Data broadcasting method and system and electronic equipment

Abstract

The invention discloses a data broadcasting method and system and electronic equipment. The method comprises the following steps: acquiring original observation data of a navigation satellite; performing regional data calculation on the original observation data to obtain navigation enhancement service data, the navigation enhancement service data including wide-area correction data and local-area correction data, the wide-area correction data being correction data covering a first geographic area, the local-area correction data being correction data covering a second geographic area, and the wide-area correction data being correction data covering a second geographic area; the area of the first geographic area is larger than that of the second geographic area; and performing data encryption on the navigation enhancement service data, and configuring the data to a spot beam of the target satellite for broadcasting. The technical problem that the convergence speed is low when the satellite-based navigation enhancement service provides the positioning service in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning and satellite communications, and in particular to a data broadcasting method, system and electronic equipment. Background Art

[0002] The Global Navigation Satellite System (GNSS) can provide global users with all-weather, all-time positioning, navigation and timing (PNT) services. It has been widely used in various production and economic activities of human society. With the expansion of the scope of human activities, especially large-scale infrastructure projects such as bridges and tunnels, marine exploration, autonomous driving and other scenarios, higher requirements are placed on the accuracy and reliability of positioning services.

[0003] The standard point positioning (SPP) technology of the global navigation satellite system is affected by satellite clock errors, orbit errors, atmospheric delays and multipath effects, and the positioning accuracy of its standard service is generally 5-10 meters. This accuracy is sufficient for daily travel needs, but for professional applications such as autonomous driving and precision measurement, higher-precision positioning services are required. RTK (Real-time Kinematic) is a typical representative technology of ground-based enhanced high-precision positioning services. It mainly uses the short baseline distance between the reference station and the mobile station (terminal) (generally within 15km), with similar errors such as ionospheric delay error, tropospheric delay error, etc., and through differential technology processing of the synchronous observation data of the ground reference station and the mobile station, it can obtain a positioning accuracy of up to centimeters within seconds, but its scope of application is limited by the ground network coverage. Precise Point Positioning (PPP) technology is a typical representative technology adopted by satellite-based navigation enhanced positioning services. It does not rely on a dense reference station network. It calculates the orbit error, clock error, and code deviation correction of the navigation satellite through the global framework reference station (usually about 100 stations), and broadcasts these correction information to the satellite positioning terminal in one direction through the network. It can achieve a positioning accuracy of up to decimeter level, and the convergence time takes 15-30 minutes.

[0004] Compared with the ground-based augmentation service based on network RTK technology, the satellite-based navigation augmentation service based on precise single-point positioning technology does not need to rely on dense ground reference station facilities to provide high-precision positioning services worldwide. However, when achieving the same centimeter-level positioning accuracy, the positioning terminal requires a longer initialization convergence time. Under the same open environment and hardware conditions, the convergence time of the ground-based augmentation service is in the order of seconds, while the convergence time of the satellite-based navigation augmentation service is in the order of minutes. Therefore, there is a problem of slow convergence speed when the satellite-based navigation augmentation service provides positioning services.

[0005] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0006] The embodiments of the present application provide a data broadcasting method, system and electronic device to at least solve the technical problem of slow convergence speed when satellite-based navigation enhancement services provide positioning services in the related art.

[0007] According to one aspect of an embodiment of the present application, a data broadcasting method is provided, including: acquiring original observation data of a navigation satellite; performing regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, the area of ​​the first geographical area is larger than the area of ​​the second geographical area; encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcasting.

[0008] Optionally, before encrypting the navigation enhancement service data and configuring it to the spot beam of the target satellite for broadcast, the method also includes: associating the navigation enhancement service data and a geographic information ID, wherein the geographic information ID is used to indicate an identification of a single spot beam coverage area or multiple adjacent spot beam coverage areas of the target satellite; and determining a service broadcasting strategy for the navigation enhancement service data based on the geographic information ID associated with the navigation enhancement service data.

[0009] Optionally, a business broadcast strategy for navigation enhancement service data is determined, including: when the geographic information ID is in the default state, it indicates that the associated navigation enhancement service data is wide-area correction data, and the business broadcast strategy is determined to broadcast the wide-area correction data to all beams of the target satellite; when the geographic information ID exists and the geographic information ID is within the valid value range, it indicates that the associated navigation enhancement service data is local correction data, and the business broadcast strategy is determined to configure the local correction data to a specific point beam of the target satellite for broadcast.

[0010] Optionally, the navigation enhancement service data is encrypted and then configured to the spot beam of the target satellite for broadcasting, including: obtaining the navigation enhancement service data and the geographic information ID; determining the spot beam ID of the target satellite corresponding to the navigation enhancement service data from a comparison table based on the geographic information ID, wherein the comparison table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; repackaging the navigation enhancement service data according to the service broadcasting strategy, and sending the repackaging the navigation enhancement service data to the spot beam of the target satellite corresponding to the spot beam ID of the target satellite.

[0011] Optionally, the frequency range of the radio signal used by the target satellite when broadcasting the navigation augmentation service data is the S band.

[0012] Optionally, the method also includes: broadcasting the navigation enhancement service data to the satellite positioning terminal via the target satellite, wherein the satellite positioning terminal receives the encrypted navigation enhancement service data sent by the target satellite via the first antenna; decrypting the navigation enhancement service data to obtain the decrypted navigation enhancement service data; receiving the original observation data of the navigation satellite via the second antenna; and calculating the positioning coordinates based on the original observation data and the decrypted navigation enhancement service data.

[0013] Optionally, the navigation augmentation service data is encrypted and then configured to the spot beam of the target satellite for broadcast, including: configuring the wide-area correction data in the encrypted navigation augmentation service data to the spot beam of all target satellites in the beam coverage area involving the first geographical area for broadcast; configuring the local correction data in the encrypted navigation augmentation service data to the spot beam of the target satellite in the beam coverage area involving the second geographical area for broadcast.

[0014] According to another aspect of an embodiment of the present application, a data broadcasting system is also provided, including: a ground reference station, a service data solution platform and a service data broadcasting control platform, wherein the ground reference station is used to obtain original observation data of the navigation satellite; the service data solution platform is used to perform regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area; the service data broadcasting control platform is used to encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

[0015] According to another aspect of an embodiment of the present application, a data broadcasting device is also provided, including: an acquisition module for acquiring original observation data of a navigation satellite; a solution module for performing regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area; a broadcasting module for encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcasting.

[0016] According to another aspect of the embodiment of the present application, there is also provided an electronic device, comprising: a memory for storing program instructions; a processor, connected to the memory, for executing program instructions to implement the following functions: acquiring original observation data of a navigation satellite; performing regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data comprises wide-area correction data and local-area correction data, the wide-area correction data being correction data covering a first geographical area, the local-area correction data being correction data covering a second geographical area, the area of ​​the first geographical area being larger than the area of ​​the second geographical area; encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcasting.

[0017] According to another aspect of the embodiments of the present application, a non-volatile storage medium is provided, wherein the non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned data broadcasting method by running the computer program.

[0018] According to another aspect of the embodiments of the present application, a computer program product is provided, including computer instructions, which implement the above-mentioned data broadcasting method when executed by a processor.

[0019] In an embodiment of the present application, raw observation data of a navigation satellite is acquired; regional data is solved for the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area; under the premise that the bandwidth of each satellite spot beam is the same, the navigation enhancement service data is encrypted and configured to the spot beam of the target satellite for regional differentiated broadcasting, thereby achieving the purpose of shortening the initialization convergence time of high-precision positioning, thereby realizing the technical effect of providing faster and more accurate positioning services under limited satellite bandwidth, and further solving the technical problem of slow convergence speed of satellite-based navigation enhancement services in providing positioning services in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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:

[0021] Figure 1 is a hardware structure diagram of a computing device for implementing a method for data broadcasting according to an embodiment of the present application;

[0022] Figure 2 is a flow chart of a data broadcasting method according to an embodiment of the present application;

[0023] Figure 3 It is a functional block diagram of a high-precision satellite positioning terminal based on target satellite S-band satellite-based navigation enhancement according to an embodiment of the present application;

[0024] Figure 4 This is an architecture diagram of a target satellite S-band satellite-based navigation enhancement system according to an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of an agricultural machinery automatic driving system based on satellite-based navigation enhancement according to an embodiment of the present application;

[0026] Figure 6 It is a structural diagram of a data broadcasting device according to an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[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 sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Among the related technologies, network RTK is an extension of RTK technology. The current mainstream commercial solution is: multiple physical reference stations are deployed in the service area (baseline distance is 30km-70km). The server-side networking algorithm uses the original observations of the physical reference stations for modeling and calculation, and simulates virtual reference stations (VRS) with a specific regular distribution within the service range. The satellite positioning terminal (mobile station) first reports its own approximate position coordinates to the server, and the server pushes the synchronous observation data of the virtual reference station (VRS) closest to the satellite positioning terminal (mobile station). The satellite positioning terminal (mobile station) obtains high-precision positioning coordinates through differential technology processing. Network RTK service requires two-way communication and interaction between the terminal and the server, and is suitable for broadcasting in areas covered by ground networks.

[0030] To further improve the shortcomings of PPP technology, the PPP-AR technology with PPP Ambiguity Resolution (PPP-AR) was developed, and the broadcast of satellite phase deviation information was added. Common forms such as uncalibrated phase delay (UPD) can further improve the positioning accuracy to centimeter level, and the convergence time can be shortened to about 5 minutes. Subsequently, the Precise Point Positioning and Real-time Kinematic (PPP-RTK) technology was developed by introducing regional encrypted reference stations (station spacing of about 200km). On the basis of PPP-AR technology, the broadcast of atmospheric correction information (including ionosphere and troposphere) was added, and the positioning accuracy of centimeters can be obtained within 1 minute at the fastest. The industry calls the satellite positioning correction data such as the orbit error, clock error, code deviation correction number, phase deviation correction number, atmospheric delay, etc. of navigation satellites as navigation enhancement service data. Since only one-way communication is required, it is particularly suitable for one-way broadcasting through satellite networks, and there is no upper limit on the number of terminal access.

[0031] The mainstream satellite-based navigation augmentation service that has been widely used at present mainly broadcasts unified satellite positioning correction data in a wide area through the L-band satellite navigation augmentation signal repeater carried by the geostationary Earth Orbit (GEO) satellite. The main problem is that the convergence accuracy and convergence speed of the satellite-based navigation augmentation high-precision service still need to be further improved.

[0032] The long convergence time of satellite-based navigation augmentation service is the main shortcoming of this technology. The positioning accuracy is mainly affected by satellite orbit error, satellite clock error, phase decimal deviation, etc. The initial convergence speed of satellite positioning to a specific accuracy is mainly affected by other factors such as atmospheric delay (ionospheric delay, tropospheric delay). At present, the initial convergence speed of satellite-based navigation augmentation system to achieve high-precision positioning state is slow, mainly due to the high cost of satellite communication bandwidth leasing, and the actual bandwidth leased for broadcasting correction data is very small (the satellite bandwidth leased by the mainstream satellite-based navigation augmentation service is about 1200bps), which cannot broadcast more refined regional atmospheric model corrections, resulting in a slow convergence speed. For satellite positioning receivers, the number of available satellites received by a single satellite navigation system is about 8-10. Using multi-system joint positioning (Beidou Navigation Satellite System BDS, Global Positioning System GPS, Galileo Navigation Satellite System (EU) Galileo, Global Navigation Satellite System (Russia) GLONASS, Quasi-Zenith Satellite System QZSS), the number of satellites that can be used for positioning received by the receiver can reach about 30-50. Under such limited satellite bandwidth, in order to ensure the complete broadcast of the orbit error, clock error, phase decimal deviation and other correction numbers of the above multi-satellite navigation systems, the remaining bandwidth for broadcasting the wide-area atmospheric correction numbers is very limited. In practice, the regional atmospheric model correction parameters must be optimized and streamlined. They cannot be broadcast in full, and the optimal positioning convergence performance cannot be achieved.

[0033] In order to solve the problems existing in the related art, the embodiment of the present application provides a data broadcasting method, which can be run on Figure 1 In the computing device shown, the computing device is explained below.

[0034] The data broadcasting method embodiment provided in the embodiment of the present application can be executed in a computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computing device for implementing a data broadcasting method. Figure 1 As shown, the computing device 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) 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. A person skilled in the art can understand that Figure 1The structure shown is for illustration only and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are 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 circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computing device 10. As involved in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0036] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the data broadcasting method in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the above-mentioned data broadcasting method is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computing device 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0037] The transmission module 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computing device 10. In one example, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission module 106 can be a radio frequency (RF) module, which is used 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 computing device 10 .

[0039] It should be noted that, in some optional embodiments, the above Figure 1The computing device 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. It should be noted that 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 computing devices described above.

[0040] In the above operating environment, an embodiment of the present application provides an embodiment of a data broadcasting method. 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 is a flow chart of a data broadcasting method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0042] Step S202, obtaining original observation data of the navigation satellite.

[0043] In the above step S202, global navigation satellites can be observed through ground reference stations to obtain original observation data, and the original observation data can be sent to a processor or server; ground reference stations need to be deployed globally to obtain a global ground reference station network, and targeted regional encrypted deployment can be carried out based on the requirements of different regional services for positioning performance (positioning accuracy and convergence time).

[0044] Step S204, performing regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area.

[0045] In the above step S204, the processor or server can perform real-time regional data solution processing on the original observation data through the service data solution platform to generate real-time navigation enhancement service data (stream), including satellite orbit correction number, satellite clock correction number, phase decimal deviation, ionospheric delay correction number, tropospheric delay correction number and other satellite positioning correction data. After the navigation enhancement service data is generated, it is encrypted to ensure the secure transmission of the data. For example, the navigation enhancement service data is encrypted by a service data encryption module.

[0046] In an embodiment of the present application, the navigation augmentation service data is divided into wide-area correction data and local-area correction data. The wide-area correction data includes satellite orbit corrections, satellite clock corrections, phase decimal deviations, etc.; according to the regional coverage characteristics of the target satellite spot beam, the country is divided into different grid areas (the frequencies of target satellite spot beams in adjacent areas are different), and local modeling is performed separately to solve and generate local correction data, such as ionospheric delay corrections, tropospheric delay corrections, etc. The data broadcast by each target satellite spot beam includes two parts: wide-area correction data and local correction data.

[0047] Step S206: encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

[0048] In the above-mentioned step S206, the processor or server may parse the navigation enhancement service data output by the data resolution service platform through the service data broadcast control platform, re-unpack and assemble the data according to the satellite ground network access protocol and the broadcast control requirements, and configure the encrypted different navigation enhancement service data to the regional spot beam of the corresponding target satellite according to the business broadcast strategy, and broadcast the navigation enhancement service data through the spot beam of the target satellite.

[0049] In the above step S206, the navigation enhancement service data is encrypted and then configured to the spot beam of the target satellite for broadcast, including: configuring the wide-area correction data in the encrypted navigation enhancement service data to the spot beam of all target satellites in the beam coverage area involving the first geographical area for broadcast; configuring the local correction data in the encrypted navigation enhancement service data to the spot beam of the target satellite in the beam coverage area involving the second geographical area for broadcast.

[0050] In the above step S206, before encrypting the navigation enhancement service data and configuring it to the spot beam of the target satellite for broadcasting, the method also includes: associating the navigation enhancement service data and the geographic information ID, wherein the geographic information ID is used to indicate the identification of a single spot beam coverage area or multiple adjacent spot beam coverage areas of the target satellite; and determining the service broadcasting strategy of the navigation enhancement service data based on the geographic information ID associated with the navigation enhancement service data.

[0051] In the above steps, the business broadcasting strategy of the navigation enhancement service data is determined, including: when the geographic information ID is in the default state, it indicates that the associated navigation enhancement service data is wide-area correction data, and the business broadcasting strategy is determined to broadcast the wide-area correction data to all beams of the target satellite; when the geographic information ID exists and the geographic information ID is within the valid value range, it indicates that the associated navigation enhancement service data is local correction data, and the business broadcasting strategy is determined to configure the local correction data to a specific point beam of the target satellite for broadcasting.

[0052] In an embodiment of the present application, each spot beam of the target satellite or the coverage area of ​​multiple adjacent spot beams corresponds to a geographic information ID. After receiving the original observation data from the global ground reference station network, the service data solution platform performs modeling and solution of wide-area correction data and modeling and solution of regional (or local) correction numbers through a server or processor, and then associates the correction service data with the geographic information ID, and transmits it to the next link through the network according to the broadcast protocol (or business broadcast strategy): the service data broadcast control platform. Among them, the business broadcast strategy or broadcast protocol is: if the geographic information ID in the broadcast protocol data is in the default state, it is represented as wide-area correction data, and all beams of the target satellite broadcast the wide-area correction data; if the geographic information ID in the broadcast protocol data exists and is within the valid value range, it is represented as local correction data, and the local correction data needs to be configured to the satellite spot beam specific to the target satellite for broadcast.

[0053] In the above step S206, the navigation enhancement service data is broadcast through the spot beam of the target satellite, including: acquiring the navigation enhancement service data and the geographic information ID; determining the spot beam ID of the target satellite corresponding to the navigation enhancement service data from a comparison table based on the geographic information ID, wherein the comparison table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; repackaging the navigation enhancement service data according to the service broadcasting strategy, and sending the repackaging navigation enhancement service data to the spot beam of the target satellite corresponding to the spot beam ID of the target satellite.

[0054] In an embodiment of the present application, the processor or server parses the data packet (including navigation enhancement service data) output by the data solution service platform according to a specific protocol through the service data broadcast control platform, and parses out the correction (service) data (i.e., navigation enhancement service data) and the geographic information ID. According to the geographic information ID, the broadcast point beam ID corresponding to the correction service data is found through the comparison table of the spot beam ID and geographic information ID of the target satellite pre-stored locally. The service data broadcast control platform re-unpacks and assembles the correction service data according to the satellite ground network access protocol and the broadcast control protocol, and sends it to the satellite ground signal gateway. After parsing, the satellite ground signal gateway annotates the correction service data to the spot beams of all or specific target satellites, and broadcasts the correction service data in a timely manner. According to the different scopes of the correction service data, the wide-area correction data is first configured to be broadcast, and then the local correction data is broadcast. It should be noted that the local correction data in this application is not in a one-to-one correspondence with the point beam, and the broadcast range granularity can be flexibly adjusted according to actual business needs. For example, the local correction data can be broadcast by one beam or by several adjacent beams in a larger area.

[0055] Compared with the existing satellite-based navigation augmentation system, the service data broadcast control platform can configure different navigation augmentation service data to different spot beams or spot beam groups of the satellite to achieve differentiated broadcast coverage of the navigation augmentation area, and can flexibly adjust the granularity of the differentiated broadcast area range.

[0056] By dividing the entire large service area into several small sub-areas, the navigation enhancement service data broadcast by satellites in each sub-area is different. Compared with the general large-beam coverage of the entire area technology, the differentiated broadcast of navigation enhancement service data by satellite in different regions can broadcast more and more precise regional satellite positioning correction numbers under limited satellite broadcast bandwidth resources, which can speed up the convergence of high-precision positioning services and reduce service waiting time.

[0057] In the above step S204, the frequency range of the radio signal used by the navigation satellite is the L band, and the frequency range of the radio signal used by the target satellite when broadcasting the navigation enhancement service data is the S band.

[0058] In the scenario of the area without ground network coverage in the embodiment of the present application, from the perspective of integrated application of satellite communication and navigation, the S band is adopted, the satellite communication antenna and the satellite navigation enhanced service data receiving antenna can be reused, and the terminal integration has cost advantages; the S band has a shorter wavelength than the L band, the size of the satellite transceiver antenna can be made smaller, and the terminal miniaturization has advantages; because the S band frequency is higher than the L band, the S band channel capacity is larger, not only can it be used to broadcast navigation enhanced service data, but also there is more channel capacity for two-way satellite communication transmission and reception of other business data information, such as the device receives the navigation enhanced service data provided by the Tiantong satellite S band broadcast channel, and calculates and obtains high-precision positioning coordinates. Then, the high-precision positioning coordinates and other information such as device status are transmitted back or remote control instructions are received through the target satellite S band packet data service channel, integrating multiple functions into one.

[0059] In the above-mentioned data broadcasting method, the method also includes: broadcasting the navigation enhancement service data to the satellite positioning terminal through the target satellite, wherein the satellite positioning terminal receives the encrypted navigation enhancement service data sent by the target satellite through the first antenna; decrypts the navigation enhancement service data to obtain the decrypted navigation enhancement service data; receives the original observation data of the navigation satellite through the second antenna; and calculates the positioning coordinates based on the original observation data and the decrypted navigation enhancement service data.

[0060] In the embodiment of the present application, the satellite positioning terminal integrates a satellite positioning module, a target satellite communication module and a high-precision positioning algorithm module. Figure 3 is a functional block diagram of a high-precision satellite positioning terminal based on enhanced satellite-based navigation in the S-band of a target satellite according to an embodiment of the present application, such as Figure 3 As shown:

[0061] The navigation satellite positioning module receives the original observation data (or original observation quantity) of the navigation satellite through the navigation satellite positioning antenna (the radio frequency signal is the L band). The navigation satellite positioning antenna (or called the satellite positioning antenna) is the second antenna mentioned above. The target satellite communication module receives the encrypted navigation enhancement service data (satellite positioning correction data) broadcast by the target satellite through the target satellite communication antenna (the radio frequency signal is the S band). The target satellite communication antenna is the first antenna mentioned above. The target satellite broadcast decryption module outputs the decrypted navigation enhancement service data (plain text) to the high-precision positioning algorithm module. The high-precision positioning algorithm module fuses and solves the received navigation satellite original observation data and navigation enhancement service data, and outputs a high-precision positioning coordinate result.

[0062] The navigation enhancement service data is broadcasted through the S-band of the target satellite to provide high-precision positioning services in areas without ground network coverage, meeting the needs of industries such as navigation, surveying and mapping. By utilizing the characteristics of regional broadcast coverage of the target satellite spot beam and regional modeling, regional differentiated satellite broadcasting of navigation enhancement service data can be achieved. Under the same satellite bandwidth, a more refined satellite positioning correction model can be broadcast to achieve faster high-precision positioning convergence speed, effectively improving work efficiency. The technical effect of providing faster and more accurate positioning services under limited satellite bandwidth can be achieved, thereby solving the technical problem of slow convergence speed of satellite-based navigation enhancement services in providing positioning services in related technologies.

[0063] In order to better understand the above steps, the following Figure 4 The process of broadcasting the above data is described below. Figure 4 This is an architecture diagram of a target satellite S-band satellite-based navigation enhancement system according to an embodiment of the present application, including the following modules: a ground reference station network, a service data solution platform, a service data encryption module, a service data broadcast control platform, a satellite ground signal gateway, a target satellite, and a satellite positioning terminal.

[0064] In the embodiment of the present application, according to the regional coverage characteristics of the target satellite spot beam, the vast area of ​​satellite-based navigation augmentation service is divided into several grid areas, each area is modeled separately, and the satellite positioning correction data is broadcast to each area in a targeted manner using different spot beams of the target satellite, so that better positioning performance can be obtained under the same satellite broadcast bandwidth. The specific implementation steps are as follows:

[0065] Step 1: Observe global navigation satellites through ground reference stations to obtain raw observation data; ground reference stations need to be deployed globally and deployed in targeted regions based on the positioning performance (positioning accuracy and convergence time) requirements of different regional services.

[0066] Step 2: The service data solution platform receives the original observation data from the global ground reference station network, performs real-time regional data solution processing, and generates real-time navigation enhancement service data. The navigation enhancement service data is divided into wide-area correction data and local correction data.

[0067] Step 3: The service data encryption module encrypts the navigation enhancement service data generated by the data solution service platform.

[0068] Step 4: The satellite ground gateway performs protocol analysis on the broadcast data of the service data broadcast control platform, configures the navigation augmentation service data to the broadcast channel of the satellite and the satellite spot beam to which it belongs, and uploads it to the target satellite.

[0069] Specifically, the navigation enhancement service data output by the data solution service platform is parsed, repackaged according to the satellite ground network access protocol and broadcast control requirements, and different navigation enhancement service data are configured to the regional spot beam corresponding to the spot beam ID of the target satellite according to the business broadcast strategy. The method for configuring and broadcasting navigation enhancement service data is as follows:

[0070] The current mainstream broadcasting method for satellite-based navigation augmentation services is to broadcast navigation augmentation service data in a wide area without differentiation, as shown in Table 1.

[0071] Table 1 Broadcast of wide-area indifferent satellite correction data

[0072]

[0073] This application divides the entire service area into different grid areas, models and solves local correction parameters for different grid areas respectively, and uses the small area coverage capability of the target satellite spot beam to broadcast navigation enhancement service data in a targeted manner by region, so as to achieve regional differentiated satellite broadcast coverage of navigation enhancement service data, as shown in Table 2. It should be noted that the frequencies of the spot beams of target satellites in adjacent coverage areas are different. The satellite 1200bps in Table 2 is the mainstream international leased satellite bandwidth, which is only used as an example and does not represent the actual usage parameters.

[0074] Table 2 Regional differentiated satellite correction data broadcast

[0075]

[0076] Step 5: The target satellite transparently forwards and broadcasts the navigation augmentation service data registered by the satellite ground signal gateway within the beam coverage area according to the broadcast configuration requirements.

[0077] Step 6: The satellite positioning terminal integrates a satellite positioning module, a target satellite communication module and a high-precision positioning algorithm module. The navigation satellite positioning module receives the original observation data of the navigation satellite through the navigation satellite positioning antenna. The target satellite communication module receives the encrypted navigation enhancement service data broadcast by the target satellite through the target satellite communication antenna. The target satellite broadcast decryption module outputs the decrypted navigation enhancement service data to the high-precision positioning algorithm module. The high-precision positioning algorithm module fuses and solves the received navigation satellite original observation data and navigation enhancement service data, and outputs the high-precision positioning coordinate results.

[0078] In the relevant technology, large-scale agricultural machinery operations are very common, and the proportion of agricultural machinery automatic driving systems is increasing year by year. However, due to poor ground network coverage in some areas, the high-precision positioning service of the agricultural machinery automatic driving system based on ground network access is often disconnected, and it is impossible to continuously and stably perform high-precision operations. The use of temporary base stations also has problems such as high after-sales operation and maintenance costs and untimely delays in farming time. Therefore, for open large-scale agricultural machinery operation scenarios, satellite-based navigation enhanced high-precision positioning services have obvious advantages. The following uses the use scenario of precision agriculture to illustrate the subsequent application of the data broadcasting method provided in the embodiment of the present application.

[0079] Figure 5 This is a schematic diagram of an agricultural machinery automatic driving system based on satellite-based navigation enhancement according to an embodiment of the present application. The high-precision reference operation path file is first loaded into the agricultural machinery automatic driving main control unit. The navigation satellite positioning module obtains the original observation data of the navigation satellite through the navigation satellite positioning antenna, and outputs the original observation data to the high-precision positioning algorithm module. At the same time, the target satellite broadcast receiving module (such as the target satellite communication module) receives the navigation enhancement service data broadcast by the target satellite through the target satellite communication antenna, and injects it into the high-precision positioning algorithm module after decryption by the target satellite broadcast decryption module. The high-precision algorithm module can solve the high-precision positioning coordinates in real time through the received original observation data of the navigation system satellite and the navigation enhancement service data broadcast by the target satellite after a certain period of initialization convergence (<1 minute-3 minutes). The agricultural machinery automatic driving main control unit controls the agricultural machinery servo control unit according to the input real-time solved high-precision coordinates and the attitude data of the agricultural machinery attitude sensing device, so that the agricultural machinery performs precise field operations according to the pre-loaded high-precision reference operation path.

[0080] Figure 6 is a structural diagram of a data broadcasting device provided according to an embodiment of the present application. Figure 6 As shown, the device comprises:

[0081] An acquisition module 50 is used to acquire original observation data of the navigation satellite;

[0082] A solution module 52 is used to perform regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than the area of ​​the second geographical area;

[0083] The broadcast module 54 is used to encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

[0084] Through the acquisition module 50, the solution module 52 and the broadcasting module 54 in the above-mentioned data broadcasting device, the purpose of accelerating the initialization convergence time of the positioning service and improving the positioning accuracy by broadcasting high-precision positioning correction numbers through regional differentiation under limited satellite bandwidth is achieved, thereby solving the technical problem of slow convergence speed in satellite-based navigation enhancement services.

[0085] In the broadcasting module in the above-mentioned data broadcasting device, the broadcasting module is also used to associate navigation enhancement service data and geographic information ID, wherein the geographic information ID is used to indicate the identification of a single spot beam coverage area or multiple adjacent spot beam coverage areas of the target satellite; based on the geographic information ID associated with the navigation enhancement service data, the business broadcasting strategy of the navigation enhancement service data is determined.

[0086] In the broadcast module in the above-mentioned data broadcasting device, the broadcast module is also used to indicate that the associated navigation enhancement service data is wide-area correction data when the geographic information ID is in the default state, and determine the business broadcast strategy to broadcast the wide-area correction data to all beams of the target satellite; when the geographic information ID exists and the geographic information ID is within the valid value range, it indicates that the associated navigation enhancement service data is local correction data, and determine the business broadcast strategy to configure the local correction data to a specific point beam of the target satellite for broadcast.

[0087] In the broadcasting module in the above-mentioned data broadcasting device, the broadcasting module is also used to obtain navigation enhancement service data and geographic information ID; based on the geographic information ID, determine the spot beam ID of the target satellite corresponding to the navigation enhancement service data from a comparison table, wherein the comparison table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; repackage the navigation enhancement service data according to the business broadcasting strategy, and send the repackaged navigation enhancement service data to the spot beam of the target satellite corresponding to the spot beam ID of the target satellite.

[0088] In the above data broadcasting device, the frequency range of the radio signal used by the target satellite when broadcasting the navigation enhancement service data is the S band.

[0089] The above-mentioned data broadcasting device also includes a processing module 56, which is used to broadcast the navigation enhancement service data to the satellite positioning terminal through the target satellite, wherein the satellite positioning terminal receives the encrypted navigation enhancement service data sent by the target satellite through the first antenna; decrypts the navigation enhancement service data to obtain the decrypted navigation enhancement service data; receives the original observation data of the navigation satellite through the second antenna; and calculates the positioning coordinates based on the original observation data and the decrypted navigation enhancement service data.

[0090] In the broadcasting module in the above-mentioned data broadcasting device, the broadcasting module is also used to configure the wide-area correction data in the encrypted navigation enhancement service data to the spot beams of all target satellites in the first geographical area within the beam coverage area for broadcasting; and configure the local correction data in the encrypted navigation enhancement service data to the spot beams of the target satellites in the second geographical area within the beam coverage area for broadcasting.

[0091] It should be noted that Figure 6 The data broadcasting device shown is used to execute Figure 2 The data broadcasting method shown in the figure, therefore the relevant explanations in the above data broadcasting method are also applicable to the data broadcasting device, and will not be repeated here.

[0092] An embodiment of the present application also provides a data broadcasting system, including: a ground reference station, a service data solution platform and a service data broadcasting control platform, wherein the ground reference station is used to obtain original observation data of navigation satellites; the service data solution platform is used to perform regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area; the service data broadcasting control platform is used to encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

[0093] It should be noted that the data broadcasting system is used to execute Figure 2 Therefore, the relevant explanations in the above data broadcasting method are also applicable to the data broadcasting system, which will not be repeated here.

[0094] An embodiment of the present application also provides an electronic device, which includes 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 program instructions to implement the following functions: acquiring original observation data of a navigation satellite; performing data resolution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and the area of ​​the first geographical area is larger than that of the second geographical area; and broadcasting the navigation enhancement service data through the spot beam of the target satellite.

[0095] It should be noted that the above electronic equipment is used to execute Figure 2 The method for data broadcasting shown in the figure, therefore the relevant explanations in the above data broadcasting method are also applicable to the electronic device and will not be repeated here.

[0096] An embodiment of the present application further provides a non-volatile storage medium, which includes a stored computer program, wherein a device where the non-volatile storage medium is located executes the above-mentioned data broadcasting method by running the computer program.

[0097] It should be noted that the above non-volatile storage medium is used to execute Figure 2 The data broadcasting method shown in the figure, therefore, the relevant explanations in the above data broadcasting method are also applicable to the non-volatile storage medium, and will not be repeated here.

[0098] The embodiment of the present application also provides a computer program product, including computer instructions, which implement the above-mentioned data broadcasting method when executed by a processor.

[0099] It should be noted that the above-mentioned computer program product is used to execute Figure 2 Therefore, the relevant explanations in the above data broadcasting method are also applicable to the computer program product and will not be repeated here.

[0100] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0101] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0103] 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 over multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0104] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0105] 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, or the part that contributes to the prior art or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of each embodiment method 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, disk or optical disk, etc. Various media that can store program codes.

[0106] The above are only preferred implementations of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A data broadcasting method, characterized in that: include: Obtain raw observation data from navigation satellites; Performing regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and an area of ​​the first geographical area is larger than an area of ​​the second geographical area; The navigation enhancement service data is encrypted and then configured to a spot beam of a target satellite for broadcast.

2. The method according to claim 1, characterized in that Before encrypting the navigation augmentation service data and configuring it to a spot beam of a target satellite for broadcasting, the method further includes: Associating the navigation augmentation service data with a geographic information ID, wherein the geographic information ID is used to indicate an identification of a single spot beam coverage area or adjacent multiple spot beam coverage areas of the target satellite; A service broadcasting strategy of the navigation enhancement service data is determined according to the geographic information ID associated with the navigation enhancement service data.

3. The method according to claim 2, characterized in that Determining a service broadcasting strategy for the navigation enhancement service data includes: When the geographic information ID is in a default state, it indicates that the associated navigation enhancement service data is wide-area correction data, and the service broadcasting strategy is determined to broadcast the wide-area correction data to all beams of the target satellite; When the geographic information ID exists and is within a valid value range, it indicates that the associated navigation enhancement service data is local correction data, and the service broadcasting strategy is determined to configure the local correction data to a specific spot beam of the target satellite for broadcasting.

4. The method according to claim 2, characterized in that: The navigation enhancement service data is encrypted and then configured to be broadcasted by a spot beam of a target satellite, including: Acquire the navigation enhancement service data and the geographic information ID; According to the geographic information ID, determining the spot beam ID of the target satellite corresponding to the navigation augmentation service data from a comparison table, wherein the comparison table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; The navigation enhancement service data is repackaged according to the service broadcasting strategy, and the repackaged navigation enhancement service data is sent to the spot beam of the target satellite corresponding to the spot beam ID of the target satellite.

5. The method according to claim 1, characterized in that The frequency range of the radio signal used by the target satellite when broadcasting the navigation enhancement service data is the S band.

6. The method according to claim 1, characterized in that The method further comprises: broadcasting the navigation enhancement service data to a satellite positioning terminal via the target satellite, wherein: The satellite positioning terminal receives the encrypted navigation enhancement service data sent by the target satellite through the first antenna; decrypting the navigation enhancement service data to obtain decrypted navigation enhancement service data; receiving raw observation data of the navigation satellite via a second antenna; The positioning coordinates are calculated based on the original observation data and the decrypted navigation enhancement service data.

7. The method according to claim 1, characterized in that The navigation enhancement service data is encrypted and then configured to be broadcasted by a spot beam of a target satellite, including: Allocate the encrypted wide-area correction data in the navigation augmentation service data to the spot beams of all target satellites in the beam coverage area involving the first geographical area for broadcasting; The encrypted local correction data in the navigation enhancement service data is configured to be broadcasted to a spot beam of the target satellite in the second geographical area in a beam coverage area.

8. A data broadcasting system, characterized in that: include: Ground reference station, service data solution platform and service data broadcast control platform, among which, The ground reference station is used to obtain original observation data of the navigation satellite; The service data solving platform is used to perform regional data solving on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and an area of ​​the first geographical area is larger than an area of ​​the second geographical area; The service data broadcast control platform is used to encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

9. A data broadcasting device, characterized in that: include: An acquisition module is used to acquire the original observation data of the navigation satellite; a solution module, configured to perform regional data solution on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and an area of ​​the first geographical area is larger than an area of ​​the second geographical area; The broadcast module is used to encrypt the navigation enhancement service data and then configure it to the spot beam of the target satellite for broadcasting.

10. An electronic device, characterized in that: include: A memory for storing program instructions; a processor connected to the memory and configured to execute program instructions for implementing the following functions: acquiring raw observation data of a navigation satellite; performing regional data solution on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local-area correction data, the wide-area correction data is correction data covering a first geographical area, and the local-area correction data is correction data covering a second geographical area, and an area of ​​the first geographical area is larger than an area of ​​the second geographical area; The navigation enhancement service data is encrypted and then configured to a spot beam of a target satellite for broadcast.

11. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the data broadcasting method according to any one of claims 1 to 7 by running the computer program.

12. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by a processor, the data broadcasting method according to any one of claims 1 to 7 is implemented.

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