Method, device and storage medium for positioning a mobile terminal based on satellite

Abstract

The present application discloses a method, device and storage medium for positioning a mobile terminal based on satellites, including: determining a first mobile terminal, and using the first mobile terminal to send a first positioning signal to multiple first satellites respectively; when multiple first satellites respond to the first positioning signal, multiple first satellites respectively send a first return message to the first mobile terminal; based on the first return messages of multiple first satellites, calculate the first distance between the first mobile terminal and each first satellite; use the first mobile terminal to send a second positioning signal to the second satellite, when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message contains a predetermined first error information; and use the first error information and the first distance to determine the second distance. The technical effect of reducing the amount of calculation of the mobile terminal and improving the technical efficiency of the mobile terminal is achieved.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a method, device and storage medium for positioning a mobile terminal based on satellite. Background Art

[0002] At present, with the continuous development of satellite technology, satellite-based positioning technology is also developing rapidly. And because the location information of the mobile terminal in three-dimensional space can be divided into longitude information, latitude information and altitude information, at least 3 different satellites are required to determine the three-dimensional coordinate location information of the mobile terminal. Among them, the mobile terminal can be, for example, a moving car, a moving ship, and a moving train. In general, in order to obtain more accurate positioning and higher reliability, 4 satellites are usually required to determine the three-dimensional coordinate location information of the mobile terminal. That is, the fourth satellite is used to correct the time error of the mobile terminal, thereby improving the positioning accuracy.

[0003] Based on the above, it can be known that since at least 4 satellites are needed to determine the precise location coordinates of the mobile terminal, in traditional cases, the mobile terminal needs to send signals to the above 4 different satellites respectively, and then the above 4 satellites return signals to the mobile terminal, so that the mobile terminal can be accurately positioned by jointly generating a set of equations corresponding to the 4 satellites. The specific calculation formula is as follows: .

[0004] Among them, x, y, and z represent the longitude information, latitude information, and altitude information of the mobile terminal respectively. , , The longitude, latitude and altitude information of the satellite respectively. c represents the propagation speed of electromagnetic waves. Indicates the clock difference of the mobile terminal. represents pseudorange. Represents the satellite clock error. Represents the ionospheric error. Represents the tropospheric error. Represents multipath error.

[0005] That is, the above four sets of formulas are needed to achieve accurate positioning of the mobile terminal. However, if the above four satellites are used to accurately position the mobile terminal, it is necessary not only to determine the position information of the satellites, but also to determine various error information, thereby increasing the calculation amount of the mobile terminal and reducing the calculation efficiency of the mobile terminal.

[0006] The publication number is CN118759559A, and the name is a data processing method for improving satellite positioning accuracy and reliability. It includes: step 1, extracting pseudorange, carrier phase, navigation message and satellite carrier-to-noise ratio; step 2, obtaining carrier phase smoothed pseudorange, satellite coordinates, and altitude angle; step 3, judging whether the number of observation satellites involved in positioning is less than 5, if so, go to step 1, otherwise, go to step 4; step 4, obtaining direction cosine coefficient matrix, observation value residual term matrix, and weighting model; step 5, obtaining satellite user terminal position matrix; step 6, obtaining observation equation residual matrix; step 7, judging whether there is an observation equation residual greater than a preset residual value, if so, go to step 8, otherwise, complete data processing; step 8, judging whether the number of remaining observation satellites is less than 4, if so, go to step 1, otherwise, go to step 4.

[0007] The publication number is CN118746848A, and the name is satellite positioning method, device, drone terminal and storage medium for positioning drone. The method includes: obtaining partition configuration information and satellite observation data of several satellites; calculating terminal location information based on satellite observation data; determining the partition where the terminal is located based on the partition configuration information and terminal location information; obtaining partition SSR correction data of the partition where the terminal is located; calculating satellite virtual observation values ​​based on terminal location information, satellite observation data and partition SSR correction data; constructing OSR observation data based on partition SSR correction data and satellite virtual observation values; sending satellite virtual observation values ​​and OSR observation data to the drone to enable the drone to perform positioning solution.

[0008] With respect to the technical problem in the above-mentioned prior art that when using multiple satellites to accurately locate a mobile terminal, the computational workload of the mobile terminal is increased and the computational efficiency of the mobile terminal is reduced, no effective solution has been proposed so far. Summary of the invention

[0009] The embodiments of the present disclosure provide a method, device and storage medium for positioning a mobile terminal based on satellite, so as to at least solve the technical problem in the prior art that when using multiple satellites to accurately position a mobile terminal, the calculation amount of the mobile terminal is increased and the calculation efficiency of the mobile terminal is reduced.

[0010] According to one aspect of an embodiment of the present disclosure, a method for positioning a mobile terminal based on a satellite is provided, including: determining a first mobile terminal, and using the first mobile terminal to send first positioning signals to multiple first satellites respectively; when the multiple first satellites respond to the first positioning signals, the multiple first satellites respectively send first return messages to the first mobile terminal; based on the first return messages of the multiple first satellites, calculating the first distance between the first mobile terminal and each of the first satellites, wherein the first distance is used to indicate the pseudorange between the first mobile terminal and each of the first satellites; using the first mobile terminal to send a second positioning signal to a second satellite, when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message contains predetermined first error information; and determining a second distance using the first error information and the first distance, wherein the second distance is used to indicate the true distance between the first mobile terminal and each of the first satellites.

[0011] According to another aspect of an embodiment of the present disclosure, a storage medium is further provided, the storage medium including a stored program, wherein when the program is running, a processor executes any one of the methods described above.

[0012] According to another aspect of an embodiment of the present disclosure, there is also provided a device for positioning a mobile terminal based on a satellite, comprising: a first positioning signal sending module, used to determine a first mobile terminal, and use the first mobile terminal to send a first positioning signal to a plurality of first satellites respectively; a first return message sending module, used to cause the plurality of first satellites to send a first return message to the first mobile terminal respectively when the plurality of first satellites respond to the first positioning signal; a first distance calculation module, used to calculate a first distance between the first mobile terminal and each of the first satellites based on the first return messages of the plurality of first satellites, wherein the first distance is used to indicate a pseudo-range between the first mobile terminal and each of the first satellites; a second return message sending module, used to use the first mobile terminal to send a second positioning signal to a second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message contains a predetermined first error information; and a second distance determination module, used to determine a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each of the first satellites.

[0013] According to another aspect of an embodiment of the present disclosure, there is also provided a device for positioning a mobile terminal based on a satellite, comprising: a processor; and a memory connected to the processor, for providing the processor with instructions for processing the following processing steps: determining a first mobile terminal, and using the first mobile terminal to send a first positioning signal to a plurality of first satellites respectively; when the plurality of first satellites respond to the first positioning signal, the plurality of first satellites respectively send a first return message to the first mobile terminal; based on the first return messages of the plurality of first satellites, calculating a first distance between the first mobile terminal and each of the first satellites, wherein the first distance is used to indicate a pseudo-range between the first mobile terminal and each of the first satellites; using the first mobile terminal to send a second positioning signal to a second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message contains a predetermined first error information; and determining a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each of the first satellites.

[0014] The present application provides a method for positioning a mobile terminal based on satellites. First, the processor determines a first mobile terminal, and uses the first mobile terminal to send a first positioning signal to multiple first satellites respectively. Then, when the multiple first satellites respond to the first positioning signal, the multiple first satellites respectively send a first return message to the first mobile terminal. Further, the processor calculates the first distance between the first mobile terminal and each first satellite based on the first return message of the multiple first satellites. After that, the processor uses the first mobile terminal to send a second positioning signal to the second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal. Finally, the processor determines the second distance using the first error information and the first distance. The second distance is used to indicate the true distance between the first mobile terminal and each first satellite.

[0015] Unlike the prior art, the present application does not use four first satellites to determine the location information of the first mobile terminal, but uses the predetermined first error information and three first satellites to determine the location information of the first mobile terminal. Therefore, compared with the prior art, the present application does not need to use the location information of the four first satellites, the time of transmitting signals to the four first satellites respectively, and the time of receiving the signals transmitted by the four first satellites to accurately locate the first mobile terminal. Instead, the first error information is directly sent to the first mobile terminal using the second satellite after the first error information is predetermined. Therefore, the first mobile terminal can accurately determine the location information only based on the three first satellites and the first error information. Thereby, the technical effect of reducing the amount of calculation of the first mobile terminal and improving the calculation efficiency of the first mobile terminal is achieved.

[0016] This solves the technical problem in the prior art that when using multiple satellites to accurately locate a mobile terminal, the amount of calculation on the mobile terminal is increased and the calculation efficiency of the mobile terminal is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0018] Figure 1 is a schematic diagram of a system for positioning a mobile terminal using a satellite according to Embodiment 1 of the present application;

[0019] Figure 2A is a schematic diagram of the hardware architecture of the first satellite, the second satellite and the third satellite according to Embodiment 1 of the present application;

[0020] Figure 2B is a schematic diagram of the hardware architecture of the first mobile terminal, the second mobile terminal and the third mobile terminal according to Embodiment 1 of the present application;

[0021] Figure 3 This is a schematic diagram of the process of the method for positioning a mobile terminal based on a satellite according to Example 1 of the present application;

[0022] Figure 4 is a schematic diagram of determining first error information according to a second satellite based on a plurality of second mobile terminals according to Embodiment 1 of the present application;

[0023] Figure 5 is a schematic diagram of determining first error information according to a third mobile terminal corresponding to multiple time points by a second satellite according to Embodiment 1 of the present application;

[0024] Figure 6 is a schematic diagram of a device for positioning a mobile terminal based on a satellite according to Embodiment 2 of the present application;

[0025] Figure 7 It is a schematic diagram of the device for positioning a mobile terminal based on a satellite according to Example 3 of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only embodiments of a part of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present disclosure.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0028] Example 1

[0029] According to this embodiment, a method embodiment for positioning a mobile terminal based on satellite is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0030] Figure 1 A schematic diagram of a system for positioning a mobile terminal based on a satellite according to the present embodiment is shown. The system includes: a plurality of first satellites 10 and a first mobile terminal 30. The first mobile terminal 30 is located within the communication coverage of the plurality of first satellites 10, so that the first mobile terminal 30 can communicate with each of the first satellites 10. For example, the first mobile terminal 30 can send a first positioning signal to each of the plurality of first satellites 10, and the first mobile terminal 30 can receive a first return message sent by each of the first satellites 10.

[0031] In addition, the system further includes a second satellite 20. The first mobile terminal 30 is also located within the communication coverage of the second satellite 20, so that the first mobile terminal 30 can communicate with the second satellite 20. Therefore, the second satellite 20 can send the predetermined first error information in the form of a message to the first mobile terminal 30. That is, the first mobile terminal 30 can determine the real distance between the first mobile terminal 30 and each first satellite 10 by using the first error information and the first return message corresponding to each first satellite 10.

[0032] Figure 2A is a schematic diagram of the hardware architecture of the first satellite, the second satellite, and the third satellite according to Embodiment 1 of the present application. Figure 2AAs shown, the first satellite, the second satellite and the third satellite include an integrated electronic system, which includes: a processor, a memory, a bus management module and a communication interface. The memory is connected to the processor, so that the processor can access the memory, read the program instructions stored in the memory, read data from the memory or write data to the memory. The bus management module is connected to the processor and is also connected to a bus such as a CAN bus. Therefore, the processor can communicate with the satellite-borne peripherals connected to the bus through the bus managed by the bus management module. In addition, the processor is also connected to communication devices such as cameras, star sensors, measurement and control transponders, and data transmission equipment via the communication interface. It can be understood by those skilled in the art that Figure 2A The structure shown is only for illustration and does not limit the structure of the electronic device. Figure 2A More or fewer components as shown, or with Figure 2A Different configurations shown.

[0033] Figure 2B Schematic diagram of the hardware architecture of the first mobile terminal, the second mobile terminal and the third mobile terminal according to Embodiment 1 of the present application. Figure 2B As shown, the first mobile terminal, the second mobile terminal and the third mobile terminal may include one or more processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory for storing data, a transmission device for communication functions and an input / output interface. The memory, the transmission device and the input / output interface are connected to the processor via a bus. In addition, it may also include: a display, a keyboard and a cursor control device connected to the input / output interface. It can be understood by ordinary technicians in this field that Figure 2B The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 2B More or fewer components as shown, or with Figure 2B Different configurations shown.

[0034] It should be noted that Figure 2A and Figure 2B The one or more processors and / or other data processing circuits shown in the figure may generally be referred to as "data processing circuitry" herein. The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other elements in the computing device. As involved in the embodiments of the present disclosure, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0035] Figure 2A and Figure 2B The memory shown in the figure can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the positioning of the mobile terminal by using satellites in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the positioning of the mobile terminal by using satellites of the above-mentioned application program is realized. The memory may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0036] It should be noted that, in some optional embodiments, the above Figure 2A and Figure 2B The devices shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. Figure 2A and Figure 2B This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the above described apparatus.

[0037] In the above operating environment, according to the first aspect of this embodiment, a method for positioning a mobile terminal based on a satellite is provided. The method comprises: Figure 1 The positioning system shown in is implemented. Figure 3 A schematic diagram showing the process of the method is shown in FIG. Figure 3 As shown, the method includes:

[0038] S302: Determine a first mobile terminal, and use the first mobile terminal to send first positioning signals to multiple first satellites respectively;

[0039] S304: When the plurality of first satellites respond to the first positioning signal, the plurality of first satellites respectively send first return messages to the first mobile terminal;

[0040] S306: Calculate a first distance between the first mobile terminal and each of the first satellites based on first return messages from the plurality of first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile terminal and each of the first satellites;

[0041] S308: using the first mobile terminal to send a second positioning signal to the second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message includes predetermined first error information; and

[0042] S310: Determine a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each first satellite.

[0043] Specifically, refer to Figure 1 As shown, when the first mobile terminal is moving, the first mobile terminal is used to send first positioning signals to multiple first satellites respectively (S302). The first mobile terminal may be, for example, a car, a ship, or a train. For example, the first mobile terminal sends first positioning signals to the first satellites. Sending a positioning signal (i.e., a first positioning signal); the first mobile terminal sends a positioning signal to the first satellite Sending a positioning signal (i.e., a first positioning signal); the first mobile terminal sends a positioning signal to the first satellite Send a positioning signal (ie, a first positioning signal). In addition, it is worth noting that in the embodiment of the present application, the default is that each first satellite The time of receiving the first positioning signal sent by the first mobile terminal is the same.

[0044] Afterwards, the plurality of first satellites receive and respond to the first positioning signal sent by the first mobile terminal, and send a first return message to the first mobile terminal (S304). When receiving a first positioning signal sent by a first mobile terminal, determining a mobile terminal identifier corresponding to the first positioning signal, and sending a first return message with the mobile terminal identifier to the first mobile terminal for the mobile terminal identifier corresponding to the first mobile terminal. It is worth noting that the first return message includes not only the mobile terminal identifier corresponding to the first mobile terminal, but also the first satellite The time when the first positioning signal is received and the time when the first satellite The time of sending the first return message to the first mobile terminal .

[0045] Further, the first mobile terminal calculates a first distance between each first satellite based on the first return message corresponding to each first satellite (S306). The first distance is used to indicate a pseudorange between the first mobile terminal and each first satellite. The time when the first positioning signal is received and the time when the first satellite The time of sending the first return message to the first mobile terminal , so that based on the first satellite The time of sending the first return message to the first mobile terminal and the speed c of electromagnetic waves in vacuum, determine the first mobile terminal and each first satellite The pseudo distance between the first mobile terminal and the first satellite The calculation formula of the pseudo-range between is as follows:

[0046]

[0047] in, Indicates the first mobile terminal and the first satellite The pseudo-range between (i.e., the first distance), represents the speed of electromagnetic waves in a vacuum, Indicates the propagation time of the first return message, Indicates that the first mobile terminal receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The sending time of the corresponding first return message.

[0048] In addition, it is worth noting that the first mobile terminal receives the first satellite The time of the first corresponding return message For example, the processor of the first mobile terminal may be based on the first satellite Determined by the corresponding first returned message.

[0049] The first mobile terminal and the first satellite The calculation formula of the pseudo-range between is as follows:

[0050]

[0051] in, Indicates the first mobile terminal and the first satellite The pseudorange between (i.e., the first distance), represents the speed of electromagnetic waves in a vacuum, Indicates the propagation time of the first return message, Indicates that the first mobile terminal receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The sending time of the corresponding first return message.

[0052] In addition, it is worth noting that the first mobile terminal receives the first satellite The time of the first corresponding return message For example, the processor of the first mobile terminal may be based on the first satellite Determined by the corresponding first returned message.

[0053] The first mobile terminal and the first satellite The calculation formula of the pseudo-range between is as follows:

[0054]

[0055] in, Indicates the first mobile terminal and the first satellite The pseudorange between (i.e., the first distance), represents the speed of electromagnetic waves in a vacuum, Indicates the propagation time of the first return message, Indicates that the first mobile terminal receives the signal from the first satellite The time of the corresponding first return message, Indicates the first satellite The sending time of the corresponding first return message.

[0056] In addition, it is worth noting that the first mobile terminal receives the first satellite The time of the first corresponding return message For example, the processor of the first mobile terminal may be based on the first satellite Determined by the corresponding first returned message.

[0057] After that, the first mobile terminal sends a second positioning signal to the second satellite. And when the second satellite receives the second positioning signal, the second satellite responds to the second positioning signal sent by the first mobile terminal and sends a second return message to the first mobile terminal (S308). The second return message includes a predetermined first error information. For example, when the second satellite L2 receives the second positioning signal sent by the first mobile terminal, the mobile terminal identifier corresponding to the second positioning signal is determined, and the second return message with the mobile terminal identifier is sent to the first mobile terminal for the mobile terminal identifier corresponding to the first mobile terminal. It is worth noting that the second return message includes not only the mobile identifier corresponding to the first mobile terminal, but also the predetermined first error information. The first error information can be, for example, error information determined by the second satellite based on other mobile terminals within the communication coverage. The above content will be described later, so it will not be repeated here.

[0058] It is also worth noting that the selection of the second satellite needs to meet certain conditions, such as the orbital height of the second satellite and each first satellite is less than a preset threshold (that is, the orbital height between the second satellite and each first satellite is similar). For another example, the distance between the second satellite and each first satellite is less than a preset threshold (that is, the distance between the second satellite and each first satellite is similar). In short, the selection of the second satellite must meet the first error information applicable to the first mobile terminal, and can ensure that the error between the real distance determined by the first mobile terminal based on the first error information and the real distance determined by the first mobile terminal based on the traditional method is small enough. Thereby ensuring that the accuracy of the real distance determined by the first mobile terminal based on the first error information is high enough.

[0059] Thus, when the first mobile terminal receives the second return message sent by the second satellite, the first error information is extracted from the second return message, and the second distance is determined using the first error information and the first distance (S310). The second distance is used to indicate the actual distance between the first mobile terminal and each first satellite. For example, the first mobile terminal has calculated the distance to each first satellite. The pseudo-range between (i.e., the first distance). Then, the first mobile terminal extracts the first error information from the second return message. , so the first mobile terminal and the first satellite can be determined based on the following formula The actual distance between:

[0060]

[0061] in, d 1 Indicates the first mobile terminal and the first satellite The real distance between (i.e., the second distance), Indicates the first mobile terminal and the first satellite The pseudo-range between (i.e., the first distance), represents the error between the pseudorange and the true distance (ie, the first error information), and Can be positive or negative.

[0062] Based on the following formula, the first mobile terminal and the first satellite can be determined The actual distance between:

[0063]

[0064] in, d 2 Indicates the first mobile terminal and the first satellite The real distance between (i.e., the second distance), Indicates the first mobile terminal and the first satellite The pseudo-range between (i.e., the first distance), represents the error between the pseudorange and the true distance (ie, the first error information), and Can be positive or negative.

[0065] Based on the following formula, the first mobile terminal and the first satellite can be determined The actual distance between:

[0066]

[0067] in, d 3 Indicates the first mobile terminal and the first satellite The real distance between (i.e., the second distance), Indicates the first mobile terminal and the first satellite The pseudorange between (i.e., the first distance), represents the error between the pseudorange and the true distance (ie, the first error information), and Can be positive or negative.

[0068] Thus, after determining the first mobile terminal and each first satellite When the real distance between the first mobile terminal and the second mobile terminal (ie, the second distance) is determined, the first mobile terminal can determine its own position information by using triangulation.

[0069] As described in the background technology, since at least four satellites are required to determine the precise location coordinates of the mobile terminal, in traditional cases, the mobile terminal needs to send signals to the four different satellites respectively, and then the four satellites return signals to the mobile terminal, so that the mobile terminal can be accurately positioned through complex calculation methods. However, if the four satellites are used to accurately position the mobile terminal, the calculation amount of the mobile terminal is increased, which reduces the calculation efficiency of the mobile terminal.

[0070] In view of this, the present application provides a method for positioning a mobile terminal using satellites. And unlike the prior art, the present application does not use four first satellites to determine the location information of the first mobile terminal, but uses predetermined first error information and three first satellites to determine the location information of the first mobile terminal. Therefore, compared with the prior art, the present application does not need to use the location information of the four first satellites, the time of transmitting signals to the four first satellites respectively, and the time of receiving the signals transmitted by the four first satellites to accurately locate the first mobile terminal, but directly uses the second satellite to send the first error information to the first mobile terminal when the first error information is predetermined, so that the first mobile terminal can accurately determine the location information only based on the three first satellites and the first error information. Thereby achieving the technical effect of reducing the amount of calculation of the first mobile terminal and improving the calculation efficiency of the first mobile terminal.

[0071] This solves the technical problem in the prior art that when using multiple satellites to accurately locate a mobile terminal, the amount of calculation on the mobile terminal is increased and the calculation efficiency of the mobile terminal is reduced.

[0072] Optionally, it also includes: using the second satellite to predetermine the first error information, wherein the operation of using the second satellite to predetermine the first error information includes: determining multiple second mobile terminals, and using the multiple second mobile terminals to send third positioning signals to the second satellite respectively; when the second satellite responds to the third positioning signal, the second satellite sends a third return message to each second mobile terminal respectively; receiving the time of receiving the third return message and the time of sending the third positioning signal sent by each second mobile terminal; and calculating the first error information based on the time of receiving the third return message and the time of sending the third positioning signal.

[0073] Specifically, referring to the above contents, it can be known that before the second satellite sends the second return message including the first error information to the first mobile terminal, the second satellite needs to determine the first error information in advance.

[0074] Figure 4 2 is a schematic diagram of determining first error information according to a second satellite based on a plurality of second mobile terminals according to an embodiment of the present application. Figure 4 As shown, first, the second satellite determines a plurality of second mobile terminals , and use multiple second mobile terminals To the second satellite L 2 The third positioning signal is then sent. L 2 Received with each second mobile terminal In the case of the corresponding third positioning signal, the second satellite L 2 In response to each third positioning signal, a third return message is generated and sent to each second mobile terminal at time T3. Send the third return message.

[0075] Furthermore, at each second mobile terminal When receiving the third return message, each second mobile terminal The processor in further determines the time when the third return message is received according to the third return message . The time when the third return message will be received later The second satellite can thus determine the time of sending the third return message to each second mobile terminal and the time of receiving the third return message. .

[0076] Then, the second satellite can calculate the second mobile terminal based on the following formula, for example: The second error information between the second satellite :

[0077]

[0078] in, Indicates the second satellite and the second mobile terminal The second error information between Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the second satellite and the second mobile terminal The real distance between the second satellite and the second mobile terminal The real distance between For example, it may be predetermined.

[0079] And the second satellite and the second mobile terminal The pseudo-range between It can be determined by the following formula:

[0080]

[0081] in, Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the time of the second return message transmission, Indicates the propagation speed of the second return message.

[0082] And wherein, the propagation time of the second return message can be calculated by the following formula:

[0083]

[0084] in, represents the propagation time of the second return message (i.e., the time it takes for the second return message to travel from the second satellite to the second mobile terminal). time), Indicates that the second return message arrives at the second mobile terminal time, Indicates the time when the second satellite sends the second return message.

[0085] The second satellite can obtain the second mobile terminal based on the following calculation, for example. The second error information between the second satellite :

[0086]

[0087] in, Indicates the second satellite and the second mobile terminal The second error information between Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the second satellite and the second mobile terminal The real distance between the second satellite and the second mobile terminal The real distance between For example, it may be predetermined.

[0088] And the second satellite and the second mobile terminal The pseudo-range between It can be determined by the following formula:

[0089]

[0090] in, Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the time of the second return message transmission, Indicates the propagation speed of the second return message.

[0091] And wherein, the propagation time of the second return message can be calculated by the following formula:

[0092]

[0093] in, represents the propagation time of the second return message (i.e., the time it takes for the second return message to travel from the second satellite to the second mobile terminal). time), Indicates that the second return message arrives at the second mobile terminal time, Indicates the time when the second satellite sends the second return message.

[0094] The second satellite can obtain the second mobile terminal based on the following calculation, for example. The second error information between the second satellite :

[0095]

[0096] in, Indicates the second satellite and the second mobile terminal The second error information between Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the second satellite and the second mobile terminal The real distance between the second satellite and the second mobile terminal The real distance between For example, it may be predetermined.

[0097] And the second satellite and the second mobile terminal The pseudo-range between It can be determined by the following formula:

[0098]

[0099] in, Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the time of the second return message transmission, Indicates the propagation speed of the second return message.

[0100] And wherein, the propagation time of the second return message can be calculated by the following formula:

[0101]

[0102] in, represents the propagation time of the second return message (i.e., the time it takes for the second return message to travel from the second satellite to the second mobile terminal). time), Indicates that the second return message arrives at the second mobile terminal time, Indicates the time when the second satellite sends the second return message.

[0103] The second satellite can obtain the second mobile terminal based on the following calculation, for example. The second error information between the second satellite :

[0104]

[0105] in, Indicates the second satellite and the second mobile terminal The second error information between Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the second satellite and the second mobile terminal The real distance between the second satellite and the second mobile terminal The real distance between For example, it may be predetermined.

[0106] And the second satellite and the second mobile terminal The pseudo-range between It can be determined by the following formula:

[0107]

[0108] in, Indicates the second satellite and the second mobile terminal The pseudo-range between Indicates the time of the second return message transmission, Indicates the propagation speed of the second return message.

[0109] And wherein, the propagation time of the second return message can be calculated by the following formula:

[0110]

[0111] in, represents the propagation time of the second return message (i.e., the time it takes for the second return message to travel from the second satellite to the second mobile terminal). time), Indicates that the second return message arrives at the second mobile terminal time, Indicates the time when the second satellite sends the second return message.

[0112] Thus, the second satellite is based on the second satellite and the second mobile terminal The second error message between , the second satellite and the second mobile terminal The second error message between , the second error information between the second satellite and the second mobile terminal and second error information between the second satellite and the second mobile terminal , the first error information stored in advance can be determined. The specific formula is as follows:

[0113]

[0114] in, represents the first error information, Indicates the second mobile terminal The second error information between the second satellite and the second satellite, Indicates the second mobile terminal The second error information between the second satellite and the second satellite, Indicates the second mobile terminal The second error information between the second satellite and the second satellite, Indicates the second mobile terminal and second error information between the satellite and the second satellite.

[0115] Therefore, by the above-mentioned operation of predetermining the first error information and storing the first error information in the second satellite, the technical effect of providing the necessary basis for the subsequent positioning of the first mobile terminal is achieved, thereby reducing the amount of calculation for positioning the first mobile terminal.

[0116] Optionally, the operation of predetermining the first error information using the second satellite includes: determining a third mobile terminal corresponding to different time moments, and using the third mobile terminal at different time moments to send a fourth positioning signal to the second satellite; when the second satellite responds to the fourth positioning signal corresponding to the different time moments, the second satellite sends a fourth return message to the third mobile terminal at the corresponding time moment; receiving the time of receiving the fourth return message and the time of sending the fourth positioning signal at different time moments sent by the third mobile terminal; and calculating the first error information based on the time of receiving the fourth return message and the time of sending the fourth positioning signal.

[0117] Specifically, Figure 5 1 is a schematic diagram of determining first error information according to a third mobile terminal corresponding to multiple time points according to a second satellite in an embodiment of the present application. Figure 5 As shown, first, the second satellite determines the third mobile terminal Q3 corresponding to a different time, and uses the third mobile terminal Q3 at a different time to send a fourth positioning signal to the second satellite.

[0118] Afterwards, when the second satellite receives a fourth positioning signal corresponding to a different time, the second satellite generates a fourth return message in response to each fourth positioning signal, and A fourth return message is sent to the third mobile terminal Q3 at that moment.

[0119] Further, the third mobile terminal Q3 receives the data at different times. In the case of the fourth return message, the processor of the third mobile terminal Q3 processes the data according to the time interval The corresponding fourth return message further determines the time when the fourth return message is received . The time when the fourth return message will be received later The second satellite can thus determine the time to send the fourth return message to the third mobile terminal at different times. and the time at which the third mobile terminal receives the fourth return message at different times .

[0120] Then, the second satellite can calculate the third error information between the third mobile terminal and the second satellite based on the following formula, for example: :

[0121]

[0122] in, represents the third error information between the second satellite and the third mobile terminal, represents the pseudorange between the second satellite and the third mobile terminal, represents the real distance between the second satellite and the third mobile terminal. For example, it may be predetermined.

[0123] And the pseudorange between the second satellite and the third mobile terminal It can be determined by the following formula:

[0124]

[0125] in, represents the pseudorange between the second satellite and the third mobile terminal, Indicates the time of the fourth return message transmission, Indicates the propagation speed of the fourth return message.

[0126] And wherein, the propagation time of the fourth return message can be calculated by the following formula:

[0127]

[0128] in, represents the propagation time of the fourth return message (i.e., the time for the fourth return message to travel from the second satellite to the third mobile terminal), Indicates the time when the fourth return message arrives at the third mobile terminal, Indicates the time when the second satellite sends the fourth return message.

[0129] Then, the second satellite can calculate the third error information between the third mobile terminal and the second satellite based on the following formula, for example: :

[0130]

[0131] in, represents the third error information between the second satellite and the third mobile terminal, represents the pseudorange between the second satellite and the third mobile terminal, represents the real distance between the second satellite and the third mobile terminal. For example, it may be predetermined.

[0132] And the pseudorange between the second satellite and the third mobile terminal It can be determined by the following formula:

[0133]

[0134] in, represents the pseudorange between the second satellite and the third mobile terminal, Indicates the time of the fourth return message transmission, Indicates the propagation speed of the fourth return message.

[0135] And wherein, the propagation time of the fourth return message can be calculated by the following formula:

[0136]

[0137] in, represents the propagation time of the fourth return message (i.e., the time for the fourth return message to travel from the second satellite to the third mobile terminal), Indicates the time when the fourth return message arrives at the third mobile terminal, Indicates the time when the second satellite sends the fourth return message.

[0138] Then, the second satellite can calculate the third error information between the third mobile terminal and the second satellite based on the following formula, for example: :

[0139]

[0140] in, represents the third error information between the second satellite and the third mobile terminal, represents the pseudorange between the second satellite and the third mobile terminal, represents the real distance between the second satellite and the third mobile terminal. For example, it may be predetermined.

[0141] And the pseudorange between the second satellite and the third mobile terminal It can be determined by the following formula:

[0142]

[0143] in, represents the pseudorange between the second satellite and the third mobile terminal, Indicates the time of the fourth return message transmission, Indicates the propagation speed of the fourth return message.

[0144] And wherein, the propagation time of the fourth return message can be calculated by the following formula:

[0145]

[0146] in, represents the propagation time of the fourth return message (i.e., the time for the fourth return message to travel from the second satellite to the third mobile terminal), Indicates the time when the fourth return message arrives at the third mobile terminal, Indicates the time when the second satellite sends the fourth return message.

[0147] Then, the second satellite can calculate the third error information between the third mobile terminal and the second satellite based on the following formula, for example: :

[0148]

[0149] in, represents the third error information between the second satellite and the third mobile terminal, represents the pseudorange between the second satellite and the third mobile terminal, represents the real distance between the second satellite and the third mobile terminal. For example, it may be predetermined.

[0150] And the pseudorange between the second satellite and the third mobile terminal It can be determined by the following formula:

[0151]

[0152] in, represents the pseudorange between the second satellite and the third mobile terminal, Indicates the time of the fourth return message transmission, Indicates the propagation speed of the fourth return message.

[0153] And wherein, the propagation time of the fourth return message can be calculated by the following formula:

[0154]

[0155] in, represents the propagation time of the fourth return message (i.e., the time for the fourth return message to travel from the second satellite to the third mobile terminal), Indicates the time when the fourth return message arrives at the third mobile terminal, Indicates the time when the second satellite sends the fourth return message.

[0156] Thus, through the above-mentioned operation of predetermining the first error information and storing the first error information in the second satellite, the technical effect of providing the necessary basis for the subsequent positioning of the first mobile terminal is achieved, thereby reducing the amount of calculation for positioning the first mobile terminal.

[0157] Optionally, the method further includes: when the second satellite determines the first error information, the second satellite sends the first error information to multiple third satellites, wherein the third satellites are used to indicate satellites whose distances to the second satellite are less than a predetermined threshold.

[0158] Specifically, referring to the above contents, it can be known that when the second satellite determines the first error information, the second satellite can also send the first error information to multiple third satellites. However, the selection of the third satellites needs to meet certain conditions, such as the distance between each third satellite and the second satellite is less than a preset threshold (that is, the distance between the second satellite and each third satellite is similar).

[0159] Therefore, since the distance between the second satellite and the third satellite is very close (including the longitude between the second satellite and the third satellite, the latitude between the second satellite and the third satellite, and the altitude between the second satellite and the third satellite), for the third satellite, the first error information calculated by the second satellite can also be applied to the third satellite. Furthermore, since the distance between the second satellite and the third satellite is very close, when the third satellite uses the first error information sent by the second satellite to locate other mobile terminals, there will be no excessive error. That is, the positioning accuracy can be guaranteed.

[0160] Optionally, the method further includes: a second satellite determining second error information at a preset time interval, and using the second error information to update the first error information, wherein the second error information is used to indicate error information corresponding to a next time period of the first error information.

[0161] Therefore, according to the first aspect of this embodiment, the technical effect of reducing the amount of calculation of the first mobile terminal and improving the calculation efficiency of the first mobile terminal is achieved.

[0162] In addition, reference Figure 1 As shown, according to the second aspect of this embodiment, a storage medium is provided, wherein the storage medium includes a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0163] Therefore, according to this embodiment, the technical effect of reducing the calculation amount of the first mobile terminal and improving the calculation efficiency of the first mobile terminal is achieved.

[0164] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0165] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0166] Example 2

[0167] Figure 6 The device 600 for positioning a mobile terminal based on a satellite according to the second embodiment is shown, and the device 600 corresponds to the method according to the first embodiment. Figure 6 As shown, the device 600 includes: a first positioning signal sending module 610, which is used to determine the first mobile terminal, and use the first mobile terminal to send the first positioning signal to multiple first satellites respectively; a first return message sending module 620, which is used for the multiple first satellites to send the first return message to the first mobile terminal respectively when the multiple first satellites respond to the first positioning signal; a first distance calculation module 630, which is used to calculate the first distance between the first mobile terminal and each first satellite based on the first return message of the multiple first satellites, wherein the first distance is used to indicate the pseudo distance between the first mobile terminal and each first satellite; a second return message sending module 640, which is used to use the first mobile terminal to send the second positioning signal to the second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends the second return message to the first mobile terminal, wherein the second return message contains the predetermined first error information; and a second distance determination module 650, which is used to determine the second distance using the first error information and the first distance, wherein the second distance is used to indicate the real distance between the first mobile terminal and each first satellite.

[0168] Optionally, the device 600 also includes: a first error information determination module, used to pre-determine the first error information using the second satellite, wherein the first error information determination module includes: a third positioning signal sending module, used to determine multiple second mobile terminals, and use the multiple second mobile terminals to send third positioning signals to the second satellite respectively; a third return message sending module, used to send the third return message to each second mobile terminal respectively by the second satellite when the second satellite responds to the third positioning signal; a first return time receiving module, used to receive the time of receiving the third return message sent by each second mobile terminal; and a first error information determination submodule, used to calculate the first error information based on the time of receiving the third return message and the time of sending the third positioning signal.

[0169] Optionally, the first error information determination module also includes: a fourth positioning signal determination module, which is used to determine the third mobile terminal corresponding to different time moments, and use the third mobile terminal at different time moments to send a fourth positioning signal to the second satellite; a fourth return message sending module, which is used to send a fourth return message to the third mobile terminal at the corresponding time moment when the second satellite responds to the fourth positioning signal corresponding to the different time moments; a second return time receiving module, which is used to receive the time of receiving the fourth return message at different time moments sent by the third mobile terminal; and a second error information determination submodule, which is used to calculate the first error information based on the time of receiving the fourth return message and the time of sending the fourth positioning signal.

[0170] Optionally, the device 600 further includes: a first error information sharing module, configured to, when the second satellite determines the first error information, cause the second satellite to send the first error information to a plurality of third satellites, wherein the third satellites are configured to indicate satellites whose distance to the second satellite is less than a predetermined threshold.

[0171] Optionally, the device 600 further includes: a first error information updating module, configured for the second satellite to determine second error information at a preset time interval, and to update the first error information using the second error information, wherein the second error information is used to indicate error information corresponding to a next time period of the first error information.

[0172] Therefore, according to this embodiment, the technical effect of reducing the calculation amount of the first mobile terminal and improving the calculation efficiency of the first mobile terminal is achieved.

[0173] Example 3

[0174] Figure 7 The device 700 for positioning a mobile terminal based on a satellite according to the third embodiment is shown, and the device 700 corresponds to the method according to the first embodiment. Figure 7As shown, the device 700 includes: a processor 710; and a memory 720, which is connected to the processor 710 and is used to provide the processor 710 with instructions for processing the following processing steps: determining a first mobile terminal, and using the first mobile terminal to send first positioning signals to multiple first satellites respectively; when the multiple first satellites respond to the first positioning signals, the multiple first satellites respectively send first return messages to the first mobile terminal; based on the first return messages of the multiple first satellites, calculating the first distance between the first mobile terminal and each first satellite, wherein the first distance is used to indicate the pseudo-range between the first mobile terminal and each first satellite; using the first mobile terminal to send a second positioning signal to the second satellite, when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message contains predetermined first error information; and using the first error information and the first distance, determining the second distance, wherein the second distance is used to indicate the real distance between the first mobile terminal and each first satellite.

[0175] Optionally, it also includes: using the second satellite to predetermine the first error information, wherein the operation of using the second satellite to predetermine the first error information includes: determining multiple second mobile terminals, and using the multiple second mobile terminals to send third positioning signals to the second satellite respectively; when the second satellite responds to the third positioning signal, the second satellite sends a third return message to each second mobile terminal respectively; receiving the time of receiving the third return message and the time of sending the third positioning signal sent by each second mobile terminal; and calculating the first error information based on the time of receiving the third return message and the time of sending the third positioning signal.

[0176] Optionally, the operation of predetermining the first error information using the second satellite includes: determining a third mobile terminal corresponding to different time moments, and using the third mobile terminal at different time moments to send a fourth positioning signal to the second satellite; when the second satellite responds to the fourth positioning signal corresponding to the different time moments, the second satellite sends a fourth return message to the third mobile terminal at the corresponding time moment; receiving the time of receiving the fourth return message and the time of sending the fourth positioning signal at different time moments sent by the third mobile terminal; and calculating the first error information based on the time of receiving the fourth return message and the time of sending the fourth positioning signal.

[0177] Optionally, the method further includes: when the second satellite determines the first error information, the second satellite sends the first error information to multiple third satellites, wherein the third satellites are used to indicate satellites whose distances to the second satellite are less than a predetermined threshold.

[0178] Optionally, the method further includes: a second satellite determining second error information at a preset time interval, and using the second error information to update the first error information, wherein the second error information is used to indicate error information corresponding to a next time period of the first error information.

[0179] Therefore, according to this embodiment, the technical effect of reducing the calculation amount of the first mobile terminal and improving the calculation efficiency of the first mobile terminal is achieved.

[0180] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0181] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0183] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0185] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc. Various media that can store program codes.

[0186] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for positioning a mobile terminal based on a satellite, characterized in that: include: Determine a first mobile terminal, and use the first mobile terminal to send first positioning signals to multiple first satellites respectively; When the plurality of first satellites respond to the first positioning signal, the plurality of first satellites respectively send first return messages to the first mobile terminal; Calculating a first distance between the first mobile terminal and each of the first satellites based on first return messages from the plurality of first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile terminal and each of the first satellites; Using the first mobile terminal to send a second positioning signal to a second satellite, when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message includes predetermined first error information; as well as Determine a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each of the first satellites, wherein The method further includes: using the second satellite to predetermine the first error information, wherein the operation of using the second satellite to predetermine the first error information includes: Determine a plurality of second mobile terminals, and use the plurality of second mobile terminals to respectively send a third positioning signal to the second satellite; When the second satellite responds to the third positioning signal, the second satellite sends a third return message to each second mobile terminal respectively; receiving the time at which the third return message is received, sent by each of the second mobile terminals; and Calculating the first error information based on the time when the third return message is received and the time when the third positioning signal is sent, or The operation of predetermining the first error information using the second satellite further includes: Determine a third mobile terminal corresponding to a different time, and use the third mobile terminal at the different time to send a fourth positioning signal to the second satellite; In the case where the second satellite responds to a fourth positioning signal corresponding to a different time, the second satellite sends a fourth return message to the third mobile terminal at the corresponding time; receiving the time of receiving the fourth return message at different times sent by the third mobile terminal; and The first error information is calculated based on the time when the fourth return message is received and the time when the fourth positioning signal is sent.

2. The method according to claim 1, characterized in that Also includes: In a case where the second satellite determines the first error information, the second satellite transmits the first error information to a plurality of third satellites, wherein the third satellites are used to indicate satellites whose distances from the second satellite are less than a predetermined threshold.

3. The method according to claim 1, characterized in that Also includes: The second satellite determines second error information at a preset time interval, and uses the second error information to update the first error information, wherein the second error information is used to indicate error information corresponding to a next time period of the first error information.

4. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is run, the processor executes the method according to any one of claims 1 to 3.

5. A device for positioning a mobile terminal based on a satellite, characterized in that: include: A first positioning signal sending module, used to determine a first mobile terminal, and use the first mobile terminal to send first positioning signals to multiple first satellites respectively; A first return message sending module, configured to cause the plurality of first satellites to respectively send first return messages to the first mobile terminal when the plurality of first satellites respond to the first positioning signal; A first distance calculation module, configured to calculate a first distance between the first mobile terminal and each of the first satellites based on first return messages from the plurality of first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile terminal and each of the first satellites; A second return message sending module, configured to use the first mobile terminal to send a second positioning signal to a second satellite, and when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message includes predetermined first error information; as well as A second distance determination module is configured to determine a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each of the first satellites, wherein The apparatus further includes: a first error information determining module, configured to predetermine the first error information using the second satellite, wherein the first error information determining module includes: a third positioning signal sending module, configured to determine a plurality of second mobile terminals, and use the plurality of second mobile terminals to respectively send a third positioning signal to the second satellite; A third return message sending module, configured to cause the second satellite to send a third return message to each second mobile terminal respectively when the second satellite responds to the third positioning signal; A first time receiving module, configured to receive the time of receiving the third return message and the time of sending the third positioning signal sent by each of the second mobile terminals; and a first error information determination submodule, configured to calculate the first error information based on the time when the third return message is received and the time when the third positioning signal is sent, or The first error information determination module includes: a fourth positioning signal sending module, configured to determine a third mobile terminal corresponding to a different time, and use the third mobile terminal at a different time to send a fourth positioning signal to the second satellite; a fourth return message sending module, configured to, when the second satellite responds to a fourth positioning signal corresponding to a different time, cause the second satellite to send a fourth return message to the third mobile terminal at a corresponding time; A second time receiving module is used to receive the time of receiving the fourth return message and the time of sending the fourth positioning signal at different times sent by the third mobile terminal; and The second error information determination submodule is used to calculate the first error information based on the time when the fourth return message is received and the time when the fourth positioning signal is sent.

6. A device for positioning a mobile terminal based on a satellite, characterized in that: include: processor; as well as A memory, connected to the processor, configured to provide the processor with instructions for processing the following processing steps: Determine a first mobile terminal, and use the first mobile terminal to send first positioning signals to multiple first satellites respectively; When the plurality of first satellites respond to the first positioning signal, the plurality of first satellites respectively send first return messages to the first mobile terminal; Calculating a first distance between the first mobile terminal and each of the first satellites based on first return messages from the plurality of first satellites, wherein the first distance is used to indicate a pseudorange between the first mobile terminal and each of the first satellites; Using the first mobile terminal to send a second positioning signal to a second satellite, when the second satellite responds to the second positioning signal, the second satellite sends a second return message to the first mobile terminal, wherein the second return message includes predetermined first error information; as well as Determine a second distance using the first error information and the first distance, wherein the second distance is used to indicate a true distance between the first mobile terminal and each of the first satellites, wherein The method further includes: using the second satellite to predetermine the first error information, wherein the operation of using the second satellite to predetermine the first error information includes: Determine a plurality of second mobile terminals, and use the plurality of second mobile terminals to respectively send a third positioning signal to the second satellite; When the second satellite responds to the third positioning signal, the second satellite sends a third return message to each second mobile terminal respectively; receiving the time at which the third return message is received, sent by each of the second mobile terminals; and Calculating the first error information based on the time when the third return message is received and the time when the third positioning signal is sent, or The operation of predetermining the first error information using the second satellite further includes: Determine a third mobile terminal corresponding to a different time, and use the third mobile terminal at the different time to send a fourth positioning signal to the second satellite; In the case where the second satellite responds to a fourth positioning signal corresponding to a different time, the second satellite sends a fourth return message to the third mobile terminal at the corresponding time; receiving the time of receiving the fourth return message at different times sent by the third mobile terminal; and The first error information is calculated based on the time when the fourth return message is received and the time when the fourth positioning signal is sent.

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