area;

[0050] The method for establishing a corresponding regional information feature map according to the target region includes:

[0051] Obtain the corresponding influencing factors of various environmental factors that have an impact on satellite positioning, such as weather, city, canyon, tunnel, etc.; set corresponding factor items according to each environmental factor; integrate each factor item and establish a corresponding factor template;

[0052] Obtain target area information, such as geographical and environmental information of each location in the target area; process the target area information through a factor template to obtain factor feature data corresponding to each location in the target area, wherein the factor feature data is combined by extracting corresponding factor item data from the target area information of the corresponding location according to each factor item;

[0053] Obtain the regional map corresponding to the target area; generate the corresponding image surface according to the factor feature data corresponding to each position in the target area and the regional map; the image surface is Figure 1One-to-one correspondence, but a map with corresponding factor feature data is inserted in each position; each position in the image surface is combined and analyzed to obtain each feature area and the regional feature data corresponding to each feature area; each feature area and the corresponding regional feature data obtained are marked in the regional map. The current regional map is marked as a regional information feature map.

[0054] The method of merging and analyzing each position in the image surface includes:

[0055] Step SA1: Mark the satellite information that can be selected later as the candidate satellite, such as GPS, Beidou navigation, etc.; obtain the historical positioning data of each candidate satellite, and determine the positioning accuracy and response time of each candidate satellite under different factor characteristic data according to the obtained historical positioning data; determine the equivalent range of different factor characteristic data according to the principle of consistency of positioning accuracy and response time, and the equivalent range is the factor characteristic data within the equivalent range, which has the same impact on the positioning of each candidate satellite; select according to the lowest range, such as [1, 2], [1, 3], [1, 2.1] respectively, and [1, 2] needs to be selected to ensure consistency; identify the factor characteristic data corresponding to each position, and integrate the adjacent positions with the same factor characteristic data into unit areas;

[0056] Step SA2: select any unit area as the initial area, identify each unit area adjacent to the initial area, mark the factor feature data of the adjacent unit areas as comparison data, and match the corresponding equivalent range according to the factor feature data of the initial area and the comparison data;

[0057] Step SA3: judging whether the factor feature data and the comparison data are merged according to the equivalent range; that is, judging whether the difference between the factor feature data and the comparison data is within the equivalent range, if so, judging that the merging requirement is met, otherwise, the merging requirement is not met; when judging that the merging requirement is met, merging the corresponding adjacent initial area and unit area to obtain a merged area, integrating the feature data of each factor at the corresponding position of the merged area into the feature data of the merged area; when judging that the merging requirement is not met, no merging is performed, and corresponding marking is performed, that is, no subsequent merging analysis of the two is required, and returning to step SA2;

[0058] Step SA4: determine the merging target adjacent to the merging area, which may be a unit area or a merging area, determine the corresponding factor feature data and comparison data according to the merging area and the merging target, which refers to the two factor feature data with the largest difference between the merging area and the merging target; match the factor feature data with the comparison data according to the corresponding equivalent range;

[0059] Step SA4: judging the merging of the factor feature data and the comparison data according to the equivalent range; when it is judged that the merging requirements are met, merging the merging area and the merging target to obtain a new merging area, and integrating the feature data of each factor at the corresponding position of the new merging area into the feature data of the merging area; when it is judged that the merging requirements are not met, no merging is performed, and corresponding marking is performed, and the process returns to step SA2;

[0060] Step SA5: loop step SA4 until all merge requirements are not met; mark the remaining merged regions and unit regions as feature regions, and identify the region feature data corresponding to the feature region, i.e., the merged region feature data of the corresponding merged region or the factor feature data of the unit region.

[0061] By establishing a regional information feature map, dynamic analysis of the environmental conditions in the target area can be achieved, and different feature areas can be divided according to the positioning impact. This makes it easier to quickly understand the positioning environment conditions of the subsequent navigation journey during the positioning process, and then make timely positioning adjustments, achieving fast and high-precision positioning.

[0062] Step 2: Obtain the navigation route and obtain the environmental change data on the navigation route in real time. Because weather changes and other factors will have an impact on certain factors, it is necessary to collect relevant data that have an impact and will change in combination with corresponding meteorological data, and mark them as environmental change data; update the regional information feature map in real time according to the obtained environmental change data;

[0063] Step 3: Mark the vehicles and mobile devices that need to be positioned as positioning targets, mark the positions of the positioning targets in real time in the regional information feature map, and determine the evaluation segment according to the positions of the positioning targets;

[0064] The evaluation segment refers to the road segment that can be passed according to the preset time based on the current time. It is mainly used to make advance preparations for the replacement and adjustment of subsequent positioning satellites. The preset time is generally within 10 minutes, and the specific time is determined according to the actual situation. The road segment that the positioning target can travel is estimated according to the current vehicle speed, and the characteristic area where the end of the section is located is identified and marked as the first end point. The first end point is moved to the intersection of the characteristic area and the navigation route to form the second end point. The navigation route between the current positioning target position and the second end point is the evaluation segment; as long as the first end point does not exceed the second end point, the evaluation segment remains unchanged, otherwise, it is updated.

[0065] Step 4: Determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite and receive positioning analysis data from the positioning satellite; the positioning analysis data is the information about positioning sent by the positioning satellite, such as the location of the satellite and the sending time information;

[0066] The method for determining the positioning satellites to be paired and applied to the positioning target on the evaluation segment according to the evaluation segment includes:

[0067] Determine the positioning satellites that can be paired according to the positioning target and mark them as candidate satellites. The positioning satellites that can be searched and locked to satellite signals by the positioning target are marked as candidate satellites according to the actual situation and position of the positioning target.

[0068] Identify each feature area corresponding to the evaluation segment and mark it as an evaluation area; obtain regional feature data corresponding to the evaluation area, evaluate each candidate satellite according to the obtained regional feature data, and obtain the positioning accuracy, positioning response time and other evaluation item data that have an impact on positioning corresponding to each candidate satellite. The specific evaluation items are set by the staff, and the weight coefficients corresponding to each evaluation item are set. The user can adjust the evaluation items according to the needs, such as deleting the evaluation items, and can adjust the weight coefficients of each evaluation item; analyze the candidate satellite according to the determined evaluation items, and determine the evaluation item data of the candidate satellite under the current condition; use the historical positioning data of various positioning satellites to evaluate and determine the evaluation item data for each evaluation item; For example, a corresponding satellite evaluation model can be established based on a neural network such as a CNN network or a DNN network, and a corresponding training set can be established manually according to the historical positioning data for training, and the training set includes input data and output data, the input data includes regional feature data and positioning satellite information, and the output data is the data of each evaluation item; analyze the satellite evaluation model after successful training to obtain the data of each evaluation item of each candidate satellite.

[0069] The evaluation item data corresponding to each candidate satellite is compared to determine the positioning satellite for paired application.

[0070] The method for comparing the data of each evaluation item corresponding to each candidate satellite includes:

[0071] Step SC1: Combine the selected satellites in pairs to obtain a plurality of first combinations;

[0072] Step SC2: Identify the evaluation item data corresponding to the two candidate satellites in each first combination, and mark them as single data; that is, the evaluation item data corresponding to the same evaluation item; compare the single data to determine the corresponding single optimization value; the single optimization value is the corresponding optimization degree. For example, the single data is 3 seconds and 3.2 seconds corresponding to the positioning response time. Then, the single optimization value is 3.2 divided by 3, and the single optimization value is equivalent to the proportional optimization degree of the two evaluation item data; specifically, because the types of each evaluation item data are limited, and the evaluation item data can be clearly identified according to the corresponding historical positioning data; therefore, the possible evaluation item data can be compared in advance, the corresponding single optimization value can be determined, and the corresponding matching table can be integrated to establish, and then the corresponding matching can be performed later; the corresponding intelligent model can also be established in combination with the above method, and intelligent settings can be performed through the intelligent model;

[0073] Match the corresponding weight coefficient according to the corresponding evaluation item of a single data item;

[0074] Step SC3: Mark the evaluation item as i, i=1, 2, ..., n, and n is a positive integer; mark the obtained weight coefficient and single optimization value as ηi and DYi respectively;

[0075] According to the formula Calculate the corresponding comparison value;

[0076] Where: PU is the comparison value;

[0077] According to whether the comparison value is greater than 1, marking two satellites to be selected in the first combination as a priority satellite and a lagging satellite respectively;

[0078] Step SC4: Identify the comparison value corresponding to each first combination, eliminate the lagging satellites in each first combination according to the comparison value, and eliminate the candidate satellites that lag behind the lagging satellites, because the candidate satellite is a lagging satellite in the first combination, but it may be a priority satellite in other first combinations, so it can be directly eliminated; finally, only one priority satellite will be retained, and the others will all be eliminated due to the comparison relationship. If the comparison value is 1 and it is the highest priority, select the one that is easy to switch the pairing, or select randomly; determine the positioning satellite for the pairing application.

[0079] The method for pairing processing according to the determined positioning satellite includes:

[0080] The positioning satellite currently paired with the positioning target is marked as the first satellite, and each positioning satellite corresponding to the evaluation segment is marked as the second satellite. The first satellite and the second satellite are compared to determine the pairing change point, that is, the position where the first satellite and the second satellite are different; pairing preprocessing is performed according to the second satellite, because when performing satellite pairing to receive information, it may take a long time to search and lock the satellite signal, which may cause delays, so preprocessing is required; when the positioning target reaches the pairing change point, pair the second satellite;

[0081] When there are no paired change points on the evaluation segment, no corresponding operation is performed.

[0082] Step 5: Locate the target based on the acquired positioning analysis data.

[0083] After obtaining the positioning analysis data, the existing satellite positioning methods are used for positioning; for example, the received signal is decoded and processed, and the distance between the receiver and the satellite is calculated by measuring the signal propagation time (or phase difference). Using the measurement data of at least four satellites and combining the principle of triangulation positioning, the three-dimensional position (longitude, latitude and altitude) and time information of the receiver can be calculated.

[0084] The present invention provides users with real-time position, speed and time information, which enables the rapid positioning system to quickly respond to user needs, update position information in real time, and provide users with continuous and stable positioning services.

[0085] A rapid positioning system supported by satellite navigation information, including: information map module, target analysis module;

[0086] The information map module is used to establish a regional information feature map, identify a navigation route, obtain environmental change data on the navigation route in real time, and update the regional information feature map in real time according to the environmental change data.

[0087] The target analysis module is used to perform positioning analysis, determine the positioning target, mark the position of the positioning target in real time in the regional information feature map, and determine the evaluation segment according to the position of the positioning target; determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite, receive positioning analysis data from the positioning satellite; and locate the positioning target according to the obtained positioning analysis data.

[0088] The above formulas are all calculated by removing dimensions and taking numerical values. The formula is a formula that is closest to the actual situation obtained by collecting a large amount of data and performing software simulation. The preset parameters and preset thresholds in the formula are set by technical personnel in this field according to actual conditions or obtained by simulating a large amount of data.

[0089] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. Rapid positioning method supported by satellite navigation information, It is characterized in that Methods include: Step 1: Mark the target area and establish a regional information feature map according to the target area; Step 2: Identify the navigation route, obtain environmental change data on the navigation route in real time, and update the regional information feature map in real time according to the environmental change data; Step 3: determine the positioning target, mark the position of the positioning target in real time in the regional information feature map, and determine the evaluation segment according to the positioning target position; Step 4: Determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite, and receive positioning analysis data from the positioning satellite; Step 5: Locate the target based on the acquired positioning analysis data.

2. The rapid positioning method based on satellite navigation information according to claim 1, It is characterized in that The method for establishing the regional information feature map includes: Obtain various environmental factors; set corresponding factor items according to various environmental factors; integrate various factor items and establish corresponding factor templates; Obtain target area information, process the target area information through factor templates, and obtain factor feature data corresponding to each position in the target area; Obtain a regional map corresponding to the target area; generate a corresponding image surface according to the factor feature data corresponding to each position in the target area and the regional map; merge and analyze each position in the image surface to obtain each feature area and the regional feature data corresponding to each feature area; mark each feature area and the corresponding regional feature data obtained in the regional map; mark the current regional map as a regional information feature map.

3. The rapid positioning method based on satellite navigation information according to claim 2, It is characterized in that The method of merging and analyzing each position in the image surface includes: Step SA1: Identify each candidate satellite, obtain the historical positioning data of each candidate satellite, determine the positioning accuracy and response time of each candidate satellite under different factor characteristic data according to the obtained historical positioning data; determine the equivalent range of different factor characteristic data according to the positioning accuracy and response time; identify the factor characteristic data corresponding to each position in the image surface, and integrate each adjacent position with the same factor characteristic data into a unit area; Step SA2: select any unit area as the initial area, identify each unit area adjacent to the initial area, mark the factor feature data of the adjacent unit areas as comparison data, and match the corresponding equivalent range according to the factor feature data of the initial area and the comparison data; Step SA3: judging the merging of the factor feature data and the comparison data according to the equivalent range; when it is judged that the merging requirements are met, merging the corresponding adjacent initial area and unit area to obtain a merged area, and determining the merged area feature data of the merged area; when it is judged that the merging requirements are not met, no merging is performed, and corresponding marking is performed, and returning to step SA2; Step SA4: determining a merging target adjacent to the merging region, determining corresponding factor feature data and comparison data according to the merging region and the merging target; matching the corresponding equivalent range according to the factor feature data and the comparison data; Step SA4: judging the merging of the factor feature data and the comparison data according to the equivalent range; when it is judged that the merging requirements are met, merging the merging area and the merging target to obtain a new merging area, and determining the merging area feature data of the new merging area; when it is judged that the merging requirements are not met, no merging is performed, and corresponding marking is performed, and the process returns to step SA2; Step SA5: loop step SA4 until the remaining adjacent unit areas or merged areas do not meet the merge requirements; mark the remaining merged areas and unit areas as feature areas.

4. The rapid positioning method based on satellite navigation information according to claim 1, It is characterized in that The method for determining the positioning satellites to be paired and applied to the positioning target on the evaluation segment according to the evaluation segment includes: Determine each candidate satellite according to the positioning target; identify each feature area corresponding to the evaluation segment and mark it as the evaluation area; obtain regional feature data corresponding to the evaluation area, evaluate the candidate satellite according to the obtained regional feature data, and obtain each evaluation item data corresponding to the candidate satellite; The evaluation item data corresponding to each candidate satellite is compared to determine the positioning satellite for paired application.

5. The rapid positioning method based on satellite navigation information according to claim 4, It is characterized in that The method for comparing the data of each evaluation item corresponding to each candidate satellite includes: Step SC1: Combine the selected satellites in pairs to obtain a plurality of first combinations; Step SC2: identifying each evaluation item data corresponding to two candidate satellites in each first combination, marking them as single item data; comparing each single item data to determine the corresponding single optimization value; Match the corresponding weight coefficient according to the evaluation item corresponding to a single data item; Step SC3: Mark the evaluation item as i, i=1, 2, ..., n, and n is a positive integer; mark the obtained weight coefficient and single optimization value as ηi and DYi respectively; According to the formula Calculate the corresponding comparison value; Where: PU is the comparison value; According to whether the comparison value is greater than 1, marking two satellites to be selected in the first combination as a priority satellite and a lagging satellite respectively; Step SC4: Identify the comparison values ​​corresponding to each first combination, eliminate the lagging satellites in each first combination according to the comparison values, and eliminate the candidate satellites lagging behind each lagging satellite to determine the positioning satellite for pairing application.

6. The rapid positioning method supported by satellite navigation information according to claim 5, It is characterized in that The method for pairing processing according to the determined positioning satellite includes: Mark the positioning satellite currently paired with the positioning target as the first satellite, mark each positioning satellite corresponding to the evaluation segment as the second satellite, compare the first satellite with the second satellite, and determine the pairing change point; perform pairing preprocessing according to the second satellite and the pairing change point; when the positioning target reaches the pairing change point, pair the second satellite; When there are no paired change points on the evaluation segment, no corresponding operation is performed.

7. Rapid positioning system supported by satellite navigation information, It is characterized in that The method for rapid positioning supported by satellite navigation information according to any one of claims 1 to 6 comprises: an information graph module and a target analysis module; The information map module is used to establish a regional information feature map, identify a navigation route, obtain environmental change data on the navigation route in real time, and update the regional information feature map in real time according to the environmental change data; The target analysis module is used to perform positioning analysis, determine the positioning target, mark the position of the positioning target in real time in the regional information feature map, and determine the evaluation segment according to the position of the positioning target; determine the positioning satellite to be paired with the positioning target on the evaluation segment according to the evaluation segment; perform pairing processing according to the determined positioning satellite, receive positioning analysis data from the positioning satellite; and locate the positioning target according to the obtained positioning analysis data.

Images