Positioning method, terminal, electronic device, storage medium and computer program product

Abstract

The invention discloses a positioning method, a terminal, electronic equipment, a storage medium and a computer program product, and the method comprises the steps: the terminal receives at least three groups of satellite signals in a first region, and determines the position information of the terminal based on the at least three groups of satellite signals; one group of satellite signals is correspondingly sent by one pseudo satellite antenna, and each group of satellite signals at least comprises four different satellite signals; the first area represents the area where the terminal is located.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a positioning method, terminal, electronic device, storage medium and computer program product. Background Art

[0002] To achieve indoor positioning, most of the current indoor positioning systems use pseudo-satellite base stations, which send pseudo-satellite signals through pseudo-satellite antennas. When a terminal is within the signal coverage area of ​​a pseudo-satellite antenna, it can only receive the pseudo-satellite signal sent by the pseudo-satellite antenna, and locate the location of the pseudo-satellite antenna. When the terminal moves to the signal coverage area of ​​the next pseudo-satellite antenna, the positioning is switched to the location of the next pseudo-satellite antenna. This makes the location determined by the terminal discontinuous during the movement, and the spacing between pseudo-satellite antennas is usually large, resulting in poor positioning accuracy. Summary of the invention

[0003] To solve related technical problems, embodiments of the present application provide a positioning method, a terminal, an electronic device, a storage medium, and a computer program product.

[0004] The technical solution of the embodiment of the present application is implemented as follows:

[0005] The present application provides a positioning method, which is applied to a terminal. The method includes:

[0006] receiving at least three groups of satellite signals in a first area, wherein one group of satellite signals is sent by a pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents an area where the terminal is located;

[0007] The location information of the terminal is determined based on the at least three groups of satellite signals.

[0008] In the above scheme, there are at least 6 groups of satellites and at least 6 different pseudo-satellite antennas in the first area, a group of satellites includes at least 4 different satellites, and each 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, and a group of satellites generates a group of satellite signals.

[0009] In the above solution, the determining the location information of the terminal based on the at least three groups of satellite signals includes:

[0010] Determine a plurality of pseudorange difference values ​​based on the position information of the terminal and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0011] The location information of the terminal is calculated based on the multiple pseudorange differences.

[0012] In the above scheme, the method further comprises:

[0013] Determine a plurality of Doppler frequency shift differences based on the position information of the terminal, the speed information of the terminal, and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0014] The speed information of the terminal is calculated based on the multiple Doppler frequency shift differences.

[0015] The present application also provides a positioning method, which is applied to an electronic device, and the method includes:

[0016] Dividing at least 24 satellites available in a second area into 6 groups of satellites, each group of satellites including at least 4 different satellites; the second area represents an area managed by the electronic device;

[0017] A different pseudo-satellite antenna in the second area is allocated to each group of satellites in the six groups of satellites, one pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the position information and / or speed information of the terminal.

[0018] In the above scheme, there are at least 6 different pseudo-satellite antennas in the second area, and each of the 6 different pseudo-satellite antennas is respectively arranged at the vertices of a honeycomb regular hexagon, and each of the 6 different pseudo-satellite antennas corresponds to a group of satellites.

[0019] In the above scheme, the distance between the pseudo-satellite antennas corresponding to the same group of satellites is 3 times the length of the side of the regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the length of the side of the regular hexagon, and greater than or equal to 1.3 times the length of the side of the regular hexagon.

[0020] In the above scheme, the at least 24 satellites available in the second area are divided into 6 groups of satellites, including:

[0021] Arrange and combine at least 24 satellites available in the second area to obtain at least one satellite set; one satellite set includes 6 groups of satellites, and one group of satellites includes at least 4 different satellites;

[0022] Determine a first value for each satellite set, the first value being determined based on a value of a dilution of precision factor for each group of satellites in the satellite set;

[0023] The satellite set corresponding to the smallest first value is determined as the satellite set to be finally used. The embodiment of the present application also provides a positioning device, the device comprising:

[0024] A receiving module, configured to receive at least three groups of satellite signals in a first area, wherein one group of satellite signals is sent by a pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents an area where the terminal is located;

[0025] A determination module is used to determine the location information of the terminal based on the at least three groups of satellite signals.

[0026] The present application also provides a positioning device, the device comprising:

[0027] A division module, used to divide at least 24 satellites available in a second area into 6 groups of satellites, each group of satellites including at least 4 different satellites; the second area represents an area managed by the electronic device;

[0028] An allocation module is used to allocate a different pseudo-satellite antenna in the second area to each group of satellites in the six groups of satellites, one pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the location information and / or speed information of the terminal.

[0029] An embodiment of the present application also provides a terminal, including a first processor and a first memory for storing a computer program that can be run on the first processor, wherein the first processor is used to execute the steps of any one of the methods described in the above terminal side when running the computer program.

[0030] An embodiment of the present application also provides an electronic device, including a second processor and a second memory for storing a computer program that can be run on the second processor, wherein the second processor is used to execute the steps of any one of the methods described above on the electronic device side when running the computer program.

[0031] An embodiment of the present application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the methods described in the above terminal side are implemented, or the steps of any of the methods described in the above electronic device side are implemented.

[0032] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the methods described in the above terminal side, or implements the steps of any of the methods described in the above electronic device side.

[0033] In the positioning method, terminal, electronic device, storage medium and computer program product provided in the embodiments of the present application, at least three groups of satellite signals are received in the first area, one group of satellite signals is sent by a pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents the area where the terminal is located; the location information of the terminal is determined based on the at least three groups of satellite signals. The above scheme determines the location information of the terminal based on at least three groups of satellite signals, each group of satellite signals includes at least four different satellite signals, and the location information of the terminal is determined by at least twelve satellite signals. Compared with the prior art in which the terminal receives the location of the pseudo-satellite antenna sent by a pseudo-satellite antenna and locates the terminal location as the location of the pseudo-satellite antenna, the positioning accuracy is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the deployment of existing pseudo-satellite antennas is provided for the embodiments of the present application;

[0035] Figure 2 This is a flow chart of a positioning method according to an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of the pseudo-satellite antenna layout of an embodiment of the present application;

[0037] Figure 4 This is a flow chart of another positioning method according to an embodiment of the present application;

[0038] Figure 5 This is a schematic diagram of the antenna field shape of the pseudo-satellite antenna in an embodiment of the present application;

[0039] Figure 6 This is a schematic diagram of a terminal receiving satellite signals according to an embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of the structure of a positioning device according to an embodiment of the present application;

[0041] Figure 8 This is a schematic diagram of another positioning device structure according to an embodiment of the present application;

[0042] Fig. 9 This is a schematic diagram of the terminal structure of an embodiment of the present application;

[0043] Fig.10 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The Global Navigation Satellite System (GNSS) includes the Beidou and Global Positioning System (GPS), and can only be used in outdoor spaces covered by GNSS signals. The indoor pseudo-satellite positioning system refers to a system that uses pseudo-satellite base stations indoors to transmit signals similar to those of outdoor GNSS to achieve indoor positioning and navigation functions.

[0045] Existing technical solutions for indoor positioning include:

[0046] Solution 1: Indoor forwarding pseudo-satellite solution. Specifically, the pseudo-satellite base station is a satellite navigation signal regenerator, which simulates and regenerates pseudo-satellite signals that are synchronized in time and frequency with the real satellite navigation system and have the same position, and broadcasts them through the pseudo-satellite antenna. The real satellites used to transmit pseudo-satellite signals on any pseudo-satellite antenna are all from the same group of satellites that can be received outdoors in the current area. The position obtained by terminal positioning is the coordinate position of the pseudo-satellite antenna. When the terminal is within the signal coverage area of ​​a pseudo-satellite antenna, it can only receive the pseudo-satellite signal sent by the pseudo-satellite antenna, and the location of the pseudo-satellite antenna will be located; when the terminal moves to the signal coverage area of ​​the next pseudo-satellite antenna, the positioning will switch to the location of the next pseudo-satellite antenna. In order to maximize the coverage area of ​​a single base station and to be able to completely cover a certain area without overlapping, the pseudo-satellite antenna is deployed by placing the base station of the cellular network in the center of a regular hexagon, such as Figure 1 shown.

[0047] Solution 2: Indoor regenerative pseudo-satellite solution. Specifically, multiple pseudo-satellite antennas are used to directly transmit GNSS signals with antenna coordinate position information. One pseudo-satellite antenna transmits one GNSS signal, and the terminal receives GNSS carrier phase information with coordinate position information of more than four different antennas. The terminal's position information can be calculated using a customized terminal and algorithm.

[0048] The above solution 1 has the following disadvantages: the position located by the terminal during movement is discontinuous and fluctuates. When the pseudo-satellite antenna spacing is P and the terminal pseudo-range positioning error is w, the total terminal positioning error is P / 2+w, and P is usually large, resulting in poor positioning accuracy. During the movement of the terminal, the pseudo-satellite signal received by the terminal is in a static positioning point state and does not have the Doppler value in the mobile state, so the current terminal movement speed and direction cannot be calculated. The disadvantage of solution 2 is that the pseudo-satellite antenna only broadcasts a single signal, and a customized terminal and algorithm must be used. Ordinary terminals cannot be used directly, which has application limitations.

[0049] Based on this, in various embodiments of the present application, at least three groups of satellite signals are received in the first area, one group of satellite signals is sent by a corresponding pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents the area where the terminal is located; and the location information of the terminal is determined based on the at least three groups of satellite signals. The above scheme determines the location information of the terminal based on at least three groups of satellite signals, each group of satellite signals includes at least four different satellite signals, and the location information of the terminal is determined by at least twelve satellite signals. Compared with the prior art in which the terminal receives the location of the pseudo-satellite antenna sent by a pseudo-satellite antenna and locates the terminal location as the location of the pseudo-satellite antenna, the positioning accuracy is improved.

[0050] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0051] The present application embodiment provides a positioning method, which is applied to a terminal. Figure 2 As shown, the method includes:

[0052] Step 201: Receive at least three groups of satellite signals in a first area.

[0053] A group of satellite signals is sent by a corresponding pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents the area where the terminal is located. A satellite signal is sent by a satellite.

[0054] In one embodiment, there are at least 6 groups of satellites and at least 6 different pseudo-satellite antennas in the first area, a group of satellites includes at least 4 different satellites, each of the 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, and a group of satellites generates a group of satellite signals.

[0055] Here, a schematic diagram of pseudo-satellite antenna layout is provided, such as Figure 3 shown. Figure 3 Among them, a, b, c, d, e, and f are pseudo satellite antennas corresponding to different groups of satellites. Taking pseudo satellite antenna a as an example, a sends a satellite signal from one of the six groups of satellites.

[0056] In practical applications, the distance between pseudo-satellite antennas corresponding to the same group of satellites is three times the length of the side of the regular hexagon. Figure 3 The distance between a and a is 3 times the side length of the regular hexagon.

[0057] In this embodiment, a group of satellites send satellite signals through the same pseudo-satellite antenna, and every 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, so that the terminal can receive at least three groups of satellite signals, ensuring that the terminal can be continuously positioned and ensuring the positioning accuracy of the terminal.

[0058] Step 202: Determine the location information of the terminal based on the at least three groups of satellite signals.

[0059] Specifically, determining the location information of the terminal based on at least three groups of satellite signals includes:

[0060] Determine the location information of the terminal based on the location information of the satellites carried by at least three groups of satellite signals; or,

[0061] Based on the location information of the terminal and the location information of the satellite corresponding to each satellite signal in at least three groups of satellite signals, a plurality of pseudo-range differences are determined, and the location information of the terminal is calculated based on the plurality of pseudo-range differences.

[0062] Determining the location information of the terminal based on the location information of the satellites carried by at least three groups of satellite signals includes:

[0063] The terminal's location information is calculated using the following equations:

[0064]

[0065] Among them, (xⅠ, yⅠ, zⅠ), (xⅡ, yⅡ, zⅡ), (xⅢ, yⅢ, zⅢ), (xIV, yIV, zIV), The satellite position information is carried by at least three sets of satellite signals and is provided by satellite ephemeris; Greater than or equal to 12; (x, y, z) is the location information of the terminal, c 0 is the speed of light, t b is the clock error component; tⅠ, tⅡ, tⅢ, tIV, is the clock error of the satellite clock of the corresponding satellite, provided by the satellite ephemeris; Δ TⅠ、TⅡ、 Δ TⅢ, Δ TIV, It is the time it takes for the corresponding satellite signal to reach the terminal.

[0066] In this embodiment, the location information of the terminal is determined based on at least three groups of satellite signals, each group of satellite signals includes at least four different satellite signals, and the location information of the terminal is determined by at least twelve satellite signals. Compared with the prior art in which the terminal receives a signal sent by a pseudo-satellite antenna indicating the location of the pseudo-satellite antenna and locates the terminal at the location of the pseudo-satellite antenna, the positioning accuracy is improved.

[0067] In one embodiment, determining the location information of the terminal based on the at least three groups of satellite signals includes:

[0068] Determine a plurality of pseudorange difference values ​​based on the position information of the terminal and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0069] The location information of the terminal is calculated based on the multiple pseudorange differences.

[0070] Here, based on the location information of the terminal and the location information of the satellite corresponding to each satellite signal in at least three groups of satellite signals, the multiple pseudo-range difference values ​​are determined to be

[0071]

[0072] Among them, Δρ s is the pseudo-range difference of the sth satellite corresponding to at least three sets of satellite signals, (x, y, z) is the location information of the terminal; (xs, ys, zs) is the location information of the sth satellite, provided by the satellite ephemeris; Rs is the distance between the terminal and the sth satellite, c 0 is the speed of light, t b It is worth noting that the number of the plurality of pseudo-range difference values ​​is the same as the number of satellites corresponding to the at least three groups of satellite signals.

[0073] Here, the location information of the terminal is calculated based on multiple pseudo-range differences, including:

[0074] Constructing a first matrix equation based on a plurality of pseudorange differences;

[0075] Based on the first pseudorange and the second pseudorange, the first matrix equation is solved to obtain the terminal's location information; the first pseudorange is determined based on the time difference between sending and receiving satellite signals, and the second pseudorange represents the pseudorange represented by the terminal's location information and the satellite's location information.

[0076] Specifically, the first matrix equation is Δu=(H T ·H) -1 ·H T Δρ, where

[0077] (x, y, z) is the location information of the terminal, t b is the clock error component;

[0078] (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), (xs, ys, zs) are the location information of the corresponding satellites, R1, R2, R3, R4, Rs are the distances between the terminal and the corresponding satellites, c 0 is the speed of light;

[0079] Δρ 1 , Δρ 2 , Δρ 3 , Δρ 4 , Δρ sis the pseudorange difference of the corresponding satellite.

[0080] It is worth noting that the pseudorange difference is determined based on the first pseudorange and the second pseudorange, the first pseudorange and the second pseudorange are substituted into the first matrix equation, and the first matrix equation is iterated, so that | ΔxΔyΔz | Minimum, the terminal’s location information can be calculated.

[0081] Taking Δρ1 as an example, Δρ1=α1-β1, where α1=c 0 t RX1 -c 0 t TX1 , α1 is the first pseudorange, t RX1 is the time when the terminal receives the corresponding satellite signal, t TX1 is the sending time of the corresponding satellite signal;

[0082] β1 is the second pseudorange.

[0083] It should be noted that the derivation process of the first matrix equation is:

[0084] The distance between the terminal (x, y, z) and the satellite (xs, ys, zs) is

[0085] The distance between the terminal and the satellite contains a clock error component t b , that is, the second pseudorange between the terminal and the satellite is βs = Rs + c 0 t b ;

[0086] Taking the derivative of the second pseudorange and ignoring the higher-order terms above the second order, the linearization result is

[0087] Substituting Rs into the linearization result formula, we get

[0088]

[0089] Replace βs' with the first pseudorange αs, and we get

[0090] Where αs=c 0 t RXs -c 0 t TXs , t RXs is the time when the terminal receives the satellite signal of the sth satellite corresponding to at least three groups of satellite signals, t TXs is the sending time of the satellite signal of the s-th satellite;

[0091] Moving the second pseudorange to the left side of the equation, we get Converted into matrix form

[0092] That is, Δρ=H·Δu, which can be transformed into the first matrix equation.

[0093] In this embodiment, multiple pseudorange differences are determined based on at least three groups of satellite signals, and the location information of the terminal is determined based on the multiple pseudorange differences. This can solve the problem of low positioning accuracy caused by the prior art that the terminal position can only be located at the location of the pseudo-satellite antenna, and can improve the accuracy of the terminal's location information.

[0094] In one embodiment, the positioning method further includes:

[0095] Determine a plurality of Doppler frequency shift differences based on the position information of the terminal, the speed information of the terminal, and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0096] The speed information of the terminal is calculated based on the multiple Doppler frequency shift differences.

[0097] The speed information of the terminal includes speed information of the terminal in three moving directions.

[0098] Here, based on the location information of the terminal, the speed information of the terminal and the location information of the satellite corresponding to each satellite signal in at least three groups of satellite signals, the multiple Doppler frequency shift differences are determined to be

[0099]

[0100] Where, ΔD s is the Doppler frequency shift difference of the sth satellite corresponding to at least three sets of satellite signals, (x, y, z) is the location information of the terminal; (xs, ys, zs) is the location information of the sth satellite, provided by the satellite ephemeris; v x 、v y 、v z are the speed information of the terminal along the x, y, and z directions respectively, Rs is the distance between the terminal and the sth satellite, c 0 is the speed of light, t b It is worth noting that the number of the multiple Doppler frequency shift differences is the same as the number of satellites corresponding to the at least three groups of satellite signals.

[0101] Here, the speed information of the terminal is calculated based on multiple Doppler frequency shift differences, including:

[0102] constructing a second matrix equation based on the plurality of Doppler frequency shift differences;

[0103] Based on the first Doppler frequency shift and the second Doppler frequency shift, the second matrix equation is solved to obtain the speed information of the terminal; the first Doppler frequency shift is determined based on the receiving and transmitting signal frequency of the satellite signal; the second Doppler frequency shift is determined based on the location information of the terminal, the location information of the satellite, and the speed information of the terminal.

[0104] Specifically, the second matrix equation is ΔV = (H' T ·H') -1 ·H' T ΔD, where

[0105] v x 、v y 、v z are the speed information of the terminal along the x, y, and z directions respectively, t b is the clock error component; it should be understood that the terminal speed information includes v x 、v y 、v z ;

[0106] (x, y, z) is the location information of the terminal, (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), (xs, ys, zs) is the location information of the corresponding satellite, R1, R2, R3, R4, Rs is the distance between the terminal and the corresponding satellite, c 0 is the speed of light;

[0107] ΔD 1 , ΔD 2 , ΔD 3 , ΔD 4 , ΔD s is the Doppler frequency shift difference of the corresponding satellite.

[0108] It is worth noting that the Doppler shift difference is determined based on the first Doppler shift and the second Doppler shift, the first Doppler shift and the second Doppler shift are substituted into the second matrix equation, and the speed information of the terminal can be obtained by solving the second matrix equation.

[0109] Taking ΔD1 as an example, ΔD1=ε1-λ1, where ε1=fr1-fs1, ε1 is the first Doppler frequency shift, fr1 is the signal frequency of the terminal receiving the corresponding satellite signal, and fs1 is the signal frequency of the pseudo-satellite antenna sending the corresponding satellite signal;

[0110] λ1 is the second Doppler frequency shift, f 0 is the estimated signal frequency of the pseudo-satellite antenna sending the corresponding satellite signal, and θ is the angle between the corresponding satellite and the total motion direction of the terminal.

[0111] It should be noted that the signal frequency of the satellite signal sent by the pseudo-satellite antenna may be carried in the satellite signal, or may be determined based on a pre-set signal frequency. The estimated signal frequency of the satellite signal sent by the pseudo-satellite antenna may be determined based on a pre-set signal frequency; the estimated signal frequency of the satellite signal sent by the pseudo-satellite antenna may be the same as or different from the signal frequency of the satellite signal sent by the pseudo-satellite antenna. cosθ may be determined based on the location information of the terminal and the location information of the satellite.

[0112] In this embodiment, multiple Doppler frequency shift differences are determined based on at least three groups of satellite signals, and the speed information of the terminal is determined based on the multiple Doppler frequency shift differences. This can solve the problem in the prior art that the speed information of the terminal cannot be obtained by only one group of satellite signals, and can obtain the speed information of the terminal and ensure the accuracy of the speed information of the terminal.

[0113] Corresponding to the positioning method on the terminal side described above, the embodiment of the present application further provides a positioning method, which is applied to an electronic device, which is a hardware device corresponding to the pseudo-satellite base station system, a master control device, and may have a display screen or display function, or may be connected to a display screen; the electronic device includes a terminal and / or a device having a display screen or display function. Figure 4 As shown, the method includes:

[0114] Step 401: Divide at least 24 satellites available in the second area into 6 groups of satellites.

[0115] Each group of satellites includes at least 4 different satellites; the second area represents the area managed by the electronic device.

[0116] Here, the at least 24 satellites available in the second area represent satellites located in the sky of the second area with an altitude angle greater than 10 degrees with the terminal. It should be understood that the second area represents the area managed by the electronic device, that is, the electronic device may be outside the second area or may be within the second area.

[0117] Step 402: Allocate a different pseudo-satellite antenna in the second area to each of the six groups of satellites.

[0118] A pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the position information and / or speed information of the terminal.

[0119] In this embodiment, each group of satellites includes at least four different satellites, and each group of satellite signals includes at least four different satellite signals, so that the position information and / or speed information of the terminal can be determined based on three groups of satellite signals.

[0120] In one embodiment, there are at least 6 different pseudo-satellite antennas in the second area, and each of the 6 different pseudo-satellite antennas is respectively arranged at the vertices of a honeycomb regular hexagon, and each of the 6 different pseudo-satellite antennas corresponds to a group of satellites.

[0121] The schematic diagram of each of the six different pseudo-satellite antennas being arranged at the vertices of a honeycomb regular hexagon can be seen in Figure 3 It is worth noting that the pseudo-satellite antennas can be extended and laid out in a large space region, such as the second region, according to the regular hexagonal layout method.

[0122] In this embodiment, each of every 6 different pseudo-satellite antennas corresponds to a group of satellites, and every 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, so that the terminal can receive at least three groups of satellite signals sent by the pseudo-satellite antenna in the second area, thereby ensuring continuous positioning of the terminal and ensuring the positioning accuracy of the terminal.

[0123] In one embodiment, the distance between pseudo-satellite antennas corresponding to the same group of satellites is 3 times the side length of a regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon and greater than or equal to 1.3 times the side length of the regular hexagon.

[0124] Here, the pseudo-satellite antenna can be a shaped antenna. The antenna field diagram of the pseudo-satellite antenna is as follows: Figure 5 shown. Figure 5 The coverage angle of the medium antenna is When , the gain of the pseudo-satellite antenna is at its highest point, the following relationship is satisfied:

[0125]

[0126] Wherein, G(m) is the pseudo-satellite antenna gain value corresponding to when the antenna coverage angle is m, and G(0) is the pseudo-satellite antenna gain value corresponding to when the antenna coverage angle is 0.

[0127] It should be understood that when the antenna coverage angle is greater than or equal to and less than or equal to In the case of, the signal strength received by the terminal is stable; when the antenna coverage angle is greater than or less than In this case, the pseudo-satellite antenna gain decays rapidly.

[0128] and L1 is the farthest plane coverage distance of the pseudo-satellite antenna, and L2 is the difference between the height of the pseudo-satellite antenna and the height of the terminal.

[0129] In this embodiment, the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon, and the distance between the pseudo-satellite antennas corresponding to the same group of satellites is 3 times the side length of the regular hexagon, which can ensure that the signals of the same group of satellites will not be repeatedly covered, avoiding interference from the same signal.

[0130] In one embodiment, dividing the at least 24 satellites available in the second area into 6 groups of satellites includes:

[0131] Arrange and combine at least 24 satellites available in the second area to obtain at least one satellite set; one satellite set includes 6 groups of satellites, and one group of satellites includes at least 4 different satellites;

[0132] Determine a first value for each satellite set, the first value being determined based on a value of a dilution of precision factor for each group of satellites in the satellite set;

[0133] The satellite set corresponding to the smallest first value is determined as the satellite set to be finally used.

[0134] Here, determining a first value for each satellite set includes:

[0135] The arithmetic square root of the second value is calculated to obtain the first value; the second value is the sum of the squares of the values ​​of the precision reduction factors of each group of satellites in any satellite set.

[0136] Specifically, Among them, DOP n is the first value of the nth satellite set, is the second value, DOP i is the value of the precision reduction factor of the i-th satellite group in the n-th satellite set.

[0137] It should be noted that the Dilution of Precision (DOP) includes the Horizontal Dilution of Precision (HDOP) or the Position Dilution of Precision (PDOP).

[0138] Here, the satellite set corresponding to the smallest first value is determined as the satellite set finally used. In the case where there are multiple satellite sets corresponding to the smallest first values, a satellite set corresponding to the smallest first value can be arbitrarily selected as the satellite set finally used.

[0139] In this embodiment, at least 24 satellites available in the second area are divided into 6 groups of satellites based on the precision reduction factor, which can ensure uniform distribution of satellites, reduce ranging errors, and improve positioning accuracy. Under the condition of the same ranging accuracy, the smaller the DOP value, the more stable the ranging relationship between the terminal and the satellite, the smaller the amplification effect on the ranging error, and the higher the positioning accuracy provided. The satellite set corresponding to the smallest first value is determined as the satellite set finally used, so as to further improve the positioning accuracy.

[0140] The present application is described in further detail below in conjunction with application examples.

[0141] The implementation steps of the positioning method provided in this application are as follows:

[0142] Step 1: Obtain ephemeris data of GNSS satellites visible in the sky through an outdoor GNSS antenna or a mobile network to determine at least 24 satellites available in the second area.

[0143] The at least 24 satellites available in the second area are divided into 6 groups of satellites by electronic equipment. Specifically, the at least 24 satellites available in the second area are arranged and combined to obtain at least one satellite set; one satellite set includes 6 groups of satellites, and one group of satellites includes at least 4 different satellites; the arithmetic square root of the second value is calculated to obtain the first value; the second value is the sum of the squares of the values ​​of the precision attenuation factors of each group of satellites in any satellite set; and the satellite set corresponding to the smallest first value is determined as the satellite set finally used.

[0144] It should be noted that ordinary terminals can receive satellite signals from outdoor satellite systems including GPS, Beidou Navigation Satellite System (BDS), GLONASS, Galileo Satellite Navigation System and Quasi-Zenith Satellite System (Qzss). Under the condition that the altitude angle between the satellite and the terminal is greater than 10 degrees, at least 24 satellites can be available in the second area, and 6 groups of satellites can be obtained, each group of satellites includes at least 4 different satellites. In actual applications, there are at least 30 satellites in the sky of the second area.

[0145] Step 2: Allocate a different pseudo-satellite antenna in the second area to each group of satellites in the six groups of satellites, one pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, and each group of satellite signals includes at least four different satellite signals; there are at least six different pseudo-satellite antennas in the second area, and each of the six different pseudo-satellite antennas is respectively arranged at the vertices of a cellular regular hexagon, and each of the six different pseudo-satellite antennas corresponds to a group of satellites; the distance between the pseudo-satellite antennas corresponding to the same group of satellites is three times the side length of the regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon, and greater than or equal to 1.3 times the side length of the regular hexagon.

[0146] It should be noted that this pseudo-satellite antenna deployment method can be used in any planar area. In this planar area, the terminal can receive at least 3 to 6 groups of different satellite signals. Moreover, under the same area, a honeycomb regular hexagonal structure is used for deployment, and the total number of pseudo-satellite antennas required to be deployed is small, which can reduce costs.

[0147] Schematic diagram of a terminal receiving satellite signals, for example Figure 6 As shown, Figure 6 a, b, c, d, e, and f are pseudo-satellite antennas corresponding to each of the six satellite groups. The radius of the red circle is 1.5 times the length of the side of the regular hexagon. Figure 6 The terminal moves within the cellular regular hexagonal area. Since the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon and greater than or equal to 1.3 times the side length of the regular hexagon, for example, a yellow circle area and a blue circle area are determined with the terminal as the center. The satellite signals sent by the pseudo-satellite antennas within the yellow circle area and the blue circle area can be received by the terminal. There are 4 different pseudo-satellite antennas within the yellow circle area and 6 different pseudo-satellite antennas within the blue circle area. It can be seen that the terminal can receive at least 3 to 6 groups of different satellite signals.

[0148] Step three: The terminal receives at least three groups of satellite signals in the first area, and determines the location information and / or speed information of the terminal based on the at least three groups of satellite signals and the least squares method. It is worth noting that the second area includes the first area. The positioning method provided by the present application groups the GNSS satellites visible in the sky according to the principle of minimum DOP value, and each group of satellites after grouping sends satellite signals through a pseudo-satellite antenna. Different from the prior art in which the pseudo-satellite base station only sends a single satellite signal or sends all satellite signals, different pseudo-satellite antennas send different groups of satellite signals, which can achieve continuous high-precision positioning of general positioning terminals within the coverage area; each of the six different pseudo-satellite antennas is arranged at the vertices of a cellular regular hexagon, and the signal coverage radius of each pseudo-satellite antenna is set to be less than 1.5 times the side length of the regular hexagon, and greater than or equal to 1.3 times the side length of the regular hexagon, which is different from the prior art in which the indoor positioning antenna has at least 3 points, and is also different from the prior art in which the antenna is arranged at the center of the regular hexagon. Instead, pseudo-satellite antennas are arranged at the vertices of a regular hexagon, so that the terminal can evenly receive 3 to 6 groups of satellite signals in all coverage areas and ensure that the received satellite signals will not be repeated; the terminal can receive at least three groups of satellite signals sent by the pseudo-satellite antenna in the first area, and multiple pseudo-range differences and multiple Doppler frequency shift differences are determined based on the at least three groups of satellite signals. The pseudo-range difference and Doppler frequency shift difference determined by the satellite signals within the group are fixed values, the pseudo-range difference determined by the satellite signals between the groups are related to the location of the terminal, and the Doppler frequency shift difference determined by the satellite signals between the groups are related to the moving speed of the terminal. During the movement of the terminal, the position information and speed information of the terminal can be determined based on the at least three groups of satellite signals, and the position information and speed information of the terminal that continuously change can also be obtained through Kalman filtering.

[0149] In order to implement the positioning method on the terminal side of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which is arranged on the terminal, such as Figure 7 As shown, the device comprises:

[0150] A receiving module 701 is configured to receive at least three groups of satellite signals in a first area, where one group of satellite signals is sent by one pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents an area where the terminal is located;

[0151] The determination module 702 is configured to determine the location information of the terminal based on the at least three groups of satellite signals.

[0152] In one embodiment, there are at least 6 groups of satellites and at least 6 different pseudo-satellite antennas in the first area, a group of satellites includes at least 4 different satellites, each of the 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, and a group of satellites generates a group of satellite signals.

[0153] In one embodiment, the determining module 702 is specifically configured to determine a plurality of pseudorange differences based on the location information of the terminal and the location information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0154] The location information of the terminal is calculated based on the multiple pseudorange differences.

[0155] In one embodiment, the determining module 702 is further configured to determine a plurality of Doppler frequency shift differences based on the location information of the terminal, the speed information of the terminal, and the location information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0156] The speed information of the terminal is calculated based on the multiple Doppler frequency shift differences.

[0157] In actual application, the receiving module 701 and the determining module 702 may be implemented by a processor and a communication interface of the positioning device.

[0158] In order to implement the positioning method of the electronic device side of the embodiment of the present application, the embodiment of the present application also provides a positioning device, which is arranged on the electronic device, such as Figure 8 As shown, the device comprises:

[0159] A division module 801 is used to divide at least 24 satellites available in a second area into 6 groups of satellites, each group of satellites includes at least 4 different satellites; the second area represents an area managed by the electronic device;

[0160] The allocation module 802 is used to allocate a different pseudo-satellite antenna in the second area to each group of satellites in the six groups of satellites, and one pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the position information and / or speed information of the terminal.

[0161] In one embodiment, there are at least 6 different pseudo-satellite antennas in the second area, and each of the 6 different pseudo-satellite antennas is respectively arranged at the vertices of a honeycomb regular hexagon, and each of the 6 different pseudo-satellite antennas corresponds to a group of satellites.

[0162] In one embodiment, the distance between pseudo-satellite antennas corresponding to the same group of satellites is 3 times the side length of a regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon and greater than or equal to 1.3 times the side length of the regular hexagon.

[0163] In one embodiment, the division module 801 is specifically used to arrange and combine at least 24 satellites available in the second area to obtain at least one satellite set; a satellite set includes 6 groups of satellites, and a group of satellites includes at least 4 different satellites;

[0164] Determine a first value for each satellite set, the first value being determined based on a value of a dilution of precision factor for each group of satellites in the satellite set;

[0165] The satellite set corresponding to the smallest first value is determined as the satellite set to be finally used.

[0166] In actual application, the division module 801 and the allocation module 802 may be implemented by a processor of the positioning device.

[0167] It should be noted that the positioning device provided in the above embodiment is only illustrated by the division of the above program modules when performing positioning. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device is divided into different program modules to complete all or part of the processing described above. In addition, the positioning device provided in the above embodiment and the positioning method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0168] Based on the hardware implementation of the above program modules, and in order to implement the method on the terminal side of the embodiment of the present application, the embodiment of the present application also provides a terminal, such as Fig. 9 As shown, the terminal 900 includes:

[0169] The first communication interface 901 is capable of exchanging information with other network nodes;

[0170] The first processor 902 is connected to the first communication interface 901 to implement information exchange with other network nodes, and is used to execute the method provided by one or more technical solutions of the terminal side when running a computer program. The computer program is stored in the first memory 903.

[0171] Specifically, the first communication interface 901 is used to receive at least three groups of satellite signals in a first area, where one group of satellite signals is sent by a pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents the area where the terminal is located;

[0172] The first processor 902 is configured to determine location information of the terminal based on the at least three groups of satellite signals.

[0173] In one embodiment, there are at least 6 groups of satellites and at least 6 different pseudo-satellite antennas in the first area, a group of satellites includes at least 4 different satellites, each of the 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, and a group of satellites generates a group of satellite signals.

[0174] In one embodiment, the first processor 902 is specifically configured to determine a plurality of pseudorange difference values ​​based on the position information of the terminal and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0175] The location information of the terminal is calculated based on the multiple pseudorange differences.

[0176] In one embodiment, the first processor 902 is further configured to determine a plurality of Doppler frequency shift differences based on the position information of the terminal, the speed information of the terminal, and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals;

[0177] The speed information of the terminal is calculated based on the multiple Doppler frequency shift differences.

[0178] It should be noted that the specific processing process of the first processor 902 and the first communication interface 901 can be understood by referring to the above method.

[0179] Of course, in actual application, the various components in the terminal 900 are coupled together through the bus system 904. It can be understood that the bus system 904 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 904 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Fig. 9 Various buses are labeled as bus system 904.

[0180] The first memory 903 in the embodiment of the present application is used to store various types of data to support the operation of the terminal 900. Examples of such data include: any computer program used to operate on the terminal 900.

[0181] The method disclosed in the above embodiment of the present application can be applied to the first processor 902, or implemented by the first processor 902. The first processor 902 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware or software instructions in the first processor 902. The above-mentioned first processor 902 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The first processor 902 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in the first memory 903, and the first processor 902 reads the information in the first memory 903, and completes the steps of the above method in combination with its hardware.

[0182] In an exemplary embodiment, the terminal 900 may be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0183] Based on the hardware implementation of the above program modules, and in order to implement the method of the electronic device side of the embodiment of the present application, the embodiment of the present application also provides an electronic device, such as Fig.10 As shown, the electronic device 1000 includes:

[0184] The second communication interface 1001 is capable of exchanging information with other network nodes;

[0185] The second processor 1002 is connected to the second communication interface 1001 to implement information exchange with other network nodes, and is used to execute the method provided by one or more technical solutions of the electronic device side when running the computer program. The computer program is stored in the second memory 1003.

[0186] Specifically, the second processor 1002 is used to divide at least 24 satellites available in the second area into 6 groups of satellites, and allocate a different pseudo-satellite antenna in the second area to each group of satellites in the 6 groups of satellites; each group of satellites includes at least 4 different satellites; the second area represents the area managed by the electronic device; a pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the location information and / or speed information of the terminal.

[0187] In one embodiment, there are at least 6 different pseudo-satellite antennas in the second area, and each of the 6 different pseudo-satellite antennas is respectively arranged at the vertices of a honeycomb regular hexagon, and each of the 6 different pseudo-satellite antennas corresponds to a group of satellites.

[0188] In one embodiment, the distance between pseudo-satellite antennas corresponding to the same group of satellites is 3 times the side length of a regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon and greater than or equal to 1.3 times the side length of the regular hexagon.

[0189] In one embodiment, the second processor 1002 is specifically configured to arrange and combine at least 24 satellites available in the second area to obtain at least one satellite set; one satellite set includes 6 groups of satellites, and one group of satellites includes at least 4 different satellites;

[0190] Determine a first value for each satellite set, the first value being determined based on a value of a dilution of precision factor for each group of satellites in the satellite set;

[0191] The satellite set corresponding to the smallest first value is determined as the satellite set to be finally used.

[0192] It should be noted that the specific processing process of the second processor 1002 can be understood by referring to the above method.

[0193] Of course, in actual application, the various components in the electronic device 1000 are coupled together through the bus system 1004. It can be understood that the bus system 1004 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1004 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Fig.10 Various buses are labeled as bus system 1004 .

[0194] The second memory 1003 in the embodiment of the present application is used to store various types of data to support the operation of the electronic device 1000. Examples of such data include: any computer program used to operate on the electronic device 1000.

[0195] The method disclosed in the above embodiment of the present application can be applied to the second processor 1002, or implemented by the second processor 1002. The second processor 1002 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the second processor 1002. The above-mentioned second processor 1002 may be a general-purpose processor, DSP, or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The second processor 1002 can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in the second memory 1003, and the second processor 1002 reads the information in the second memory 1003 and completes the steps of the above method in combination with its hardware.

[0196] In an exemplary embodiment, the electronic device 1000 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general purpose processors, controllers, MCUs, Microprocessors, or other electronic components to perform the aforementioned methods.

[0197] It can be understood that the memory (first memory 903, second memory 1003) of the embodiment of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0198] An embodiment of the present application also provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of any of the methods described in the above terminal side are implemented, or the steps of any of the methods described in the above electronic device side are implemented.

[0199] In an exemplary embodiment, the embodiment of the present application further provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, for example, including a first memory 903 storing a computer program, and the computer program can be executed by the first processor 902 of the terminal 900 to complete the steps of the aforementioned terminal side method. For another example, a second memory 1003 storing a computer program can be executed by the second processor 1002 of the electronic device 1000 to complete the steps of the aforementioned electronic device side method. The computer-readable storage medium can be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface storage, optical disk, or CD-ROM.

[0200] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any of the methods described in the above terminal side, or implements the steps of any of the methods described in the above electronic device side.

[0201] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0202] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0203] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0204] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application.

Claims

1. A positioning method, characterized in that: Applied to a terminal, the method comprises: receiving at least three groups of satellite signals in a first area, wherein one group of satellite signals is sent by a pseudo-satellite antenna, and each group of satellite signals includes at least four different satellite signals; the first area represents an area where the terminal is located; The location information of the terminal is determined based on the at least three groups of satellite signals.

2. The method according to claim 1, characterized in that There are at least 6 groups of satellites and at least 6 different pseudo-satellite antennas in the first area, a group of satellites includes at least 4 different satellites, each of the 6 different pseudo-satellite antennas are respectively arranged at the vertices of a cellular regular hexagon, and a group of satellites generates a group of satellite signals.

3. The method according to claim 1 or 2, characterized in that: The determining the location information of the terminal based on the at least three groups of satellite signals includes: Determine a plurality of pseudorange difference values ​​based on the position information of the terminal and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals; The location information of the terminal is calculated based on the multiple pseudorange differences.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: Determine a plurality of Doppler frequency shift differences based on the position information of the terminal, the speed information of the terminal, and the position information of the satellite corresponding to each satellite signal in the at least three groups of satellite signals; The speed information of the terminal is calculated based on the multiple Doppler frequency shift differences.

5. A positioning method, characterized in that: Applied to electronic equipment, the method comprises: Dividing at least 24 satellites available in a second area into 6 groups of satellites, each group of satellites including at least 4 different satellites; the second area represents an area managed by the electronic device; A different pseudo-satellite antenna in the second area is allocated to each group of satellites in the six groups of satellites, one pseudo-satellite antenna is used for a group of satellites to send a group of satellite signals, each group of satellite signals includes at least four different satellite signals, and at least three groups of satellite signals are used to determine the position information and / or speed information of the terminal.

6. The method according to claim 5, characterized in that There are at least six different pseudo-satellite antennas in the second area. Each of the six different pseudo-satellite antennas is arranged at the vertices of a honeycomb regular hexagon. Each of the six different pseudo-satellite antennas corresponds to a group of satellites.

7. The method according to claim 5, characterized in that The distance between the pseudo-satellite antennas corresponding to the same group of satellites is 3 times the side length of the regular hexagon; the signal coverage radius of each pseudo-satellite antenna is less than 1.5 times the side length of the regular hexagon and greater than or equal to 1.3 times the side length of the regular hexagon.

8. The method according to any one of claims 5 to 7, characterized in that: The dividing the at least 24 satellites available in the second area into 6 groups of satellites comprises: Arrange and combine at least 24 satellites available in the second area to obtain at least one satellite set; one satellite set includes 6 groups of satellites, and one group of satellites includes at least 4 different satellites; Determine a first value for each satellite set, the first value being determined based on a value of a dilution of precision factor for each group of satellites in the satellite set; The satellite set corresponding to the smallest first value is determined as the satellite set finally used.

9. A terminal, characterized in that: comprising a first processor and a first memory for storing a computer program capable of being executed on the first processor, Wherein, when the first processor is used to run the computer program, the steps of the method described in any one of claims 1 to 4 are executed.

10. An electronic device, characterized in that: comprising a second processor and a second memory for storing a computer program executable on the second processor, Wherein, when the second processor is used to run the computer program, it executes the steps of the method described in any one of claims 5 to 8.

11. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented, or the steps of the method according to any one of claims 5 to 8 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented, or the steps of the method according to any one of claims 5 to 8 are implemented.

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