Satellite navigation receiver positioning method and system based on telegraph text integrity

Abstract

The invention provides a satellite navigation receiver positioning method and system based on telegraph text integrity, and the method comprises the steps: obtaining a telegraph text received by a satellite navigation receiver, extracting the fields of the first three frames of the telegraph text, splicing the characters in the telegraph text of each tracked satellite according to the periodicity of the telegraph text, and storing the spliced characters in the first three frames of the telegraph text; scattered characters collected for a long time are spliced into a complete telegraph text and ephemeris information for positioning; comparing each field with a field stored last time, and determining the validity of the telegraph text; analyzing the telegraph text, and filling the analyzed telegraph text into the temporary variable; and if the telegraph text is valid and the temporary variable obtained according to the telegraph text is the same as the newly received ephemeris, determining the telegraph text for calculating the satellite position. According to the invention, the ephemeris can be updated continuously, the problem that the first positioning time is long since the positioning result cannot be output due to the fact that the ephemeris is not received in time is prevented, and the positioning reliability of the receiver can be enhanced.

Description

Technical Field

[0001] The invention belongs to the technical field of data processing, and in particular relates to a satellite navigation receiver positioning method and system based on message integrity. Background Art

[0002] With the rapid development of intelligent driving, light travel, portable devices, drones, smart cities and other fields, and the improvement and promotion of the basic services of the Beidou-3 global positioning system, higher requirements are placed on the effectiveness of satellite positioning. For satellite navigation receivers, the required ephemeris, clock error, and ionosphere information are generally obtained by parsing the verified telegrams. However, in complex occlusion scenes and strong interference scenes, the navigation receivers cannot receive complete ephemeris, clock error, ionosphere and other information in a short time due to the unpredictable changes in the signal, which causes errors and intermittent phenomena in the telegram bits. This makes it impossible for the satellite navigation receiver to locate.

[0003] The current receiver parses the telegram by receiving 300 consecutive bits. However, in complex application scenarios, including continuous loss of lock and re-capture, the signal of the interfering satellite is weak, resulting in bit errors in the telegram. It may not pass the verification of the entire frame of the telegram for a long time and cannot be parsed into ephemeris. If there is no ephemeris now, it may lead to a long period of inability to position. If the ephemeris has been received before, it will cause the data age to exceed and cannot participate in positioning. The reliability of the receiver's positioning is reduced.

[0004] Therefore, how to speed up the improvement of the effectiveness of the telegrams received by the receiver is a key point for the effective positioning of satellite navigation receivers. At present, the conventional satellite navigation receivers still have some problems in processing the integrity of telegrams, such as small segments of correct telegrams are not used, and only one frame of data can be correctly parsed before use, resulting in a long time for the first positioning of the receiver when cold-started, a small number of satellites available for the first positioning, and poor positioning accuracy. Summary of the invention

[0005] The present invention provides a satellite navigation receiver positioning method and system based on message integrity, so as to solve the existing problems of long first positioning time and poor positioning accuracy due to failure to receive ephemeris in time.

[0006] Based on the above purpose, an embodiment of the present invention provides a satellite navigation receiver positioning method based on message integrity, including: obtaining a message received by a satellite navigation receiver, and extracting each field of the first three frames of the message, wherein according to the periodicity of the message, each word in the message of each tracked satellite is spliced, and scattered words collected over a long period of time are spliced ​​into a complete message and ephemeris information for positioning; comparing each field with the field saved last time to determine the validity of the message; parsing the message, and filling the parsed message into a temporary variable; if the message is valid, and the temporary variable obtained according to the message is the same as the newly received ephemeris, then determining the message for calculating the satellite position.

[0007] Optionally, after acquiring the telegram received by the satellite navigation receiver and extracting the fields of the first three frames of the telegram, the method includes: for any field, determining whether the field has been saved; if not saved, saving the newly received telegram; if saved, determining whether the field has been saved twice; if not saved twice, saving the newly received telegram; if saved twice, executing the step of comparing each field with the field saved last time.

[0008] Optionally, the comparison of each of the fields with the fields saved last time to determine the validity of the telegram includes: if the saved telegram has code errors and the newly received telegram has code errors, comparing the contents of the telegram and determining the validity of the telegram based on the comparison result; if the saved telegram has code errors and the newly received telegram has no code errors, updating the saved telegram content and identification; if the saved telegram has no code errors and the newly received telegram has code errors, keeping the saved telegram content and identification unchanged.

[0009] Optionally, the telegram content is compared and the validity of the telegram is determined based on the comparison result, including: if the telegram content is the same, the telegram is determined to be valid, the saved telegram content is kept unchanged and only the identifier is updated; if the telegram content is different, the telegram is determined to be unavailable, the saved telegram content is updated, and the identifier remains unchanged.

[0010] Optionally, after comparing each of the fields with the fields saved last time to determine the validity of the telegram, the method further includes: parsing the telegram; and filling the parsed telegram into a temporary variable.

[0011] Optionally, if the telegram is valid, and the temporary variable obtained based on the telegram is the same as the newly received ephemeris, determining that the telegram can be used to calculate the satellite position includes: if the telegram is valid, comparing whether the temporary variable is the same as the two newly received ephemeris; if they are not the same, updating the last received telegram; if they are the same, saving the telegram into the variable used for calculation for calculating the satellite position.

[0012] Optionally, the step of saving the message into a variable for calculation, for use in calculating the satellite position, includes: clearing the saved original message.

[0013] Based on the same inventive concept, an embodiment of the present invention also proposes a satellite navigation receiver positioning system based on message integrity, including: a field extraction module, used to obtain the message received by the satellite navigation receiver, and extract the fields of the first three frames of the message, wherein according to the periodicity of the message, each word in the message of each tracked satellite is spliced, and scattered words collected over a long period of time are pieced together to form a complete message and ephemeris information for positioning; a validity determination module, used to compare each field with the field saved last time, to determine the validity of the message; to parse the message, and to fill the parsed message into a temporary variable; an integrity determination module, used to determine the message for calculating the satellite position if the message is valid and the temporary variable obtained based on the message is the same as the newly received ephemeris.

[0014] Based on the same inventive concept, an embodiment of the present invention further proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned method when executing the program.

[0015] Based on the same inventive concept, an embodiment of the present invention further proposes a computer storage medium, in which at least one executable instruction is stored, and the executable instruction enables a processor to execute the aforementioned method.

[0016] The beneficial effects of the present invention are as follows: as can be seen from the above description, an embodiment of the present invention provides a satellite navigation receiver positioning method and system based on message integrity, the method comprising: obtaining a message received by a satellite navigation receiver, and extracting each field of the first three frames of the message, wherein in view of the periodicity of the message, each word in the message of each tracked satellite is spliced, and scattered words are collected for a long time to form a complete message and ephemeris information for positioning; comparing each field with the field saved last time to determine the validity of the message; parsing the message, and filling the parsed message into a temporary variable; if the message is valid, and the temporary variable obtained according to the message is the same as the newly received ephemeris, then determining the message for calculating the satellite position, the ephemeris can be continuously updated, the reliability of the receiver positioning can be enhanced, and the problem of long first positioning time caused by failure to output the positioning result due to failure to receive the ephemeris in time is prevented. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a flowchart of a satellite navigation receiver positioning method based on message integrity in an embodiment of the present invention; Figure 2 It is a complete process schematic diagram of the method for automatically collecting monitoring data of the sewage central control platform in an embodiment of the present invention; Figure 3 The figure is a schematic diagram of the structure of a satellite navigation receiver positioning system based on message integrity in an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0020] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present invention do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] The embodiment of the present invention provides a satellite navigation receiver positioning method based on message integrity. The satellite navigation receiver positioning method based on message integrity of the embodiment of the present invention is applied to a satellite navigation receiver. Figure 2 As shown, the satellite navigation receiver positioning method based on message integrity includes: Step S11: Obtain the message received by the satellite navigation receiver and extract the fields of the first three frames of the message. According to the periodicity of the message, the words in the message of each tracked satellite are spliced ​​together, and the scattered words collected over a long period of time are pieced together into a complete message and ephemeris information for positioning.

[0022] In view of the periodicity of the message, the embodiment of the present invention splices each word in the message of each tracked satellite, and collects scattered words for a long time to piece together a complete message and ephemeris information for positioning. Taking Beidou B1I as an example, a frame of message is 300 bits, divided into 10 words, each word is 30 bits (bit), and a word is considered valid if the BCH check of the word passes.

[0023] After step S11, for any field, determine whether the field has been saved; if not saved, save the newly received telegram; if saved, determine whether the field has been saved twice; if not saved twice, save the newly received telegram; if saved twice, execute the step of comparing each field with the last saved field, that is, execute the subsequent step S12.

[0024] Step S12: Compare each field with the field saved last time to determine the validity of the telegram; parse the telegram and fill the parsed telegram into the temporary variable.

[0025] In step S12, the bits of the content segments in the two received words are compared. If the content segments received twice are the same, the message is considered valid. Optionally, if the stored message has errors and the newly received message has errors, the message contents are compared and the validity of the message is determined based on the comparison result. More specifically, if the message contents are the same, the message is determined to be valid, the stored message contents are kept unchanged and only the identifier is updated; if the message contents are different, the message is determined to be unavailable, the stored message contents are updated and the identifier remains unchanged.

[0026] If the stored message contains errors and the newly received message does not contain errors, the stored message content and identification are updated.

[0027] If the stored message contains no errors but the newly received message contains errors, the stored message content and identification remain unchanged.

[0028] By comparing the complete information of the two ephemeris, it is confirmed whether the ephemeris is valid. If the ephemeris is valid, it is considered that the message splicing is correct. In this way, by comparing the complete information of the two ephemeris, the error of ephemeris caused by message splicing can be reduced.

[0029] Then the message is parsed and the parsed message is filled into a temporary variable. The temporary variable is used for subsequent comparison with the newly received ephemeris.

[0030] Step S13: If the message is valid and the temporary variable obtained from the message is the same as the newly received ephemeris, the message is determined to be used for calculating the satellite position.

[0031] Optionally, if the message is valid, compare the temporary variable with the two newly received ephemeris to see if they are the same. If they are not the same, update the message received last time. If they are the same, save the message into the variable used for calculation to calculate the satellite position. After completing the saving of the message, clear the saved original message.

[0032] The complete satellite navigation receiver positioning method based on message integrity of the embodiment of the present invention is as follows: Figure 2 As shown, including: Step 100: Extract each field by word.

[0033] In the telegram received by the satellite navigation receiver, each frame includes multiple fields, and each field includes multiple bits. In this application, for the received telegram, each field in the telegram is extracted word by word.

[0034] Step 101: Determine whether the field has been saved. If not, execute step 102. If yes, jump to step 103.

[0035] For each field extracted from the electronic message, determine whether the field has been saved.

[0036] Step 102: Save the newly received fields.

[0037] If not saved, save the newly received fields.

[0038] Step 103: Determine whether the field has been saved twice. If not, execute step 102. If yes, execute step 104.

[0039] If the field has been saved, it is necessary to further determine whether the field has been saved twice.

[0040] Step 104: Compare with the fields saved last time.

[0041] If the field has been saved twice, the field is compared with the last saved field. The specific comparison process includes: A. If the saved message, i.e. the message in the template, has a code error and the newly received message has a code error, then compare whether the message contents are the same. If they are the same, then the message is considered usable, the saved message content remains unchanged and only the identification is updated; if they are different, then the message is considered unusable, and only the message content is updated, without updating the identification; B. If the stored message contains errors and the newly received message does not contain errors, the stored message content and identification will be updated; C. If the stored message has no errors but the newly received message has errors, the stored message content and identification will not be updated; D. If the stored message contains no errors and the newly received message contains no errors, the message is considered available and the content of the stored message remains unchanged, only the identification is updated.

[0042] Step 105: Determine whether the electronic messages are all valid. If not, execute step 106. If yes, execute step 107.

[0043] Whether the message is valid is determined based on the comparison result. For details, see the comparison process in step 104, which will not be described in detail here.

[0044] Step 106: Update the last received message.

[0045] If the telegram is invalid, that is, unavailable, the last received telegram is updated, that is, the newly received telegram replaces the last saved telegram.

[0046] Step 107: parse the message and fill the parsed message into a temporary variable.

[0047] If the telegrams are all valid, the telegrams are parsed and the parsed telegrams are filled into temporary variables.

[0048] Step 108: Compare the temporary variable with the two newly received ephemeris to see if they are the same. If not, execute step 106. If yes, execute step 109.

[0049] After obtaining the temporary variable, compare the temporary variable with the two newly received ephemerides to see if they are the same.

[0050] Step 109: parse and fill the parsed message into temporary variables until the newly received variable is consistent with the temporary variable, then save the message into the variable used for calculation for satellite position calculation, and clear the saved original message.

[0051] The satellite navigation receiver positioning method based on message integrity in an embodiment of the present invention aims at the occurrence of message errors caused by uncertainties in signal changes of the navigation receiver in complex scenarios. By taking advantage of the unchanged periodic broadcasting of navigation messages within the validity period of the ephemeris, each packet of message data received in real time is compared and verified with the saved message data bits, so that the receiver can quickly receive the latest ephemeris and other related parameters in complex scenarios and strong interference scenarios. The method can be applied to multi-system and multi-frequency receivers at the same time, and can effectively improve the positioning reliability of satellite navigation receivers in complex scenarios.

[0052] The satellite navigation receiver positioning method based on message integrity of the embodiment of the present invention obtains the message received by the satellite navigation receiver and extracts the fields of the first three frames of the message, wherein the characters in the message of each tracked satellite are spliced ​​according to the periodicity of the message, and the scattered characters are collected for a long time to piece together a complete message and ephemeris information for positioning; each field is compared with the field saved last time to determine the validity of the message; the message is parsed and the parsed message is filled into a temporary variable; if the message is valid and the temporary variable obtained according to the message is the same as the newly received ephemeris, the message is determined to be used for calculating the satellite position, the ephemeris can be continuously updated, and the problem of long first positioning time caused by failure to output the positioning result due to failure to receive the ephemeris in time can be prevented, and the reliability of the receiver positioning can be enhanced.

[0053] The above specific embodiments of the present invention are described. In some cases, the actions or steps recorded in the embodiments of the present invention can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0054] Based on the same concept, the embodiment of the present invention also provides a satellite navigation receiver positioning system based on message integrity. Applicable to satellite navigation receivers. Figure 3 As shown, the satellite navigation receiver positioning system based on message integrity includes: a field extraction module, a validity determination module and an integrity determination module.

[0055] The field extraction module is used to obtain the message received by the satellite navigation receiver and extract the fields of the first three frames of the message. According to the periodicity of the message, the words in the message of each tracked satellite are spliced ​​together, and the scattered words collected over a long period of time are spliced ​​into a complete message and ephemeris information for positioning; The validity determination module is used to compare each field with the field saved last time to determine the validity of the message; parse the message and fill the parsed message into the temporary variable; The integrity determination module is used to determine the message for use in calculating the satellite position if the message is valid and the temporary variable obtained based on the message is the same as the newly received ephemeris.

[0056] For the convenience of description, the above system is described by dividing it into various modules according to its functions. Of course, when implementing the embodiment of the present invention, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0057] The system of the above embodiment is applied to the corresponding method in the above embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0058] Based on the same inventive concept, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in any one of the above embodiments is implemented.

[0059] An embodiment of the present invention provides a non-volatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the method described in any of the above embodiments.

[0060] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. Based on the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of simplicity.

[0061] This application is intended to cover all such substitutions, modifications and variations that fall within the broad scope of the embodiments of the present invention. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the scope of protection of this application.

Claims

1. A satellite navigation receiver positioning method based on message integrity, characterized in that: The method comprises: Obtain the message received by the satellite navigation receiver and extract the fields of the first three frames of the message. According to the periodicity of the message, the words in the message of each tracked satellite are spliced ​​together, and the scattered words collected over a long period of time are spliced ​​into a complete message and ephemeris information for positioning; Compare each of the fields with the fields saved last time to determine the validity of the telegram; parse the telegram, and fill the parsed telegram into a temporary variable; If the message is valid and the temporary variable obtained according to the message is the same as the newly received ephemeris, the message is determined to be used for calculating the satellite position.

2. The method according to claim 1, characterized in that The method of obtaining the message received by the satellite navigation receiver and extracting the fields of the first three frames of the message includes: for any field, Determine whether the field is saved; If it has not been saved, then the newly received electronic message is saved; If it has been saved, determine whether the field has been saved twice; If it has not been saved twice, the newly received electronic message is saved; if it has been saved twice, the step of comparing each field with the field saved last time is performed.

3. The method according to claim 1, characterized in that The comparing each of the fields with the fields saved last time to determine the validity of the electronic message includes: If the stored message has errors and the newly received message has errors, the message contents are compared and the validity of the message is determined based on the comparison results; If the stored message contains errors, but the newly received message does not contain errors, the stored message content and identification are updated; If the stored message contains no errors but the newly received message contains errors, the stored message content and identification remain unchanged.

4. The method according to claim 3, characterized in that The comparing the contents of the telegram and determining the validity of the telegram according to the comparison result includes: If the contents of the message are the same, the message is determined to be valid, the saved message content remains unchanged and only the identifier is updated; If the contents of the telegram are not the same, the telegram is determined to be unavailable, the saved telegram contents are updated, and the identification remains unchanged.

5. The method according to claim 1, characterized in that If the message is valid, and the temporary variable obtained according to the message is the same as the newly received ephemeris, determining that the message can be used to calculate the satellite position includes: If the message is valid, comparing the temporary variable with the newly received ephemeris to see if they are the same; If they are not the same, the last received message is updated; If they are the same, the message is saved in a variable for calculation to calculate the satellite position.

6. The method according to claim 5, characterized in that The step of saving the message into a variable for calculation and using it to calculate the satellite position comprises: Clear the saved original message.

7. A satellite navigation receiver positioning system based on message integrity, characterized in that: The system comprises: The field extraction module is used to obtain the message received by the satellite navigation receiver and extract the fields of the first three frames of the message. According to the periodicity of the message, the words in the message of each tracked satellite are spliced, and the scattered words collected over a long period of time are spliced ​​into a complete message and ephemeris information for positioning; The validity determination module is used to compare each of the fields with the fields saved last time to determine the validity of the telegram; parse the telegram and fill the parsed telegram into a temporary variable; The integrity determination module is used to determine that the message is used to calculate the satellite position if the message is valid and the temporary variable obtained according to the message is the same as the newly received ephemeris.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A computer storage medium, characterized in that The storage medium stores at least one executable instruction, and the executable instruction enables the processor to execute the method as described in any one of claims 1-6.

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