Beidou short message processing method and terminal equipment

Abstract

The invention discloses a Beidou short message processing method and terminal equipment. The method comprises the following steps: transmitting positioning coordinate information of a GNSS (Global Navigation Satellite System) module to a Beidou short message module under the condition that a Beidou short message is triggered to be sent; generating a Beidou short message carrying the positioning coordinate information of the GNSS module through the Beidou short message module to obtain a first Beidou short message; and sending the first Beidou short message through the first antenna, so that receiving equipment of the first Beidou short message performs equipment positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message. According to the embodiment of the invention, the problem of low emergency rescue efficiency caused by low positioning precision in a mode of carrying out equipment positioning based on a Beidou short message in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite communications, and more specifically, to a Beidou short message processing method and terminal device. Background Art

[0002] Beidou short message is a real-time information transmission method launched by the Beidou satellite system. It has the advantages of low cost, wide coverage and fast transmission speed. It has obvious advantages in improving information transmission speed, data reliability and regional coverage.

[0003] In emergency scenarios, the Beidou satellite system can send positioning information to terminal devices based on Beidou short messages so that emergency rescue can be carried out based on the positioning information. However, the positioning accuracy of the positioning information sent through Beidou short messages is only at the level of 100 meters, which is not conducive to rapid rescue.

[0004] It can be seen that the method of equipment positioning based on Beidou short messages in the relevant technology has the problem of low emergency rescue efficiency due to low positioning accuracy. Summary of the invention

[0005] The embodiments of the present application provide a Beidou short message processing method and terminal device, so as to at least solve the problem of low emergency rescue efficiency due to low positioning accuracy in the method of positioning equipment based on Beidou short messages in the related art.

[0006] According to one aspect of an embodiment of the present application, a method for processing Beidou short messages is provided, which is applied to a terminal device, wherein the terminal device includes a global navigation satellite system GNSS module, a Beidou short message module and a first antenna, and the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna; the method includes: when triggering the sending of a Beidou short message, transmitting the positioning coordinate information of the GNSS module to the Beidou short message module; generating a Beidou short message carrying the positioning coordinate information of the GNSS module through the Beidou short message module to obtain a first Beidou short message; and sending the first Beidou short message through the first antenna, so that the receiving device of the first Beidou short message performs device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message.

[0007] According to another aspect of an embodiment of the present application, a terminal device is also provided, including: a control component, a global navigation satellite system GNSS module, a Beidou short message module and a first antenna, wherein the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna, wherein the control component is connected to the GNSS module and the Beidou short message module, and is used to control the transmission of the positioning coordinate information of the GNSS module to the Beidou short message module when the sending of the Beidou short message is triggered; the GNSS module is used to transmit the positioning coordinate information of the GNSS module to the Beidou short message module in response to the control of the control component; the Beidou short message module is used to generate a Beidou short message carrying the positioning coordinate information of the GNSS module, obtain a first Beidou short message, and send the first Beidou short message through the first antenna, so that the receiving device of the first Beidou short message can perform device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message.

[0008] In an exemplary embodiment, the Beidou short message module is also used to perform a pre-generation operation of the Beidou short message to obtain an initial Beidou short message when the sending of the Beidou short message is triggered; the control component is also used to control the GNSS module to transmit the positioning coordinate information of the GNSS module to the Beidou short message module after generating the initial Beidou short message; the Beidou short message module is also used to generate the first Beidou short message based on the initial Beidou short message and the positioning coordinate information of the GNSS module.

[0009] In an exemplary embodiment, the control component is also used to obtain the system time of the terminal device when triggering the sending of a Beidou short message, and when the time interval between the obtained system time and the time when the GNSS module captures the positioning coordinate information next time is less than or equal to a preset time interval, wait for the GNSS module to capture the positioning coordinate information next time, and after the GNSS module captures the positioning coordinate information next time, transmit the positioning coordinate information captured by the GNSS module to the Beidou short message module.

[0010] In an exemplary embodiment, the terminal device also includes a switching switch, wherein the receiving end of the GNSS module and the transmitting end of the Beidou short message module share the first antenna through the switching switch; the control component is also used to control the first antenna to switch to be connected to the transmitting end of the Beidou short message module through the switching switch after the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, and control the Beidou short message module to send the first Beidou short message via the transmitting end of the Beidou short message module and the first antenna.

[0011] In an exemplary embodiment, the control component is also used to control the first antenna to switch back to connect to the receiving end of the GNSS module through the switching switch after the first Beidou short message is sent through the first antenna, wherein the sending time of the first Beidou short message is less than the time for the GNSS module to recapture the positioning coordinate information.

[0012] In an exemplary embodiment, the GNSS module is used to receive a group of GNSS signals through the receiving end of the GNSS module via the first antenna when the first antenna is connected to the receiving end of the GNSS module before transmitting the positioning coordinate information of the GNSS module to the Beidou short message module; use the group of GNSS signals to locate the terminal device to obtain the positioning coordinate information of the GNSS module.

[0013] In an exemplary embodiment, the terminal device also includes: a second antenna, wherein the second antenna and the first antenna are different antennas; the Beidou short message module is also used to receive a second Beidou short message through the second antenna.

[0014] In an exemplary embodiment, the GNSS module is also used to send a pulse number per second signal to the Beidou short message module, wherein the pulse number per second signal is used to perform time synchronization between the Beidou short message module and the GNSS module; the Beidou short message module is also used to receive the pulse number per second signal; and perform time synchronization according to the received pulse number per second signal.

[0015] In an exemplary embodiment, the GNSS module is further configured to continuously output the pulse per second signal through the GNSS module when positioning is successful through the GNSS module.

[0016] In an exemplary embodiment, before triggering the sending of the Beidou short message, the first antenna is in a receiving state of the GNSS module; the control component is used to control the first antenna to switch to the transmitting state of the Beidou short message module and maintain it for a certain period of time when the pulse per second signal is detected; after detecting the successful execution command of the sending of the first Beidou short message, control the first antenna to switch back to the receiving state of the GNSS module.

[0017] In an exemplary embodiment, the terminal device further includes: a crystal, wherein the crystal is externally mounted on a chip in which the control component, the GNSS module and the Beidou short message module are integrated.

[0018] In an embodiment of the present application, a GNSS positioning system is combined with a Beidou short message system. When a Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, wherein the receiving end of the GNSS module and the sending end of the Beidou short message module share a first antenna; a Beidou short message carrying the positioning coordinate information of the GNSS module is generated by the Beidou short message module to obtain a first Beidou short message; the first Beidou short message is sent through the first antenna, so that the receiving device of the first Beidou short message performs device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message. The accuracy of the bit can reach sub-meter level, and the coordinate information of GNSS positioning is transmitted to the Beidou short message module for sending. The sent Beidou short message directly carries the coordinate information of GNSS positioning. For the receiving device, it can locate the device based on the positioning coordinate information of the GNSS module carried by the Beidou short message. Compared with the method of using the Beidou satellite system combined with the Beidou short message to locate the device, it has higher positioning accuracy, and can achieve the technical effect of improving the positioning accuracy of the device and improving the efficiency of emergency rescue, thereby solving the problem of low emergency rescue efficiency caused by low positioning accuracy in the method of positioning the device based on Beidou short messages in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a schematic diagram of an application environment of an optional device control method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of an optional device control method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of an optional device control method according to an embodiment of the present application;

[0023] Figure 4 is a schematic diagram of another optional device control method according to an embodiment of the present application;

[0024] Figure 5 is a schematic diagram of an optional terminal device according to an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of another optional terminal device according to an embodiment of the present application;

[0026] Figure 7is a schematic diagram of another optional terminal device according to an embodiment of the present application;

[0027] Figure 8 is a schematic diagram of another optional terminal device according to an embodiment of the present application;

[0028] Fig. 9 is a schematic diagram of another optional terminal device according to an embodiment of the present application;

[0029] Fig.10 This is a schematic diagram of another optional terminal device according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. 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.

[0032] According to one aspect of an embodiment of the present application, a method for processing a Beidou short message is provided. Optionally, as an optional implementation, the method for processing the Beidou short message can be but is not limited to being applied to Figure 1The hardware environment shown is a combination of a first terminal device 102, a GNSS (Global Navigation Satellite System) satellite system 104, a Beidou satellite system 106, and a second terminal device 108. The first terminal device 102 may be a device equipped with a GNSS positioning module and a Beidou short message module. The GNSS positioning module installed in the first terminal device 102 relies on the GNSS satellite system for positioning, and the Beidou short message module installed in the first terminal device 102 relies on the Beidou satellite system for sending and receiving Beidou short messages. The second terminal device 108 may be a device equipped with a Beidou short message module. The second terminal device 108 can communicate with the first terminal device 102 through the Beidou satellite system 106; the first terminal device 102 can obtain its own positioning coordinate information through the GNSS satellite system 104, and continuously send the positioning coordinate information of the first terminal device 102 to the second terminal device 108 through the Beidou satellite system 106. The Beidou short message processing method of the embodiment of the present application can be executed by the first terminal device 102.

[0033] Figure 2 is a flow chart of an optional Beidou short message processing method according to an embodiment of the present application, such as Figure 2 As shown, the process of the method may include steps S202 to S206.

[0034] Step S202: When the Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module.

[0035] The Beidou short message processing method in this embodiment can be applied to the scenario of positioning the terminal device based on the Beidou short message. Beidou short message is the message used in the Beidou short message system. The Beidou short message system is a short message communication service based on the Beidou satellite navigation system. It has obvious advantages in improving information transmission speed, data reliability and regional coverage. It has been applied in many industries and fields, mainly including transportation, public safety, agriculture, electricity, water conservancy, meteorology and other fields. The Beidou short message system allows users to send and receive text messages through Beidou short messages in areas without mobile communication signal coverage to achieve basic data communication. Its core functions include: two-way communication, emergency communication, positioning services, security monitoring and tracking.

[0036] The positioning function of the Beidou short message system uses RDSS (Radio Determination Satellite Service, satellite radio positioning system) positioning, and RDSS positioning belongs to active positioning. Active positioning means that the terminal device needs to transmit radio signals to the satellite, and the positioning solution is performed by the positioning center, and then the positioning result is sent back to the terminal device through the Beidou satellite. This positioning method is fast, but the accuracy is relatively low. Usually the horizontal positioning accuracy is 100 meters (about 100 meters), and only two-dimensional positioning data can be obtained, without speed data.

[0037] In order to improve the positioning accuracy of equipment based on Beidou short messages, pseudo-range differential correction information can be obtained through a high-precision location service platform. Beidou short messages are used to transmit differential correction data of the ground-based augmentation network, and pseudo-range differential correction information is obtained from the differential service platform through the location service platform and parsed and unpacked. Then, Beidou short messages are sent through designated equipment (for example, the command machine) to broadcast differential correction data. Terminal equipment with Beidou positioning communication function and differential function in the system (for example, handheld terminal equipment) will unpack and frame the received correction information, perform pseudo-range differential calculation, and thus obtain the device positioning result.

[0038] However, the above-mentioned device positioning method transmits the pseudo-range differential correction information of the service platform to each terminal device through the Beidou short message for analysis and use. The positioning process is more complicated and has little effect on improving the positioning accuracy, that is, it cannot improve the positioning accuracy of the Beidou short message.

[0039] In this embodiment, GNSS high-precision positioning is integrated with Beidou short messages, and the GNSS positioning coordinate information of the terminal device itself is sent through Beidou short messages. The receiving device can perform device positioning based on the GNSS positioning coordinate information carried in the received Beidou short message, and the positioning accuracy of Beidou short messages can be improved through high-precision GNSS positioning coordinate information, thereby at least partially solving the above problems. Here, the GNSS positioning coordinate information has A-GNSS (Assisted GNSS, Assisted Global Navigation Satellite System) and differential data.

[0040] Here, the GNSS positioning system is an air-based radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the earth's surface or near-Earth space. It is used in surveying and mapping, power telecommunications, engineering construction, transportation, agriculture, fishery and animal husbandry, location services and other fields. The GNSS positioning system uses passive positioning. Passive positioning does not require the terminal device to actively transmit signals, but determines the position by receiving external signals. Passive positioning is relatively slow, and a cold start may take several minutes, but its positioning accuracy is high. Usually, the horizontal positioning accuracy can reach sub-meter level (within 10 meters), and it can provide speed data.

[0041] In this embodiment, for the current terminal device (referred to as the current device), it has a GNSS module and a Beidou short message module, the GNSS module is a module for GNSS positioning, the Beidou short message module is a module capable of generating and parsing Beidou short messages, and the receiving end of the GNSS module and the transmitting end of the Beidou short message module share a first antenna. The GNSS positioning module can receive signals transmitted by several satellites in the GNSS satellite system, measure the distance between each satellite and the current device, calculate using a microprocessor, and accurately calculate the position of the current device through triangulation to obtain the positioning coordinate information of the current device.

[0042] In the case of triggering the sending of Beidou short message, the positioning coordinate information of the GNSS module can be transmitted to the Beidou short message module. The current device can have a control component, and the transmission of the positioning coordinate information of the GNSS module to the Beidou short message module can be controlled and executed by the control component. Exemplarily, the control component can be an MCU (Micro-controller Unit) or other components that can control the GNSS module and the Beidou short message module, which is not limited in the present embodiment. Here, the triggering mode of sending the Beidou short message can be that the user actively interacts with the current device to trigger, or it can be automatically triggered when a certain time interval is reached, or it can be triggered in other ways, which is not limited in the present embodiment.

[0043] Step S204: Generate a Beidou short message carrying the positioning coordinate information of the GNSS module through the Beidou short message module to obtain a first Beidou short message.

[0044] For the transmitted positioning coordinate information, the Beidou short message module can generate a Beidou short message carrying the positioning coordinate information of the GNSS module, and the generated Beidou short message is the first Beidou short message. The above-mentioned Beidou short message generation operation can be started after receiving the positioning coordinate information, or it can be started before receiving the positioning coordinate information.

[0045] It should be noted that, in addition to the positioning coordinate information, the Beidou short message may carry other information that needs to be interacted with other terminal devices, and different information may correspond to different fields in the Beidou short message; in addition, message generation also requires a certain amount of preparation time. Therefore, the timing of starting the Beidou short message generation operation can be any time after determining that the Beidou short message needs to be sent.

[0046] Step S206: Send a first Beidou short message through the first antenna, so that a receiving terminal of the first Beidou short message performs device positioning based on the positioning coordinate information of the GNSS module carried in the first Beidou short message.

[0047] The current device may include a first antenna, which may be a sending antenna for Beidou short messages, that is, an antenna for sending Beidou short messages. The first antenna may also be used to send or receive other information. In order to ensure the accuracy of information processing and avoid information interference, the first antenna is only used to send or receive one type of information at the same time. For the above-mentioned first Beidou short message generated, the first Beidou short message can be sent through the first antenna. For example, the first Beidou short message is sent to the Beidou satellite system, and is sent to a designated device via the Beidou satellite system. The designated device (for example, a command machine) broadcasts the first Beidou short message within its broadcast range, and a terminal device within the broadcast range of the execution device can receive the first Beidou short message.

[0048] For the terminal device that receives the first Beidou short message (i.e., the receiving device of the first Beidou short message), it can extract the positioning coordinate information carried by the first Beidou short message, and use the extracted positioning coordinate information to locate the terminal device. The method of using the positioning coordinate information to locate the device can refer to the relevant technology, which will not be described in detail in this embodiment. Here, by using more accurate positioning coordinate information, the accuracy of device positioning can be improved. For emergency rescue scenarios, the improvement of positioning accuracy can lock the rescued person more quickly and improve the efficiency of emergency rescue.

[0049] Through the above steps, when the sending of a Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, wherein the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna; a Beidou short message carrying the positioning coordinate information of the GNSS module is generated by the Beidou short message module to obtain a first Beidou short message; the first Beidou short message is sent through the first antenna, so that the receiving device of the first Beidou short message performs device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message, thereby solving the problem of low emergency rescue efficiency due to low positioning accuracy in the method of performing device positioning based on Beidou short messages in the related art, thereby improving the equipment positioning accuracy and the emergency rescue efficiency.

[0050] In an exemplary embodiment, when the sending of a Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, including:

[0051] S11, when the sending of Beidou short message is triggered, the pre-generation operation of Beidou short message is performed to obtain the initial Beidou short message;

[0052] S12, transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, wherein the first Beidou short message is generated based on the initial Beidou short message and the positioning coordinate information of the GNSS module.

[0053] If the Beidou short message generation operation is started only after receiving the positioning coordinate information from the GNSS module, since the generation operation requires a certain execution time, the positioning coordinate information carried in the Beidou short message received by the receiving device has a certain delay, which is at least the generation time and transmission time of the Beidou short message, thereby reducing the accuracy of device positioning.

[0054] In this embodiment, when the Beidou short message is triggered to be sent, the Beidou short message is pre-generated according to the set message template, and the pre-generated Beidou short message is the initial Beidou short message. The message template describes the type of information allowed to be written in different fields of the Beidou short message, including the field corresponding to the positioning coordinate information of the GNSS module. When pre-generating the Beidou short message, the field corresponding to the positioning coordinate information of the GNSS module can be left blank, and the corresponding information can be written in other fields.

[0055] After the other parts of the Beidou short message are generated (the initial Beidou short message is obtained), the control component (e.g., MCU) controls the transmission of the positioning coordinate information of the GNSS module to the Beidou short message module. The Beidou short message module fills the received positioning coordinate information into the corresponding field of the initial Beidou short message, completes the generation of the Beidou short message carrying the GNSS positioning coordinate information, and obtains the above-mentioned first Beidou end message.

[0056] For example, taking the control component as MCU, the MCU controls and communicates with the GNSS module & Beidou short message module through different serial ports and control signals, such as Figure 3As shown, the MCU can communicate with the GNSS module and the Beidou short message module through UATR (Universal Asynchronous Receiver / Transmitter) and GPIO (General-purpose input / output), wherein the UATR corresponding to the GNSS module is UATR0, and the UATR corresponding to the Beidou short message module is UATR1, and the control signal can be transmitted through GPIO.

[0057] For the Beidou short message module, when generating a Beidou short message, first leave the writing part of the positioning coordinate information blank, and write the contents of other parts to obtain the initial Beidou short message; then, transmit the positioning coordinate information of the GNSS module to the Beidou short message module, and the Beidou short message module writes it into the corresponding part of the initial Beidou short message to complete the generation of the Beidou short message.

[0058] Through this embodiment, by pre-generating the initial Beidou short message and then transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, the validity of the carried positioning coordinate information can be guaranteed and the accuracy of device positioning can be improved.

[0059] In an exemplary embodiment, when the Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, including:

[0060] S21, when the Beidou short message is triggered, the system time of the terminal device is obtained;

[0061] S22, when the time interval between the acquired system time and the time when the GNSS module captures the positioning coordinate information next time is less than or equal to the preset time interval, wait for the GNSS module to capture the positioning coordinate information next time, and after the GNSS module captures the positioning coordinate information next time, transmit the positioning coordinate information captured by the GNSS module to the Beidou short message module.

[0062] For a terminal device such as a handheld terminal device, the device position may change over time, and the GNSS module may capture the positioning coordinate information multiple times, for example, periodically, at a specified time, or triggered by an event, etc. Exemplarily, the GNSS module may periodically capture the positioning coordinate information with a first time interval as a period, and the first time interval may be configured as needed and may be flexibly adjusted.

[0063] When it is necessary to transmit the positioning coordinate information of the GNSS module to the Beidou short message module, for example, when it is necessary to generate a Beidou short message, after the initial Beidou short message has been generated, the current positioning coordinate information of the GNSS module can be directly transmitted to the Beidou short message module. If the time interval between the current moment and the moment when the GNSS module last captured the positioning coordinate information is long (correspondingly, the time interval between the current moment and the moment when the GNSS module next captures the positioning coordinate information is short), there may be a large deviation between the current position of the terminal device and the position represented by the last captured positioning coordinate information.

[0064] In this embodiment, when the sending of a Beidou short message is triggered, the system time of the terminal device can be obtained, and it is determined whether the time interval (second time interval) between the obtained system time and the time when the GNSS module captures the positioning coordinate information next time is less than or equal to the preset time interval; if the second time interval is less than or equal to the preset time interval, wait for the GNSS module to capture the positioning coordinate information next time, and after the positioning coordinate information is captured next time, transmit the positioning coordinate information to the Beidou short message module, that is, the positioning coordinate information carried in the first Beidou short message sent by the Beidou short message module is the latest obtained positioning coordinate information.

[0065] Here, the preset time interval is a pre-specified time interval, which may be any time interval less than or equal to the first time interval. Optionally, in order to balance the accuracy of the positioning coordinate information and the timeliness of the Beidou short message transmission, the preset time interval is less than or equal to half of the first time interval.

[0066] For example, Figure 4 As shown, the first time interval is 5 seconds and the preset time interval is 2 seconds. If the initial Beidou short message 1 is generated at the 9th second, and the current moment and the moment of capturing the next positioning coordinate information are only 1 second apart, the positioning coordinate information of the GNSS module will be transmitted to the Beidou short message module after the next capture of the positioning coordinate information.

[0067] If the initial Beidou short message 2 is generated at the 16th second, and the interval between the current moment and the next moment of capturing the positioning coordinate information is 4 seconds, the positioning coordinate information of the GNSS module is directly transmitted to the Beidou short message module.

[0068] Through this embodiment, based on the time interval between the current time and the time when the GNSS module captures the positioning coordinate information next time, it is determined whether to directly transmit the positioning coordinate information of the current GNSS module or the positioning coordinate information captured next time, thereby improving the accuracy of the positioning coordinate information carried in the Beidou short message.

[0069] In an exemplary embodiment, a single antenna is dynamically switched to send the GNSS positioning coordinate information of the current device itself through a Beidou short message without affecting the GNSS positioning, so as to improve the positioning accuracy of the Beidou short message. In this case, the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna through a switching switch. The first antenna is connected to the receiving end of the GNSS module or the sending end of the Beidou short message module by default.

[0070] Correspondingly, sending a first Beidou short message through the first antenna includes:

[0071] S31, after transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, controlling the first antenna to switch to be connected to the sending end of the Beidou short message module through a switching switch;

[0072] S32, sending a first Beidou short message via the transmitting end of the Beidou short message module and the first antenna.

[0073] In this embodiment, the first antenna can be switched to be connected to the transmitting end of the Beidou short message module by controlling the switching switch to switch the line it conducts, that is, the first antenna is switched to be connected to the transmitting end of the Beidou short message module by controlling the switching switch. After the switching is completed, the first Beidou short message can be sent via the transmitting end of the Beidou short message module and the first antenna, that is, the Beidou short message module sends the first Beidou short message through the transmitting end of the Beidou short message module, and the sent first Beidou short message is sent outward through the first antenna.

[0074] Optionally, the switching opportunity of the first antenna being switched to the transmitting end connected to the Beidou short message module can be after determining that the Beidou short message needs to be sent, or after the first Beidou short message that triggers transmission has been generated, or after generating the initial Beidou short message (considering the time required for switching, antenna switching is performed in advance), or other switching opportunities. Optionally, for the convenience of switching control, after the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, the first antenna can be switched to be connected to the transmitting end of the Beidou short message module by switching switch control.

[0075] For example, Figure 5As shown, the receiving end (GNSS_RX) of the GNSS module and the transmitting end (BD_TX) of the Beidou short message module share the antenna MAIN_ANT through the RF switch (RF Switch, i.e., switching switch), and there is a bidirectional line (TRX) between the RF switch and MAIN_ANT. Among them, the GNSS signal received by MAIN_ANT is transmitted to the receiving end of the GNSS module via the RF switch, LNA (Low Noise Ampvifier, low noise amplifier) ​​and SAW filter (Saw Filter).

[0076] Through this embodiment, the receiving end of the GNSS module and the sending end of the Beidou short message module share one antenna, which can reduce the number of antennas, save layout space, and reduce costs.

[0077] In an exemplary embodiment, after sending the first Beidou short message through the first antenna, the method further includes:

[0078] S41, controlling the first antenna to switch back to connect to the receiving end of the GNSS module through a switching switch, wherein the sending time of the first Beidou short message is less than the time for the GNSS module to recapture the positioning coordinate information.

[0079] Similar to the aforementioned embodiment, the positioning coordinate information of the GNSS module can be continuously acquired. In order to ensure that the positioning coordinate information of the GNSS module is uninterrupted, the sending time of the entire Beidou short message can be controlled not to exceed the time for the GNSS module to recapture the positioning coordinate information, so as to ensure that the Beidou short message has been sent before the next time the positioning coordinate information is captured. Here, the time to recapture the positioning coordinate information can be understood as the duration from the moment of acquiring the positioning coordinate information of the GNSS module to the expiration of the current positioning coordinate information, for example, 1 second, 2 seconds or other time. For scenarios where positioning coordinate information is periodically acquired, the time for the GNSS module to recapture the positioning coordinate information can be the periodic time for acquiring the positioning coordinate information.

[0080] In this embodiment, after the first Beidou short message is prepared, the first antenna is controlled by a switching switch to be connected to the transmitting end of the Beidou short message module to send the first Beidou short message; after the first Beidou short message is sent, the first antenna is controlled by a switching switch to be connected to the receiving end of the GNSS module, and the time (start time) when the GNSS module recaptures the positioning coordinate information is later than the time when the first antenna switches back to the receiving end of the GNSS module.

[0081] For example, when the terminal device triggers the Beidou short message to send information, the short message is started (the preparation time is 5 seconds); after the preparation is completed, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module; then, the switching switch of the control antenna is switched to the transmitting end of the Beidou short message module. Beidou short message information is sent (time is about 500 milliseconds); after the information is sent, the antenna is switched back to the receiving end of the GNSS module. The software control switch switching time does not exceed 1 millisecond, and the entire Beidou short message sending time does not exceed 1 second (less than the recapture time of the GNSS module), which can ensure that the positioning coordinate information of the GNSS module will not be interrupted.

[0082] Through this embodiment, by switching the module to which the first antenna is connected through a switching switch, and controlling the sending time of the Beidou short message to be less than the time for the GNSS module to recapture the positioning coordinate information, the sending of the Beidou short message can be completed while ensuring that the positioning coordinate information of the GNSS module is uninterrupted.

[0083] In an exemplary embodiment, before transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, the method further includes:

[0084] S51, receiving a group of GNSS signals through the first antenna by the receiving end of the GNSS module when the first antenna is connected to the receiving end of the GNSS module;

[0085] S52, using a set of GNSS signals to locate the terminal device and obtain the positioning coordinate information of the GNSS module.

[0086] In this embodiment, the positioning coordinate information of the GNSS module can be obtained by parsing a group of GNSS signals. When the first antenna is connected to the receiving end of the GNSS module, the receiving end of the GNSS module receives a group of GNSS signals via the first antenna. The number of GNSS signals included in the group of GNSS signals can be multiple, for example, at least 4.

[0087] For a set of received GNSS signals, at least part of the GNSS signals can be parsed to obtain the positioning coordinate information of the GNSS module. By parsing each GNSS signal, the position of the corresponding satellite and the distance between the corresponding satellite and the current device can be obtained; the position coordinates of the current position are used as variables, and the positioning coordinate information of the GNSS module can be determined by solving polynomials.

[0088] Through this embodiment, by parsing a group of received GNSS signals to obtain the positioning coordinate information of the GNSS module, the convenience of obtaining the positioning coordinate information can be improved.

[0089] In an exemplary embodiment, the method further comprises:

[0090] S61, receiving a second Beidou short message through a second antenna, wherein the second antenna and the first antenna are different antennas.

[0091] If the receiving end of the Beidou short message module also shares the first antenna through the switching switch, considering the randomness of the Beidou short message transmission, it is easy to fail to receive the Beidou short message due to the switching switch switching to the transmitting end of the Beidou short message module or the receiving end of the GNSS module. For this reason, in this embodiment, the receiving end of the Beidou short message module can be an independent antenna, that is, the second antenna.

[0092] After the current device starts the Beidou short message receiving function (which can be automatically started or manually started), the second antenna can be used to continuously wait for receiving Beidou short messages, that is, Beidou short messages sent by other terminal devices, for example, the second Beidou short message. The second Beidou short message may carry the positioning coordinate information of the GNSS module of the terminal device that sends the second Beidou short message, or may only carry information that the current device needs to know, which is not limited in this embodiment.

[0093] For example, for Figure 5 In the intelligent high-precision positioning solution shown, the GNSS module and the Beidou short message share the same antenna. The receiving signal of the GNSS module and the transmitting signal of the Beidou short message module share the same antenna. The two are switched by a switch and applied in time-sharing. By calculating the event trigger time and the program execution time, the antenna switching time is accurately controlled to achieve GNSS positioning and accurate output of positioning coordinates. The GNSS positioning coordinate information is synchronously shared with the Beidou short message, so that both GNSS and Beidou short messages can be accurately positioned. At the same time, it has GNSS navigation and Beidou short message functions, meeting the needs of users who want GNSS for navigation and Beidou short messages for emergency functions. In addition, the integration of GNSS high-precision positioning and Beidou short messages can improve rescue efficiency in non-ground network areas and emergency sites, and enhance the user experience; shortening the sending time of Beidou short messages can save the power consumption required for positioning; and intelligent and precise antenna switching can ensure high-precision positioning.

[0094] exist Figure 5 Based on the terminal device shown, the receiving end of the Beidou short message module can use a separate antenna, such as Figure 6 The BD_RX_ANT shown is independent of MAIN_ANT. In addition, in order to reduce RF signal interference, the GNSS module can be set away from the Beidou short message module.

[0095] Through this embodiment, by using an independent antenna at the receiving end of the Beidou short message module, it can be ensured that the terminal device can continuously receive Beidou short messages, thereby improving the success rate of Beidou short message reception.

[0096] In an exemplary embodiment, the method further comprises:

[0097] S71, receiving a pulse number per second signal transmitted by a GNSS module through a Beidou short message module, wherein the pulse number per second signal is used for time synchronization between the Beidou short message module and the GNSS module;

[0098] S72, time synchronization is performed through the Beidou short message module according to the received pulse number per second signal.

[0099] In this embodiment, the GNSS module can transmit a PPS (Pulse Per Second) signal to the Beidou short message module, and the PPS signal is used to synchronize time between the Beidou short message module and the GNSS module. The Beidou short message module can receive the PPS signal transmitted by the GNSS module and perform time synchronization according to the received pulse per second signal.

[0100] Here, the pulse number per second signal is a precise time signal from a satellite. In the fields of positioning and navigation, each device and system needs to have the same and precise time reference to ensure the accuracy of the data. The pulse number per second signal can provide such time synchronization, so that each device and system can operate and process data at the same time point. In the process of data transmission, due to signal transmission delays, noise and other reasons, the data may have certain errors. The pulse number per second signal can be used as an accurate timestamp to correct the reception and transmission of data.

[0101] In this embodiment, the pulse number per second signal can be used to ensure accuracy within a period of time (for example, 5 hours) without a GNSS signal. After the Beidou short message module receives the pulse number per second signal, it can quickly perform time synchronization and shorten the sending time of the Beidou short message (for example, the first Beidou short message).

[0102] Through this embodiment, by using the pulse number per second signal to synchronize the time between the Beidou short message module and the GNSS module, it is possible to ensure that the time in the Beidou short message module and the GNSS module remains consistent, improve the positioning accuracy of the GNSS module, and shorten the sending time of the Beidou short message.

[0103] In an exemplary embodiment, the method further comprises:

[0104] S81, when positioning is successful through the GNSS module, the GNSS module continuously outputs a pulse signal per second.

[0105] The terminal has more and more functions, and the alignment and synchronization of different functions in time and space affect the terminal's new functions. The current synchronization method is to use the UTC (Coordinated Universal Time) time and PPS (Pulse Per Second) provided by GNSS to unify all data under the UTC time axis. However, in actual applications, the GNSS signal will be blocked by tunnels, underground garages and other scenes that are unavoidable during movement, resulting in the inability to output the PPS signal and synchronization. This is because the current synchronization method needs to judge the PPS signal availability, GNSS availability, and the correlation between PPS and GNSS signals. The system time will be updated only when all three are met.

[0106] To this end, in this embodiment, a time synchronization method is provided to solve the problem of inaccurate existing synchronization results, and system time synchronization can be performed in a scenario without a GNSS signal. By changing the PPS output strategy, it is ensured that after one positioning, the PPS signal is output for a long time: when the positioning is successful through the GNSS module, the GNSS module continuously outputs a pulse signal per second. Here, after the positioning is stable, regardless of whether there is a GNSS signal, the PPS is output until it is turned off. The maximum PPS offset reaches 0.5us / s. The PPS can be used normally for at least half an hour after the positioning is lost (according to the 1ms PPS accuracy requirement).

[0107] Through this embodiment, by ensuring continuous and accurate PPS output to the greatest extent, clock synchronization of multiple functional processing units is achieved, ensuring the terminal's fast GPS time-sharing upload function (with an accuracy of 100ms) within a long period of time (for example, 50 hours).

[0108] In an exemplary embodiment, before triggering the sending of the Beidou short message, the first antenna is in the receiving state of the GNSS module. Here, GNSS reception / short message sending is time-sharing with the first antenna. By accurately controlling the sending time of the short message, the GNSS is guaranteed to be in the positioning state to the greatest extent and the PPS signal can be accurately output.

[0109] Correspondingly, sending a first Beidou short message through the first antenna includes:

[0110] S91, when a pulse number per second signal is detected, control the first antenna to switch to the transmitting state of the Beidou short message module and maintain it for a certain period of time, and send a first Beidou short message through the first antenna;

[0111] S92, after detecting the successful execution command of sending the first Beidou short message, control the first antenna to switch back to the receiving state of the GNSS module.

[0112] Before the short message function is turned on, the first antenna works in the receiving state of the GNSS module, that is, the first antenna is used by the GNSS module. When there is a Beidou short message to be sent (for example, the first Beidou short message), the short message function is turned on (the short message module is turned on and running), and after detecting the PPS signal, the short message sending operation (for example, sending the first Beidou short message) is immediately performed, and the host computer (for example, the aforementioned control component) controls the antenna to switch to the short message transmission state and maintain it for a certain time (for example, 700ms).

[0113] After detecting the successful sending command of the Beidou short message, the host computer can control the switch back to the receiving state of the GNSS module. Among them, the connection relationship between the GNSS module, the Beidou short message module and other functional units can be as follows: Figure 7 As shown, the PPS signal is continuously output by the GNSS module, and other functional units perform time synchronization by detecting the PPS signal.

[0114] Through this embodiment, high-precision PPS signals are provided to the short message module and the host computer at the same time. By synchronously and accurately controlling the antenna switching and controlling the sending time of the short message, the continuous reception of the GNSS can be guaranteed to the greatest extent, and the short message capture sensitivity can be improved, blind transmission can be achieved, power consumption can be reduced, antenna costs can be saved, space can be saved, and the terminal time-sharing upload function can be guaranteed to the greatest extent.

[0115] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0116] According to another aspect of the embodiment of the present application, a terminal device is also provided, which can be used to implement the Beidou short message processing method provided in the above embodiment, which has been described and 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 device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware is also possible and conceived.

[0117] Figure 8 is a structural block diagram of an optional terminal device according to an embodiment of the present application, such as Figure 8As shown in , the terminal device includes: a control component 802, a GNSS module 804, a Beidou short message module 806 and a first antenna 808, and the receiving end of the GNSS module 804 and the sending end of the Beidou short message module 806 share the first antenna 808. The control component 802 is connected to the GNSS module 804 and the Beidou short message module 806, and is used to control the transmission of the positioning coordinate information of the GNSS module 804 to the Beidou short message module 806 when the Beidou short message is triggered. The GNSS module 804 is used to transmit the positioning coordinate information of the GNSS module 804 to the Beidou short message module 806 in response to the control of the control component 802. The Beidou short message module 806 is used to generate a Beidou short message carrying the positioning coordinate information of the GNSS module 804, obtain a first Beidou short message, and send the first Beidou short message through the first antenna 808, so that the receiving device of the first Beidou short message can perform device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message.

[0118] Through the above-mentioned terminal device, when the sending of a Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, wherein the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna; a Beidou short message carrying the positioning coordinate information of the GNSS module is generated by the Beidou short message module to obtain a first Beidou short message; the first Beidou short message is sent through the first antenna, so that the receiving device of the first Beidou short message locates the device based on the positioning coordinate information of the GNSS module carried by the first Beidou short message, thereby solving the problem of low emergency rescue efficiency due to low positioning accuracy in the method of positioning the device based on the Beidou short message in the related art, thereby improving the positioning accuracy of the device and improving the efficiency of emergency rescue.

[0119] In an exemplary embodiment, the Beidou short message module 806 is also used to perform a pre-generation operation of the Beidou short message to obtain an initial Beidou short message when the sending of the Beidou short message is triggered; the control component 802 is also used to control the GNSS module 804 to transmit the positioning coordinate information of the GNSS module 804 to the Beidou short message module 806 after generating the initial Beidou short message; the Beidou short message module 806 is also used to generate a first Beidou short message based on the initial Beidou short message and the positioning coordinate information of the GNSS module 804.

[0120] In an exemplary embodiment, the control component 802 is also used to obtain the system time of the terminal device when triggering the sending of a Beidou short message, and when the time interval between the obtained system time and the time when the GNSS module 804 captures the positioning coordinate information next time is less than or equal to the preset time interval, wait for the GNSS module 804 to capture the positioning coordinate information next time, and after the GNSS module 804 captures the positioning coordinate information next time, transmit the positioning coordinate information captured by the GNSS module 804 to the Beidou short message module 806.

[0121] In an exemplary embodiment, Fig. 9 As shown, the terminal device also includes: a switching switch 902, the receiving end of the GNSS module 804 and the sending end of the Beidou short message module 806 share the first antenna 808 through the switching switch, wherein the first antenna 808 is the antenna shared by the receiving end of the GNSS module 804 and the sending end of the Beidou short message module 806 through the switching switch 902; the control component 802 is also used to control the first antenna 808 to switch to be connected to the sending end of the Beidou short message module 806 through the switching switch 902 after the positioning coordinate information of the GNSS module 804 is transmitted to the Beidou short message module 806, and control the Beidou short message module 806 to send the first Beidou short message via the sending end of the Beidou short message module 806 and the first antenna 808.

[0122] In an exemplary embodiment, the control component 802 is also used to control the first antenna 808 to switch back to connect to the receiving end of the GNSS module 804 through the switching switch 902 after sending the first Beidou short message through the first antenna 808, wherein the sending time of the first Beidou short message is less than the time for the GNSS module 804 to recapture the positioning coordinate information.

[0123] In an exemplary embodiment, the GNSS module 804 is used to receive a group of GNSS signals through the receiving end of the GNSS module 804 via the first antenna 808 when the first antenna 808 is connected to the receiving end of the GNSS module 804 before transmitting the positioning coordinate information of the GNSS module 804 to the Beidou short message module 806; use the group of GNSS signals to locate the terminal device to obtain the positioning coordinate information of the GNSS module 804.

[0124] In an exemplary embodiment, Fig.10 As shown, the terminal device also includes: a second antenna 1002 , wherein the second antenna 1002 and the first antenna 808 are different antennas; a Beidou short message module 806 , further used to receive a second Beidou short message through the second antenna 1002 .

[0125] In an exemplary embodiment, the GNSS module 804 is also used to send a pulse number per second signal to the Beidou short message module 806, wherein the pulse number per second signal is used to perform time synchronization between the Beidou short message module 806 and the GNSS module 804; the Beidou short message module 806 is also used to receive the pulse number per second signal; and perform time synchronization according to the received pulse number per second signal.

[0126] In an exemplary embodiment, the GNSS module 804 is further configured to continuously output a pulse-per-second signal when positioning is successful via the GNSS module 804 .

[0127] In an exemplary embodiment, before triggering the sending of the Beidou short message, the first antenna 808 is in the receiving state of the GNSS module 804. The control component 802 is also used to control the first antenna 808 to switch to the transmitting state of the Beidou short message module 806 and maintain it for a certain period of time, and send the first Beidou short message through the first antenna 806 when a second pulse signal is detected; after detecting the sending success command, control the first antenna 808 to switch back to the receiving state of the GNSS module 804.

[0128] In an exemplary embodiment, the terminal device further includes: a crystal, a chip in which the crystal is externally placed and integrated with the control component 802, the GNSS module 804, and the Beidou short message module 806. Here, the crystal refers to a crystal oscillator (crystal oscillator), which is used to provide a stable frequency signal to ensure the accuracy and stability of the current device operation.

[0129] Through this embodiment, the heat source interference of high-power transmission can be reduced by externalizing the crystal; and the control components, GNSS module and Beidou short message module are integrated on the chip (that is, multiple solutions share a common board), which can improve the flexibility of product configuration.

[0130] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0131] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially 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, which is stored in a storage medium and includes several instructions for enabling one or more computer devices (which can be personal computers, servers or network devices, etc.) to execute all or part of the steps of the above methods in each embodiment of the present application.

[0132] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0133] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented in other ways. Among them, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and 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.

[0134] 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 network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0135] In addition, each functional unit in each embodiment of the present application 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.

[0136] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for processing Beidou short messages, characterized in that: Applied to a terminal device, the terminal device comprises a global navigation satellite system GNSS module, a Beidou short message module and a first antenna, and a receiving end of the GNSS module and a transmitting end of the Beidou short message module share the first antenna; The method comprises: When the sending of a Beidou short message is triggered, the positioning coordinate information of the GNSS module is transmitted to the Beidou short message module; Generate a Beidou short message carrying the positioning coordinate information of the GNSS module through the Beidou short message module to obtain a first Beidou short message; The first Beidou short message is sent through the first antenna, so that a receiving device of the first Beidou short message performs device positioning based on the positioning coordinate information of the GNSS module carried in the first Beidou short message.

2. The method according to claim 1, characterized in that In the case of triggering the sending of the Beidou short message, transmitting the positioning coordinate information of the GNSS module to the Beidou short message module includes: When the sending of Beidou short message is triggered, the pre-generation operation of Beidou short message is performed to obtain the initial Beidou short message; The positioning coordinate information of the GNSS module is transmitted to the Beidou short message module, wherein the first Beidou short message is generated based on the initial Beidou short message and the positioning coordinate information of the GNSS module.

3. The method according to claim 1, characterized in that In the case of triggering the sending of the Beidou short message, transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, further comprising: When the sending of the Beidou short message is triggered, obtaining the system time of the terminal device; When the time interval between the acquired system time and the time when the GNSS module captures the positioning coordinate information next time is less than or equal to the preset time interval, wait for the GNSS module to capture the positioning coordinate information next time, and after the GNSS module captures the positioning coordinate information next time, transmit the positioning coordinate information captured by the GNSS module to the Beidou short message module.

4. The method according to claim 1, characterized in that: The receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna through a switching switch; The sending the first Beidou short message through the first antenna includes: After transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, controlling the first antenna to switch to be connected to the transmitting end of the Beidou short message module through the switching switch; The first Beidou short message is sent via the transmitting end of the Beidou short message module and the first antenna.

5. The method according to claim 4, characterized in that After sending the first Beidou short message through the first antenna, the method further includes: The switching switch controls the first antenna to switch back to connect to the receiving end of the GNSS module, wherein the sending time of the first Beidou short message is less than the time for the GNSS module to recapture the positioning coordinate information.

6. The method according to claim 4, characterized in that Before transmitting the positioning coordinate information of the GNSS module to the Beidou short message module, the method further includes: When the first antenna is connected to the receiving end of the GNSS module, a group of GNSS signals is received by the receiving end of the GNSS module via the first antenna; The terminal device is positioned using the set of GNSS signals to obtain positioning coordinate information of the GNSS module.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: A second Beidou short message is received through a second antenna, wherein the second antenna and the first antenna are different antennas.

8. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Receiving a pulse number per second signal transmitted by the GNSS module through the Beidou short message module, wherein the pulse number per second signal is used to perform time synchronization between the Beidou short message module and the GNSS module; Time synchronization is performed by the Beidou short message module according to the received pulse number per second signal.

9. The method according to claim 8, characterized in that The method further comprises: When positioning is successful through the GNSS module, the pulse number per second signal is continuously outputted through the GNSS module.

10. The method according to claim 8, characterized in that Before triggering the sending of the Beidou short message, the first antenna is in a receiving state of the GNSS module; The sending the first Beidou short message through the first antenna includes: When the pulse per second signal is detected, control the first antenna to switch to the transmitting state of the Beidou short message module and maintain it for a certain period of time, and send the first Beidou short message through the first antenna; After detecting a successful command to send the first Beidou short message, control the first antenna to switch back to the receiving state of the GNSS module.

11. A terminal device, characterized in that: include: A control component, a global navigation satellite system GNSS module, a Beidou short message module and a first antenna, wherein the receiving end of the GNSS module and the sending end of the Beidou short message module share the first antenna, wherein: The control component is connected to the GNSS module and the Beidou short message module, and is used to control the transmission of the positioning coordinate information of the GNSS module to the Beidou short message module when the Beidou short message is triggered; The GNSS module is used to transmit the positioning coordinate information of the GNSS module to the Beidou short message module in response to the control of the control component; The Beidou short message module is used to generate a Beidou short message carrying the positioning coordinate information of the GNSS module, obtain a first Beidou short message, and send the first Beidou short message through the first antenna, so that the receiving device of the first Beidou short message can perform device positioning based on the positioning coordinate information of the GNSS module carried by the first Beidou short message.

12. The terminal device according to claim 11, characterized in that: The terminal device further includes a switching switch, wherein the first antenna is an antenna shared by a receiving end of the GNSS module and a transmitting end of the Beidou short message module through the switching switch; The control component is also used to control the first antenna to switch to be connected to the sending end of the Beidou short message module through the switching switch, and control the Beidou short message module to send the first Beidou short message via the sending end of the Beidou short message module and the first antenna; after sending the first Beidou short message through the first antenna, control the first antenna to switch back to be connected to the receiving end of the GNSS module through the switching switch, wherein the sending time of the first Beidou short message is less than the time for the GNSS module to recapture the positioning coordinate information.

13. The terminal device according to any one of claims 11 to 12, characterized in that: The terminal device also includes: a crystal, which is external to the chip in which the control component, the GNSS module and the Beidou short message module are integrated.

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