A positioning method and system based on Beidou communication

Abstract

The present invention relates to the field of satellite positioning technology, and specifically, to a positioning method and system based on Beidou communication, which mainly includes obtaining the first positioning information of the current position through a number of positioning data calculations; obtaining the second positioning information of the base station relative to the target Beidou satellite, and simultaneously obtaining the position relationship between the base station and the requesting terminal, and establishing a judgment model; judging whether the first positioning information, the second positioning information and the position relationship meet the judgment model. Through the above method, the information of the base station is taken into consideration. Since the base station itself is fixed, the position information of the base station is relatively accurate. The position of the current requesting terminal is measured by the position information of the base station as a benchmark, and the accuracy of the positioning information of the requesting terminal is further improved. Secondly, a variety of communication methods are used to send the first positioning information to the requesting terminal, ensuring the provision of stable and efficient communication services in complex emergency scenarios.

Description

Technical Field

[0001] The present invention relates to the field of satellite positioning technology, and in particular to a positioning method and system based on Beidou communication. Background Art

[0002] The BeiDou Positioning System is a global satellite navigation system independently developed by China. The core technologies of the BeiDou system include satellite positioning, time synchronization and navigation solution. Its unique networking solution and signal transmission method effectively improve positioning accuracy and anti-interference ability. The BeiDou system not only serves the fields of transportation, agriculture, fisheries, etc., but is also widely used in disaster relief, refined management, urban planning and other aspects. Its development has strengthened my country's voice in the field of satellite navigation, forming a global diversified navigation system with the US GPS, Russia's GLONASS and Europe's Galileo, and promoting global scientific and economic cooperation and development.

[0003] However, the current positioning system has certain errors. Research and development have been carried out in the existing technology to improve positioning accuracy, but there are still certain errors, and the options for communication transmission are relatively simple. Summary of the invention

[0004] The purpose of the present invention is to provide a positioning method and system based on Beidou communication to solve the problems existing in the prior art.

[0005] The present invention is achieved through the following technical solutions:

[0006] In a first aspect, the present invention provides a positioning method based on Beidou communication, comprising:

[0007] Obtaining a positioning request signal from a requesting terminal, sending the request signal through a Beidou communication link, selecting a number of target Beidou satellites to obtain a number of positioning data, and calculating first positioning information of a current position through the number of positioning data;

[0008] Obtain the second positioning information of the base station relative to the target Beidou satellite, and simultaneously obtain the position relationship between the base station and the requesting terminal, and establish a judgment model;

[0009] Determine whether the first positioning information, the second positioning information and the position relationship satisfy the judgment model, if so, output the first positioning information, if not, re-obtain the first positioning information;

[0010] The remaining energy of the current communication device is obtained, and a judgment threshold is set. If the remaining energy of the communication device does not exceed the judgment threshold, a first communication method is selected to send the first positioning information to the requesting terminal. If the remaining energy of the communication device exceeds the judgment threshold, a second communication method is selected to send the first positioning information to the requesting terminal. The first communication method has lower energy consumption than the second communication method, and the second communication method has higher transmission efficiency than the first communication method.

[0011] Preferably, the selecting a number of target Beidou satellites to obtain a number of positioning data comprises:

[0012] A Beidou satellite selection model is established, and an evaluation value of the Beidou satellite whose signal can be received by the requesting terminal is obtained through the Beidou satellite selection model;

[0013] All evaluation values ​​are sorted from large to small, and the Beidou satellites corresponding to the top four evaluation values ​​are obtained as the target Beidou satellites.

[0014] Preferably, the Beidou satellite selection model includes:

[0015]

[0016] In the formula, is the evaluation value, is the current Beidou satellite communication transmission channel size value, is the distance between the current Beidou satellite and the requesting terminal, is the unilateral transmission time value between the current Beidou satellite and the requesting terminal, To request the number of BeiDou satellites that the terminal can receive signals from, is the current Beidou satellite communication transmission rate, is the current Beidou satellite signal strength.

[0017] Preferably, the first positioning information of the current position calculated by using a plurality of positioning data includes:

[0018] Obtain the position data of four Beidou satellites, define the pseudorange from the requesting terminal to each Beidou satellite, and establish the pseudorange equation;

[0019] A nonlinear least square method is used to solve the position data and pseudo-range equation to obtain the position coordinate information of the requesting terminal;

[0020] The location coordinate information is converted into longitude and latitude, and the first positioning information of the requesting terminal is output.

[0021] Preferably, the establishing of the pseudorange equation comprises:

[0022]

[0023] In the formula, is the pseudorange from the requesting terminal to the i-th BeiDou satellite, is the clock deviation, , , To request the three-axis coordinate values ​​of the terminal, , , is the three-axis coordinate value of the i-th Beidou satellite.

[0024] Preferably, the performing of the nonlinear least squares solution comprises:

[0025] Define the objective function based on the location coordinate information of the requesting terminal, select the initial estimated value, calculate the partial derivative of the objective function of the data to be solved, and obtain the Jacobian matrix;

[0026] Update the initial estimate, perform partial derivative again, and set a predetermined threshold until the objective function converges to within the predetermined threshold, and output the location coordinate information of the request terminal of the current objective function.

[0027] Preferably, the objective function includes:

[0028]

[0029] In the formula, is the objective function.

[0030] Preferably, the partial derivative of the data to be solved for calculating the objective function includes:

[0031]

[0032]

[0033]

[0034]

[0035]

[0036] In the formula, is the partial derivative of the position coordinates of the requesting terminal relative to the position coordinates of the i-th Beidou satellite, is the Jacobian matrix.

[0037] Preferably, the judgment model includes:

[0038]

[0039] In the formula, is the signal transmission speed, is the total time taken by the requester to send a message to the base station and receive feedback. is the base station response time, , and is the three-axis coordinate value of the second positioning information, is the error threshold.

[0040] In a second aspect, the present invention provides a positioning system based on Beidou communication, comprising:

[0041] The positioning information acquisition module is configured to acquire a positioning request signal from a requesting terminal, send the request signal through a Beidou communication link, select a number of target Beidou satellites to acquire a number of positioning data, and calculate the first positioning information of the current position through the number of positioning data; acquire the second positioning information of the base station relative to the target Beidou satellite, and simultaneously acquire the position relationship between the base station and the requesting terminal, and establish a judgment model; judge whether the first positioning information, the second positioning information, and the position relationship satisfy the judgment model, and if so, output the first positioning information, and if not, re-acquire the first positioning information;

[0042] The communication module is configured to obtain the remaining energy of the current communication device and set a judgment threshold, if the remaining energy of the communication device does not exceed the judgment threshold, select a first communication mode to send the first positioning information to the requesting terminal, if the remaining energy of the communication device exceeds the judgment threshold, select a second communication mode to send the first positioning information to the requesting terminal, the first communication mode has lower energy consumption than the second communication mode, and the second communication mode has higher transmission efficiency than the first communication mode;

[0043] The main control module is connected to the positioning information acquisition module and the communication module, and is used to execute the above-mentioned positioning method based on Beidou communication.

[0044] The technical solution of the embodiment of the present invention has at least the following advantages and beneficial effects:

[0045] The above method provided by the present invention mainly includes obtaining the first positioning information of the current position through a number of positioning data calculations; obtaining the second positioning information of the base station relative to the target Beidou satellite, and simultaneously obtaining the position relationship between the base station and the requesting terminal, and establishing a judgment model; judging whether the first positioning information, the second positioning information and the position relationship meet the judgment model, if so, outputting the first positioning information, if not, re-obtaining the first positioning information. Through the above method, the information of the base station is taken into consideration. Since the base station itself is fixed, the position information of the base station is relatively accurate. The position of the current requesting terminal is measured by the position information of the base station as a benchmark, further improving the accuracy of the positioning information of the requesting terminal. Secondly, a variety of communication methods are used to send the first positioning information to the requesting terminal, ensuring the provision of stable and efficient communication services in complex emergency scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0047] Figure 1 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0049] The terms "first, second" and the like in the specification and claims of this application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. The naming or numbering of steps in this application does not mean that the steps in the method flow must be executed in the time / logical sequence indicated by the naming or numbering. The named or numbered process steps can be changed in the execution order according to the technical purpose to be achieved, as long as the same or similar technical effects can be achieved.

[0050] The modules or submodules described independently may be physically separated or not: they may be implemented by software or hardware, and some modules or submodules may be implemented by software, and the processor may call the software to implement the functions of these modules or submodules, and other modules or submodules may be implemented by hardware, such as by hardware circuits. In addition, some or all of the modules may be selected according to actual needs to achieve the purpose of the present application.

[0051] Please refer to Figure 1 The present invention provides a positioning method based on Beidou communication, characterized in that it includes:

[0052] S101: Obtain a positioning request signal from a requesting terminal, send the request signal through a Beidou communication link, select a number of target Beidou satellites to obtain a number of positioning data, and calculate first positioning information of a current position through the number of positioning data;

[0053] In this embodiment, the request terminal refers to a device or terminal that initiates a request to obtain services, data or resources in a network system, communication device or hardware environment. A device connected to a central system or network for initiating data requests, sending commands or obtaining feedback. It can be a computer, smartphone, tablet computer, embedded device, etc., or any electronic device that can communicate.

[0054] Sending commands: Sending control commands to remote devices to perform specific operations, such as starting, stopping, or configuring the device.

[0055] Feedback reception: Receive responses from servers or other terminals and process returned information or status messages.

[0056] S102: Acquire second positioning information of the base station relative to the target Beidou satellite, and simultaneously acquire a position relationship between the base station and the requesting terminal, and establish a judgment model;

[0057] S103: Determine whether the first positioning information, the second positioning information and the position relationship satisfy the judgment model, if so, output the first positioning information, if not, re-obtain the first positioning information until the judgment model is satisfied;

[0058] Since the position of the satellite is always changing, when the first positioning information is calculated again, the parameters change, which is conducive to recalculating the first positioning information. If the parameters do not change, the calculation results may not change, and the meaning of recalculation is lost. Therefore, the present invention adds the relevant parameters of the base station to improve the accuracy of the final positioning.

[0059] S104: Obtain the remaining energy of the current communication device and set a judgment threshold. If the remaining energy of the communication device does not exceed the judgment threshold, select a first communication method to send the first positioning information to the requesting terminal. If the remaining energy of the communication device exceeds the judgment threshold, select a second communication method to send the first positioning information to the requesting terminal. The first communication method has lower energy consumption than the second communication method, and the second communication method has higher transmission efficiency than the first communication method.

[0060] In this embodiment, if in the emergency communication scenario, energy consumption is often strictly limited, so how to effectively manage the device energy while ensuring the communication bandwidth and data volume becomes a difficult problem that needs to be solved in the emergency communication switching technology. Therefore, this solution considers using two communication methods for transmission to ensure the stability of transmission. The first communication method can be Beidou short message or ad hoc network, and the second communication method can be high-bandwidth satellite broadband or mobile network.

[0061] The above method provided by the present invention mainly includes obtaining the first positioning information of the current position through a number of positioning data calculations; obtaining the second positioning information of the base station relative to the target Beidou satellite, and simultaneously obtaining the position relationship between the base station and the requesting terminal, and establishing a judgment model; judging whether the first positioning information, the second positioning information and the position relationship meet the judgment model, if so, outputting the first positioning information, if not, re-obtaining the first positioning information. Through the above method, the information of the base station is taken into consideration. Since the base station itself is fixed, the position information of the base station is relatively accurate. The position of the current requesting terminal is measured by the position information of the base station as a benchmark, further improving the accuracy of the positioning information of the requesting terminal. Secondly, a variety of communication methods are used to send the first positioning information to the requesting terminal, ensuring the provision of stable and efficient communication services in complex emergency scenarios.

[0062] In an exemplary embodiment of the present invention, the step of selecting a plurality of target BeiDou satellites to obtain a plurality of positioning data comprises:

[0063] A Beidou satellite selection model is established, and an evaluation value of the Beidou satellite whose signal can be received by the requesting terminal is obtained through the Beidou satellite selection model;

[0064] All evaluation values ​​are sorted from large to small, and the Beidou satellites corresponding to the top four evaluation values ​​are obtained as the target Beidou satellites.

[0065] Specifically, the Beidou satellite selection model includes:

[0066]

[0067] In the formula, is the evaluation value, is the current Beidou satellite communication transmission channel size value, is the distance between the current Beidou satellite and the requesting terminal, is the unilateral transmission time value between the current Beidou satellite and the requesting terminal, To request the number of BeiDou satellites that the terminal can receive signals from, is the current Beidou satellite communication transmission rate, is the current Beidou satellite signal strength.

[0068] Generally, the requesting terminal can receive signals from at least 10-20 satellites. How to select them to improve the efficiency of the entire positioning? This embodiment provides the above solution. Through the method provided in the above embodiment, a more suitable satellite is selected as the target satellite to improve the speed of the entire positioning process and reduce the response time of the requesting terminal.

[0069] In an exemplary embodiment of the present invention, the first positioning information of the current position obtained by calculating the plurality of positioning data includes:

[0070] Obtain the position data of four Beidou satellites, define the pseudorange from the requesting terminal to each Beidou satellite, and establish the pseudorange equation;

[0071] A nonlinear least square method is used to solve the position data and pseudo-range equation to obtain the position coordinate information of the requesting terminal;

[0072] The location coordinate information is converted into longitude and latitude, and the first positioning information of the requesting terminal is output.

[0073] Specifically, establishing the pseudorange equation includes:

[0074]

[0075] In the formula, is the pseudorange from the requesting terminal to the i-th BeiDou satellite, is the clock deviation, , , To request the three-axis coordinate values ​​of the terminal, , , is the three-axis coordinate value of the i-th Beidou satellite.

[0076] Specifically, the nonlinear least squares solution includes:

[0077] Define the objective function based on the location coordinate information of the requesting terminal, select the initial estimated value, calculate the partial derivative of the objective function of the data to be solved, and obtain the Jacobian matrix;

[0078] Update the initial estimate, perform partial derivative again, and set a predetermined threshold until the objective function converges to within the predetermined threshold, and output the location coordinate information of the request terminal of the current objective function.

[0079] Specifically, the definition of the objective function we need to minimize is expressed as the difference between all pseudo-range measurements and the distance predicted by the user position. The objective function includes:

[0080]

[0081] In the formula, is the objective function.

[0082] Specifically, the partial derivatives of the data that need to be solved to calculate the objective function include:

[0083]

[0084]

[0085]

[0086]

[0087]

[0088] In the formula, is the partial derivative of the position coordinates of the requesting terminal relative to the position coordinates of the i-th Beidou satellite, is the Jacobian matrix.

[0089] Extract the final calculated results It is the user's three-dimensional coordinates and clock deviation.

[0090] Also includes conversion to latitude and longitude parameters:

[0091]

[0092]

[0093]

[0094] In the formula, is the longitude, For the dimension, is the height, is the radius of the Earth.

[0095] In an exemplary embodiment of the present invention, the judgment model includes:

[0096]

[0097] In the formula, is the signal transmission speed, is the total time taken by the requester to send a message to the base station and receive feedback. is the base station response time, , and is the three-axis coordinate value of the second positioning information, is the error threshold.

[0098] The setting of the error threshold may adopt the conventional setting in the prior art.

[0099] The present invention also provides a positioning system based on Beidou communication, comprising:

[0100] The positioning information acquisition module is configured to acquire a positioning request signal from a requesting terminal, send the request signal through a Beidou communication link, select a number of target Beidou satellites to acquire a number of positioning data, and calculate the first positioning information of the current position through the number of positioning data; acquire the second positioning information of the base station relative to the target Beidou satellite, and simultaneously acquire the position relationship between the base station and the requesting terminal, and establish a judgment model; judge whether the first positioning information, the second positioning information, and the position relationship satisfy the judgment model, and if so, output the first positioning information, and if not, re-acquire the first positioning information;

[0101] The communication module is configured to obtain the remaining energy of the current communication device and set a judgment threshold, if the remaining energy of the communication device does not exceed the judgment threshold, select a first communication mode to send the first positioning information to the requesting terminal, if the remaining energy of the communication device exceeds the judgment threshold, select a second communication mode to send the first positioning information to the requesting terminal, the first communication mode has lower energy consumption than the second communication mode, and the second communication mode has higher transmission efficiency than the first communication mode;

[0102] The main control module is connected to the positioning information acquisition module and the communication module, and is used to execute the above-mentioned positioning method based on Beidou communication.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0104] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0105] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A positioning method based on Beidou communication, characterized in that: include: Obtaining a positioning request signal from a requesting terminal, sending the request signal through a Beidou communication link, selecting a number of target Beidou satellites to obtain a number of positioning data, and calculating first positioning information of a current position through the number of positioning data; Obtain the second positioning information of the base station relative to the target Beidou satellite, and simultaneously obtain the position relationship between the base station and the requesting terminal, and establish a judgment model; Determine whether the first positioning information, the second positioning information and the position relationship satisfy the judgment model, if so, output the first positioning information, if not, re-obtain the first positioning information until the judgment model is satisfied; Obtain the remaining energy of the current communication device and set a judgment threshold. If the remaining energy of the communication device does not exceed the judgment threshold, select a first communication method to send the first positioning information to the requesting terminal. If the remaining energy of the communication device exceeds the judgment threshold, select a second communication method to send the first positioning information to the requesting terminal. The energy consumption of the first communication method is lower than that of the second communication method, and the transmission efficiency of the second communication method is higher than that of the first communication method. The step of selecting a plurality of target BeiDou satellites to obtain a plurality of positioning data comprises: A Beidou satellite selection model is established, and an evaluation value of the Beidou satellite whose signal can be received by the requesting terminal is obtained through the Beidou satellite selection model; And sort all the evaluation values ​​from large to small, and obtain the Beidou satellites corresponding to the top four evaluation values ​​as the target Beidou satellites; The Beidou satellite selection model includes: In the formula, is the evaluation value, is the current Beidou satellite communication transmission channel size value, is the distance between the current Beidou satellite and the requesting terminal, is the unilateral transmission time value between the current Beidou satellite and the requesting terminal, To request the number of BeiDou satellites that the terminal can receive signals from, is the current Beidou satellite communication transmission rate, is the current Beidou satellite signal strength; The judgment model includes: In the formula, is the signal transmission speed, is the total time taken by the requester to send a message to the base station and receive feedback. is the base station response time, , , To request the three-axis coordinate values ​​of the terminal, , and is the three-axis coordinate value of the second positioning information, is the error threshold.

2. A positioning method based on Beidou communication according to claim 1, characterized in that: The first positioning information of the current position obtained by calculating the plurality of positioning data includes: Obtain the position data of four Beidou satellites, define the pseudorange from the requesting terminal to each Beidou satellite, and establish the pseudorange equation; A nonlinear least square method is used to solve the position data and pseudo-range equation to obtain the position coordinate information of the requesting terminal; The location coordinate information is converted into longitude and latitude, and the first positioning information of the requesting terminal is output.

3. A positioning method based on Beidou communication according to claim 2, characterized in that: The establishing of the pseudorange equation comprises: In the formula, is the pseudorange from the requesting terminal to the i-th BeiDou satellite, is the clock deviation, , , is the three-axis coordinate value of the i-th Beidou satellite.

4. A positioning method based on Beidou communication according to claim 3, characterized in that: The nonlinear least squares solution comprises: Define the objective function based on the location coordinate information of the requesting terminal, select the initial estimated value, calculate the partial derivative of the objective function of the data to be solved, and obtain the Jacobian matrix; Update the initial estimate, perform partial derivative again, and set a predetermined threshold until the objective function converges to within the predetermined threshold, and output the location coordinate information of the request terminal of the current objective function.

5. A positioning method based on Beidou communication according to claim 4, characterized in that: The objective function includes: In the formula, is the objective function.

6. A positioning method based on Beidou communication according to claim 5, characterized in that: The partial derivatives of the data to be solved for calculating the objective function include: In the formula, is the partial derivative of the position coordinates of the requesting terminal relative to the position coordinates of the i-th Beidou satellite, is the Jacobian matrix.

7. A positioning system based on Beidou communication, characterized in that: include: The positioning information acquisition module is configured to acquire a positioning request signal from a requesting terminal, send the request signal through a Beidou communication link, select a number of target Beidou satellites to acquire a number of positioning data, and calculate the first positioning information of the current position through the number of positioning data; acquire the second positioning information of the base station relative to the target Beidou satellite, and simultaneously acquire the position relationship between the base station and the requesting terminal, and establish a judgment model; judge whether the first positioning information, the second positioning information, and the position relationship satisfy the judgment model, and if so, output the first positioning information, and if not, re-acquire the first positioning information; The communication module is configured to obtain the remaining energy of the current communication device and set a judgment threshold, if the remaining energy of the communication device does not exceed the judgment threshold, select a first communication mode to send the first positioning information to the requesting terminal, if the remaining energy of the communication device exceeds the judgment threshold, select a second communication mode to send the first positioning information to the requesting terminal, the first communication mode has lower energy consumption than the second communication mode, and the second communication mode has higher transmission efficiency than the first communication mode; A main control module is connected to the positioning information acquisition module and the communication module, and is used to execute a positioning method based on Beidou communication as described in any one of claims 1-6.

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