Pseudo-range independent positioning method and device for low-orbit satellite, electronic equipment and storage medium

Abstract

The invention provides a low-orbit satellite pseudo-range independent positioning method and device, and relates to the technical field of satellite positioning, and the method comprises the steps: obtaining a pseudo-range observation value between a reference satellite and a receiver, and carrying out the analysis according to the pseudo-range observation value, and obtaining the initial positioning of the receiver; fitting the initial positioning to obtain a first pseudo-range positioning; and performing state estimation according to the first pseudo-range positioning and the state transformation related parameters to obtain second pseudo-range positioning. Through the pseudo-range observation value of the low-earth-orbit satellite, the initial positioning of the receiver is obtained by using a direct position calculation algorithm in combination with iterative least squares, and the subsequent position of the receiver is estimated in combination with state transformation related parameters, so that a steady low-earth-orbit satellite positioning technology is realized, the problem of calculation errors during low-earth-orbit satellite positioning is avoided, and the positioning accuracy of the low-earth-orbit satellite is improved. And the accuracy of low-orbit satellite positioning is improved.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a low-orbit satellite pseudo-range independent positioning method, device, electronic equipment and storage medium. Background Art

[0002] Low-orbit satellite constellations, with their wide coverage and all-weather characteristics, have become the most effective solution to fill the blind spots of ground network coverage and are an important part of the future integrated sky, land and sea network. At present, receivers can use the Doppler frequency shift observations and pseudo-range observations of their communication signals for positioning and timing. However, during the execution of the positioning algorithm, if the initial value is not selected properly, it will lead to solution errors and reduce the accuracy of positioning. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the first objective of the present application is to propose a low-orbit satellite pseudo-range independent positioning method.

[0005] The second object of the present application is to provide a device.

[0006] The third objective of the present application is to provide an electronic device.

[0007] A fourth objective of the present application is to provide a computer-readable storage medium.

[0008] A fifth object of the present application is to provide a computer program product.

[0009] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a low-orbit satellite pseudorange independent positioning method, including:

[0010] Acquire a pseudorange observation value between a reference satellite and a receiver, and perform analysis based on the pseudorange observation value to acquire an initial positioning of the receiver;

[0011] Fitting the initial positioning to obtain a first pseudorange positioning;

[0012] State estimation is performed according to the first pseudorange positioning and state change related parameters to acquire a second pseudorange positioning.

[0013] Optionally, the obtaining the initial positioning of the receiver by parsing according to the pseudorange observation value includes:

[0014] Obtaining pseudo-ranging observation equations corresponding to a plurality of reference satellites;

[0015] Combining the plurality of pseudo-range measurement observation equations to obtain a first equation;

[0016] Solving the first equation to obtain an expression for the three-dimensional coordinates of the receiver;

[0017] Substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

[0018] Optionally, fitting the initial positioning to obtain a first pseudorange positioning includes:

[0019] Linearizing the pseudo-ranging observation equation to obtain an expansion equation;

[0020] Substituting the initial position of the receiver into the expansion equation;

[0021] A matrix equation is constructed based on a plurality of the expanded equations, and the matrix equation is solved to obtain the receiver positioning.

[0022] Optionally, performing state estimation according to the first pseudorange positioning and state change related parameters to acquire a second pseudorange positioning includes:

[0023] The first pseudo-range positioning is input into a filter equation and a process equation for operation to obtain the second pseudo-range positioning.

[0024] Optionally, the acquiring the second pseudorange positioning includes:

[0025] Determine a second state vector according to the state transfer matrix and the first state vector, wherein the state vector includes a coordinate change amount;

[0026] Determine an observation value vector according to the observation coefficient matrix and the second state vector;

[0027] The second pseudorange positioning is determined according to the observation value vector and the first pseudorange positioning.

[0028] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a low-orbit satellite pseudo-range independent positioning device, comprising:

[0029] A parsing module, used to obtain pseudo-range observation values ​​between a reference satellite and a receiver, and to perform parsing based on the pseudo-range observation values ​​to obtain an initial positioning of the receiver;

[0030] A first positioning module, used for fitting the initial positioning to obtain a first pseudorange positioning;

[0031] The second positioning module is used to perform state estimation according to the first pseudorange positioning and state change related parameters to obtain a second pseudorange positioning.

[0032] Optionally, the parsing module includes:

[0033] An observation equation construction module, used to obtain pseudo-ranging observation equations corresponding to a plurality of reference satellites;

[0034] A merging module, configured to obtain a first equation by merging a plurality of the pseudo-range measurement observation equations;

[0035] A settlement module, used for solving the first equation to obtain an expression of the three-dimensional coordinates of the receiver;

[0036] A position acquisition module is used to substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

[0037] To achieve the above-mentioned purpose, the third aspect of the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0038] The memory stores computer-executable instructions;

[0039] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects.

[0040] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, in which computer-readable storage medium is stored computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the method as described in any one of the first aspects.

[0041] To achieve the above-mentioned purpose, the fifth aspect of the present application proposes a computer program product, which implements any method in the first aspect when executed by a processor.

[0042] The low-orbit satellite pseudo-range independent positioning method, device, electronic device and storage medium provided in the present application use pseudo-range observation data of low-orbit satellites, utilize a direct position solution algorithm combined with iterative least squares to obtain the position result of the first epoch and its variance-covariance matrix, and use filtering technology to estimate the position results of subsequent epochs, thereby realizing a robust low-orbit satellite positioning technology, avoiding the problem of solution errors during low-orbit satellite positioning, and improving the accuracy of low-orbit satellite positioning.

[0043] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0045] Figure 1A schematic diagram of a flow chart of a low-orbit satellite pseudorange independent positioning method provided in an embodiment of the present application;

[0046] Figure 2 A schematic diagram of a flow chart of a low-orbit satellite pseudorange independent positioning method provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of a flow chart of a low-orbit satellite pseudorange independent positioning method provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of a flow chart of a low-orbit satellite pseudorange independent positioning method provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a flow chart of a low-orbit satellite pseudorange independent positioning method provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the structure of a low-orbit satellite pseudo-range independent positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0052] With its wide coverage and all-weather characteristics, low-orbit satellite constellations have become the most effective solution to fill the blind spots of ground network coverage and are an important part of the future integrated sky, land and sea network. Under the condition of Beidou signal denial, the receiver can use the Doppler frequency shift observation value and pseudo-range observation value of its communication signal for positioning and timing. Due to its advantages of low orbit altitude, fast geometric configuration change and strong anti-interference ability, it has become an effective supplement to the global satellite navigation system.

[0053] The basic principle of pseudo-range point positioning is that the receiver receives signals from four or more satellites at the same time, obtains the geometric distance between the satellite and the receiver, and calculates the position of the receiver based on the distance intersection principle when the spatial position of the satellite is known. Since the least squares estimation method has the advantages of linearity, unbiasedness, and minimum variance, it is currently the most mature pseudo-range point positioning estimation method. Since the pseudo-range observation equation is nonlinear, it is necessary to use a linear expansion, and then solve the position based on iterative least squares; the initial value of the iterative least squares is usually selected using geocentric coordinates.

[0054] The initial value of iterative least squares is usually selected using geocentric coordinates. However, for pseudo-range positioning of low-orbit satellites, since the satellite orbit altitude is only about 1000km, which is much smaller than the radius of the earth, directly using iterative least squares to solve the position will result in the solution failing to converge or converging incorrectly when the initial value is selected using geocentric coordinates.

[0055] To address this problem, the present invention provides a low-orbit satellite pseudo-range independent positioning method. Figure 1 The following is a flow chart of a low-orbit satellite pseudo-range independent positioning method provided in an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0056] Step 101, obtaining pseudo-range observation values ​​between a reference satellite and a receiver, and performing analysis based on the pseudo-range observation values ​​to obtain an initial positioning of the receiver.

[0057] In this embodiment, the first pseudo-range observation value of the reference satellite is corrected to obtain the pseudo-range observation equation. Optionally, the reference satellite is a low-orbit satellite. Optionally, the pseudo-range observation value between the reference satellite and the receiver is formulated as:

[0058] in, is the pseudorange observation value between the reference satellite and the receiver, called the first pseudorange observation value, ρ s is the distance from the receiver to the satellite (including error sources such as relativity, earth solid tide, satellite phase center, satellite hardware delay, etc.), t is the receiver clock error, I s is the ionospheric delay, τ is the zenith tropospheric delay, m s is the projection function of the tropospheric delay, ∈ is the observation noise of the pseudorange, and s is the reference satellite.

[0059] Since the ionosphere is about 60-1000km above the ground and the altitude of low-orbit satellites is about 1000km, the ionospheric delay can be corrected using the ionospheric model, and the tropospheric delay is also corrected using the model.

[0060] The modified pseudo-ranging observation equation is formulated as follows:

[0061] P s =ρ s +t+ε;

[0062] Where:

[0063]

[0064]

[0065] Among them, P sis the second pseudorange observation value, is the ionospheric correction value modified by the model, is the tropospheric correction value modified by the model, (x, y, z) is the three-dimensional coordinate of the receiver's spatial coordinate system, (x s ,y s , z s ) is the three-dimensional spatial coordinate of the low-orbit satellite s.

[0066] Since the orbital altitude of low-orbit satellites is about 1000km and the radius of the earth is 6371km, when the initial value of the linear expansion of the above equation using the least squares solution is the geocentric coordinate (0, 0, 0), the iterative least squares solution does not converge. Therefore, this embodiment first uses the analytical method to directly calculate the initial position of the receiver based on the pseudo-range observation values ​​of the four reference satellites.

[0067] Step 102: Fit the initial positioning to obtain a first pseudorange positioning.

[0068] In this embodiment, the modified pseudo-range observation equation is a nonlinear observation equation. In order to solve the relative baseline component, linearization processing is required to fit the initial positioning to obtain the first pseudo-range positioning.

[0069] Step 103: Perform state estimation according to the first pseudorange positioning and state change related parameters to obtain a second pseudorange positioning.

[0070] In this embodiment, in the process of positioning the receiver according to the low-orbit satellite, after the first pseudo-range positioning is obtained by the first positioning, the subsequent positioning method is different from the first positioning. According to the variance-covariance matrix, the subsequent receiver position is estimated in combination with the filtering technology, so as to achieve robust low-orbit satellite positioning and improve the accuracy of positioning.

[0071] This embodiment provides another low-orbit satellite pseudo-range independent positioning method. Figure 2 The following is a flow chart of a low-orbit satellite pseudo-range independent positioning method provided in an embodiment of the present application. Figure 2 As shown, Figure 1 Step 101 in the embodiment includes the following steps:

[0072] Step 201, obtaining pseudo-ranging observation equations corresponding to a plurality of reference satellites;

[0073] In this embodiment, the receiver observes four reference satellites simultaneously, and based on the principle of geometric intersection, a polynomial analytical calculation is performed on the pseudo-range observation equation to obtain the initial position.

[0074] The number of reference satellites is 4, and the coordinates are reference satellite 1 (x 1 ,y 1 , z 1)、reference satellite 2(x 2 ,y 2 , z 2 ), reference satellite 3 (x 3 ,y 3 , z 3 )、reference satellite 4(x 4 ,y 4 , z 4 ), the pseudo-ranging observation equations of these reference satellites are:

[0075] (x 1 -x) 2 +(y 1 -y) 2 +(z 1 -z) 2 =(P 1 -t) 2 ;

[0076] (x 2 -x) 2 +(y 2 -y) 2 +(z 2 -z) 2 =(P 2 -t) 2 ;

[0077] (x 3 -x) 2 +(y 3 -y) 2 +(z 3 -z) 2 =(P 3 -t) 2 ;

[0078] (x 4 -x) 2 +(y 4 -y) 2 +(z 4 -z) 2 =(P 4 -t) 2 ;

[0079] It should be noted that the number of reference satellites is at least 4, and the number of selected reference satellites can be 5, 6, or a number greater than 4.

[0080] Step 202, merging a plurality of pseudo-range measurement observation equations to obtain a first equation;

[0081] In this embodiment, the pseudo-range observation equation of the reference satellite is expanded, and the pseudo-range observation equation of the reference satellites 2, 3, and 4 is used to subtract the pseudo-range observation equation of satellite 1, and the following first equation can be obtained:

[0082]

[0083] In the first equation:

[0084]

[0085]

[0086]

[0087]

[0088]

[0089] It should be noted that, in this embodiment, the first equation can be obtained by subtracting the pseudo-ranging observation equation corresponding to any n-1 reference satellites among the reference satellites from the pseudo-ranging observation equation corresponding to the remaining reference satellite, and it is not necessarily the pseudo-ranging observation equation of reference satellites 2, 3, and 4 minus the pseudo-ranging observation equation of satellite 1.

[0090] Step 203, solving the first equation to obtain an expression of the three-dimensional coordinates of the receiver;

[0091] In this embodiment, the first equation is solved and x, y, and z are expressed by t to obtain:

[0092]

[0093]

[0094]

[0095] in:

[0096]

[0097]

[0098]

[0099]

[0100]

[0101]

[0102]

[0103]

[0104]

[0105] Step 204: Substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

[0106] In this embodiment, by substituting x, y, and z into the pseudorange observation equation of satellite 1, a quadratic equation about t can be obtained:

[0107] Gt 2 +Ht+I=0;

[0108] in:

[0109]

[0110] H = 2(e1e2+e3e4+e5e6-x 1 e1-y 1 e3-z 1 e5+P 1 );

[0111]

[0112] in:

[0113] e1=-l2 / l1, e2=-l3 / l1, e3=-m2 / m1;

[0114] e4=-m3 / m1, e5=-n2 / n1, e6=-n3 / n1;

[0115] By transforming the above formula, the formula expression of t can be obtained as follows:

[0116]

[0117] Thus, the initial position of the receiver can be obtained as (x0, y0, z0).

[0118] It should be noted that, in this embodiment, the three-dimensional coordinates of the receiver can be substituted into any of the pseudo-ranging observation equations, that is, it can be substituted into the pseudo-range observation equation of satellite 2, or, substituted into the pseudo-range observation equation of satellite 3, or, substituted into the pseudo-range observation equation of satellite 4.

[0119] This embodiment provides another low-orbit satellite pseudo-range independent positioning method. Figure 3 The following is a flow chart of a low-orbit satellite pseudo-range independent positioning method provided in an embodiment of the present application. Figure 3 As shown, Figure 1Step 102 in the embodiment includes the following steps:

[0120] Step 301, linearizing the pseudo-ranging observation equation to obtain an expansion equation;

[0121] In this embodiment, the pseudo-ranging observation equation is a nonlinear observation equation. In order to solve the relative baseline component, linearization processing is required. The pseudo-ranging observation equation is linearized by using Taylor expansion to obtain:

[0122] in, is the direction cosine, Δx, Δy, Δz are estimated parameters, is the result of subtracting the approximate value from the observation value of satellite j;

[0123] In the expanded equation:

[0124]

[0125]

[0126]

[0127]

[0128] Step 302, substituting the initial positioning of the receiver into the expansion equation;

[0129] In this embodiment, in the above formula Its initial value is the coordinate (x0, y0, z0) obtained by analytical method.

[0130] Step 303: construct a matrix equation based on the multiple expanded equations, and solve the matrix equation to obtain the receiver positioning.

[0131] In this embodiment, when the number of reference satellite observations is greater than or equal to 4, the expansion equation can be expressed as the following matrix equation:

[0132] y = Ax + v;

[0133] In the matrix equation:

[0134]

[0135]

[0136] The solution of the matrix equation is:

[0137]

[0138] in, is the covariance matrix.

[0139] According to the above two formulas, the initial positioning (x, y, z) of the receiver can be further obtained.

[0140] Optional, Figure 1 Step 103 includes:

[0141] The first pseudo-range positioning is input into a filter equation and a process equation for operation to obtain the second pseudo-range positioning.

[0142] In this embodiment, the state change related parameters are used to characterize the characteristics of the state change. Optionally, the state change related parameters include a state transfer matrix.

[0143] In this embodiment, the filter equation is formulated as: k =H k x k-1 +w k-1 ;

[0144] The process equation is formulated as: k =A k x k +v k ;

[0145] Where x is the state vector, optionally, x = [Δx Δy Δz Δt]; k is the epoch number; A k is the observation coefficient matrix of the kth epoch; y k is the observation vector of the kth epoch; H k is the state transfer matrix, optional, the state transfer matrix defaults to the unit matrix E; w k-1 is the noise of the control system in the k-1th epoch, and optionally, the noise obeys Gaussian distribution; v k The noise measured at the kth epoch, optionally, the noise follows a Gaussian distribution. In the astronomical field, a cycle can be called an epoch, which is the beginning of the time marked in the calendar.

[0146] This embodiment provides another low-orbit satellite pseudo-range independent positioning method. Figure 4 The following is a flow chart of a low-orbit satellite pseudo-range independent positioning method provided in an embodiment of the present application. Figure 4 As shown, the step of inputting the first pseudorange positioning into a filter equation and a process equation for operation to obtain the second pseudorange positioning includes the following steps:

[0147] Step 401, determining a second state vector according to a state transfer matrix and a first state vector, wherein the state vector includes a coordinate change.

[0148] In this embodiment, after the first pseudorange positioning is obtained in the first epoch, when predicting the second epoch, the value of k is 2, that is, the first state vector corresponding to the first epoch is x1, and the second state vector corresponding to the second epoch is x2. The filtering equation can be used based on the first state vector of the first epoch and the state transfer matrix H k The second state vector corresponding to the second epoch is calculated. The meanings of the quantities contained in the state vector are: Δx is the change in x-coordinate, Δy is the change in y-coordinate, Δz is the change in z-coordinate, and Δt is the change in time.

[0149] Step 402: determine an observation value vector based on the observation coefficient matrix and the second state vector.

[0150] In this embodiment, according to y k =A k x k +v k The observation value vector y can be calculated based on the observation coefficient matrix and the second state vector k . Optionally, the observation vector corresponding to the second epoch is y2.

[0151] Step 403: Determine the second pseudorange positioning according to the observation value vector and the first pseudorange positioning.

[0152] In this embodiment, the formula for estimating the second pseudorange positioning process using the filtering method is expressed as:

[0153]

[0154] in,

[0155] in, is the state vector of k-1 epoch, is the predicted state vector, is the state vector of the kth epoch, K k is the gain matrix; Q k / k is the system noise covariance matrix.

[0156] in, Where R is the covariance matrix of the measurement noise.

[0157] This embodiment provides another low-orbit satellite pseudo-range independent positioning method. Figure 5 The following is a flow chart of a low-orbit satellite pseudo-range independent positioning method provided in an embodiment of the present application. Figure 5 As shown, the method includes:

[0158] Step 501, the receiver determines the pseudo-range observation value and corrects the pseudo-range observation equation;

[0159] Step 502, determining whether the current time is the first epoch;

[0160] Step 503a, if the current epoch is the first epoch, solving according to the position of the reference satellite to obtain the initial positioning of the receiver, and linearizing the pseudo-range observation equation according to the initial positioning to obtain the first pseudo-range positioning;

[0161] In this embodiment, in the process of positioning the receiver according to the low-orbit satellite, multiple positioning is required. For example, a certain period can be set, and the receiver is positioned once after each period. In the field of astronomy, each period can be called an epoch, and the epoch is the beginning of the time mark in the calendar. In astronomy, it is a time point that some astronomical variables are used as references, such as celestial coordinates or elliptical orbit elements of celestial bodies, because these will be perturbed and change over time. For the first epoch positioning operation, the least squares method is used, and the direct position solution algorithm is combined with iterative least squares to obtain the position result of the first epoch and its variance covariance matrix.

[0162] Step 503b: If the current epoch is not the first epoch, filtering is performed based on the position of the reference satellite in the previous epoch to determine the second pseudorange positioning.

[0163] In this embodiment, in the epochs after the first epoch, the state vector in the current epoch is estimated in combination with the Kalman filter technology to obtain the second pseudorange positioning.

[0164] This embodiment is based on the pseudo-range observation data of low-orbit satellites, uses a direct position solution algorithm combined with iterative least squares to obtain the position result of the first epoch and its variance covariance matrix, and combines filtering technology to estimate the position results of subsequent epochs to achieve a robust low-orbit satellite positioning technology. A low-orbit satellite positioning method provided by the present invention can avoid the problem of non-convergence caused by improper selection of the initial value of iterative least squares, and effectively improve the accuracy and reliability of low-orbit satellites.

[0165] In each cycle, after the pseudo-range positioning is calculated, the positioning and the time corresponding to the positioning need to be output to show the positioning of the user receiver. Then enter the next cycle and calculate the receiver positioning in the next epoch.

[0166] In order to implement the above embodiments, the present application also proposes a low-orbit satellite pseudo-range independent positioning device. Figure 6 This is a schematic diagram of the structure of a low-orbit satellite pseudo-range independent positioning device provided in an embodiment of the present application. Figure 6 As shown, the device comprises:

[0167] The analysis module 610 is used to obtain pseudo-range observation values ​​between the reference satellite and the receiver, and to perform analysis based on the pseudo-range observation values ​​to obtain the initial positioning of the receiver;

[0168] A first positioning module 620, configured to fit the initial positioning to obtain a first pseudorange positioning;

[0169] The second positioning module 630 is configured to perform state estimation according to the first pseudorange positioning and state change related parameters to acquire a second pseudorange positioning.

[0170] Optionally, the parsing module 610 includes:

[0171] An observation equation construction module, used to obtain pseudo-ranging observation equations corresponding to a plurality of reference satellites;

[0172] A merging module, configured to obtain a first equation by merging a plurality of the pseudo-range measurement observation equations;

[0173] A settlement module, used for solving the first equation to obtain an expression of the three-dimensional coordinates of the receiver;

[0174] A position acquisition module is used to substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

[0175] In order to implement the above embodiments, the present application also proposes an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments.

[0176] In order to implement the above embodiments, the present application also proposes a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided by the above embodiments.

[0177] In order to implement the above embodiments, the present application also proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0178] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0179] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0180] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0181] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0182] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0183] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0184] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0185] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0186] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0187] In addition, each functional unit in each embodiment of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0188] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A low-orbit satellite pseudo-range independent positioning method, characterized in that: The following steps are involved: Acquire a pseudorange observation value between a reference satellite and a receiver, and perform analysis based on the pseudorange observation value to acquire an initial positioning of the receiver; Fitting the initial positioning to obtain a first pseudorange positioning; State estimation is performed according to the first pseudorange positioning and state change related parameters to acquire a second pseudorange positioning.

2. The method according to claim 1, characterized in that The obtaining the initial positioning of the receiver by parsing according to the pseudorange observation value comprises: Obtaining pseudo-ranging observation equations corresponding to a plurality of reference satellites; Combining the plurality of pseudo-range measurement observation equations to obtain a first equation; Solving the first equation to obtain an expression for the three-dimensional coordinates of the receiver; Substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

3. The method according to claim 2, characterized in that The fitting of the initial positioning to obtain a first pseudorange positioning comprises: Linearizing the pseudo-ranging observation equation to obtain an expansion equation; Substituting the initial position of the receiver into the expansion equation; A matrix equation is constructed based on a plurality of the expanded equations, and the matrix equation is solved to obtain the receiver positioning.

4. The method according to claim 1, characterized in that The performing state estimation according to the first pseudorange positioning and state change related parameters to acquire the second pseudorange positioning includes: The first pseudo-range positioning is input into a filter equation and a process equation for operation to obtain the second pseudo-range positioning.

5. The method according to claim 4, characterized in that The acquiring the second pseudorange positioning comprises: Determine a second state vector according to the state transfer matrix and the first state vector, wherein the state vector includes a coordinate change amount; Determine an observation value vector according to the observation coefficient matrix and the second state vector; The second pseudorange positioning is determined according to the observation value vector and the first pseudorange positioning.

6. A low-orbit satellite pseudo-range independent positioning device, characterized in that: include: A parsing module, used to obtain pseudo-range observation values ​​between a reference satellite and a receiver, and to perform parsing based on the pseudo-range observation values ​​to obtain an initial positioning of the receiver; A first positioning module, used for fitting the initial positioning to obtain a first pseudorange positioning; The second positioning module is used to perform state estimation according to the first pseudorange positioning and state change related parameters to obtain a second pseudorange positioning.

7. The device according to claim 6, characterized in that The parsing module comprises: An observation equation construction module, used to obtain pseudo-ranging observation equations corresponding to a plurality of reference satellites; A merging module, configured to obtain a first equation by merging a plurality of the pseudo-range measurement observation equations; A settlement module, used for solving the first equation to obtain an expression of the three-dimensional coordinates of the receiver; A position acquisition module is used to substitute the three-dimensional coordinates of the receiver into any of the pseudo-ranging observation equations to obtain the initial position of the receiver.

8. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 5 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 5 when being executed by a processor.

Images