Recorder sharing auxiliary positioning method and system

Abstract

The invention provides a recorder sharing auxiliary positioning method and system. The recorder sharing auxiliary positioning system comprises a recorder positioning module, a recorder satellite processing module, a server time-sharing sharing module and a recorder sharing auxiliary positioning module. The output end of the recorder positioning module is connected with the input end of the recorder satellite processing module, the output end of the recorder satellite processing module is connected with the input end of the server time-sharing module, and the output end of the server time-sharing module is connected with the input end of the recorder sharing auxiliary positioning module. The output end of the recorder sharing auxiliary positioning module is connected with the input end of the recorder positioning module; in the absence of a satellite ground station and the Internet, the recorder can perform auxiliary positioning by sharing the geographic position and the detection time of the Beidou satellite in a time-sharing manner, so that the positioning speed and the positioning efficiency of the recorder are improved, the recorder can be normally used by a user in a closed network environment, and the positioning accuracy is relatively high.

Description

Technical Field

[0001] The present invention relates to the technical field of recorder auxiliary positioning, and in particular to a recorder shared auxiliary positioning method and system. Background Art

[0002] The BeiDou Navigation Satellite System is a satellite navigation system independently built and operated by China. It is an important national space infrastructure that provides all-weather, all-day, high-precision positioning, navigation and timing services to users around the world. As of November 6, 2017, a total of 25 BeiDou navigation satellites have been launched. The country is vigorously developing the BeiDou navigation industry.

[0003] At present, in the field of Internet, smart terminals rely on mobile network base stations, and can achieve location positioning and communication in signal coverage areas, but cannot effectively communicate with the outside world in areas without signals. A single Beidou terminal can achieve communication without geographical restrictions. However, the existing Beidou handheld terminals are large in size, inconvenient to carry, and have relatively closed communications. They cannot effectively connect with smart terminals on the Internet, and have poor performance and operating experience, resulting in limited scope of use and inconvenient human-computer interaction. The applications of Beidou devices cannot run under the current mainstream system platforms. The existing Beidou handheld terminals cannot achieve high-precision positioning.

[0004] In addition, since most of the existing assisted positioning is based on Beidou assisted positioning data provided by satellite ground stations and the Internet, and the assisted positioning data cannot be obtained in some closed network environments, they will be helpless when encountering emergencies.

[0005] In view of the problems existing in the prior art, there is an urgent need for a recorder shared auxiliary positioning method and system that can achieve accurate positioning even when there are no satellite ground stations and the Internet. Summary of the invention

[0006] In order to solve the technical problems or defects existing in the prior art, the present invention proposes a recorder shared auxiliary positioning method and system. When there is no satellite ground station and the Internet, the recorders can perform auxiliary positioning by time-sharing the geographical location and detection time of the Beidou satellite, thereby improving the positioning speed and efficiency of the recorder. Users can also use it normally in a closed network environment, and the positioning accuracy is high, which is not restricted by the geographical environment, thereby improving the user experience.

[0007] In order to achieve the above-mentioned object, the present invention proposes a recorder shared auxiliary positioning system, including a recorder positioning module, a recorder satellite processing module, a server time-sharing sharing module, and a recorder shared auxiliary positioning module;

[0008] The output end of the recorder positioning module is connected to the input end of the recorder satellite processing module, and the recorder positioning module is used to search and select Beidou satellites, and send the number, elevation angle, azimuth angle, signal-to-noise ratio and geographical location of the identified Beidou satellite to the recorder satellite processing module;

[0009] The output end of the recorder satellite processing module is connected to the input end of the server time-sharing sharing module. The recorder satellite processing module can calculate the geographical coordinates of the satellite through the data transmitted by the recorder positioning module, and send the number, geographical coordinates, signal-to-noise ratio and detection time of the Beidou satellite to the server time-sharing sharing module; the recorder satellite processing module receives the number, elevation angle, azimuth and signal-to-noise ratio of each Beidou satellite and the geographical location (latitude, longitude, altitude) of the recorder from the recorder positioning module; and the recorder satellite processing module sends the satellite number, geographical coordinates, signal-to-noise ratio and detection time (based on the time of receiving the BDGSV from the recorder positioning module) of the Beidou satellite to the server time-sharing sharing module.

[0010] The output end of the server time-sharing sharing module is connected to the input end of the recorder sharing auxiliary positioning module, and the data transmitted by the server time-sharing sharing module through the recorder satellite processing module can be sliced ​​based on the detection time, and the Beidou satellite auxiliary positioning data after time slicing is transmitted and shared to the recorder sharing auxiliary positioning module;

[0011] The output end of the recorder shared auxiliary positioning module is connected to the input end of the recorder positioning module. The recorder shared auxiliary positioning module can calculate the geographic coordinates of the real-time position of the Beidou satellite through the data transmitted by the server time-sharing sharing module, and then determine whether the Beidou satellite can be detected, so as to assist the recorder positioning module in searching for the Beidou satellite.

[0012] When the recorder positioning module described in the present application does not receive data transmitted by the recorder shared auxiliary positioning module, the recorder positioning module will search the frequencies of all Beidou satellites one by one and monitor the signals from each Beidou satellite at each frequency; the recorder positioning module selects Beidou satellites with good indicators by evaluating the quality indicators such as the strength, signal-to-noise ratio, and bit error rate of the Beidou satellite signal, because the signals provided by these Beidou satellites are more stable and can provide more accurate positioning data.

[0013] The recorder positioning module described in this application can receive the Beidou satellite number list transmitted by the recorder shared auxiliary positioning module in chronological order, and then adjust the receiving frequency according to the Beidou satellite number, monitor the signal from the Beidou satellite, obtain the orbital parameters of the Beidou satellite, calculate the pseudo distance between the Beidou satellite and the recorder, and obtain the signal data of all Beidou satellites according to the above process to calculate the position of the recorder. In this process, the recorder shared auxiliary positioning module selects the Beidou satellite with good signal and detectable Beidou satellite to assist the recorder positioning module in positioning first, so as to avoid the recorder positioning module blindly trying to cause the positioning time to be too long.

[0014] Preferably, the recorder positioning module selects at least four Beidou satellites with good indicators by evaluating the quality indicators of Beidou satellite signal strength, signal-to-noise ratio, and bit error rate.

[0015] Preferably, the recorder positioning module can calculate the position of the recorder in the earth-fixed coordinate system according to the orbital parameters of the at least four Beidou satellites, and then obtain the pseudo-distance between the Beidou satellite and the recorder by multiplying the receiving delay by the speed of light. By adopting the spatial coordinates and pseudo-distance of the Beidou satellite and following the distance formula, the position of the recorder in the earth-fixed coordinate system can be solved; the recorder positioning module can calculate the elevation angle and azimuth angle of each Beidou satellite according to the position of the recorder and the position of the Beidou satellite using the principle of trigonometry.

[0016] Preferably, the recorder positioning module sends the number, elevation, azimuth and signal-to-noise ratio of each Beidou satellite identified to the recorder satellite processing module through the BDGSV sentence of the NMEA protocol; after the recorder positioning module converts the position of the recorder in the earth's fixed coordinate system into a geographical location (latitude, longitude, altitude), the geographical location of the recorder is transmitted to the recorder satellite processing module through the BDGGA sentence of the NMEA protocol. This process requires scanning all satellites, and some satellites are on the back of the earth relative to the recorder, and they are bound to be undetectable, resulting in the entire process taking too long.

[0017] Preferably, the method by which the recorder satellite processing module calculates the geographic coordinates of the satellite is as follows: the recorder satellite processing module can search for the TLE data of the satellite orbit according to the number of the Beidou satellite, use the geographic location of the recorder as the location of the observation point, and then finally calculate the geographic coordinates of the satellite through the elevation angle and azimuth angle of the satellite's line of sight.

[0018] Preferably, the server time-sharing sharing module performs time slicing every thirty minutes. After receiving the geographic coordinates of the Beidou satellite, the server time-sharing sharing module determines which time slice the satellite corresponds to according to the detection time, and then confirms whether the number data of other satellites have been recorded in the time slice; if there is no record, the number of the satellite, the geographic coordinates, the signal-to-noise ratio and the detection time are stored in the slice; if there is a record, the signal-to-noise ratio of the satellite is compared with that of the recorded satellite. If the signal-to-noise ratio of the satellite is less than that of the recorded satellite, the data of the satellite is replaced with the data of the recorded satellite, otherwise, the data of the recorded satellite is retained. Each slice retains the data of the satellite with the best signal-to-noise ratio.

[0019] When the recorder shared auxiliary positioning module requests shared auxiliary positioning data from the server time-sharing sharing module, the server time-sharing sharing module sends the serial numbers, geographic coordinates, signal-to-noise ratios and detection times of all satellites in the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module. When the server time-sharing sharing module finds that the Beidou satellite record of the previous time slice is incomplete, it will search for the Beidou satellite from the previous time slice until all Beidou satellites are sent.

[0020] Preferably, when the recorder shared auxiliary positioning module requests shared auxiliary positioning data from the server time-sharing sharing module, the server time-sharing sharing module will send the numbers, geographic coordinates, signal-to-noise ratio and detection time of all satellites in the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module; and when the server time-sharing sharing module finds that the Beidou satellite record of the previous time slice is incomplete, it will search for the Beidou satellite from the previous time slice until all complete data of all Beidou satellites are sent.

[0021] Preferably, the recorder shared auxiliary positioning module can calculate the geographic coordinates of the real-time position of the satellite based on the TLE data of the satellite orbit, the geographic coordinates, the detection time and the current time of the recorder.

[0022] The recorder shared auxiliary positioning module will give priority to processing the latest time slices. The Beidou satellite auxiliary positioning data includes the satellite number, geographic coordinates, signal-to-noise ratio and detection time of the Beidou satellite. The recorder shared auxiliary positioning module can calculate the current geographic location of the satellite based on the TLE data of the satellite's orbit, the geographic coordinates, the detection time and the current time of the recorder. The recorder shared auxiliary positioning module then determines whether the satellite can be detected based on the recorder's historical geographic coordinates. For example, the Beidou MEO satellite has an orbital period of approximately 12 hours, which means that they will orbit the earth once in 12 hours, and may be below the ground line of the recorder and cannot be detected. The recorder shared auxiliary positioning module will select satellites that can be detected and generate a Beidou satellite number list according to the signal-to-noise ratio, and send it to the recorder positioning module for recorder positioning. After the recorder positioning module has processed it, the recorder shared auxiliary positioning module will perform similar processing on the old time slices, and then locate it through the recorder positioning module.

[0023] The present invention proposes a recorder sharing auxiliary positioning method, based on the above-mentioned recorder sharing auxiliary positioning system, comprising the following steps:

[0024] S1. If there is no data assistance transmitted by the recorder sharing auxiliary positioning module, the recorder positioning module searches the frequencies of all Beidou satellites one by one by default, and monitors the signals from each Beidou satellite at each frequency; the recorder positioning module evaluates the strength, signal-to-noise ratio, and bit error rate of the Beidou satellite signal, and selects a Beidou satellite with good indicators;

[0025] S2, the recorder positioning module sends the number, elevation, azimuth and signal-to-noise ratio of each Beidou satellite and the geographical location of the recorder to the recorder satellite processing module through the BDGSV sentence of the NMEA protocol;

[0026] S3, the recorder satellite processing module searches for the TLE data of the satellite orbit according to the number of the Beidou satellite, takes the geographical location of the recorder as the position of the observation point, and then calculates the geographical coordinates of the satellite by the elevation angle and azimuth of the satellite's line of sight; the recorder satellite processing module sends the satellite number and geographical coordinates of the Beidou satellite, the signal-to-noise ratio and the detection time to the server time-sharing sharing module;

[0027] S4, the server time-sharing sharing module receives the satellite number, geographic coordinates, signal-to-noise ratio and detection time transmitted by the recorder satellite processing module, and performs time slicing according to the detection time, and performs time slicing every thirty minutes; when the recorder shared auxiliary positioning module requests the server time-sharing sharing module to share auxiliary positioning data, the server time-sharing sharing module sends all satellite numbers, geographic coordinates, signal-to-noise ratios and detection times of the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module;

[0028] S5, the recorder shared auxiliary positioning module receives the Beidou satellite auxiliary positioning data after time slicing from the server time sharing module; and gives priority to the latest time slice; the shared auxiliary positioning module selects the detectable satellites and generates a Beidou satellite number list according to the signal-to-noise ratio, and sends it to the recorder positioning module to assist the recorder in positioning;

[0029] S6. The recorder positioning module receives the Beidou satellite number list transmitted by the recorder shared auxiliary positioning module in chronological order, adjusts the receiving frequency according to the Beidou satellite number, monitors the signal from the corresponding Beidou satellite, obtains the orbit parameters of the Beidou satellite, and calculates the pseudo-distance between the Beidou satellite and the recorder; finally, the recorder positioning module realizes real-time positioning of the Beidou satellite.

[0030] Preferably, the Beidou satellite assisted positioning data in step S5 includes the satellite number, geographic coordinates, signal-to-noise ratio and detection time of the Beidou satellite.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. A recorder sharing auxiliary positioning method and system of the present invention can perform auxiliary positioning by sharing the geographical location and detection time of Beidou satellites between recorders in a time-sharing manner when there is no satellite ground station and the Internet, thereby improving the positioning speed and efficiency of the recorders. Users can also use it normally in a closed network environment, and the positioning accuracy is high, and is not restricted by the geographical environment, thereby improving the user experience.

[0033] 2. When the recorder positioning module described in the present application does not receive data transmitted by the recorder shared auxiliary positioning module, the recorder positioning module will search the frequencies of all Beidou satellites one by one and monitor the signals from each Beidou satellite at each frequency; the recorder positioning module selects Beidou satellites with good indicators by evaluating the quality indicators such as the strength, signal-to-noise ratio, and bit error rate of the Beidou satellite signal, because the signals provided by these Beidou satellites are more stable and can provide more accurate positioning data.

[0034] 3. The recorder positioning module described in this application can receive the Beidou satellite number list transmitted by the recorder shared auxiliary positioning module in chronological order, and then adjust the receiving frequency according to the Beidou satellite number, monitor the signal from the Beidou satellite, obtain the orbital parameters of the Beidou satellite, calculate the pseudo distance between the Beidou satellite and the recorder, and obtain the signal data of all Beidou satellites according to the above process to calculate the position of the recorder. In this process, the recorder shared auxiliary positioning module selects the Beidou satellite with good signal and detectable Beidou satellite to assist the recorder positioning module in positioning first, so as to avoid the recorder positioning module blindly trying to cause the positioning time to be too long. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 A schematic diagram of the working principle of a recorder sharing auxiliary positioning system of the present invention;

[0037] Figure 2 A schematic diagram of the steps of a recorder sharing auxiliary positioning method of the present invention;

[0038] As shown in the figure: recorder positioning module 1, recorder satellite processing module 2, server time-sharing sharing module 3, recorder shared auxiliary positioning module 4. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0040] Embodiment 1

[0041] like Figure 1As shown, this embodiment proposes a recorder shared auxiliary positioning system, including a recorder positioning module 1, a recorder satellite processing module 2, a server time-sharing sharing module 3, and a recorder shared auxiliary positioning module 4;

[0042] The output end of the recorder positioning module 1 is connected to the input end of the recorder satellite processing module 2, and the recorder positioning module 1 is used to search and select Beidou satellites, and send the number, elevation angle, azimuth angle, signal-to-noise ratio and geographical location of the identified Beidou satellite to the recorder satellite processing module 2;

[0043] The output end of the recorder satellite processing module 2 is connected to the input end of the server time-sharing sharing module 3, and the recorder satellite processing module 2 can calculate the geographical coordinates of the satellite through the data transmitted by the recorder positioning module 1, and send the number, geographical coordinates, signal-to-noise ratio and detection time of the Beidou satellite to the server time-sharing sharing module 3;

[0044] The output end of the server time-sharing sharing module 3 is connected to the input end of the recorder sharing auxiliary positioning module 4, and the data transmitted by the server time-sharing sharing module 3 through the recorder satellite processing module 2 can be sliced ​​based on the detection time, and the Beidou satellite auxiliary positioning data after time slicing is transmitted and shared to the recorder sharing auxiliary positioning module 4;

[0045] The output end of the recorder shared auxiliary positioning module 4 is connected to the input end of the recorder positioning module 1. The recorder shared auxiliary positioning module 4 can calculate the geographic coordinates of the real-time position of the Beidou satellite through the data transmitted by the server time-sharing sharing module 3, and then determine whether the Beidou satellite can be detected, so as to assist the recorder positioning module 1 in searching for the Beidou satellite.

[0046] in,

[0047] Recorder positioning module 1: When the recorder positioning module 1 does not receive the real-time data from the recorder shared auxiliary positioning module 2, the recorder positioning module 1 searches the frequencies of all Beidou satellites one by one by default, and monitors the signals from each Beidou satellite on each frequency; the recorder positioning module 1 selects Beidou satellites with good indicators by evaluating the strength, signal-to-noise ratio, bit error rate and other quality indicators of the Beidou satellite signal, because the signals provided by these Beidou satellites are more stable and can provide more accurate positioning data; the recorder positioning module 1 selects more than four Beidou satellites, calculates the position of the recorder in the earth's fixed coordinate system according to the orbital parameters of the Beidou satellite, and obtains the distance between the Beidou satellite and the recorder by multiplying the receiving delay by the speed of light. The pseudo distance between the two satellites is calculated by using the spatial coordinates and pseudo distance of the four Beidou satellites according to the distance formula to solve the position of the recorder in the earth's fixed coordinate system; the recorder positioning module 1 can calculate the elevation and azimuth of each Beidou satellite based on the position of the recorder and the position of the Beidou satellite using the principle of trigonometry; the number, elevation, azimuth and signal-to-noise ratio of each Beidou satellite identified are sent to the recorder satellite processing module 2 using the BDGSV sentence of the NMEA protocol; the recorder positioning module 1 converts the position of the recorder in the earth's fixed coordinate system into a geographical location (latitude, longitude, altitude), and transmits the geographical location of the recorder to the recorder satellite processing module 2 through the BDGGA sentence of the NMEA protocol. This process requires scanning all satellites, and some satellites are on the back of the earth relative to the recorder, so they must not be detected, resulting in the entire process taking too long. The recorder positioning module 1 receives the Beidou satellite number list of the recorder shared auxiliary positioning module 4 in chronological order, adjusts the receiving frequency according to the Beidou satellite number, monitors the signal from the Beidou satellite, obtains the orbital parameters of the Beidou satellite, calculates the pseudo distance between the Beidou satellite and the recorder, and according to the above process, determines the position of the recorder through the signal data of the four Beidou satellites. In this process, the recorder shared auxiliary positioning module 4 selects the Beidou satellite with good signal and can be detected to assist the recorder positioning module 1 in positioning first, so as to avoid the recorder positioning module 1 blindly trying to cause the positioning time to be too long.

[0048] Recorder satellite processing module 2: Recorder satellite processing module 2 receives the number, elevation, azimuth and signal-to-noise ratio of each Beidou satellite and the geographical location (latitude, longitude, altitude) of the recorder from the recorder positioning module 1. Recorder satellite processing module 2 searches for the TLE data of the satellite's orbit according to the number of the Beidou satellite, takes the geographical location of the recorder as the location of the observation point, and finally calculates the geographical coordinates of the satellite through the elevation and azimuth of the satellite's line of sight. Recorder satellite processing module 2 can send the satellite number and geographical coordinates of the Beidou satellite, the signal-to-noise ratio and the detection time (the time when the BDGSV of the recorder positioning module 1 is received) to the server time-sharing sharing module 3.

[0049] Server time-sharing sharing module 3: Server time-sharing sharing module 3 receives the satellite number, geographic coordinates, signal-to-noise ratio and detection time of the Beidou satellite from the recorder satellite processing module 2, and slices according to the detection time, using a thirty-minute interval as a time slice. After receiving the geographic coordinates of the Beidou satellite, the server time-sharing sharing module 3 determines which time slice the satellite corresponds to according to the detection time, and then confirms whether the number data of other satellites have been recorded in the time slice; if there is no record, the number, geographic coordinates, signal-to-noise ratio and detection time of the satellite are stored in the slice; if there is a record, the signal-to-noise ratio of the satellite is compared with that of the recorded satellite. If the signal-to-noise ratio of the satellite is less than that of the recorded satellite, the data of the satellite is replaced with the data of the recorded satellite, otherwise, the data of the recorded satellite is retained. The data with the best satellite signal-to-noise ratio is retained in each slice. When the recorder shared auxiliary positioning module 4 requests the server time-sharing sharing module 3 to share auxiliary positioning data, the server time-sharing sharing module 3 sends all satellite numbers, geographic coordinates, signal-to-noise ratios and detection times of the previous time slice relative to the current time slice to the recorder shared auxiliary positioning module 4. When the server time-sharing sharing module 3 finds that the Beidou satellite record of the previous time slice is incomplete, it searches for the Beidou satellite from the previous time slice until all Beidou satellites are sent.

[0050] Recorder shared auxiliary positioning module 4: Shared auxiliary positioning module 4 requests shared auxiliary positioning data from server time-sharing sharing module 3, and recorder shared auxiliary positioning module 4 receives Beidou satellite auxiliary positioning data after time slicing from server time-sharing sharing module 3. Recorder shared auxiliary positioning module 4 prioritizes the latest time slice. Beidou satellite auxiliary positioning data includes the satellite number, geographic coordinates, signal-to-noise ratio and detection time of Beidou satellite. Recorder shared auxiliary positioning module 4 calculates the current geographic location of the satellite based on the TLE data of the satellite's orbit, geographic coordinates, detection time and the current time of the recorder. Recorder shared auxiliary positioning module 4 determines whether the satellite can be detected based on the recorder's historical geographic coordinates. For example, the orbital period of Beidou MEO satellites is about 12 hours, which means that they will orbit the earth once in 12 hours, and may not be detected below the ground line of the recorder. The recorder shared auxiliary positioning module 4 selects detectable satellites and generates a Beidou satellite number list according to the signal-to-noise ratio, and sends it to the recorder positioning module 1 for recorder positioning. After the recorder positioning module 1 completes the processing, the recorder shared auxiliary positioning module 4 performs similar processing on the old time slices, and then performs positioning through the recorder positioning module 1.

[0051] Embodiment 2

[0052] like Figure 2As shown, this embodiment proposes a recorder sharing auxiliary positioning method, based on the technical solution and technical principle in embodiment 1, including the following steps:

[0053] S1. If there is no data assistance transmitted by the recorder sharing auxiliary positioning module, the recorder positioning module searches the frequencies of all Beidou satellites one by one by default, and monitors the signals from each Beidou satellite at each frequency; the recorder positioning module evaluates the strength, signal-to-noise ratio, and bit error rate of the Beidou satellite signal, and selects a Beidou satellite with good indicators;

[0054] S2, the recorder positioning module sends the number, elevation, azimuth and signal-to-noise ratio of each Beidou satellite and the geographical location of the recorder to the recorder satellite processing module through the BDGSV sentence of the NMEA protocol;

[0055] S3, the recorder satellite processing module searches for the TLE data of the satellite orbit according to the number of the Beidou satellite, takes the geographical location of the recorder as the position of the observation point, and then calculates the geographical coordinates of the satellite by the elevation angle and azimuth of the satellite's line of sight; the recorder satellite processing module sends the satellite number and geographical coordinates of the Beidou satellite, the signal-to-noise ratio and the detection time to the server time-sharing sharing module;

[0056] S4, the server time-sharing sharing module receives the satellite number, geographic coordinates, signal-to-noise ratio and detection time transmitted by the recorder satellite processing module, and performs time slicing according to the detection time, and performs time slicing every thirty minutes; when the recorder shared auxiliary positioning module requests the server time-sharing sharing module to share auxiliary positioning data, the server time-sharing sharing module sends all satellite numbers, geographic coordinates, signal-to-noise ratios and detection times of the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module;

[0057] S5, the recorder shared auxiliary positioning module receives the Beidou satellite auxiliary positioning data after time slicing from the server time sharing module; and gives priority to the latest time slice; the shared auxiliary positioning module selects the detectable satellites and generates a Beidou satellite number list according to the signal-to-noise ratio, and sends it to the recorder positioning module to assist the recorder in positioning;

[0058] S6. The recorder positioning module receives the Beidou satellite number list transmitted by the recorder shared auxiliary positioning module in chronological order, adjusts the receiving frequency according to the Beidou satellite number, monitors the signal from the corresponding Beidou satellite, obtains the orbit parameters of the Beidou satellite, and calculates the pseudo-distance between the Beidou satellite and the recorder; finally, the recorder positioning module realizes real-time positioning of the Beidou satellite.

[0059] The Beidou satellite assisted positioning data in step S5 includes the satellite number, geographic coordinates, signal-to-noise ratio and detection time of the Beidou satellite.

[0060] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of implementation of the present invention. All equivalent changes or modifications made according to the structure, characteristics and principles described in the patent application scope of the present invention should be included in the patent application scope of the present invention.

[0061] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A recorder shared auxiliary positioning system, characterized in that: It includes a recorder positioning module (1), a recorder satellite processing module (2), a server time-sharing sharing module (3), and a recorder shared auxiliary positioning module (4); The output end of the recorder positioning module (1) is connected to the input end of the recorder satellite processing module (2), and the recorder positioning module (1) is used to search and select Beidou satellites, and send the number, elevation angle, azimuth angle, signal-to-noise ratio and geographical location of the identified Beidou satellite to the recorder satellite processing module (2); The output end of the recorder satellite processing module (2) is connected to the input end of the server time-sharing sharing module (3); the recorder satellite processing module (2) can calculate the geographical coordinates of the satellite through the data transmitted by the recorder positioning module (1), and send the number, geographical coordinates, signal-to-noise ratio and detection time of the Beidou satellite to the server time-sharing sharing module (3); The output end of the server time-sharing sharing module (3) is connected to the input end of the recorder shared auxiliary positioning module (4); the data transmitted by the server time-sharing sharing module (3) through the recorder satellite processing module (2) can be sliced ​​based on the detection time, and the Beidou satellite auxiliary positioning data after time slicing is transmitted and shared to the recorder shared auxiliary positioning module (4); The output end of the recorder shared auxiliary positioning module (4) is connected to the input end of the recorder positioning module (1); the recorder shared auxiliary positioning module (4) can calculate the geographical coordinates of the real-time position of the Beidou satellite through the data transmitted by the server time-sharing sharing module (3), and then determine whether the Beidou satellite can be detected, so as to assist the recorder positioning module (1) in searching for the Beidou satellite.

2. A recorder shared auxiliary positioning system according to claim 1, characterized in that: The recorder positioning module (1) selects at least four Beidou satellites with good indicators by evaluating the quality indicators of Beidou satellite signal strength, signal-to-noise ratio and bit error rate.

3. A recorder shared auxiliary positioning system according to claim 2, characterized in that: The recorder positioning module (1) can calculate the position of the recorder in the earth fixed coordinate system according to the orbital parameters of the at least four Beidou satellites, and then obtain the pseudo distance between the Beidou satellite and the recorder by multiplying the receiving delay by the speed of light. By using the spatial coordinates and pseudo distance of the Beidou satellite and according to the distance formula, the position of the recorder in the earth fixed coordinate system can be solved; the recorder positioning module (1) can calculate the elevation angle and azimuth angle of each Beidou satellite according to the position of the recorder and the position of the Beidou satellite using the principle of trigonometry.

4. A recorder shared auxiliary positioning system according to claim 3, characterized in that: The recorder positioning module (1) sends the number, elevation angle, azimuth angle and signal-to-noise ratio of each Beidou satellite identified to the recorder satellite processing module (2) through the BDGSV sentence of the NMEA protocol; after the recorder positioning module (1) converts the position of the recorder in the earth's fixed coordinate system into a geographical location (latitude, longitude, altitude), the recorder geographical location is transmitted to the recorder satellite processing module (2) through the BDGGA sentence of the NMEA protocol.

5. A recorder shared auxiliary positioning system according to claim 4, characterized in that: The method for calculating the geographical coordinates of the satellite by the recorder satellite processing module (2) is as follows: the recorder satellite processing module (2) can search for TLE data of the satellite orbit according to the number of the Beidou satellite, use the geographical location of the recorder as the location of the observation point, and finally calculate the geographical coordinates of the satellite through the elevation angle and azimuth angle of the satellite's line of sight.

6. A recorder shared auxiliary positioning system according to claim 1, characterized in that: The server time-sharing sharing module (3) performs time slicing every thirty minutes. After receiving the geographical coordinates of the Beidou satellite, the server time-sharing sharing module (3) determines which time slice the satellite corresponds to according to the detection time, and then confirms whether the number data of other satellites have been recorded in the time slice; if there is no record, the number, geographical coordinates, signal-to-noise ratio and detection time of the satellite are stored in the slice; if there is a record, the signal-to-noise ratio of the satellite is compared with that of the recorded satellite. If the signal-to-noise ratio of the satellite is smaller than that of the recorded satellite, the data of the satellite is replaced with the data of the recorded satellite; otherwise, the data of the recorded satellite is retained.

7. A recorder shared auxiliary positioning system according to claim 6, characterized in that: When the recorder shared auxiliary positioning module (4) requests the server time-sharing sharing module (3) to share auxiliary positioning data, the server time-sharing sharing module (3) will send the serial numbers, geographic coordinates, signal-to-noise ratios and detection times of all satellites in the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module (4); and when the server time-sharing sharing module (3) finds that the Beidou satellite record of the previous time slice is incomplete, it will search for the Beidou satellite from the previous time slice until all the complete data of all Beidou satellites are sent.

8. The recorder shared auxiliary positioning system according to claim 1, characterized in that: The recorder shared auxiliary positioning module (4) can calculate the geographic coordinates of the real-time position of the satellite based on the TLE data of the satellite orbit, the geographic coordinates, the detection time and the current time of the recorder.

9. A recorder shared auxiliary positioning method, based on a recorder shared auxiliary positioning system according to any one of claims 1 to 8, characterized in that: The steps include: S1. If there is no data assistance transmitted by the recorder shared auxiliary positioning module (4), the recorder positioning module (1) searches for the frequencies of all Beidou satellites one by one by default, and monitors the signal from each Beidou satellite at each frequency; the recorder positioning module (1) evaluates the strength, signal-to-noise ratio, and bit error rate of the Beidou satellite signal, and selects a Beidou satellite with good indicators; S2, the recorder positioning module (1) sends the number, elevation angle, azimuth angle and signal-to-noise ratio of each Beidou satellite identified and the geographical location of the recorder to the recorder satellite processing module (2) through the BDGSV sentence of the NMEA protocol; S3, the recorder satellite processing module (2) searches for TLE data of the satellite orbit according to the Beidou satellite number, takes the geographical location of the recorder as the location of the observation point, and then calculates the geographical coordinates of the satellite through the elevation angle and azimuth of the satellite's line of sight; the recorder satellite processing module (2) sends the satellite number, geographical coordinates, signal-to-noise ratio and detection time of the Beidou satellite to the server time-sharing sharing module (3); S4, the server time-sharing sharing module (3) receives the satellite number, geographic coordinates, signal-to-noise ratio and detection time transmitted by the recorder satellite processing module (2), and performs time slicing according to the detection time, and performs time slicing every thirty minutes; when the recorder shared auxiliary positioning module (4) requests the server time-sharing sharing module (3) to share auxiliary positioning data, the server time-sharing sharing module (3) sends all satellite numbers, geographic coordinates, signal-to-noise ratios and detection times of the previous time slice (relative to the current time slice) to the recorder shared auxiliary positioning module (4); S5, the recorder shared auxiliary positioning module (4) receives the Beidou satellite auxiliary positioning data after time slicing from the server time-sharing module (3); and gives priority to processing the latest time slice; the shared auxiliary positioning module (4) selects the satellites that can be detected and generates a Beidou satellite number list according to the signal-to-noise ratio, and sends it to the recorder positioning module (1) to assist the recorder in positioning; S6, the recorder positioning module (1) receives the Beidou satellite number list transmitted by the recorder shared auxiliary positioning module (4) in chronological order, adjusts the receiving frequency according to the Beidou satellite number, monitors the signal from the corresponding Beidou satellite, obtains the orbital parameters of the Beidou satellite, and calculates the pseudo distance between the Beidou satellite and the recorder; finally, the recorder positioning module (1) realizes the real-time positioning of the Beidou satellite.

10. A recorder shared auxiliary positioning method according to claim 9, characterized in that: The Beidou satellite assisted positioning data in step S5 includes the satellite number, geographic coordinates, signal-to-noise ratio and detection time of the Beidou satellite.

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