Integrated positioning navigation time service information processing method, system and server

Abstract

The invention provides a comprehensive positioning navigation time service information processing method, a comprehensive positioning navigation time service information processing system and a server, and relates to the field of positioning information processing. A positioning navigation time service process is comprehensively processed by using an inertial measurement signal, a satellite navigation signal and a communication navigation fusion signal of a positioning terminal, and a specific positioning information processing flow can be realized aiming at different scenes, so that a standardized solution capable of meeting maximum generality requirements is formed; the problems of single use scene and poor universality in the positioning navigation time service process in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning information processing, and in particular to a comprehensive positioning, navigation and timing information processing method, system and server. Background Art

[0002] Today's society is highly dependent on accurate and reliable positioning, navigation and timing information. The positioning information processing process involves many scenarios such as open spaces and indoor shielded spaces. Positioning terminals in different scenarios need to rely on specific positioning equipment and positioning methods to process the positioning information, so as to realize positioning, navigation and timing processing of the positioning terminal for specific scenarios. Therefore, there are still limitations in the applicability of multi-scenario positioning.

[0003] It can be seen that in the process of positioning, navigating and timing the positioning terminal, the prior art still has the problems of single usage scenario and poor versatility. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a comprehensive positioning, navigation and timing information processing method, system and server. The method makes full use of the inertial measurement signal, satellite navigation signal and communication navigation fusion signal of the positioning terminal. By comprehensively processing the positioning, navigation and timing process, it can implement specific positioning information processing procedures for different scenarios, thereby forming a standardized solution that can meet the greatest common needs. It has the advantages of easy acquisition, low cost and strong universality, and solves the problems of single usage scenario, poor versatility and high cost in the process of positioning, navigation and timing in the prior art.

[0005] In a first aspect, an embodiment of the present invention provides a method for processing integrated positioning, navigation and timing information, the method comprising:

[0006] Acquire an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal corresponding to the positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal;

[0007] Determining whether the positioning terminal meets the first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, determining the positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal and the satellite navigation signal;

[0008] If the positioning terminal does not meet the first position condition, determine whether the positioning terminal meets the second position condition based on the satellite navigation signal; if the positioning terminal meets the second position condition, determine the positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal;

[0009] If the positioning terminal does not meet the second position condition, it is determined whether the positioning terminal meets the third position condition based on the satellite navigation signal; if the positioning terminal meets the third position condition, the inertial measurement signal and the communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal.

[0010] In one implementation, determining whether the positioning terminal meets the first position condition based on the satellite navigation signal includes:

[0011] Determine the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0012] Obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to the first position condition;

[0013] Based on a first numerical relationship between the number of visible navigation satellites and a threshold value of the number of visible navigation satellites, a second numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, and a third numerical relationship between the pseudorange residual value and the pseudorange residual threshold, it is determined whether the positioning terminal meets the first position condition; wherein the first position condition is used to determine whether the positioning terminal is in an open space.

[0014] In one implementation, determining positioning information and timing information corresponding to a positioning terminal using an inertial measurement signal and a satellite navigation signal includes:

[0015] Obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0016] Obtaining a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and using the navigation signal to determine the navigation positioning data corresponding to the positioning terminal;

[0017] Based on the inertial measurement data and navigation positioning data, the positioning information and timing information corresponding to the positioning terminal are determined.

[0018] In one implementation, determining whether the positioning terminal meets the second position condition based on the satellite navigation signal includes:

[0019] Determine the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0020] Obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to the second position condition;

[0021] Based on the fourth numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the fifth numerical relationship between the navigation signal signal-to-noise ratio and the threshold value of the navigation signal signal-to-noise ratio, and the sixth numerical relationship between the pseudorange residual value and the pseudorange residual threshold value, it is determined whether the positioning terminal meets the second position condition; wherein the second position condition is used to determine whether the positioning terminal is in a semi-shielded space.

[0022] In one implementation, determining positioning information and timing information corresponding to a positioning terminal using an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal includes:

[0023] Obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0024] Obtaining a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and using the navigation signal to determine the navigation positioning data corresponding to the positioning terminal;

[0025] Obtaining the navigation fusion communication signal corresponding to the positioning terminal in the communication navigation fusion signal, and using the navigation fusion communication signal to update the navigation positioning data;

[0026] Based on the inertial measurement data and navigation positioning data, the positioning information and timing information corresponding to the positioning terminal are determined.

[0027] In one implementation, determining whether the positioning terminal meets the third position condition based on the satellite navigation signal includes:

[0028] Determine the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0029] Obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to a third position condition;

[0030] Based on the seventh numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the eighth numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, and the ninth numerical relationship between the pseudorange residual value and the pseudorange residual threshold, it is determined whether the positioning terminal meets the third position condition; wherein the third position condition is used to determine whether the positioning terminal is in a fully shielded space.

[0031] In one implementation, determining positioning information and timing information corresponding to a positioning terminal using an inertial measurement signal and a communication navigation fusion signal includes:

[0032] Obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0033] Obtaining the base station communication signal corresponding to the positioning terminal in the communication and navigation fusion signal, and using the base station communication signal to determine the navigation positioning data corresponding to the positioning terminal;

[0034] Based on the inertial measurement data and navigation positioning data, the positioning information and timing information corresponding to the positioning terminal are determined.

[0035] In one implementation, obtaining an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal corresponding to a positioning terminal includes:

[0036] Determine the inertial measurement signal, the barometer signal, and the magnetometer signal based on the gyroscope signal, the accelerometer signal, and the clock signal in the positioning terminal;

[0037] Acquire the satellite navigation signal generated when the positioning terminal and the navigation satellite perform positioning services;

[0038] The satellite communication signal between the positioning terminal and the communication satellite and the base station communication signal between the positioning terminal and the base station are obtained, and the communication navigation fusion signal is obtained according to the satellite communication signal and the base station communication signal.

[0039] In a second aspect, an embodiment of the present invention provides a comprehensive positioning, navigation and timing information processing system, the system comprising:

[0040] A signal acquisition module, used to acquire an inertial measurement signal, a satellite navigation signal and a communication navigation fusion signal corresponding to the positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal;

[0041] A first processing module is used to determine whether the positioning terminal meets the first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, the positioning information and timing information corresponding to the positioning terminal are determined by using the inertial measurement signal and the satellite navigation signal;

[0042] The second processing module is used to determine whether the positioning terminal meets the second position condition based on the satellite navigation signal if the positioning terminal does not meet the first position condition; if the positioning terminal meets the second position condition, determine the positioning information and timing information corresponding to the positioning terminal by using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal;

[0043] The third processing module is used to determine whether the positioning terminal meets the third position condition based on the satellite navigation signal if the positioning terminal does not meet the second position condition; if the positioning terminal meets the third position condition, use the inertial measurement signal and the communication navigation fusion signal to determine the positioning information and timing information corresponding to the positioning terminal.

[0044] In a third aspect, an embodiment of the present invention further provides a server, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the integrated positioning, navigation and timing information processing method provided in the first aspect.

[0045] In a fourth aspect, an embodiment of the present invention further provides a storage medium storing computer executable instructions. When the computer executable instructions are called and executed by a processor, the computer executable instructions prompt the processor to implement the steps of the integrated positioning, navigation and timing information processing method provided in the first aspect.

[0046] The embodiments of the present invention provide a method, system and server for processing integrated positioning, navigation and timing information. In the process of positioning, navigation and timing of a positioning terminal, an inertial measurement signal, a satellite navigation signal and a communication navigation fusion signal corresponding to the positioning terminal are firstly obtained; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal; then, based on the satellite navigation signal, it is judged whether the positioning terminal meets a first position condition; if the positioning terminal meets the first position condition, the inertial measurement signal and the satellite navigation signal are used to determine the positioning information and timing information corresponding to the positioning terminal; if the positioning terminal does not meet the first position condition, it is judged whether the positioning terminal meets a second position condition based on the satellite navigation signal; if the positioning terminal meets the second position condition, the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal; if the positioning terminal does not meet the second position condition, it is judged whether the positioning terminal meets a third position condition based on the satellite navigation signal; if the positioning terminal meets the third position condition, the inertial measurement signal and the communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal. The method makes full use of the inertial measurement signals, satellite navigation signals and communication navigation fusion signals of the positioning terminal, and gives full play to the advantages of satellite navigation's wide-area high performance, inertial navigation's guaranteed low cost, and communication navigation fusion signal's blind spot filling and flexibility enhancement. It comprehensively processes the positioning, navigation and timing process, and can implement specific positioning information processing procedures for different scenarios, thereby forming a standardized solution that can meet the greatest common needs. It has the advantages of being readily available, low cost, and strong universality, and solves the problems of the existing technology in the process of positioning, navigation and timing, such as a single usage scenario, poor versatility, and high cost.

[0047] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0048] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0050] Figure 1 A flowchart of a method for processing integrated positioning, navigation and timing information provided by an embodiment of the present invention;

[0051] Figure 2 A flowchart of determining whether a positioning terminal meets a first position condition based on a satellite navigation signal in a comprehensive positioning, navigation and timing information processing method provided by an embodiment of the present invention;

[0052] Figure 3 A flowchart of a method for processing integrated positioning, navigation and timing information provided in an embodiment of the present invention, for determining positioning information and timing information corresponding to a positioning terminal by using inertial measurement signals and satellite navigation signals;

[0053] Figure 4 A flowchart of determining whether a positioning terminal meets a second position condition based on a satellite navigation signal in a comprehensive positioning, navigation and timing information processing method provided by an embodiment of the present invention;

[0054] Figure 5 A flowchart of a method for processing integrated positioning, navigation and timing information provided in an embodiment of the present invention, which uses inertial measurement signals, satellite navigation signals and communication navigation fusion signals to determine positioning information and timing information corresponding to a positioning terminal;

[0055] Figure 6 A flowchart of determining whether a positioning terminal meets a third position condition based on a satellite navigation signal in a comprehensive positioning, navigation and timing information processing method provided by an embodiment of the present invention;

[0056] Figure 7A flowchart of a method for processing integrated positioning, navigation and timing information provided in an embodiment of the present invention, for determining positioning information and timing information corresponding to a positioning terminal by using an inertial measurement signal and a communication navigation fusion signal;

[0057] Figure 8 A flowchart of obtaining an inertial measurement signal, a satellite navigation signal and a communication navigation fusion signal corresponding to a positioning terminal in a comprehensive positioning, navigation and timing information processing method provided in an embodiment of the present invention;

[0058] Fig. 9 A flowchart of another integrated positioning, navigation and timing information processing method provided by an embodiment of the present invention;

[0059] Fig.10 A schematic diagram of data flow in a method for processing integrated positioning, navigation and timing information provided by an embodiment of the present invention;

[0060] Fig.11 A schematic diagram of the structure of a comprehensive positioning, navigation and timing information processing system provided by an embodiment of the present invention;

[0061] Fig.12 A schematic diagram of the structure of a server provided in an embodiment of the present invention.

[0062] icon:

[0063] 1110 - signal acquisition module; 1120 - first processing module; 1130 - second processing module; 1140 - third processing module;

[0064] 101 - processor; 102 - memory; 103 - bus; 104 - communication interface. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described in combination with the embodiments below. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0066] Today's society is highly dependent on accurate and reliable positioning, navigation and timing (PNT) information. The positioning information processing process involves many scenarios such as open spaces and indoor shielded spaces. Due to different user needs and the fact that each type of PNT technology has its applicable scenarios and limitations, there is currently no PNT technology that can meet the needs of all scenarios. The comprehensive use of multiple PNT methods has become an important development direction. How to form a PNT standardized solution that meets the greatest common needs based on existing PNT technical methods has become an urgent need.

[0067] In summary, since the positioning terminals in different scenarios need to rely on specific positioning equipment and positioning methods to process the positioning information, it is possible to realize the positioning, navigation and timing processing of the positioning terminals for specific scenarios, so there are still limitations in the applicability of multi-scenario positioning. Based on this, the present invention implements a comprehensive positioning, navigation and timing information processing method, system and server, which makes full use of the inertial measurement signal, satellite navigation signal and communication navigation fusion signal of the positioning terminal, and gives full play to the advantages of satellite navigation wide-area high performance, inertial navigation guaranteed low cost, and communication navigation fusion signal blind spot filling and flexibility. The positioning, navigation and timing process is comprehensively processed, and specific positioning information processing procedures can be realized for different scenarios, thereby forming a standardized solution that can meet the greatest common needs, with the advantages of easy access, low cost and strong universality, and solves the problems of single usage scenario, poor versatility and high cost in the process of positioning, navigation and timing in the prior art.

[0068] To facilitate understanding of this embodiment, a comprehensive positioning, navigation and timing information processing method disclosed in an embodiment of the present invention is first described in detail. Figure 1 As shown, the method includes:

[0069] Step S101, acquiring an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal corresponding to a positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal;

[0070] Step S102, judging whether the positioning terminal meets the first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, determining the positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal and the satellite navigation signal;

[0071] Step S103: if the positioning terminal does not meet the first position condition, determine whether the positioning terminal meets the second position condition based on the satellite navigation signal; if the positioning terminal meets the second position condition, determine the positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal;

[0072] Step S104: If the positioning terminal does not meet the second position condition, determine whether the positioning terminal meets the third position condition based on the satellite navigation signal; if the positioning terminal meets the third position condition, use the inertial measurement signal and the communication navigation fusion signal to determine the positioning information and timing information corresponding to the positioning terminal.

[0073] The positioning terminal is provided with relevant inertial measurement units and clock units, through which the inertial measurement units and clock units can obtain the inertial measurement signals corresponding to the positioning terminal. The positioning terminal is also provided with a corresponding satellite navigation signal receiving unit, which is used to obtain satellite navigation signals from navigation satellites. The positioning terminal is also provided with a corresponding communication signal receiving unit, so that the communication signal receiving unit is used to obtain the communication navigation fusion signal from the communication satellite or base station, and finally the positioning terminal is timed; and the clock unit contains an atomic clock, so that the atomic clock in the positioning terminal is used for timekeeping.

[0074] After acquiring the above signal, the positioning terminal first determines the space environment in which the positioning terminal is located based on the satellite navigation signal, and then forms a specific positioning information processing strategy for the space environment. Specifically, the relevant data about the navigation satellite in the satellite navigation signal is first used to determine whether the positioning terminal meets the first position condition. It is worth mentioning that the first position condition is used to determine whether the positioning terminal is in an open space. If so, the inertial measurement signal and the satellite navigation signal are used to determine the positioning information and timing information corresponding to the positioning terminal. At this time, the positioning terminal does not need the communication navigation fusion signal in the positioning, navigation and timing process, but only needs the inertial measurement signal and the satellite navigation signal to determine the positioning information of the positioning terminal.

[0075] If the positioning terminal does not meet the first position condition, it indicates that the positioning terminal is not in an open space. At this time, the satellite navigation signal is used again to determine whether the positioning terminal meets the second position condition. The second position condition is used to determine whether the positioning terminal is in a semi-shielded space or a radio interference space. If so, the inertial measurement signal, satellite navigation signal and communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal. At this time, the positioning terminal can combine the inertial measurement signal, communication navigation fusion signal and satellite navigation signal in the positioning, navigation and timing process, thereby fully improving the anti-interference ability of the positioning, navigation and timing process, and can improve the positioning information processing effect of the positioning terminal in a semi-shielded space or a radio interference space.

[0076] If the positioning terminal does not meet the second position condition, it indicates that the satellite navigation signal reception effect of the positioning terminal is weaker, or even in a fully shielded space. At this time, the satellite navigation signal is used again to determine whether the positioning terminal meets the third position condition. The third position condition is used to determine whether the positioning terminal is in a fully shielded space. If so, the inertial measurement signal and the communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal. At this time, the positioning terminal cannot receive satellite navigation signals because it is in a fully shielded space. Only the inertial measurement signal and the communication navigation fusion signal are needed to determine the positioning information of the positioning terminal.

[0077] To sum up, the method makes full use of the inertial measurement signals, satellite navigation signals and communication navigation fusion signals of the positioning terminal, and gives full play to the advantages of satellite navigation's wide-area high performance, inertial navigation's guaranteed low cost, and communication navigation fusion signal's blind spot filling and increased flexibility. It comprehensively processes the positioning, navigation and timing process, and can implement specific positioning information processing procedures for different scenarios, thereby forming a standardized solution that can meet the greatest common needs. It has the advantages of easy access, low cost and strong universality, and can solve the problems of the existing technology in the process of positioning, navigation and timing, such as single usage scenario, poor versatility and high cost.

[0078] In one implementation, it is determined whether the positioning terminal meets the first position condition based on the satellite navigation signal, such as Figure 2 As shown, including:

[0079] Step S201, determining the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0080] Step S202, obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to a first position condition;

[0081] Step S203, based on a first numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, a second numerical relationship between the navigation signal signal-to-noise ratio and the threshold value of the navigation signal signal-to-noise ratio, and a third numerical relationship between the pseudorange residual value and the pseudorange residual threshold value, it is determined whether the positioning terminal meets a first position condition; wherein the first position condition is used to determine whether the positioning terminal is in an open space.

[0082] Specifically, the first position condition is used to determine whether the positioning terminal is in an open space, so the first position condition is set with conditions related to the visible number of navigation satellites, signal-to-noise ratio, pseudo-range residual, etc. After determining the number of visible navigation satellites, navigation signal-to-noise ratio, and pseudo-range residual value corresponding to the positioning terminal according to the satellite navigation signal, the above data are used to determine the threshold corresponding to the first position condition, thereby obtaining the corresponding numerical relationship.

[0083] In the process of determining the first numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the threshold value of the number of visible navigation satellites can be set to 6, and the first numerical relationship is: judging whether the number of visible navigation satellites exceeds 6; if it exceeds 6, it indicates that the number of visible navigation satellites is large and the positioning terminal is in an open area.

[0084] In the process of determining the second numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold based on the two, the navigation signal signal-to-noise ratio threshold can be set to 35 decibels, and the second numerical relationship is: judging whether the navigation signal-to-noise ratio is greater than 35 decibels; if it exceeds 35 decibels, it indicates that the signal quality of the navigation satellite is good and the positioning terminal is in an open area.

[0085] In the process of determining the third numerical relationship between the pseudorange residual value and the pseudorange residual threshold, the pseudorange residual threshold can be set to 3 meters, and the third numerical relationship is: judging whether the pseudorange residual value is less than 3 meters; if it is less than 3 meters, it indicates that the signal quality of the navigation satellite is good and the positioning terminal is in an open area.

[0086] In one implementation, the inertial measurement signal and the satellite navigation signal are used to determine the positioning information and timing information corresponding to the positioning terminal, such as Figure 3 As shown, including:

[0087] Step S301, obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0088] Step S302, obtaining a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and determining navigation positioning data corresponding to the positioning terminal using the navigation signal;

[0089] Step S303: determining the positioning information and timing information corresponding to the positioning terminal based on the inertial measurement data and the navigation positioning data.

[0090] The positioning terminal is equipped with a micro-inertial measurement unit, which is equipped with a micro-gyroscope and a micro-accelerometer. The micro-gyroscope can measure the angular velocity of the positioning terminal in real time and autonomously to meet the requirements of solving the attitude and heading information of the application object. The micro-accelerometer can measure the linear acceleration of the positioning terminal in real time and autonomously to meet the requirements of solving the position and velocity information of the application object. The acquisition process of the velocity information can be realized based on the integral value of the clock information and the linear acceleration.

[0091] Satellite navigation signals, as satellite positioning data collected by the positioning terminal, are realized through relevant navigation and positioning systems, such as the Beidou satellite navigation system, the Global Positioning System (GPS), the Galileo system, the GLONASS system, etc., to obtain navigation and positioning data, and ultimately determine the positioning information and timing information corresponding to the positioning terminal based on the angular velocity, linear velocity and navigation and positioning data.

[0092] In one implementation, it is determined based on the satellite navigation signal whether the positioning terminal meets the second position condition, such as Figure 4 As shown, including:

[0093] Step S401, determining the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0094] Step S402, obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to a second position condition;

[0095] Step S403, based on the fourth numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the fifth numerical relationship between the navigation signal signal-to-noise ratio and the threshold value of the navigation signal signal-to-noise ratio, and the sixth numerical relationship between the pseudorange residual value and the pseudorange residual threshold value, determine whether the positioning terminal meets the second position condition; wherein the second position condition is used to determine whether the positioning terminal is in a semi-shielded space.

[0096] The second position condition is used to determine whether the positioning terminal is in a semi-shielded space or a radio interference space, so the second position condition is also provided with conditions related to the visible number of navigation satellites, signal-to-noise ratio, pseudo-range residual, etc. After determining the number of visible navigation satellites, navigation signal-to-noise ratio, and pseudo-range residual value corresponding to the positioning terminal according to the satellite navigation signal, the above data are used to determine the threshold value corresponding to the second position condition, thereby obtaining the corresponding numerical relationship.

[0097] Specifically, in the process of determining the fourth numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the threshold value of the number of visible navigation satellites can be set to 6, and the fourth numerical relationship is: determine whether the number of visible navigation satellites is less than 6; if it is less than 6, it indicates that the number of visible navigation satellites is small, and the positioning terminal is in a semi-shielded space or a radio interference space.

[0098] In the process of determining the fifth numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, the navigation signal signal-to-noise ratio threshold can be set to 35 decibels, and the fifth numerical relationship is: judging whether the navigation signal-to-noise ratio is less than 35 decibels; if it is less than 35 decibels, it indicates that the signal quality of the navigation satellite is poor, and the positioning terminal is in a semi-shielded space or a radio interference space.

[0099] In the process of determining the sixth numerical relationship between the pseudorange residual value and the pseudorange residual threshold, the pseudorange residual threshold can be set to 10 meters, and the sixth numerical relationship is: judging whether the pseudorange residual value is greater than 10 meters; if it is greater than 10 meters, it indicates that the signal quality of the navigation satellite is poor, and the positioning terminal is in a semi-shielded space or a radio interference space.

[0100] In one implementation, the positioning information and timing information corresponding to the positioning terminal are determined using inertial measurement signals, satellite navigation signals, and communication navigation fusion signals, such as Figure 5 As shown, including:

[0101] Step S501, obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0102] Step S502, obtaining a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and determining navigation positioning data corresponding to the positioning terminal using the navigation signal;

[0103] Step S503, obtaining a communication and navigation fusion signal corresponding to the positioning terminal in the communication and navigation fusion signal, and updating the navigation and positioning data using the communication and navigation fusion signal;

[0104] Step S504: determining the positioning information and timing information corresponding to the positioning terminal based on the inertial measurement data and the navigation positioning data.

[0105] Since the positioning terminal is in a semi-shielded space or a radio interference space, it is necessary to combine satellite communication signals or base station communication signals to perform fusion enhancement processing on the acquisition process of positioning information. Similar to the above embodiment, the process of determining positioning information by inertial measurement signals and satellite navigation signals is not repeated. In this embodiment, the navigation positioning data is finally determined by obtaining the satellite communication navigation fusion signal and the base station communication navigation fusion signal corresponding to the positioning terminal in the communication navigation fusion signal, and finally the positioning information and timing information corresponding to the positioning terminal are determined based on the inertial measurement data and the navigation positioning data.

[0106] In the specific implementation process, the number of navigation satellites in the semi-obscured space is difficult to meet the positioning requirements. For example, if the number of navigation satellites is less than 4, the communication and navigation fusion signals can be combined to assist the navigation and positioning data. Since the positioning data of the positioning terminal can also be determined in the communication and navigation fusion signals, although the accuracy of the positioning data is not as good as that of the navigation satellite, it can also be used for auxiliary positioning when the number of navigation satellites is small. By using the communication and navigation fusion signals to update the navigation and positioning data, the positioning accuracy and availability can be improved when the number of navigation satellites is small. It can be seen that the positioning terminal in this scenario can fully combine the communication and navigation fusion signals and the satellite navigation signals in the positioning, navigation and timing process, thereby improving the anti-interference ability of the positioning, navigation and timing process.

[0107] In one implementation, it is determined based on the satellite navigation signal whether the positioning terminal meets the third position condition, such as Figure 6 As shown, including:

[0108] Step S601, determining the number of visible navigation satellites corresponding to the positioning terminal, the navigation signal noise ratio and the pseudorange residual value according to the satellite navigation signal;

[0109] Step S602, obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to a third position condition;

[0110] Step S603, based on the seventh numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the eighth numerical relationship between the navigation signal signal-to-noise ratio and the threshold value of the navigation signal signal-to-noise ratio, and the ninth numerical relationship between the pseudorange residual value and the pseudorange residual threshold value, determine whether the positioning terminal meets the third position condition; wherein the third position condition is used to determine whether the positioning terminal is in a fully shielded space.

[0111] The third position condition is used to determine whether the positioning terminal is in a fully shielded space, so the third position condition is also provided with conditions related to the visible number of navigation satellites, signal-to-noise ratio, pseudo-range residual, etc. After determining the number of visible navigation satellites, navigation signal-to-noise ratio, and pseudo-range residual value corresponding to the positioning terminal according to the satellite navigation signal, the above data are used to determine the threshold value corresponding to the third position condition, thereby obtaining the corresponding numerical relationship.

[0112] Specifically, in the process of determining the seventh numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the threshold value of the number of visible navigation satellites can be set to 1, and the fourth numerical relationship is: determine whether the number of visible navigation satellites is less than 1; if it is less than 1, it indicates that the navigation satellite cannot be received and the positioning terminal is in a fully shielded space.

[0113] In the process of determining the eighth numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold based on the navigation signal, the navigation signal signal-to-noise ratio threshold can be set to 5 decibels, and the eighth numerical relationship is: judging whether the navigation signal-to-noise ratio is less than 5 decibels; if it is less than 5 decibels, it indicates that the signal of the navigation satellite cannot be received, and the positioning terminal is in a fully shielded space.

[0114] In the process of determining the ninth numerical relationship between the pseudorange residual value and the pseudorange residual threshold, the pseudorange residual threshold can be set to 30 meters, and the ninth numerical relationship is: judging whether the pseudorange residual value is greater than 30 meters; if it is greater than 30 meters, it indicates that the signal of the navigation satellite cannot be received, and the positioning terminal is in a fully shielded space.

[0115] In one implementation, the inertial measurement signal and the communication navigation fusion signal are used to determine the positioning information and timing information corresponding to the positioning terminal, such as Figure 7 As shown, including:

[0116] Step S701, obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determining the inertial measurement data of the positioning terminal based on the angular velocity, linear acceleration and clock information;

[0117] Step S702, obtaining a base station communication signal corresponding to the positioning terminal in the communication and navigation fusion signal, and determining navigation and positioning data corresponding to the positioning terminal using the base station communication signal;

[0118] Step S703: Determine the positioning information and timing information corresponding to the positioning terminal based on the inertial measurement data and the navigation positioning data.

[0119] At this time, the positioning terminal cannot receive satellite navigation signals because it is in a fully shielded space. It only needs to use inertial measurement signals and base station communication signals to determine the positioning information of the positioning terminal. Specifically, the inertial measurement data of the positioning terminal is determined by obtaining the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and the navigation positioning data obtained by the communication navigation fusion signal can finally determine the positioning information and timing information of the positioning terminal without using navigation satellites.

[0120] In one implementation, an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal corresponding to a positioning terminal are obtained, such as Figure 8 As shown, including:

[0121] Step S801, determining the inertial measurement signal, the barometer signal, and the magnetometer signal based on the gyroscope signal, the accelerometer signal, and the clock signal in the positioning terminal;

[0122] Step S802, obtaining a satellite navigation signal generated when the positioning terminal and the navigation satellite perform positioning services;

[0123] Step S803, obtaining satellite communication signals between the positioning terminal and the communication satellite and base station communication signals between the positioning terminal and the base station, and obtaining communication and navigation fusion signals according to the satellite communication signals and the base station communication signals.

[0124] The positioning terminal is equipped with an inertial measurement unit, such as a gyroscope and an accelerometer, as well as core components such as a microclock, a satellite navigation signal receiving unit, and a communication signal receiving unit. It also includes auxiliary sensors such as image sensors, magnetometers, barometers, and external source interfaces. The positioning terminal can be cut and combined according to the actual application scenario and is the carrier for acquiring basic information.

[0125] Specifically, the gyroscope can measure the angular velocity of the carrier in real time and autonomously to meet the requirements of solving the attitude and heading information of the application object. The accelerometer can measure the linear acceleration of the carrier in real time and autonomously to meet the requirements of solving the position and velocity information of the application object. The clock can output the standard frequency autonomously in real time to meet the use requirements of the standard frequency of the application object. The satellite navigation signal receiving unit can receive and process the satellite navigation signal in real time, and provide high-precision position and time information. The communication signal receiving unit can receive and process the communication and navigation fusion signal in real time, and provide navigation enhancement message, backup position and time information. The universal interface is a standardized interface designed according to the interface specification or standard, which supports the system to realize the flexible expansion of the system architecture with the application platform and scenario, and the plug-and-play of external sensors. The positioning terminal takes inertia and clock as the core, and uses wireless PNT information, vision, magnetism, air pressure, etc. as auxiliary means. Through the intelligent fusion of multi-source information, it has the functions of openness, plug-and-play, online configuration, and rapid reconstruction.

[0126] The acquisition of satellite navigation signals is mainly based on relevant satellite navigation systems, including the Beidou system, GPS system, Galileo system, GLONASS system, etc. Satellite navigation signals can provide high-precision positioning at the meter to decimeter level and time synchronization services at the ten-nanosecond level for users on the surface and in open spaces near the ground, meeting the needs of users in wide-area open spaces around the world; they can also provide high-precision time and space references for positioning terminals and communication base stations, realizing the unification of time and space references.

[0127] The acquisition of communication and navigation fusion signals mainly utilizes ground mobile communication systems, satellite communication systems, etc. The large bandwidth and high-speed communication links of the communication system are used to broadcast satellite navigation messages, and the capture sensitivity of the satellite navigation system is improved with the assistance of the user's probabilistic position time; the satellite navigation system enhancement information is broadcast to assist the satellite navigation system users to achieve decimeter-level positioning; the satellite navigation system authorization parameters are broadcast to improve the satellite navigation system authorization service air distribution capability. By utilizing the frequency domain, air domain, and time domain resources of the communication system, and through the communication and navigation fusion design of protocols, interfaces, and signal systems, the communication system is equipped with a certain backup positioning and timing capability, and the base station communication system is used to provide better than 1 meter positioning and nanosecond timing services for users in indoor and other shielded spaces, and the low-orbit communication system is used to provide 10-meter positioning and 10-nanosecond timing services for global wide-area users. In addition, it can also be combined with the Beidou system to achieve joint positioning. When satellite navigation services are unavailable, as a backup means, it provides auxiliary dynamic calibration and cumulative error correction for the inertial measurement unit in the positioning terminal.

[0128] like Fig. 9 The flowchart of another integrated positioning, navigation and timing information processing method is shown, the positioning terminal searches for and receives satellite navigation signals and communication navigation fusion signals; then determines whether the positioning terminal is in an open space; if so, determines the positioning information corresponding to the positioning terminal using inertial measurement signals and satellite navigation signals; if not, determines whether the positioning terminal is in a semi-shielded space or a radio interference environment. If so, determines the positioning information corresponding to the positioning terminal using inertial measurement signals, satellite navigation signals and communication navigation fusion signals; if not, determines whether the positioning terminal meets the third position condition, and if so, determines the positioning information corresponding to the positioning terminal using inertial measurement signals and base station communication signals.

[0129] Specifically, to determine whether the positioning terminal is in an open area, the number of visible navigation satellites, signal-to-noise ratio, and pseudo-range residual can be used to determine; if the number of visible navigation satellites is more than 6, and the satellite navigation signal signal-to-noise ratio is greater than 35 decibels, and the pseudo-range residual is less than 3 meters, the positioning terminal is considered to be in an open space. If the number of visible navigation satellites is less than 6, and the satellite navigation signal signal-to-noise ratio is less than 35 decibels, and the pseudo-range residual is greater than 10 meters, the positioning terminal is considered to be in a semi-shielded space or a radio interference environment. If the satellite navigation signal cannot be received, the positioning terminal is considered to be in a fully shielded space.

[0130] like Fig.10The data flow diagram of a comprehensive positioning, navigation and timing information processing method shown in the figure is based on the satellite navigation system. Through the deep integration of the Beidou system, positioning terminals and communication systems, the positioning, navigation and timing requirements of most application scenarios are met. At the system level, the satellite navigation system is used to provide high-precision time and space references for positioning terminals and communication systems to achieve the unification of time and space references. The communication system is used to broadcast Beidou navigation enhancement information to assist in improving the satellite navigation signal reception capability; the communication system frequency domain, air domain and time domain resources are used, and the communication navigation fusion design of protocols, interfaces and signal systems is used to enable the communication system to have a certain backup positioning and timing capability. Through the 5G communication and navigation fusion signal, it provides better than 1 meter positioning and nanosecond timing services for indoor and other shielded space users, and through the low-orbit communication and navigation fusion signal, it provides 10-meter positioning and 10-nanosecond timing services for global wide-area users. At the terminal level, the hardware platform of the positioning terminal is used to realize the reception and generation of various navigation observation quantities, and the software platform of the positioning terminal is used to realize the deep fusion processing of multiple navigation information.

[0131] Low-orbit communication satellites or ground mobile communication base stations receive satellite navigation signals, calculate and obtain high-precision position and time information, and achieve unification with the time and space benchmarks of the satellite navigation system.

[0132] The positioning terminal receives satellite navigation signals, calculates and obtains high-precision position and time information, and realizes the unification of time and space reference with the satellite navigation system. The positioning terminal uses the satellite navigation signal receiving unit to obtain satellite navigation signals, the communication signal receiving unit to obtain communication information and communication and navigation fusion signals, the inertial measurement unit to obtain the angular velocity and acceleration of the carrier, and the micro-clock to obtain frequency information. The positioning terminal performs autonomous integrity detection on the various types of observations obtained, and determines the credibility of the information by comparing and reviewing the satellite navigation, low-orbit communication and navigation fusion, and inertial navigation positioning results. Then, combined with the application scenario, it provides users with positioning and timing services.

[0133] It can be seen from the comprehensive positioning, navigation and timing information processing method in the above embodiment that the method makes full use of the inertial measurement signal, satellite navigation signal and communication navigation fusion signal of the positioning terminal to comprehensively process the positioning, navigation and timing process, and can implement specific positioning information processing processes for different scenarios, thereby forming a standardized solution that can meet the greatest common needs.

[0134] For the integrated positioning, navigation and timing information processing method provided in the above-mentioned embodiment, the embodiment of the present invention provides an integrated positioning, navigation and timing information processing system, such as Fig.11 As shown, the system includes:

[0135] The signal acquisition module 1110 is used to acquire the inertial measurement signal, satellite navigation signal and communication navigation fusion signal corresponding to the positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal;

[0136] The first processing module 1120 is used to determine whether the positioning terminal meets the first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, determine the positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal and the satellite navigation signal;

[0137] The second processing module 1130 is used to determine whether the positioning terminal meets the second position condition based on the satellite navigation signal if the positioning terminal does not meet the first position condition; if the positioning terminal meets the second position condition, determine the positioning information and timing information corresponding to the positioning terminal by using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal;

[0138] The third processing module 1140 is used to determine whether the positioning terminal meets the third position condition based on the satellite navigation signal if the positioning terminal does not meet the second position condition; if the positioning terminal meets the third position condition, use the inertial measurement signal and the communication navigation fusion signal to determine the positioning information and timing information corresponding to the positioning terminal.

[0139] From the integrated positioning, navigation and timing information processing system mentioned in the above embodiments, it can be seen that the system makes full use of the inertial measurement signals, satellite navigation signals and communication navigation fusion signals of the positioning terminal to comprehensively process the positioning, navigation and timing processes, and can implement specific positioning information processing processes for different scenarios, thereby forming a standardized solution that can meet the greatest common needs.

[0140] The integrated positioning, navigation and timing information processing system provided in the embodiment of the present invention has the same implementation principle and technical effects as those in the aforementioned integrated positioning, navigation and timing information processing method embodiment. For the sake of brief description, for matters not mentioned in the device embodiment, reference may be made to the corresponding contents in the aforementioned integrated positioning, navigation and timing information processing method embodiment.

[0141] This embodiment also provides a server, the structural diagram of which is as follows: Fig.12 As shown, the device includes a processor 101 and a memory 102; wherein the memory 102 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor to implement the steps of the above-mentioned integrated positioning, navigation and timing information processing method.

[0142] Fig.12 The server shown also includes a bus 103 and a communication interface 104 , and the processor 101 , the communication interface 104 and the memory 102 are connected via the bus 103 .

[0143] The memory 102 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The bus 103 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.12 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0144] The communication interface 104 is used to connect to at least one user terminal and other network units through a network interface, and send the encapsulated IPv4 message or IPv4 message to the user terminal through the network interface.

[0145] The processor 101 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 101. The above processor 101 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 102, and the processor 101 reads the information in the memory 102 and completes the steps of the method of the above embodiment in combination with its hardware.

[0146] An embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the comprehensive positioning, navigation and timing information processing method in the aforementioned embodiment are executed.

[0147] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] 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.

[0149] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention can essentially or in other words, the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0151] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for processing integrated positioning, navigation and timing information, characterized in that: The method comprises: Acquire an inertial measurement signal, a satellite navigation signal, and a communication navigation fusion signal corresponding to the positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal; Determining whether the positioning terminal meets a first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, determining positioning information and timing information corresponding to the positioning terminal using the inertial measurement signal and the satellite navigation signal; If the positioning terminal does not meet the first position condition, determining whether the positioning terminal meets the second position condition based on the satellite navigation signal; if the positioning terminal meets the second position condition, determining the positioning information and the timing information corresponding to the positioning terminal by using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal; If the positioning terminal does not meet the second position condition, it is determined whether the positioning terminal meets the third position condition based on the satellite navigation signal; if the positioning terminal meets the third position condition, the inertial measurement signal and the communication navigation fusion signal are used to determine the positioning information and the timing information corresponding to the positioning terminal.

2. The integrated positioning, navigation and timing information processing method according to claim 1, characterized in that: Determining whether the positioning terminal meets a first position condition based on the satellite navigation signal includes: Determine the number of visible navigation satellites, the navigation signal signal-to-noise ratio, and the pseudorange residual value corresponding to the positioning terminal according to the satellite navigation signal; Obtaining a visible navigation satellite quantity threshold, a navigation signal noise ratio threshold, and a pseudorange residual threshold corresponding to the first position condition; Based on a first numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, a second numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, and a third numerical relationship between the pseudorange residual value and the pseudorange residual threshold, it is judged whether the positioning terminal meets a first position condition; wherein the first position condition is used to determine whether the positioning terminal is in an open space.

3. The integrated positioning, navigation and timing information processing method according to claim 2, characterized in that: Determining positioning information and timing information corresponding to the positioning terminal by using the inertial measurement signal and the satellite navigation signal includes: Acquire the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determine the inertial measurement data of the positioning terminal based on the angular velocity, the linear acceleration and the clock information; Acquire a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and determine navigation positioning data corresponding to the positioning terminal using the navigation signal; Based on the inertial measurement data and the navigation positioning data, the positioning information and the timing information corresponding to the positioning terminal are determined.

4. The integrated positioning, navigation and timing information processing method according to claim 1, characterized in that: Determining whether the positioning terminal meets a second position condition based on the satellite navigation signal includes: Determine the number of visible navigation satellites, the navigation signal signal-to-noise ratio, and the pseudorange residual value corresponding to the positioning terminal according to the satellite navigation signal; Obtaining a visible navigation satellite quantity threshold, a navigation signal signal-to-noise ratio threshold, and a pseudorange residual threshold corresponding to the second position condition; Based on the fourth numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the fifth numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, and the sixth numerical relationship between the pseudorange residual value and the pseudorange residual threshold, it is judged whether the positioning terminal meets the second position condition; wherein, the second position condition is used to determine whether the positioning terminal is in a semi-shielded space.

5. The integrated positioning, navigation and timing information processing method according to claim 4, characterized in that: Determining the positioning information and the timing information corresponding to the positioning terminal by using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal includes: Acquire the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determine the inertial measurement data of the positioning terminal based on the angular velocity, the linear acceleration and the clock information; Acquire a navigation signal corresponding to the positioning terminal from the satellite navigation signal, and determine navigation positioning data corresponding to the positioning terminal using the navigation signal; Acquire a navigation fusion communication signal corresponding to the positioning terminal in the communication navigation fusion signal, and update the navigation positioning data using the navigation fusion communication signal; Based on the inertial measurement data and the navigation positioning data, the positioning information and the timing information corresponding to the positioning terminal are determined.

6. The integrated positioning, navigation and timing information processing method according to claim 1, characterized in that: Determining whether the positioning terminal meets a third position condition based on the satellite navigation signal includes: Determine the number of visible navigation satellites, the navigation signal signal-to-noise ratio, and the pseudorange residual value corresponding to the positioning terminal according to the satellite navigation signal; Obtaining a visible navigation satellite quantity threshold, a navigation signal signal-to-noise ratio threshold, and a pseudorange residual threshold corresponding to the third position condition; Based on the seventh numerical relationship between the number of visible navigation satellites and the threshold value of the number of visible navigation satellites, the eighth numerical relationship between the navigation signal signal-to-noise ratio and the navigation signal signal-to-noise ratio threshold, and the ninth numerical relationship between the pseudorange residual value and the pseudorange residual threshold, it is judged whether the positioning terminal meets the third position condition; wherein, the third position condition is used to determine whether the positioning terminal is in a fully shielded space.

7. The integrated positioning, navigation and timing information processing method according to claim 6, characterized in that: Determining the positioning information and the timing information corresponding to the positioning terminal by using the inertial measurement signal and the communication navigation fusion signal includes: Acquire the angular velocity, linear acceleration and clock information corresponding to the positioning terminal in the inertial measurement signal, and determine the inertial measurement data of the positioning terminal based on the angular velocity, the linear acceleration and the clock information; Acquire a base station communication signal corresponding to the positioning terminal in the communication-navigation fusion signal, and determine navigation positioning data corresponding to the positioning terminal using the base station communication signal; Based on the inertial measurement data and the navigation positioning data, the positioning information and the timing information corresponding to the positioning terminal are determined.

8. The integrated positioning, navigation and timing information processing method according to claim 1, characterized in that: Obtain the inertial measurement signal, satellite navigation signal and communication navigation fusion signal corresponding to the positioning terminal, including: Determine the inertial measurement signal, the barometer signal, and the magnetometer signal based on the gyroscope signal, the accelerometer signal, and the clock signal in the positioning terminal; Acquiring the satellite navigation signal generated when the positioning terminal and the navigation satellite perform positioning services; The satellite communication signal between the positioning terminal and the communication satellite and the base station communication signal between the positioning terminal and the base station are obtained, and the communication navigation fusion signal is obtained according to the satellite communication signal and the base station communication signal.

9. A comprehensive positioning, navigation and timing information processing system, characterized in that: The system comprises: A signal acquisition module, used to acquire an inertial measurement signal, a satellite navigation signal and a communication navigation fusion signal corresponding to the positioning terminal; wherein the communication navigation fusion signal at least includes a satellite communication navigation fusion signal and a base station communication navigation fusion signal; a first processing module, configured to determine whether the positioning terminal meets a first position condition based on the satellite navigation signal; if the positioning terminal meets the first position condition, determining the positioning information and timing information corresponding to the positioning terminal by using the inertial measurement signal and the satellite navigation signal; A second processing module is configured to determine whether the positioning terminal meets a second position condition based on the satellite navigation signal if the positioning terminal does not meet the first position condition; if the positioning terminal meets the second position condition, determine the positioning information and the timing information corresponding to the positioning terminal by using the inertial measurement signal, the satellite navigation signal and the communication navigation fusion signal; The third processing module is used to determine whether the positioning terminal meets the third position condition based on the satellite navigation signal if the positioning terminal does not meet the second position condition; if the positioning terminal meets the third position condition, use the inertial measurement signal and the communication navigation fusion signal to determine the positioning information and the timing information corresponding to the positioning terminal.

10. A server, characterized in that: It includes a processor and a memory, the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the steps of the integrated positioning, navigation and timing information processing method described in any one of claims 1 to 8.

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