Broadcasting method and device for PPP-RTK product of communication satellite

Abstract

The application discloses a broadcasting method and device of a PPP-RTK product of a communication satellite. The method comprises the following steps: dividing a precise point positioning real-time dynamic positioning PPP-RTK product into multiple levels of service products; dividing a range of an area covered by the communication satellite into multiple levels of area ranges, and determining a broadcasting strategy of a beam based on a beam area corresponding to each level of area range, wherein the service products of different levels are suitable for the area ranges of different levels; and broadcasting the service products of different levels according to the broadcasting strategy. The application solves the technical problem of poor positioning performance under a satellite network caused by low broadcasting accuracy of the PPP-RTK product of the communication satellite in the prior art.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a method and apparatus for broadcasting PPP-RTK products of a communication satellite. Background Art

[0002] User terminals achieve high-precision centimeter-level positioning by receiving enhanced service data generated by the satellite augmentation system. There are two types of enhanced service products: differential correction data products generated based on NRTK technology and PPP-RTK products generated based on PPP-RTK technology. In areas with good coverage of ground mobile communication networks, the satellite augmentation system can establish a two-way connection with users through the ground network, and transmit the enhanced service data of the user's area to the user based on the approximate location uploaded by the user. However, in areas without ground communication network coverage, such as oceans and deserts, considering the impact of satellite communication bandwidth and the limitations of satellite real-time, high-frequency and high-concurrency two-way communication, the enhanced service data products generated by NRTK technology are no longer suitable for broadcasting via satellite communication. PPP-RTK products have become the first choice for satellite-based broadcast navigation augmentation services due to their advantages such as small bandwidth resources and no need for two-way communication.

[0003] Medium and high-orbit communication satellites cover a wide area and can meet the needs of providing large-area augmentation services. Low-orbit satellite communication systems are still in the technical research and development stage, and no mature systems have been put into use. Therefore, the current broadcast of satellite-based PPP-RTK products is achieved through medium and high-orbit satellites. However, due to bandwidth resource limitations, PPP-RTK products broadcast through medium and high-orbit satellites cannot broadcast detailed PPP-RTK atmospheric products. As a result, when users switch between satellite and ground networks, the positioning performance of the satellite network is significantly lower than that of the ground network. Summary of the Invention

[0004] The embodiments of the present application provide a method and apparatus for broadcasting PPP-RTK products of a communication satellite, so as to at least solve the technical problem of poor positioning performance in a satellite network due to the low broadcasting accuracy of PPP-RTK products of a communication satellite in related technologies.

[0005] According to one aspect of an embodiment of the present application, a method for broadcasting PPP-RTK products of a communication satellite is provided, including: dividing precise single-point real-time dynamic positioning PPP-RTK products into multiple levels of service products; dividing the area covered by the communication satellite into multiple levels of regional ranges, and determining a beam broadcasting strategy based on the beam area corresponding to the regional range of each level, wherein service products of different levels are applicable to regional ranges of different levels; and broadcasting service products of different levels according to the broadcasting strategy.

[0006] Optionally, the precise point real-time dynamic positioning PPP-RTK product is divided into multiple levels of service products, including: dividing the PPP-RTK product into multiple levels of service products according to the coverage area of ​​correction number availability, wherein the multiple levels of service products include: a first-level service product applicable to a first-level area range, a second-level service product applicable to a second-level area range, and a third-level service product applicable to a third-level area range, and the coverage area of ​​the first-level area range, the coverage area of ​​the second-level area range, and the coverage area of ​​the third-level area range increase sequentially.

[0007] Optionally, the area range covered by the communication satellite is divided into multiple levels of area ranges, including: determining the rectangular area covered by each beam according to the longitude and latitude of the edge of the area covered by each beam of the communication satellite; dividing the first-level area range into multiple beam areas according to the rectangular area covered by each beam; obtaining the position of the beam center point of each beam; and determining the beams contained in each beam area based on the beam center points contained in each beam area.

[0008] Optionally, the area covered by the communication satellite is divided into multiple levels of area ranges, including: determining the number of grids that each beam can broadcast based on the data volume of each grid and the bandwidth allocated by the third-level service product; determining the area covered by each grid based on the area of ​​each beam area and the number of grids that each beam can broadcast; dividing the second-level area range into multiple grid areas according to the area covered by each grid; and determining the grid area corresponding to each beam area based on the grid area center point contained in each beam area.

[0009] Optionally, the beam broadcasting strategy is determined based on the beam area corresponding to the area range of each level, including: all beams broadcast the first-level service products; the second-level service products within each beam area are broadcast by the beams contained in each beam area; the third-level service products within each grid are broadcast by the beam corresponding to each grid.

[0010] Optionally, the method also includes: obtaining the number of ground reference stations within each beam area, the ground reference stations including: frame stations and encryption stations; when the target beam area does not contain the ground reference stations, determining that the beam within the target beam area only broadcasts first-level service products; when the number of encryption stations within the target beam area is less than the first number, determining that the beam within the target beam area only broadcasts first-level service products and second-level service products; when the number of encryption stations within the target beam area is greater than the second number, determining that the beam within the target beam area broadcasts all levels of service products.

[0011] Optionally, broadcasting different levels of service products according to the broadcast strategy includes: acquiring navigation observation data of multiple types of ground reference stations, the multiple types of ground reference stations including: global framework stations, national framework stations and national encryption stations; generating a data stream of a first-level service product based on the navigation observation data of the global framework station and the national framework station, and generating a data stream of a second-level service product and a third-level service product based on the navigation observation data of the national framework station and the national encryption station; repackaging the generated data streams of the multiple levels of service products according to the satellite broadcast short message protocol to obtain a data packet; and broadcasting the data packet according to the broadcast strategy.

[0012] Optionally, the generated service products of multiple levels are repackaged according to the satellite broadcast short message protocol to obtain a data packet, including: obtaining a data stream of the service product to be processed; if the data frame to be processed in the data stream of the service product to be processed passes the verification, parsing the data frame header of the data frame to be processed, and if the data layer identifier in the data frame header is the first layer, determining that the parsing of the data frame to be processed is completed, repackaging the data frame to be processed, and filling the beam list of the data frame to be processed with the numbers of all beams to obtain the data packet; the data layer identifier in the data frame header When it is the second level, continue to parse out the area identifier, the area identifier is used to indicate the beam area where the data frame to be processed is located, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with multiple beam numbers corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet; when the data level identifier in the data frame header is the third level, continue to parse out the beam identifier, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with the unique beam number corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet.

[0013] Optionally, the data packet is broadcast according to the broadcast strategy, including: when the number of beams in the beam list in the data packet is the agreed total number of beams, the data body in the data packet is broadcast in parallel by all beams; when the number of beams in the beam list in the data packet is not the agreed total number of beams, the data body in the data packet is broadcast in parallel according to the beam number in the beam list.

[0014] According to another aspect of an embodiment of the present application, a broadcasting device for PPP-RTK products of a communication satellite is also provided, including: a division module for dividing the precise single-point real-time dynamic positioning PPP-RTK product into multiple levels of service products; an area module for dividing the area covered by the communication satellite into multiple levels of area ranges, and determining the beam broadcasting strategy based on the beam area corresponding to the area range of each level, wherein service products of different levels are applicable to area ranges of different levels; and a broadcasting module for broadcasting service products of different levels according to the broadcasting strategy.

[0015] According to another aspect of an embodiment of the present application, a communication device is also provided, including: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the broadcasting method of the PPP-RTK product of the above-mentioned communication satellite.

[0016] According to another aspect of an embodiment of the present application, a non-volatile storage medium is also provided, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the broadcasting method of the PPP-RTK product of the above-mentioned communication satellite by running the computer program.

[0017] According to another aspect of the embodiments of the present application, a computer program product is provided, comprising computer instructions, which, when executed by a processor, implement the method for broadcasting the PPP-RTK product of the above-mentioned communication satellite.

[0018] In an embodiment of the present application, the precise single-point real-time dynamic positioning PPP-RTK product is divided into multiple levels of service products; the area covered by the communication satellite is divided into multiple levels of area ranges, and the beam broadcasting strategy is determined based on the beam area corresponding to the area range of each level, wherein service products of different levels are applicable to area ranges of different levels; service products of different levels are broadcast according to the broadcasting strategy, thereby achieving the purpose of fine-grained broadcasting of the PPP-RTK product of the communication satellite, thereby achieving the technical effect of improving the broadcasting accuracy of the PPP-RTK product, and further solving the technical problem of poor positioning performance under the satellite network due to the low broadcasting accuracy of the PPP-RTK product of the communication satellite in the related technology. 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 1This is a hardware structure block diagram of a computer terminal for implementing a method for broadcasting PPP-RTK products of a communication satellite according to an embodiment of the present application;

[0021] Figure 2 This is a flowchart of a method for broadcasting a PPP-RTK product of a communication satellite according to an embodiment of the present application;

[0022] Figure 3 This is a schematic diagram of a data stream generation method for a PPP-RTK product of a communication satellite according to an embodiment of the present application;

[0023] Figure 4 This is a data stream encapsulation flow chart of a PPP-RTK product of a communication satellite according to an embodiment of the present application;

[0024] Figure 5 This is a flow chart of broadcasting a PPP-RTK product of a communication satellite according to an embodiment of the present application;

[0025] Figure 6 is a flowchart of another method for broadcasting PPP-RTK products of a communication satellite according to an embodiment of the present application;

[0026] Figure 7 This is a structural diagram of a broadcasting device for a PPP-RTK product of a communication satellite according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] 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 sequential order. 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 a sequence 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.

[0029] In order to better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0030] PPP-RTK (precise point positioning real-time kinematic): This technology decomposes the error sources that affect satellite navigation precision positioning into independent corrections in state space. Satellite navigation users use observation data from receiving terminal devices and state-space corrections to achieve real-time precise point positioning with rapid ambiguity resolution.

[0031] NRTK (network real-time kinematic positioning) is a technology in which a data processing center processes synchronous observation data from multiple reference stations within a certain range, generates differential data, and broadcasts it over the network. Mobile stations within the area receive satellite signals and differential signals, achieving real-time kinematic positioning (RTK).

[0032] The information collected in the embodiments of the present application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with the relevant laws, regulations and standards of the relevant regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or reject the automated decision results; if the user chooses to reject, the expert decision-making process will be entered.

[0033] In order to solve the problems existing in the related art, the embodiment of the present application provides a method for broadcasting PPP-RTK products of a communication satellite. The method can be run on Figure 1 In the computer terminal shown, the computer terminal is explained below.

[0034] The embodiment of the method for broadcasting the PPP-RTK product of the communication satellite provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 The hardware structure block diagram of a computer terminal for implementing a method for broadcasting PPP-RTK products of a communication satellite is shown. Figure 1As shown, the computer terminal 10 may include one or more (illustrated by 102a, 102b, ..., 102n in the figure) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions connected via a wired and / or wireless network. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0035] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be incorporated in whole or in part into any of the other components of the computer terminal 10. As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0036] Memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the method for broadcasting PPP-RTK products for communication satellites in the embodiments of this application. The processor executes the software programs and modules stored in memory 104 to perform various functional applications and data processing, thereby implementing the method for broadcasting PPP-RTK products for communication satellites. Memory 104 can include high-speed random access memory (RAM) and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 can further include memory remotely located from the processor, which can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0037] The transmission module 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 10. In one embodiment, the transmission module 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission module 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0038] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0039] It should be noted that, in some optional embodiments, the above Figure 1 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0040] In the above-mentioned operating environment, an embodiment of the present application provides an embodiment of a method for broadcasting PPP-RTK products of a communication satellite. 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.

[0041] Figure 2 FIG. 1 is a flow chart of a method for broadcasting a PPP-RTK product of a communication satellite according to an embodiment of the present application. Figure 2 As shown, the method includes the following steps:

[0042] Step S202: Divide the precise point real-time dynamic positioning (PPP-RTK) product into multiple levels of service products.

[0043] In step S202, PPP-RTK products can be divided into three levels of service products according to the coverage area. The first-level products are applicable to the global area, the second-level products are applicable to the national area, and the third-level products are applicable to the local area within the national area. According to the maximum broadcast volume, the single-beam bandwidth of the broadcast data of the three levels of products is calculated.

[0044] Step S204: Divide the area covered by the communication satellite into multiple levels of area, and determine a beam broadcasting strategy based on the beam area corresponding to each level of area, wherein service products of different levels are applicable to different levels of area;

[0045] In step S204, the broadcasting strategy includes at least: the service product level that each beam of the communication satellite can broadcast.

[0046] Step S206: broadcast service products of different levels according to the broadcast strategy.

[0047] It should be noted that the communication satellite in the embodiment of the present application is a spot beam satellite in a medium or high orbit.

[0048] Through steps S202 to S206, the precise point real-time dynamic positioning (PPP-RTK) products are divided into multiple levels of service products; the area covered by the communication satellite is divided into multiple levels of regional ranges; and a beam broadcast strategy is determined based on the beam area corresponding to each level of regional range, wherein different levels of service products are applicable to different levels of regional ranges; and the service products of different levels are broadcast according to the broadcast strategy, thereby achieving the purpose of fine-tuning the broadcast of the communication satellite's PPP-RTK products, thereby achieving the technical effect of improving the broadcast accuracy of the PPP-RTK products, and thus solving the technical problem of poor positioning performance in the satellite network due to the low broadcast accuracy of the PPP-RTK products of the communication satellite in the related art. Detailed description is given below.

[0049] In the technical solution provided in step S204 of the broadcasting method of the PPP-RTK product of the above-mentioned communication satellite, the specific steps of dividing the precise single-point real-time dynamic positioning PPP-RTK product into multiple levels of service products are as follows: dividing the PPP-RTK product into multiple levels of service products according to the coverage area of ​​the correction number availability, wherein the multiple levels of service products include: a first-level service product applicable to a first-level area range, a second-level service product applicable to a second-level area range, and a third-level service product applicable to a third-level area range, and the coverage area of ​​the first-level area range, the coverage area of ​​the second-level area range, and the coverage area of ​​the third-level area range increase successively.

[0050] It can be understood that the first-level regional scope may be a global regional scope, the second-level regional scope may be a national regional scope, and the third-level regional scope may be a local region (target region) scope within a country.

[0051] It should be noted that the first-tier products include satellite precise orbit correction products, satellite precise clock correction products, satellite code bias products, and satellite phase bias products. The second-tier products include wide-area ionospheric delay model coefficient products, wide-area tropospheric delay model coefficient products, local ionospheric delay model coefficient products, and local tropospheric delay model coefficient products. The third-tier products include local ionospheric delay grid residual products and local tropospheric delay grid residual products. The bandwidth required for broadcasting the first-tier products is X1 (kbps), the bandwidth required for broadcasting the second-tier products is X2 (kbps), and the bandwidth required for broadcasting the third-tier products is X3 (kbps). Therefore, the single-beam bandwidth required for satellite broadcast of PPP-RTK products is X = X1 + X2 + X3.

[0052] In some embodiments of the present application, the specific method of dividing the area range covered by the communication satellite into multiple levels of area ranges is: according to the longitude and latitude of the edge of the area covered by each beam of the communication satellite, determine the rectangular area covered by each beam; divide the first-level area range into multiple beam areas according to the rectangular area covered by each beam; obtain the position of the beam center point of each beam; and determine the beams contained in each beam area based on the beam center point contained in each beam area.

[0053] It should be noted that the area covered by the communication satellite can be a global area (first-level area).

[0054] Taking the area covered by the communication satellite as an example, which is divided into Q1-Qn areas, the beam number contained in the rectangular area can be determined according to the position of the beam center point. The satellite beams are numbered B1-Bn, forming a corresponding relationship between the area and the satellite beam, as shown in Table 1.

[0055] Table 1

[0056] Area Number Corresponding beam number Q1 B1,B2,B3 Q2 B4,B5,B6,B7 …… …… Qn Bn-2,Bn-1,Bn

[0057] The method of dividing the area covered by the communication satellite into multiple levels of area ranges is as follows: determine the number of grids that each beam can broadcast based on the data volume of each grid and the bandwidth allocated by the third-level service product; determine the area covered by each grid based on the area of ​​each beam area and the number of grids that each beam can broadcast; divide the second-level area range into multiple grid areas according to the area covered by each grid; and determine the grid area corresponding to each beam area based on the grid area center point contained in each beam area.

[0058] Taking the division of a country into multiple grid areas (third-level areas) as an example, the data volume Y for a single grid point is calculated based on the grid point data encoding protocol. Given that the bandwidth allocated for a single-beam third-level product is X3, the number of grid points that can be broadcast using a single beam can be calculated as n = X3 / Y. Given that the maximum coverage area of ​​a single satellite beam is S, the grid area can be designed as S1 = S / n = S*Y / X3. Based on this grid area, the country is evenly divided into a number of grid points, which are fixedly numbered G1-Gn.

[0059] Optionally, map the correspondence between a single beam and a grid area. After the grid area is divided, determine the longitude and latitude coordinates of the center point of each grid (grid area). Knowing the specific coverage range of each satellite beam, determine the correspondence between each grid center point and the beam. Generally speaking, a single beam will correspond to several grid center points. In the area where beam coverage overlaps, one grid point may correspond to multiple beams. The beam coverage area is actually a relative concept, that is, the area within the illumination range of the satellite antenna beam where the equivalent isotropic radiated power reaches a certain required value. The beam shape and coverage range may be affected by antenna design, frequency, transmission power and other factors. When making the correspondence between a single beam and a grid, redundant design is required. When the grid division area remains unchanged, the number of grids under the single beam should be appropriately increased, and redundant coverage of the beam intersection edges should be designed. Table 2 is a schematic table of the correspondence between beams and grids.

[0060] Table 2

[0061] Beam number Corresponding grid number B1 G1, G2, G3, …, G30 B2 G25, G26, G27,…, G59 …… …… Bn Gn-30, Gn-29, Gn-28,…, Gn

[0062] In some embodiments of the present application, the specific process of determining the beam broadcasting strategy based on the beam area corresponding to the area range of each level is as follows: all beams broadcast the first-level service products; the second-level service products within each beam area are broadcast by the beams contained in each beam area; the third-level service products within each grid are broadcast by the beam corresponding to each grid.

[0063] For example, since the satellite has multi-beam cross-coverage, to conserve bandwidth resources, the broadcast content of each beam in each area is designed according to different broadcast product levels. This effectively utilizes the bandwidth resources of all beams and broadcasts detailed PPP-RTK atmospheric products. The design concept for the correspondence between product broadcast levels and beams is as follows: First-level products are broadcast indiscriminately across all Tiantong beams. Second-level products are generated based on the regional division rules of each beam. According to the correspondence between beam areas and beams, beams within the same area only broadcast the second-level products generated in that area. Third-level products are generated based on the grid area division rules, and each beam only broadcasts the corresponding third-level products within its coverage area. If there are no national framework stations or encryption stations within a certain area, the beams in that area will only broadcast first-level products. If there are more than the first number of national framework stations but fewer than the second number of national encryption stations within a certain area, the beams in that area will only broadcast second-level products. If there are more than the second number of national encryption stations within a certain area, the beams in that area can broadcast all levels of products. It is understandable that the global framework station and the national framework station cover different areas. The global framework station is used to cover the entire world, and the national framework station is used to cover any country area. The correspondence between the beam area and the product level is shown in Table 3.

[0064] Table 3

[0065] Area Number Beam number Broadcast product level Q1 B1,B2,B3 First level Q2 B4,B5,B6,B7 First and second levels …… …… …… Qn Bn-2,Bn-1,Bn First, second and third levels

[0066] Specifically, the number of ground reference stations in each beam area is obtained, and the ground reference stations include: frame stations and encryption stations; when the target beam area does not contain the ground reference stations, it is determined that the beam in the target beam area only broadcasts the first-level service products; when the number of encryption stations in the target beam area is less than the first number, it is determined that the beam in the target beam area only broadcasts the first-level service products and the second-level service products; when the number of encryption stations in the target beam area is greater than the second number, it is determined that the beam in the target beam area broadcasts all levels of service products.

[0067] The specific method of broadcasting different levels of service products according to the broadcast strategy is as follows: obtain navigation observation data of multiple types of ground reference stations, and the multiple types of ground reference stations include: global frame stations, national frame stations and national encryption stations; generate the data stream of the first level of service products based on the navigation observation data of the global frame stations and the national frame stations, and generate the data stream of the second level of service products and the third level of service products based on the navigation observation data of the national frame stations and the national encryption stations; repackage the data streams of the generated multiple levels of service products according to the satellite broadcast short message protocol to obtain data packets; broadcast the data packets according to the broadcast strategy. Figure 3 As shown, satellite navigation observation data from global framework stations, national framework stations, and national encryption stations are acquired in real time. Global framework stations and national framework stations are used to generate the first-level PPP-RTK product data stream, while national framework stations and national encryption stations are used to generate the second and third-level PPP-RTK product data streams.

[0068] Based on regional division rules, independent parallel data processing is performed on domestic encrypted stations within each region, generating a set of second- and third-level PPP-RTK products for each region, distinguished by regional identifiers. Furthermore, based on the grid division rules within each region, third-level PPP-RTK products for all grids within the region are distinguished by beam identifiers. Based on the data product level, the region to which the data product belongs, and the range of the single-beam grid within the region, PPP-RTK regional beam-graded products are generated in real time, including the data level identifier, region identifier, and beam identifier. Satellite precise orbit correction products, satellite precise clock correction products, satellite code bias products, and satellite phase bias products only contain data layer identifiers and are broadcast in all beams by default; wide-area ionospheric delay model coefficient products, wide-area tropospheric delay model coefficient products, local ionospheric delay model coefficient products, and local tropospheric delay model coefficient products contain data layer identifiers and region identifiers and are broadcast in all beams within the specified region; local ionospheric delay grid residual products and local tropospheric delay grid residual products contain data layer identifiers and beam identifiers and are broadcast only in the specified beam.

[0069] Furthermore, wide-area atmospheric products and local atmospheric products adopt the principle of flexible and mutually exclusive broadcasting. Wide-area atmospheric products within a national region are generated by atmospheric modeling using data from domestic framework stations within the national region. After the national region is divided into several smaller regions, local atmospheric products within a given region are generated by atmospheric modeling using data from encrypted stations within that region. When broadcasting second- and third-level data products within a given region, a regional beam must first determine whether the atmospheric product being broadcasted is a wide-area atmospheric product or a local atmospheric product; both cannot be broadcast simultaneously. When a region has sufficient densely populated reference stations to generate local atmospheric products, it is considered capable of distributing these products. The second- and third-level products disseminated by beams within this region are the local ionospheric delay model coefficient product, the local tropospheric delay model coefficient product, the local ionospheric delay grid residual product, and the local tropospheric delay grid residual product. Conversely, when a region has too few reference stations to generate local products through atmospheric modeling, it is considered incapable of distributing these products and should instead distribute wide-area atmospheric products. The second-level products disseminated by beams within this region are the wide-area ionospheric delay model coefficient product and the wide-area tropospheric delay model coefficient product. The types of atmospheric products disseminated by regional beams can be flexibly adjusted based on the actual station density. This means that a region previously lacking the capability to broadcast local atmospheric products can, after station adjustment, become capable of distributing these products and can switch from wide-area atmospheric products to local atmospheric products in real time, and vice versa. This broadcast principle ensures the provision of wide-area, seamless, real-time, and high-precision PPP-RTK positioning services within the satellite coverage area.

[0070] After generating multiple levels of service products, the generated multiple levels of service products are repackaged according to the satellite broadcast short message protocol to obtain data packets, for example: obtaining the data stream of the service product to be processed; if the data frame to be processed in the data stream of the service product to be processed passes the verification, parsing the data frame header of the data frame to be processed, and if the data level identifier in the data frame header is the first level, determining that the parsing of the data frame to be processed is completed, repackaging the data frame to be processed, and filling the beam list of the data frame to be processed with the numbers of all beams to obtain the data packet; the number in the data frame header When the data level identifier is the second level, continue to parse out the area identifier, the area identifier is used to represent the beam area where the data frame to be processed is located, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with multiple beam numbers corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet; when the data level identifier in the data frame header is the third level, continue to parse out the beam identifier, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with the unique beam number corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet.

[0071] Optionally, the data service gateway encapsulates the PPP-RTK product using the satellite broadcast short message protocol. The data stream of the PPP-RTK regional beam hierarchical product is unpacked to obtain the data level identifier, regional identifier, and beam identifier of each product. The data is then repacked according to the satellite broadcast short message protocol. The beam broadcast channel for each data type is configured in detail to form a broadcast beam list for the corresponding data. All beams in the list broadcast the data body content in the data packet. The data broadcast beam list is generated by matching the product's data level identifier, regional identifier, and beam identifier with the beam correspondence table. The data body maintains the format of the PPP-RTK regional beam hierarchical product protocol, thereby realizing the satellite's regional beam hierarchical broadcast function for PPP-RTK products.

[0072] like Figure 4As shown, the data service gateway receives a set of PPP-RTK product data streams, which contains several PPP-RTK product data frames of the first, second and third levels. The service gateway performs CRC check on each data frame, and parses the data frame header after the check passes to determine the data layer identifier of the data frame. When the layer identifier of the data frame is the first layer, the data frame parsing is completed, and the data frame is re-encapsulated as a satellite broadcast short message protocol, and the beam list is filled with the numbers of all beams; when the layer identifier of the data frame is the second layer, the area identifier is continued to be parsed, and the data frame parsing is completed. According to the correspondence table between the area and the beam, all beam numbers corresponding to the area identifier are found and filled into the beam list of the data frame. In the middle; when the layer identifier of the data frame is the third layer, continue to parse out the beam identifier, which corresponds to only one beam number, and fill the unique beam number into the beam list; further, when the layer identifier of the data frame is the first layer, the beam list must contain the numbers of all beams, which causes the data packet of the data frame to be too long after being re-encapsulated, and the running time of traversing the beam list to obtain beam information will also increase. Therefore, in order to save data space and speed up beam retrieval, the identifier of the number of beams is added to the satellite broadcast short message protocol. When the layer identifier of the parsed data frame is the first layer, that is, the number of beams is equal to the number of all beams, the beam list can be defaulted, and the beam list cannot be defaulted for data frames with other layer identifiers.

[0073] Specifically, the data packet is broadcast according to the broadcast strategy: when the number of beams in the beam list in the data packet is the agreed total number of beams, the data body in the data packet is broadcast in parallel by all beams; when the number of beams in the beam list in the data packet is not the agreed total number of beams, the data body in the data packet is broadcast in parallel according to the beam number in the beam list.

[0074] like Figure 5 As shown, the received data packet is parsed according to the satellite broadcast short message protocol to determine the number of beams. When the number of beams is equal to the number of all beams, all beams are broadcast in parallel by default. When the number of beams is not equal to the number of all beams, the data broadcast beam list is further traversed, and the data body in the data packet is sent in parallel to the corresponding baseband RF processing unit according to the beam number in the beam list. The digital signal is converted into a RF signal and injected into the satellite, and then broadcast through beams at different points of the satellite.

[0075] Figure 6 Another method for broadcasting PPP-RTK products of communication satellites is shown. Figure 6As shown, it includes: Step 1, dividing the PPP-RTK product broadcast level. PPP-RTK products are divided into three levels according to the coverage area of ​​the correction number availability. The first-level products are applicable to the global area, the second-level products are applicable to the national area, and the third-level products are applicable to the local area within the national area. According to the maximum broadcast volume, the single-beam bandwidth of the broadcast data of the three levels of products is calculated. Step 2, dividing the satellite coverage area into regional beams. Obtain the coverage area of ​​all satellite beams, determine the rectangular coverage area based on the longitude and latitude of the beam coverage edge, fix the rectangular area, and determine the beam number contained in the rectangular area based on the position of the beam center point to form a regional beam correspondence table. Step 3, calculate the number of grid points that can be broadcast by the Tiantong beam and divide the national regional grid. Based on the maximum number of grid points that can be broadcast by a single beam, determine the grid area size, divide the national area into grids according to the fixed grid size, and fix the grid numbers. Step 4, map the correspondence between single beams and grid points. After the grid is divided according to step 3, the latitude and longitude coordinates of each grid center point are determined, and the correspondence between each grid center point and the beam is determined. Generally speaking, a single beam will correspond to several grid center points. In areas where beam coverage overlaps, a grid point may correspond to multiple beams. The grid point numbers under a single beam are matched according to certain rules to form a single beam grid point relationship table. Step 5: Map the correspondence between product broadcast levels and beam areas. Since the satellite has multi-beam cross-coverage, to save bandwidth resources, the broadcast content of the beam in each area is designed according to different broadcast product levels. This can effectively utilize the bandwidth resources of all beams and broadcast detailed PPP-RTK atmospheric products. Step 6: PPP-RTK regional beam-level product data streams are generated in real time. Based on the data product level, the area to which the data product belongs, and the single-beam grid range within the area, PPP-RTK regional beam-graded products containing data level identifiers, regional identifiers, and beam identifiers are generated in real time. Satellite navigation observation data from global framework stations, domestic framework stations, and domestic encryption stations are obtained in real time. Global framework stations and domestic framework stations are used to generate the first-level PPP-RTK product data stream, while domestic framework stations and domestic encryption stations are used to generate the second and third-level PPP-RTK product data streams. Step 7: The data service gateway encapsulates the PPP-RTK product using the satellite broadcast short message protocol. The PPP-RTK regional beam-graded product data stream is unpacked to obtain the data level identifier, regional identifier, and beam identifier for each product, and then repacked according to the satellite broadcast short message protocol. The data service gateway receives a set of PPP-RTK product data streams, which contain several PPP-RTK product data frames at the first, second, and third levels. The service gateway performs a CRC check on each data frame. If the check passes, it parses the data frame header to determine the data layer identifier, region identifier, and beam identifier of the data frame, and repackages the data frame into a satellite broadcast short message. Step 8: The data is uploaded and broadcast.The received data packet is parsed according to the satellite broadcast short message protocol to determine the number of beams. When the number of beams is equal to the total number of beams, all beams are broadcast in parallel by default. When the number of beams is not equal to the total number of beams, the data broadcast beam list is further traversed, and the data body in the data packet is sent in parallel to the corresponding baseband RF processing unit according to the beam number in the beam list. The digital signal is converted into a RF signal and injected into the satellite, and broadcast through beams at different points of the satellite.

[0076] Figure 7 A device for broadcasting a PPP-RTK product of a communication satellite according to an embodiment of the present application includes:

[0077] A division module 70 is used to divide the precise point real-time dynamic positioning PPP-RTK product into multiple levels of service products;

[0078] The regional module 72 is configured to divide the area covered by the communication satellite into multiple levels of regional ranges and determine a beam broadcasting strategy based on the beam area corresponding to each level of regional range, wherein service products of different levels are applicable to different levels of regional ranges;

[0079] The broadcast module 74 broadcasts service products of different levels according to the broadcast strategy.

[0080] Through the broadcasting device of the PPP-RTK product of the above-mentioned communication satellite, the precise single-point real-time dynamic positioning PPP-RTK product is divided into multiple levels of service products; the area covered by the communication satellite is divided into multiple levels of area ranges, and the beam broadcasting strategy is determined based on the beam area corresponding to the area range of each level, wherein service products of different levels are suitable for area ranges of different levels; service products of different levels are broadcast according to the broadcasting strategy, thereby achieving the purpose of fine-grained broadcasting of the PPP-RTK product of the communication satellite, thereby achieving the technical effect of improving the broadcasting accuracy of the PPP-RTK product, and then solving the technical problem of poor positioning performance under the satellite network due to the low broadcasting accuracy of the PPP-RTK product of the communication satellite in the related technology.

[0081] The division module 70 includes: a division submodule, which is used to divide the precise single-point real-time dynamic positioning PPP-RTK product into multiple levels of service products, including: dividing the PPP-RTK product into multiple levels of service products according to the coverage area of ​​the correction number availability, wherein the multiple levels of service products include: a first-level service product applicable to a first-level area range, a second-level service product applicable to a second-level area range, and a third-level service product applicable to a third-level area range, and the coverage area of ​​the first-level area range, the coverage area of ​​the second-level area range, and the coverage area of ​​the third-level area range increase in sequence.

[0082] The division submodule includes: a division unit, which is used to divide the area range covered by the communication satellite into multiple levels of area ranges, including: determining the rectangular area covered by each beam according to the longitude and latitude of the edge of the area covered by each beam of the communication satellite; dividing the first-level area range into multiple beam areas according to the rectangular area covered by each beam; obtaining the position of the beam center point of each beam; and determining the beams contained in each beam area based on the beam center point contained in each beam area.

[0083] The division unit includes: a division subunit, which is used to divide the area covered by the communication satellite into multiple levels of area ranges, including: determining the number of grids that each beam can broadcast according to the data volume of each grid and the bandwidth allocated by the third-level service product; determining the area covered by each grid according to the area of ​​each beam area and the number of grids that each beam can broadcast; dividing the second-level area range into multiple grid areas according to the area covered by each grid; and determining the grid area corresponding to each beam area according to the grid area center point contained in each beam area.

[0084] The broadcast module 74 includes: a strategy submodule, which is used to determine the beam broadcast strategy based on the beam area corresponding to the area range of each level, including: all beams broadcast the first-level service products; the second-level service products in each beam area are broadcast by the beams contained in each beam area; the third-level service products in each grid are broadcast by the beam corresponding to each grid.

[0085] The strategy submodule also includes: a strategy unit, which is used to obtain the number of ground reference stations in each beam area, and the ground reference stations include: frame stations and encryption stations; when the target beam area does not contain the ground reference stations, it is determined that the beam in the target beam area only broadcasts the first-level service products; when the number of encryption stations in the target beam area is less than the first number, it is determined that the beam in the target beam area only broadcasts the first-level service products and the second-level service products; when the number of encryption stations in the target beam area is greater than the second number, it is determined that the beam in the target beam area broadcasts all levels of service products.

[0086] The broadcast module 74 also includes: a broadcast submodule, which is used to broadcast different levels of service products according to the broadcast strategy, including: obtaining navigation observation data of multiple types of ground reference stations, the multiple types of ground reference stations including: global framework stations, national framework stations and national encryption stations; generating a data stream of a first-level service product based on the navigation observation data of the global framework station and the national framework station, and generating a data stream of a second-level service product and a third-level service product based on the navigation observation data of the national framework station and the national encryption station; repackaging the generated data streams of the multiple levels of service products according to the satellite broadcast short message protocol to obtain a data packet; and broadcasting the data packet according to the broadcast strategy.

[0087] The broadcast submodule includes: a broadcast unit, which is used to re-encapsulate the generated multiple-level service products according to the satellite broadcast short message protocol to obtain a data packet, including: obtaining the data stream of the service product to be processed; if the data frame to be processed in the data stream of the service product to be processed passes the verification, parsing the data frame header of the data frame to be processed, and if the data level identifier in the data frame header is the first level, determining that the parsing of the data frame to be processed is completed, re-encapsulating the data frame to be processed, and filling the beam list of the data frame to be processed with the numbers of all beams to obtain the data packet; When the data layer identifier is the second layer, continue to parse out the area identifier, the area identifier is used to indicate the beam area where the data frame to be processed is located, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with multiple beam numbers corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet; when the data layer identifier in the data frame header is the third layer, continue to parse out the beam identifier, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with the unique beam number corresponding to the beam area where the data frame to be processed is located, so as to obtain the data packet.

[0088] The broadcast unit includes: a broadcast sub-unit, which is used to broadcast the data packet according to the broadcast strategy, including: when the number of beams in the beam list in the data packet is the agreed total number of beams, the data body in the data packet is broadcast in parallel by all beams; when the number of beams in the beam list in the data packet is not the agreed total number of beams, the data body in the data packet is broadcast in parallel according to the beam number in the beam list.

[0089] It should be noted that Figure 7 The device for broadcasting PPP-RTK products of the communication satellite shown is used to perform Figure 2 The broadcasting method of the PPP-RTK product of the communication satellite shown in the figure, therefore the relevant explanations in the broadcasting method of the PPP-RTK product of the communication satellite mentioned above are also applicable to the broadcasting device of the PPP-RTK product of the communication satellite, and will not be repeated here.

[0090] An embodiment of the present application also provides a communication device, including: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the broadcasting method of the PPP-RTK product of the above-mentioned communication satellite.

[0091] An embodiment of the present application also provides a non-volatile storage medium, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the broadcasting method of the PPP-RTK product of the above-mentioned communication satellite by running the computer program.

[0092] An embodiment of the present application also provides a computer program product, including computer instructions, which, when executed by a processor, implement the steps of the method for broadcasting PPP-RTK products of a communication satellite in the present application.

[0093] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0094] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0095] 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 exemplary. For example, the division of units can be a logical function division. In actual implementation, there may be other division methods, such as 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.

[0096] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected to achieve the purpose of the present embodiment according to actual needs.

[0097] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0098] 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 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, and the computer software product is stored in a storage medium, including a number of instructions for enabling a communication device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0099] The above is only a preferred embodiment 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 broadcasting PPP-RTK products of a communication satellite, characterized in that: include: Divide the precise point real-time dynamic positioning (PPP-RTK) products into multiple levels of service products; The area covered by the communication satellite is divided into multiple levels of area, and the beam broadcasting strategy is determined based on the beam area corresponding to each level of area, wherein service products of different levels are applicable to different levels of area; Different levels of service products are broadcast according to the broadcast strategy, and precise single-point real-time dynamic positioning PPP-RTK products are divided into multiple levels of service products, including: dividing the PPP-RTK products into multiple levels of service products according to the coverage area of ​​correction number availability, wherein the multiple levels of service products include: first-level service products applicable to the first-level area range, second-level service products applicable to the second-level area range and third-level service products applicable to the third-level area range, the coverage area of ​​the first-level area range, the coverage area of ​​the second-level area range and the coverage area of ​​the third-level area range increase in sequence, and the beam broadcast strategy is determined based on the beam area corresponding to each level of the area range, including: all beams broadcast the first-level service product; the second-level service product in each beam area is broadcasted. The first-level service products are broadcast by the beams contained in each beam area; the third-level service products in each grid are broadcast by the beams corresponding to each grid, and the service products of different levels are broadcast according to the broadcasting strategy, including: obtaining navigation observation data of multiple types of ground reference stations, and the multiple types of ground reference stations include: global framework stations, national framework stations and national encryption stations; generating a data stream of the first-level service products according to the navigation observation data of the global framework stations and the national framework stations, and generating a data stream of the second-level service products and the third-level service products according to the navigation observation data of the national framework stations and the national encryption stations; repackaging the data streams of the generated multiple levels of service products according to the satellite broadcast short message protocol to obtain data packets; and broadcasting the data packets according to the broadcasting strategy.

2. The method according to claim 1, characterized in that The area covered by the communication satellite is divided into multiple levels of area, including: Determining a rectangular area covered by each beam of the communication satellite according to the latitude and longitude of an edge of an area covered by each beam of the communication satellite; Dividing the first-level area range into a plurality of beam areas according to the rectangular area covered by each beam; Obtaining the position of the beam center point of each beam; The beams included in each beam area are determined according to the beam center points included in each beam area.

3. The method according to claim 1, characterized in that The area covered by the communication satellite is divided into multiple levels of area, including: Determine the number of grids that each beam can broadcast based on the data volume of each grid and the bandwidth allocated to the third-level service product; Determining the area covered by each grid according to the area of ​​each beam region and the number of grids that can be broadcast by each beam; Dividing the second-level area range into a plurality of grid areas according to the area covered by each grid; The grid area corresponding to each beam area is determined according to the grid area center point contained in each beam area.

4. The method according to claim 1, wherein The method further comprises: Obtaining the number of ground reference stations within each beam area, wherein the ground reference stations include: framework stations and encryption stations; In a case where the target beam area does not contain the ground reference site, determining that the beam within the target beam area only broadcasts the first-level service product; When the number of encryption stations in the target beam area is less than the first number, determining that the beam in the target beam area broadcasts only the first-tier service product and the second-tier service product; When the number of encryption stations in the target beam area is greater than the second number, it is determined that the beams in the target beam area broadcast service products of all levels.

5. The method according to claim 1, wherein The generated multi-level service products are repackaged according to the satellite broadcast short message protocol to obtain data packets, including: Get the data stream of the service product to be processed; If the data frame to be processed in the data stream of the service product to be processed passes verification, parsing the data frame header of the data frame to be processed, and if the data layer identifier in the data frame header is the first layer, determining that the parsing of the data frame to be processed is complete, re-encapsulating the data frame to be processed, and filling the beam list of the data frame to be processed with the numbers of all beams to obtain the data packet; When the data level identifier in the data frame header is the second level, further parsing to obtain a region identifier, the region identifier being used to indicate the beam region in which the data frame to be processed is located, repackaging the data frame to be processed, and filling the beam list of the data frame to be processed with a plurality of beam numbers corresponding to the beam region in which the data frame to be processed is located, to obtain the data packet; When the data layer identifier in the data frame header is the third layer, continue to parse out the beam identifier, re-encapsulate the data frame to be processed, and fill the beam list of the data frame to be processed with the unique beam number corresponding to the beam area where the data frame to be processed is located to obtain the data packet.

6. The method according to claim 5, characterized in that Advertise the data packet according to the advertisement policy, including: When the number of beams in the beam list in the data packet is the agreed total number of beams, broadcasting the data body in the data packet in parallel by all beams; When the number of beams in the beam list in the data packet is not the total number of agreed beams, the data bodies in the data packet are broadcasted in parallel according to the beam numbers in the beam list.

7. A device for broadcasting PPP-RTK products of a communication satellite, characterized in that: include: A division module is used to divide the precise single-point real-time dynamic positioning PPP-RTK product into multiple levels of service products; A regional module is used to divide the area covered by the communication satellite into multiple levels of regional ranges and determine the beam broadcast strategy based on the beam area corresponding to the regional range of each level. Different levels of service products are applicable to different levels of regional ranges; A broadcast module broadcasts different levels of service products according to the broadcast strategy, and divides the precise single-point real-time dynamic positioning PPP-RTK product into multiple levels of service products, including: dividing the PPP-RTK product into multiple levels of service products according to the coverage area of ​​the correction number availability, wherein the multiple levels of service products include: a first-level service product applicable to a first-level area range, a second-level service product applicable to a second-level area range, and a third-level service product applicable to a third-level area range, the coverage area of ​​the first-level area range, the coverage area of ​​the second-level area range, and the coverage area of ​​the third-level area range increase in sequence, and the beam broadcast strategy is determined based on the beam area corresponding to the area range of each level, including: all beams broadcast the first-level service product; within each beam area, the coverage area of ​​the first-level area range is increased. The second-level service products are broadcast by the beams contained in each beam area; the third-level service products in each grid are broadcast by the beams corresponding to each grid, and different levels of service products are broadcast according to the broadcast strategy, including: obtaining navigation observation data of multiple types of ground reference stations, and the multiple types of ground reference stations include: global framework stations, national framework stations and national encryption stations; generating a data stream of the first-level service products based on the navigation observation data of the global framework stations and the national framework stations, and generating a data stream of the second-level service products and the third-level service products based on the navigation observation data of the national framework stations and the national encryption stations; repackaging the generated data streams of the multiple levels of service products according to the satellite broadcast short message protocol to obtain data packets; and broadcasting the data packets according to the broadcast strategy.

8. A communication device, characterized in that: include: A memory and a processor, wherein the memory is used to store program instructions; The processor is connected to the memory and is used to execute the broadcasting method of the PPP-RTK product of the communication satellite as described in any one of claims 1-6.

9. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the method for broadcasting the PPP-RTK product of the communication satellite described in any one of claims 1 to 6 is implemented.

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