Satellite positioning method and device, storage medium and electronic device

Abstract

The invention discloses a satellite positioning method and device, a storage medium and an electronic device, and relates to the technical field of satellite navigation. The method comprises the steps that satellite signals emitted by a target satellite are acquired, and the satellite signals comprise pseudo-range ranging code signals, navigation messages and carrier signals; decoding the satellite signal to obtain an initial pseudo-range observation value and an initial carrier phase observation value; the receiver is positioned based on the initial pseudo-range observation value, initial coordinate information is obtained, and the initial coordinate information is used for representing position information of the receiver; performing correction processing on the initial pseudo-range observation value to obtain a target pseudo-range observation value, and performing correction processing on the initial carrier phase observation value to obtain a target carrier phase observation value; and updating the initial coordinate information based on the initial coordinate information, the target pseudo-range observation value and the target carrier phase observation value to obtain target coordinate information. The technical problem that the positioning precision is not high enough in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a satellite positioning method, device, storage medium and electronic device. Background Art

[0002] At present, power grid companies generally adopt manual management methods, and manually monitor and record the borrowing, returning, and inspection of safety tools. This method has problems such as low efficiency, difficulty in management, and easy omissions. It cannot meet the high-precision and refined requirements of modern power engineering for tool management.

[0003] Therefore, there is a need for a safe tool positioning method and device for electric power engineering construction units that can solve the above-mentioned problems, so as to provide stable and high-precision tool positioning services and ensure the safety of electric power engineering operations. Summary of the invention

[0004] The embodiments of the present invention provide a satellite positioning method, device, storage medium and electronic device to at least solve the technical problem that the positioning accuracy of the related art is not high enough.

[0005] According to one embodiment of the present invention, a satellite positioning method is provided, the method comprising: acquiring a satellite signal transmitted by a target satellite, wherein the satellite signal comprises a pseudorange ranging code signal, a navigation message and a carrier signal; decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; positioning a receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value; updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0006] Optionally, the initial pseudorange observation value is corrected to obtain a target pseudorange observation value, and the initial carrier phase observation value is corrected to obtain a target carrier phase observation value, including: obtaining correction information, wherein the correction information includes atmospheric delay error information and multipath effect information; correcting the initial pseudorange observation value based on the correction information to obtain a target pseudorange observation value; and correcting the initial carrier phase observation value based on the correction information to obtain a target carrier phase observation value.

[0007] Optionally, obtaining the atmospheric delay error information includes: obtaining target observation data of at least one preset satellite, wherein the frequency of the at least one preset satellite is different from that of the target satellite; and determining the atmospheric delay error information based on the target observation data.

[0008] Optionally, obtaining the multipath effect information includes: performing signal monitoring on the target satellite and at least one preset satellite to obtain monitoring results; and determining the multipath effect information based on the monitoring results.

[0009] Optionally, the initial carrier phase observation value is corrected based on the correction information to obtain the target carrier phase observation value, which includes: resolving the integer ambiguity in the initial carrier phase observation value to obtain the resolved initial carrier phase observation value; and correcting the resolved initial carrier phase observation value based on the correction information to obtain the target carrier phase observation value.

[0010] Optionally, performing positioning processing based on the initial pseudorange observation value to obtain initial coordinate information includes: acquiring satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent the position information of the target satellite; performing positioning processing on the receiver based on a preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation value to obtain initial coordinate information.

[0011] Optionally, decoding the satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value includes: decoding the satellite signal to obtain a decoded satellite signal; and demodulating the decoded satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value.

[0012] According to one embodiment of the present invention, a satellite positioning device is also provided, the device comprising: an acquisition module, used to acquire a satellite signal transmitted by a target satellite, wherein the satellite signal comprises a pseudorange ranging code signal, a navigation message and a carrier signal; a decoding module, used to decode the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; a positioning module, used to perform positioning processing on a receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; a correction module, used to perform correction processing on the initial pseudorange observation value to obtain a target pseudorange observation value, and to perform correction processing on the initial carrier phase observation value to obtain a target carrier phase observation value; and an update module, used to update the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0013] Optionally, the correction module is also used to obtain correction information, wherein the correction information includes atmospheric delay error information and multipath effect information; based on the correction information, the initial pseudorange observation value is corrected to obtain the target pseudorange observation value; based on the correction information, the initial carrier phase observation value is corrected to obtain the target carrier phase observation value.

[0014] Optionally, the correction module is further used to obtain target observation data of at least one preset satellite, wherein the frequency of the at least one preset satellite is different from that of the target satellite; and determine the atmospheric delay error information based on the target observation data.

[0015] Optionally, the correction module is further used to perform signal monitoring on the target satellite and at least one preset satellite to obtain monitoring results; and determine multipath effect information based on the monitoring results.

[0016] Optionally, the correction module is also used to resolve the integer ambiguity in the initial carrier phase observation value to obtain the resolved initial carrier phase observation value; based on the correction information, the resolved initial carrier phase observation value is corrected to obtain the target carrier phase observation value.

[0017] Optionally, the positioning module is also used to obtain satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent the position information of the target satellite; the receiver is positioned based on a preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation values ​​to obtain initial coordinate information.

[0018] Optionally, the decoding module is further used to decode the satellite signal to obtain a decoded satellite signal; and demodulate the decoded satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value.

[0019] According to one embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute any of the above satellite positioning methods when running on a computer or a processor.

[0020] According to one embodiment of the present invention, there is also provided an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute any of the satellite positioning methods described above.

[0021] According to one embodiment of the present invention, a computer program product is also provided, including a computer program, and when the computer program is executed by a processor, the satellite positioning method in any one of the above items is implemented.

[0022] In an embodiment of the present invention, a satellite signal transmitted by a target satellite is acquired, wherein the satellite signal includes a pseudorange ranging code signal, a navigation message and a carrier signal; the satellite signal is decoded to obtain an initial pseudorange observation value and an initial carrier phase observation value; a positioning process is performed on a receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; the initial pseudorange observation value is corrected to obtain a target pseudorange observation value, and the initial carrier phase observation value is corrected to obtain a target carrier phase observation value; the initial coordinate information is updated based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information, thereby achieving the purpose of optimizing and combining multiple related algorithms, thereby realizing the technical effect of improving positioning accuracy, and further solving the technical problem that the positioning accuracy of the related technologies is not high enough. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0024] Figure 1 is a flow chart of a satellite positioning method according to one embodiment of the present invention;

[0025] Figure 2 is a structural block diagram of a satellite positioning device according to one embodiment of the present invention. DETAILED DESCRIPTION

[0026] To facilitate understanding, some descriptions of concepts related to the embodiments of the present invention are exemplarily provided for reference.

[0027] As shown below:

[0028] BeiDou Navigation Satellite System (BDS): A global satellite navigation system independently built and operated by China, providing positioning, navigation and timing services. It has significant advantages in positioning accuracy, service stability and anti-interference capabilities.

[0029] Safety tools: A series of tools and equipment used to ensure the safety of workers in the power, construction, machinery and other industries, such as insulating gloves, safety helmets, safety belts, etc.

[0030] Positioning algorithm: In a satellite navigation system, a series of mathematical methods and logical steps used to calculate the position of a user receiver.

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In the description of this embodiment, unless otherwise specified, the meaning of "multiple" is two or more. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] According to one embodiment of the present invention, an embodiment of a satellite positioning method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] The method embodiment can be executed in an electronic device including a memory and a processor, a similar control device or a system. Taking an electronic device as an example, the electronic device may include one or more processors and a memory for storing data. Optionally, the electronic device may also include a communication device and a display device for communication functions. It can be understood by a person of ordinary skill in the art that the above structural description is only illustrative and does not limit the structure of the above electronic device. For example, the electronic device may also include more or fewer components than the above structural description, or have a configuration different from the above structural description.

[0035] The processor may include one or more processing units. For example, the processor may include a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microcontroller unit (MCU), a field-programmable gate array (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, and the like. Among them, different processing units may be independent components or integrated into one or more processors. In some instances, the electronic device may also include one or more processors.

[0036] The memory can be used to store computer programs, such as storing the computer program corresponding to the satellite positioning method in the embodiment of the present invention, and the processor implements the above-mentioned satellite positioning method by running the computer program stored in the memory. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the electronic device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] The communication device is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (network interface controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0038] The display device may be, for example, a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of a mobile terminal. In some embodiments, the mobile terminal has a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface, wherein the human-computer interaction functions here may optionally include the following interactions: creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music and / or web browsing, etc. The executable instructions for executing the above human-computer interaction functions are configured / stored in a computer program product or a readable storage medium executable by one or more processors.

[0039] In this embodiment, a satellite positioning method running on an electronic device is provided. Figure 1 is a flow chart of a satellite positioning method according to one embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0040] Step S10, acquiring a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message and a carrier signal;

[0041] In the embodiment of the present invention, the target satellite can be understood as a satellite in the Beidou satellite navigation system that is locked by a positioning receiver and used for positioning calculation.

[0042] Satellite signals can be understood as radio signals sent from target satellites for positioning. Exemplarily, satellite signals contain a variety of information for receiver decoding and positioning, mainly including pseudo-range code signals, navigation messages and carrier signals, which are not limited here.

[0043] The pseudo-range code signal can be understood as the part of the satellite signal composed of a pseudo-random code sequence, which is used to measure the distance between the satellite and the receiver.

[0044] Navigation messages can be understood as digital information contained in satellite signals, which are used to transmit satellite orbit parameters, clock correction parameters, system time and other auxiliary positioning information.

[0045] The carrier signal can be understood as a continuous wave signal carrying a navigation message in a satellite signal. For example, the carrier signal is the basis for carrier phase measurement, which is used to achieve higher precision positioning, and is not limited here.

[0046] Acquiring the satellite signal transmitted by the target satellite can be understood as the positioning receiving device capturing and receiving the pseudo-range code signal, navigation message and carrier signal transmitted by the Beidou satellite navigation system through its antenna.

[0047] In the embodiment of the present invention, acquiring the satellite signal transmitted by the target satellite is the first step for the positioning receiving device in the Beidou positioning system to realize the positioning function, and it is also a key step, which can ensure the accuracy and effectiveness of subsequent positioning calculations.

[0048] Step S11, decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value;

[0049] In the embodiment of the present invention, the decoding process can be understood as the process in which the positioning receiver converts the received signal into understandable information through specific algorithms and hardware devices after receiving the satellite signal. Exemplarily, specifically, the receiver needs to identify and extract the pseudo-range measurement code, navigation message and carrier signal from the satellite signal. The decoding process includes: Pseudo-range measurement code decoding: The pseudo-random code sequence (pseudo-code) contained in the satellite signal is used to measure the distance between the satellite and the receiver. The receiver calculates the pseudo-range by comparing it with the pseudo-code sequence generated by itself and measuring the phase difference. Navigation message decoding: The navigation message (including the satellite's orbital parameters, time information, etc.) extracted from the satellite signal is decoded to understand the satellite's accurate position and time correction parameters. Carrier signal demodulation: The carrier signal is separated from the satellite signal for subsequent carrier phase measurement, which is not limited here.

[0050] The initial pseudorange observation value can be understood as a preliminary estimate of the distance between the satellite and the receiver calculated by decoding the pseudorange ranging code in the satellite signal. Exemplarily, the initial pseudorange observation value is the basis for satellite positioning. The position of the receiver can be preliminarily determined by combining the pseudorange observation values ​​of multiple satellites with the orbital position of the satellite, which is not limited here.

[0051] The initial carrier phase observation value can be understood as the observation value of the carrier phase between the satellite and the receiver obtained by the receiver through the carrier signal measurement. For example, the initial carrier phase observation value contains an unknown integer cycle, that is, the integer ambiguity, which needs to be resolved by an additional algorithm. The initial carrier phase observation value provides basic data for subsequent carrier phase positioning, which is not limited here.

[0052] Decoding the satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value can be understood as the positioning receiver analyzing and converting the complex radio signal from the satellite to extract the initial pseudorange observation value and the initial carrier phase observation value.

[0053] In the embodiment of the present invention, decoding the satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value is the initial step for the receiver in the Beidou positioning system to parse the satellite signal and obtain positioning information. The initial pseudorange observation value and the initial carrier phase observation value are the basis for subsequent positioning accuracy improvement and position calculation. Through further data processing and algorithm optimization, errors can be gradually eliminated or reduced to achieve high-precision positioning.

[0054] Step S12, performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver;

[0055] In the embodiment of the present invention, the receiver can be understood as a user receiver. Exemplarily, the receiver can be a device for receiving and processing radio signals transmitted by Beidou satellites. The receiver usually includes an antenna, a signal processor, and a decoder. Its main function is to capture satellite signals, decode and demodulate the signals, and extract pseudorange observations, carrier phase observations, navigation data and other information, which is not limited here.

[0056] The initial coordinate information can be understood as the initial position coordinates of the receiver calculated by the positioning algorithm based on the initial pseudorange observation value. For example, in three-dimensional space, this position is usually represented by longitude, latitude and altitude (or x, y, z coordinates). The initial coordinate information is the initial result of the receiver positioning process and is not limited here.

[0057] The receiver is positioned based on the initial pseudo-range observation value to obtain the initial coordinate information. It can be understood that after receiving the satellite signal, the positioning receiver calculates the initial distance estimate between the satellite and the receiver by processing the pseudo-range ranging code in the signal, that is, the initial pseudo-range observation value. Then, the receiver uses these initial pseudo-range observation values ​​and the pre-stored satellite orbit data to perform a preliminary position calculation through the positioning algorithm, thereby obtaining the initial estimated coordinates of the receiver's location, that is, the initial coordinate information.

[0058] In an embodiment of the present invention, positioning processing is performed based on the initial pseudorange observation value to obtain initial coordinate information, that is, in the early stage of positioning, the approximate position coordinates of the receiver are calculated using the preliminary distance information extracted from the satellite signal, which provides the necessary starting point for subsequent high-precision positioning.

[0059] Step S13, correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value;

[0060] In the embodiment of the present invention, the correction process can be understood as a process in which the positioning receiver performs error correction on the initial pseudorange observations and initial carrier phase observations obtained from satellite signals. Exemplarily, the correction process generally includes the following steps: Clock error correction: correcting the deviation between the receiver and satellite clocks, which will affect the measured values ​​of the pseudorange and carrier phase. Atmospheric delay correction: estimating and correcting the signal propagation delay caused by the ionosphere and troposphere. Multipath error processing: detecting and correcting multipath errors caused by signal reflection and scattering. Integer ambiguity resolution: determining unknown integer periods in the carrier phase measurement to improve positioning accuracy, which is not limited here.

[0061] The target pseudorange observation value can be understood as a pseudorange observation value after correction, which more accurately reflects the actual distance between the satellite and the receiver. Exemplarily, the target pseudorange observation value is a pseudorange value after correcting the clock error, atmospheric delay and multipath error, and has higher accuracy than the initial pseudorange observation value. The target pseudorange observation value is an important input parameter for subsequent high-precision satellite positioning calculations and is not limited here.

[0062] The target carrier phase observation value can be understood as a carrier phase observation value after correction processing. After the integer ambiguity is resolved, it provides more accurate phase information when the satellite signal reaches the receiver. Compared with the initial carrier phase observation value, the target carrier phase observation value has undergone atmospheric delay correction, multipath error processing and integer ambiguity resolution, which is not restricted here.

[0063] Correcting the initial pseudorange observation value to obtain the target pseudorange observation value, and correcting the initial carrier phase observation value to obtain the target carrier phase observation value can be understood as performing error correction and optimization on the pseudorange observation value and carrier phase observation value obtained by preliminary demodulation and decoding of the satellite signal to obtain the target pseudorange observation value and target carrier phase observation value.

[0064] In the embodiment of the present invention, the target pseudorange observation value is obtained by correcting the initial pseudorange observation value, which is an important input in the further positioning algorithm and is used to more accurately calculate the position of the receiver. The initial carrier phase observation value is corrected to obtain the target carrier phase observation value, which can provide position information with higher accuracy than the pseudorange observation value. Correction processing is one of the important steps in the satellite positioning system. By performing error analysis and correction on the initial observation value, the accuracy and reliability of positioning can be significantly improved.

[0065] Step S14, updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0066] In the embodiment of the present invention, the target coordinate information can be understood as the precise coordinates of the receiver position obtained by the positioning algorithm through iterative calculation and error minimization based on comprehensive consideration of the initial coordinate information, the corrected target pseudorange observation value and the target carrier phase observation value, and is not limited here.

[0067] The initial coordinate information is updated based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information. It can be understood that the positioning algorithm uses the target pseudorange observation value and the target carrier phase observation value, combined with the initial coordinate information, to gradually improve the receiver's position estimate through iterative calculation, and finally obtains the target coordinate information.

[0068] In an embodiment of the present invention, the initial coordinate information is updated based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information, that is, the characteristic of the Beidou positioning system that can provide two kinds of observation values, namely, the pseudorange and carrier phase, is utilized. Through multiple iterations and optimizations, the positioning error is gradually reduced and the positioning accuracy is improved. The target coordinate information finally obtained can provide users with more accurate location data.

[0069] Acquiring the satellite signal transmitted by the target satellite is the first and key step for the positioning receiving device in the Beidou positioning system to realize the positioning function, which can ensure the accuracy and effectiveness of the subsequent positioning calculation. Decoding the satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value is the initial step for the Beidou positioning system receiver to parse the satellite signal and obtain positioning information. The initial pseudorange observation value and the initial carrier phase observation value are the basis for subsequent positioning accuracy improvement and position calculation. Through further data processing and algorithm optimization, the error can be gradually eliminated or reduced to achieve high-precision positioning. Positioning processing is performed based on the initial pseudorange observation value to obtain the initial coordinate information, that is, in the early stage of positioning, the process of calculating the approximate position coordinates of the receiver using the preliminary distance information extracted from the satellite signal provides the necessary starting point for subsequent high-precision positioning. By correcting the initial pseudorange observation value, the target pseudorange observation value is obtained, which is an important input in the further positioning algorithm and is used to more accurately calculate the position of the receiver. Correcting the initial carrier phase observation value to obtain the target carrier phase observation value can provide higher-precision position information than the pseudorange observation value. Correction processing is one of the important steps in the satellite positioning system. By analyzing and correcting the initial observations, the accuracy and reliability of positioning can be significantly improved. The initial coordinate information is updated based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information, which utilizes the characteristics of the Beidou positioning system that can provide two observation values, pseudorange and carrier phase. Through multiple iterations and optimizations, the positioning error is gradually reduced and the positioning accuracy is improved. The target coordinate information finally obtained can provide users with more accurate location data.

[0070] Through the above steps, by acquiring the satellite signal transmitted by the target satellite, wherein the satellite signal includes a pseudorange ranging code signal, a navigation message and a carrier signal; decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; positioning the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value; updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information, the purpose of optimizing and combining multiple related algorithms is achieved, thereby achieving the technical effect of improving positioning accuracy, and further solving the technical problem that the positioning accuracy of related technologies is not high enough.

[0071] Optionally, in step S13, performing correction processing on the initial pseudorange observation value to obtain the target pseudorange observation value, and performing correction processing on the initial carrier phase observation value to obtain the target carrier phase observation value may include the following execution steps:

[0072] Step S131, obtaining correction information, wherein the correction information includes atmospheric delay error information and multipath effect information;

[0073] Step S132, correcting the initial pseudorange observation value based on the correction information to obtain the target pseudorange observation value;

[0074] Step S133, correcting the initial carrier phase observation value based on the correction information to obtain the target carrier phase observation value.

[0075] In the embodiment of the present invention, the correction information may be understood to refer to a collection of data and algorithms used to correct various errors occurring during signal transmission and reception during the positioning process.

[0076] Atmospheric delay error information can be understood as the impact of the atmosphere on signal propagation at a specific time and place, including ionospheric delay and tropospheric delay.

[0077] Multipath effect information can be understood as the reflection of the signal by the environment around the receiver, including the reflection path length, signal strength change, etc.

[0078] Obtaining correction information can be understood as obtaining, in satellite positioning technology, collecting and determining information that can help correct errors in positioning observations.

[0079] Correcting the initial pseudorange observation value based on the correction information to obtain the target pseudorange observation value can be understood as correcting the initial pseudorange observation value based on the correction information, that is, the positioning algorithm will use the correction information to correct and adjust the pseudorange observation value to eliminate or reduce the influence of the error, so as to obtain a pseudorange observation value that is closer to the actual distance, that is, the target pseudorange observation value.

[0080] Correcting the initial carrier phase observation value based on the correction information to obtain the target carrier phase observation value can be understood as correcting the initial carrier phase observation value based on the correction information, that is, the positioning algorithm uses the atmospheric model, real-time meteorological data, multipath detection algorithm and clock correction algorithm to correct the various errors contained in the carrier phase observation value, so as to obtain a more accurate carrier phase observation value, that is, the target carrier phase observation value.

[0081] In an embodiment of the present invention, correction information is obtained, and the initial pseudorange observation value and the initial carrier phase observation value are corrected based on the correction information to obtain the target pseudorange observation value and the target carrier phase observation value, so that the satellite positioning system can provide higher quality positioning services and meet the users' growing demand for high-precision positioning.

[0082] Optionally, in step S131, obtaining atmospheric delay error information may include the following execution steps:

[0083] Step S1311, acquiring target observation data of at least one preset satellite, wherein the frequency of at least one preset satellite is different from that of the target satellite;

[0084] Step S1312, determining atmospheric delay error information based on target observation data.

[0085] In the embodiment of the present invention, the target observation data of at least one preset satellite may be understood as dual-frequency or multi-frequency observation data.

[0086] Obtaining target observation data of at least one preset satellite can be understood as receiving and processing signals from a group of pre-selected satellites to extract key information and data for positioning, including pseudorange data, carrier phase data, navigation messages, and frequency information, etc., which are not limited here.

[0087] At least one preset satellite has a different frequency from the target satellite, which can be understood as follows: in the satellite positioning system, the receiver simultaneously receives signals from multiple satellites, wherein the signal frequency emitted by at least one preset satellite is different from the signal frequency of the target satellite.

[0088] Determining the atmospheric delay error information based on the target observation data can be understood as using the received satellite signal observation data to estimate and quantify the delay effect on the signal when passing through the atmosphere through specific algorithms and models, which is not limited here.

[0089] In an embodiment of the present invention, target observation data of at least one preset satellite is obtained, and atmospheric delay error information is determined based on these data, which can effectively reduce the impact of atmospheric delay on positioning accuracy, improve positioning accuracy, reliability and real-time performance, and thus provide better services and support for various application scenarios that rely on high-precision positioning.

[0090] Optionally, in step S131, obtaining multipath effect information may include the following execution steps:

[0091] Step S1313, performing signal monitoring on the target satellite and at least one preset satellite to obtain a monitoring result;

[0092] Step S1314, determining multipath effect information based on the monitoring result.

[0093] In the embodiment of the present invention, the monitoring result can be understood as a series of data and analysis results obtained by the receiver after real-time monitoring of the characteristics of the satellite signal.

[0094] Signal monitoring is performed on the target satellite and at least one preset satellite, and the monitoring results can be understood as a series of data and signal characteristic information obtained by the satellite positioning receiver after real-time or periodic analysis of the signals sent by these satellites, which is not limited here.

[0095] Determining multipath effect information based on monitoring results can be understood as a process in which a receiver or positioning system identifies and quantifies the errors and impacts caused by multipath effects during signal propagation by analyzing the characteristics of received satellite signals, which is not limited here.

[0096] In an embodiment of the present invention, signals of a target satellite and at least one preset satellite are monitored to obtain monitoring results, and then multipath effect information is determined based on these monitoring results. This not only identifies the existence of the multipath effect, but also quantifies its impact and takes corresponding compensation measures to ensure that stable and accurate positioning services can be provided in various environments.

[0097] Optionally, in step S133, performing correction processing on the initial carrier phase observation value based on the correction information to obtain the target carrier phase observation value may include the following execution steps:

[0098] Step S1331, resolving the integer ambiguity in the initial carrier phase observation value to obtain the resolved initial carrier phase observation value;

[0099] Step S1332, based on the correction information, the solved initial carrier phase observation value is corrected to obtain the target carrier phase observation value.

[0100] In the embodiment of the present invention, the integer ambiguity may be understood as the uncertainty generated in the carrier phase measurement due to the inability to directly measure the absolute value of the signal phase between multiple complete wavelengths.

[0101] The solution process can be understood as the process of solving the integer ambiguity problem. It usually requires combining pseudorange observations, carrier phase observations, and information such as the geometric relationship between the satellite and the receiver to estimate and determine the value of the integer ambiguity through mathematical models and algorithms.

[0102] Resolving the integer ambiguity in the initial carrier phase observation value to obtain the resolved initial carrier phase observation value can be understood as a process of accurately resolving the initial carrier phase observation value to eliminate the integer ambiguity in a satellite positioning system, especially when using carrier phase measurement technology for high-precision positioning.

[0103] The initial carrier phase observation value after solution is corrected based on the correction information to obtain the target carrier phase observation value. This can be understood as a fine correction of the initial carrier phase of the satellite signal observed by the receiver when using carrier phase measurement for high-precision positioning in satellite positioning technology, so as to eliminate or reduce the influence of various error sources on positioning accuracy, and finally obtain the target carrier phase observation value.

[0104] In an embodiment of the present invention, the integer ambiguity in the initial carrier phase observation value is resolved, and the resolved initial carrier phase observation value is corrected based on the correction information to obtain the target carrier phase observation value. The positioning system can solve the common technical problems in high-precision positioning and achieve more accurate, stable and real-time positioning services.

[0105] Optionally, performing positioning processing based on the initial pseudorange observation value to obtain initial coordinate information may include the following execution steps:

[0106] Acquire satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent the position information of the target satellite;

[0107] The receiver is positioned based on the preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation values ​​to obtain initial coordinate information.

[0108] In an embodiment of the present invention, satellite coordinate information can be understood as the precise position information of the satellite in the earth coordinate system at a certain point in time, which is used to represent the three-dimensional spatial coordinates of the target satellite, usually including the longitude, latitude and altitude of the satellite, or expressed in more general coordinates.

[0109] Obtaining the satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent the position information of the target satellite, which can be understood as obtaining the precise spatial position data of a specific satellite used for positioning calculation at a certain moment in the satellite positioning system (Beidou satellite).

[0110] The receiver is positioned based on the preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation values, and the initial coordinate information obtained can be understood as based on the preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation values. Through positioning processing, the system can estimate the preliminary three-dimensional position information of the receiver, that is, the longitude, latitude and altitude of the receiver on the earth's surface, which is not limited here.

[0111] In an embodiment of the present invention, by acquiring the satellite coordinate information of the target satellite and performing positioning processing on the receiver based on a preset pseudorange observation algorithm, the satellite coordinate information and the initial pseudorange observation value, the initial coordinate information is obtained, which can significantly improve the performance of the satellite positioning system and provide a more accurate, stable and real-time positioning service.

[0112] Optionally, decoding the satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value may include the following execution steps:

[0113] Decoding the satellite signal to obtain a decoded satellite signal;

[0114] The decoded satellite signal is demodulated to obtain the initial pseudorange observation value and the initial carrier phase observation value.

[0115] In the embodiment of the present invention, the demodulation process can be understood as an important step in the satellite signal reception and processing process, which follows the decoding process and is mainly used to extract useful information from the received satellite signal, including pseudorange observation values ​​and carrier phase observation values, which is not limited here.

[0116] Decoding the satellite signal to obtain the decoded satellite signal can be understood as analyzing and interpreting the coded information in the received satellite signal to extract key data such as the navigation message, which is not limited here.

[0117] Demodulating the decoded satellite signal to obtain the initial pseudorange observation value and the initial carrier phase observation value can be understood as the receiver using the reference signal generated by the local oscillator to perform correlation analysis with the ranging code in the decoded signal, thereby obtaining the initial pseudorange observation value, which usually includes the direct distance between the satellite and the receiver and the error caused by the receiver clock error, atmospheric delay, multipath effect, etc. At the same time, the receiver uses the locally generated reference carrier signal to compare the phase with the decoded satellite signal, and then obtains the carrier phase observation value by measuring the phase difference between the received carrier signal and the local signal, which is not limited here.

[0118] In the embodiment of the present invention, by decoding and demodulating the satellite signal, the decoded satellite signal and the initial pseudorange observation value and the initial carrier phase observation value are obtained, so that the necessary positioning information can be effectively extracted, the accuracy and response speed of the positioning system can be improved, and the robustness and compatibility of the system can be enhanced.

[0119] The present invention utilizes Beidou positioning algorithm, and improves positioning accuracy by optimizing and combining multiple related algorithms. Beidou positioning algorithm is based on the triangulation positioning principle of satellite measurement. By measuring the distance (pseudorange or carrier phase) between a satellite with a known position and a user receiver, and combining the data of multiple satellites, the precise position of the user receiver is calculated. Beidou system adopts dual-frequency or multi-frequency measurement technology to improve positioning accuracy and anti-interference ability.

[0120] The implementation steps of the present invention are mainly divided into signal reception and processing, initial positioning, integer ambiguity resolution, atmospheric delay correction and final positioning calculation. The user receiver receives the signal transmitted by the Beidou satellite, including pseudo-range ranging code signal, navigation message and carrier signal. The received signal is decoded, demodulated and processed to extract pseudo-range observation value and carrier phase observation value. Pseudo-range is a distance estimation value obtained by measuring the propagation time of the satellite signal (multiplied by the speed of light), which contains errors such as satellite clock error, receiver clock error and atmospheric delay. The pseudo-range observation value is used to perform initial positioning calculation to obtain the rough position of the user receiver. That is, the Beidou system performs initial positioning through pseudo-range observation value. The integer ambiguity in the carrier phase observation value is resolved by a suitable algorithm to improve the positioning accuracy. Carrier phase measurement is a method for high-precision positioning using the carrier phase information of the satellite signal. Compared with pseudo-range measurement, carrier phase measurement has higher accuracy, but the integer ambiguity problem needs to be solved. Integer ambiguity is an unknown integer parameter in carrier phase measurement, which needs to be resolved by a specific algorithm. Common integer ambiguity resolution algorithms include the least squares method and the Kalman filter. Based on the combination of dual-frequency or multi-frequency observation data, the atmospheric delay error is calculated and corrected. Atmospheric delay includes ionospheric delay and tropospheric delay, which is an important factor affecting positioning accuracy. The Beidou system eliminates or weakens the impact of atmospheric delay by combining dual-frequency or multi-frequency observation data. Monitor changes in signal strength, detect multipath effects, and make corresponding corrections. Multipath effects refer to the errors caused by reflections from obstacles encountered by signals during propagation. The Beidou system detects multipath effects by monitoring changes in signal strength and makes corresponding corrections. Substitute the corrected pseudorange observations or carrier phase observations into the positioning algorithm to calculate the precise position of the user receiver.

[0121] The present invention uses high-frequency RFID tag technology to identify and communicate with rope-like and sheet-like safety tools. The technology has the characteristics of passive and long-distance communication. Through the design of the structure, the high-frequency RFID tag is more convenient to stick or fix on the tool; through the improvement of hardware and communication algorithms, the reliability of long-distance communication is improved. The Beidou intelligent positioning module developed by the present invention can achieve a balance among module miniaturization, low power consumption and high-precision positioning. In addition, the present invention adopts low-power components and communication modules in hardware design, and studies the software algorithm of low-power scheduling, so as to realize the orderly activation of each functional module and real-time association.

[0122] The present invention adopts multiple algorithms and comprehensive processing to improve positioning accuracy. It builds a set of control mechanisms based on Beidou positioning information around major production factors such as personnel and tools, and is committed to solving the stubborn problems of risk control in operations such as extracorporeal circulation. In addition, the present invention extends Beidou positioning technology to power engineering construction units for the first time, strongly supporting on-site operation safety control and further deepening the online penetrating safety control of power engineering construction units. The research and development results can be promoted and applied to power supply bureaus and power construction units at all levels, can locate safety tools in real time, transmit their location information to the monitoring system, and display them in real time on the system map, effectively improving the efficiency of vehicle management and safety tool inspection of external construction companies, and realizing real-time position monitoring of the entire operation process of safety tools and early warning of violations.

[0123] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention.

[0124] In this embodiment, a satellite positioning device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0125] Figure 2 is a structural block diagram of a satellite positioning device according to one embodiment of the present invention. Figure 2As shown, a satellite positioning device 200 is used as an example, and the device includes: an acquisition module 201, which is used to acquire a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudorange ranging code signal, a navigation message and a carrier signal; a decoding module 202, which is used to decode the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; a positioning module 203, which is used to perform positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; a correction module 204, which is used to correct the initial pseudorange observation value to obtain a target pseudorange observation value, and to correct the initial carrier phase observation value to obtain a target carrier phase observation value; an updating module 205, which is used to update the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0126] Optionally, the correction module 204 is also used to obtain correction information, wherein the correction information includes atmospheric delay error information and multipath effect information; based on the correction information, the initial pseudorange observation value is corrected to obtain the target pseudorange observation value; based on the correction information, the initial carrier phase observation value is corrected to obtain the target carrier phase observation value.

[0127] Optionally, the correction module 204 is further configured to obtain target observation data of at least one preset satellite, wherein the frequencies of the at least one preset satellite and the target satellite are different; and determine atmospheric delay error information based on the target observation data.

[0128] Optionally, the correction module 204 is further configured to perform signal monitoring on the target satellite and at least one preset satellite to obtain monitoring results; and determine multipath effect information based on the monitoring results.

[0129] Optionally, the correction module 204 is also used to resolve the integer ambiguity in the initial carrier phase observation value to obtain the resolved initial carrier phase observation value; based on the correction information, the resolved initial carrier phase observation value is corrected to obtain the target carrier phase observation value.

[0130] Optionally, the positioning module 203 is also used to obtain satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent the position information of the target satellite; based on a preset pseudorange observation algorithm, satellite coordinate information and initial pseudorange observation values, the receiver is positioned to obtain initial coordinate information.

[0131] Optionally, the decoding module 202 is further configured to decode the satellite signal to obtain a decoded satellite signal; and demodulate the decoded satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value.

[0132] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0133] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any of the above method embodiments when running on a computer or a processor.

[0134] Optionally, in this embodiment, the computer-readable storage medium may be configured to store a computer program for performing the following steps:

[0135] Step S10, acquiring a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message and a carrier signal;

[0136] Step S11, decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value;

[0137] Step S12, performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver;

[0138] Step S13, correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value;

[0139] Step S14, updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0140] Optionally, in this embodiment, the above-mentioned computer-readable storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0141] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0142] Optionally, in this embodiment, the processor in the electronic device may be configured to run a computer program to perform the following steps:

[0143] Step S10, acquiring a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message and a carrier signal;

[0144] Step S11, decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value;

[0145] Step S12, performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver;

[0146] Step S13, correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value;

[0147] Step S14, updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0148] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps in any of the above method embodiments when executed by a processor.

[0149] Optionally, in this embodiment, the computer program in the above computer program product may be configured to perform the following steps when executed by a processor:

[0150] Step S10, acquiring a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message and a carrier signal;

[0151] Step S11, decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value;

[0152] Step S12, performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver;

[0153] Step S13, correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value;

[0154] Step S14, updating the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain the target coordinate information.

[0155] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0156] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0157] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0158] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0159] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0160] 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.

[0161] 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. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk or optical disk, etc., various media that can store program codes.

[0162] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A satellite positioning method, characterized in that: The method comprises: Acquire a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message, and a carrier signal; Decoding the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; Performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; Correcting the initial pseudorange observation value to obtain a target pseudorange observation value, and correcting the initial carrier phase observation value to obtain a target carrier phase observation value; The initial coordinate information is updated based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain target coordinate information.

2. The method according to claim 1, characterized in that The correcting the initial pseudorange observation value to obtain the target pseudorange observation value, and the correcting the initial carrier phase observation value to obtain the target carrier phase observation value include: Acquiring correction information, wherein the correction information includes atmospheric delay error information and multipath effect information; Performing correction processing on the initial pseudorange observation value based on the correction information to obtain the target pseudorange observation value; The initial carrier phase observation value is corrected based on the correction information to obtain the target carrier phase observation value.

3. The method according to claim 2, characterized in that Acquiring the atmospheric delay error information includes: Acquire target observation data of at least one preset satellite, wherein the at least one preset satellite has a different frequency from the target satellite; The atmospheric delay error information is determined based on the target observation data.

4. The method according to claim 3, characterized in that Acquiring the multipath effect information includes: Performing signal monitoring on the target satellite and the at least one preset satellite to obtain a monitoring result; The multipath effect information is determined based on the monitoring result.

5. The method according to claim 3, characterized in that: The performing correction processing on the initial carrier phase observation value based on the correction information to obtain the target carrier phase observation value comprises: Resolving integer ambiguities in the initial carrier phase observation value to obtain a resolved initial carrier phase observation value; The resolved initial carrier phase observation value is corrected based on the correction information to obtain the target carrier phase observation value.

6. The method according to any one of claims 1 to 5, characterized in that The performing positioning processing based on the initial pseudorange observation value to obtain initial coordinate information includes: Acquire satellite coordinate information of the target satellite, wherein the satellite coordinate information is used to represent position information of the target satellite; The receiver is positioned based on a preset pseudorange observation algorithm, the satellite coordinate information and the initial pseudorange observation value to obtain the initial coordinate information.

7. The method according to any one of claims 1 to 5, characterized in that The decoding process of the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value comprises: Decoding the satellite signal to obtain a decoded satellite signal; The decoded satellite signal is demodulated to obtain the initial pseudorange observation value and the initial carrier phase observation value.

8. A satellite positioning device, characterized in that: The device comprises: An acquisition module, used to acquire a satellite signal transmitted by a target satellite, wherein the satellite signal includes a pseudo-range code signal, a navigation message and a carrier signal; A decoding module, used to decode the satellite signal to obtain an initial pseudorange observation value and an initial carrier phase observation value; A positioning module, used for performing positioning processing on the receiver based on the initial pseudorange observation value to obtain initial coordinate information, wherein the initial coordinate information is used to represent the position information of the receiver; A correction module, used to correct the initial pseudorange observation value to obtain a target pseudorange observation value, and to correct the initial carrier phase observation value to obtain a target carrier phase observation value; An updating module is used to update the initial coordinate information based on the initial coordinate information, the target pseudorange observation value and the target carrier phase observation value to obtain target coordinate information.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the satellite positioning method described in any one of claims 1 to 7 when running on a computer or a processor.

10. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and the processor is configured to run the computer program to execute the satellite positioning method described in any one of claims 1 to 7.

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