Data broadcasting method, system and electronic device

Abstract

The application discloses a data broadcasting method, a system and an electronic device. The method comprises the following steps: obtaining original observation data of a navigation satellite; performing regional data calculation 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 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; and the navigation enhancement service data is configured to a point beam of a target satellite after data encryption and then broadcasted. The application solves the technical problem of slow convergence speed in the related art when a satellite-based navigation enhancement service provides positioning services.

Description

Technical Field

[0001] This application relates to the fields of satellite positioning and satellite communication, and more specifically, to a data broadcasting method, system, and electronic device. Background Technology

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

[0003] Standard Point Positioning (SPP) technology of the Global Navigation Satellite System (GNSS) is affected by satellite clock errors, orbital errors, atmospheric delays, and multipath effects, resulting in a standard positioning accuracy of 5-10 meters. This accuracy is sufficient for daily travel needs, but professional applications such as autonomous driving and precision measurement require higher precision positioning services. Real-time Kinematic (RTK) is a typical representative technology for ground-based augmentation high-precision positioning services. It mainly utilizes the short baseline distance between the reference station and the rover (terminal) (generally within 15 km) and their similar errors, such as ionospheric delay errors and tropospheric delay errors. By performing differential processing on the synchronous observation data of the ground reference station and the rover, positioning accuracy up to the centimeter level can be obtained within seconds. However, its applicability is limited by the coverage of the ground network. Precise Point Positioning (PPP) is a typical technology used in satellite-based navigation augmentation services. It does not rely on a dense network of reference stations. Instead, it calculates the orbital error, clock error, and code deviation corrections of navigation satellites using a global framework of reference stations (usually around 100 stations). This correction information is then broadcast unidirectionally to the satellite positioning terminal via the network. It can achieve positioning accuracy down to the decimeter level, with a convergence time of 15-30 minutes.

[0004] Compared to ground-based augmentation services based on network RTK technology, satellite-based navigation augmentation services, which utilize precise point positioning (SNP) technology, can provide high-precision positioning services globally without relying on dense ground reference station infrastructure. However, to achieve the same centimeter-level positioning accuracy, the positioning terminal requires a longer initialization and convergence time. Under the same open environment and hardware conditions, the convergence time for ground-based augmentation services is in the seconds range, while the convergence time for satellite-based navigation augmentation services is in the minutes range. Therefore, satellite-based navigation augmentation services suffer from a slower convergence speed when providing positioning services.

[0005] There is currently no effective solution to the above problems. Summary of the Invention

[0006] This application provides a data broadcasting method, system, and electronic device to at least solve the technical problem of slow convergence speed when satellite-based navigation augmentation services provide positioning services in related technologies.

[0007] According to one aspect of the embodiments of this application, a data broadcasting method is provided, comprising: acquiring raw observation data of a navigation satellite; performing regional data calculation on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data, the wide-area correction data being correction data covering a first geographical region, and the local correction data being correction data covering a second geographical region, the area of ​​the first geographical region being larger than the area of ​​the second geographical region; and configuring the navigation enhancement service data into a spot beam of a target satellite for broadcasting after data encryption.

[0008] Optionally, before configuring the navigation enhancement service data into the spot beam of the target satellite for broadcast after data encryption, the method further includes: associating the navigation enhancement service data with a geographic information ID, wherein the geographic information ID is used to represent 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.

[0009] Optionally, the service broadcasting strategy for navigation enhancement service data is determined, including: when the geographic information ID is in the default state, indicating that the associated navigation enhancement service data is wide-area correction data, the service broadcasting strategy is 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 a valid value range, indicating that the associated navigation enhancement service data is local correction data, the service broadcasting strategy is to configure the local correction data to a specific point beam of the target satellite for broadcasting.

[0010] Optionally, the navigation enhancement service data is encrypted and then configured to be broadcast to the spot beam of the target satellite, 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 lookup table based on the geographic information ID, wherein the lookup table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; re-encapsulating the navigation enhancement service data according to the service broadcasting strategy, and sending the re-encapsulated 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 target satellite may use radio signals in the S-band when broadcasting navigation enhancement service data.

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

[0013] Optionally, the navigation enhancement service data is encrypted and then configured to be broadcast on the spot beams of the target satellites, including: configuring the wide-area correction data in the encrypted navigation enhancement service data to be broadcast on the spot beams of all target satellites in the beam coverage area covering the first geographical region; configuring the local correction data in the encrypted navigation enhancement service data to be broadcast on the spot beams of target satellites in the beam coverage area covering the second geographical region.

[0014] According to another aspect of the embodiments of this application, a data broadcasting system is also provided, including: a ground reference station, a service data processing platform, and a service data broadcasting control platform. The ground reference station is used to acquire raw observation data from navigation satellites. The service data processing platform is used to perform regional data processing on the raw observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data covers a first geographical region, and the local correction data covers a second geographical region, where the area of ​​the first geographical region is larger than the area of ​​the second geographical region. The service data broadcasting control platform is used to encrypt the navigation enhancement service data and then configure it to a spot beam of a target satellite for broadcasting.

[0015] According to another aspect of the embodiments of this application, a data broadcasting apparatus is also provided, comprising: an acquisition module for acquiring raw observation data of navigation satellites; a calculation module for performing regional data calculation on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data, the wide-area correction data being correction data covering a first geographical region, and the local correction data being correction data covering a second geographical region, the area of ​​the first geographical region being larger than the area of ​​the second geographical region; and 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 embodiments of this application, an electronic device is also provided, including: a memory for storing program instructions; and a processor connected to the memory for executing program instructions to perform the following functions: acquiring raw observation data of navigation satellites; performing regional data calculation on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data, the wide-area correction data is correction data covering a first geographical area, and the local correction data is correction data covering a second geographical area, the area of ​​the first geographical area being larger than the area of ​​the second geographical area; and encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcast.

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

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

[0019] In this embodiment, the original observation data of navigation satellites is acquired; regional data processing is performed on the original observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data covers a first geographical region, and the local correction data covers a second geographical region. The area of ​​the first geographical region is larger than the area of ​​the second geographical region. Under the premise that the bandwidth of each satellite point beam is the same, the navigation enhancement service data is encrypted and then configured to the point beam of the target satellite for differentiated regional broadcasting. This achieves the goal of shortening the initial convergence time of high-precision positioning, thereby realizing the technical effect of providing faster and more accurate positioning services under limited satellite bandwidth. This solves the technical problem of slow convergence speed when satellite-based navigation enhancement services provide positioning services in related technologies. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

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

[0022] Figure 2 This is a flowchart of a data broadcasting method according to an embodiment of this application;

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

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

[0025] 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 this application;

[0026] Figure 6 This is a structural diagram of a data broadcasting apparatus according to an embodiment of this application. Detailed Implementation

[0027] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort 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, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] Among related technologies, network RTK is an extension of RTK technology. The current mainstream commercial solution is as follows: multiple physical reference stations (baseline distance 30km-70km) are deployed in the service area. The server-side networking algorithm performs modeling calculations based on the raw observations of the physical reference stations to simulate virtual reference stations (VRS) with specific patterns of distribution within the service area. The satellite positioning terminal (rover) first reports its approximate position coordinates to the server. The server pushes synchronous observation data from the virtual reference station (VRS) closest to the satellite positioning terminal (rover). The satellite positioning terminal (rover) obtains high-precision positioning coordinates through differential technology. Network RTK service requires two-way communication between the terminal and the server and is suitable for broadcasting in areas with terrestrial network coverage.

[0030] To further address the shortcomings of PPP technology, PPP-AR technology, specifically Precise Point Positioning Ambiguity Resolution (PPP-AR), was subsequently developed. This technology adds the broadcasting of satellite phase deviation information, commonly in the form of uncalibrated phase delay (UPD), further improving positioning accuracy to the centimeter level and reducing convergence time to approximately 5 minutes. Later, Precise Point Positioning and Real-time Kinematic (PPP-RTK) technology, developed by introducing regional densified reference stations (approximately 200 km apart), further enhances PPP-AR by adding atmospheric correction information (including ionospheric and tropospheric corrections), achieving centimeter-level positioning accuracy in as little as one minute. The industry refers to satellite positioning correction data, such as orbital errors, clock errors, code deviation corrections, phase deviation corrections, and atmospheric delays, as navigation enhancement service data. Because it requires only one-way communication, it is particularly suitable for one-way broadcasting via satellite networks, with no upper limit on the number of connected terminals.

[0031] The mainstream satellite-based navigation augmentation services currently in widespread use primarily broadcast unified satellite positioning correction data over a wide area via L-band satellite navigation augmentation signal transponders carried by geostationary Earth Orbit (GEO) satellites. The main problem with this approach is that the convergence accuracy and convergence speed of high-precision satellite-based navigation augmentation services still need further improvement.

[0032] The long convergence time of satellite-based navigation augmentation services is a major drawback of this technology. Positioning accuracy is primarily affected by satellite orbital errors, satellite clock errors, and phase fractional deviations. The initial convergence speed for satellite positioning to reach a specific accuracy is mainly influenced by atmospheric delays (ionospheric delay, tropospheric delay), among other factors. Currently, the initial convergence speed for satellite-based navigation augmentation systems to achieve high-precision positioning is slow, primarily due to the high cost of satellite communication bandwidth leasing. The actual leased bandwidth used for broadcasting correction data is very small (currently, mainstream satellite-based navigation augmentation services lease satellite bandwidth of around 1200 bps), making it impossible to broadcast more refined regional atmospheric model corrections, thus resulting in a slow convergence speed. For satellite positioning receivers, the number of usable satellites received for positioning by a single satellite navigation system is about 8-10. When using multi-system joint positioning (BeiDou Navigation Satellite System BDS, Global Positioning System GPS, Galileo Navigation Satellite System (EU), Global Navigation Satellite System (Russia), Quasi-Zenith Satellite System QZSS), the number of usable satellites received by the receiver can reach about 30-50. With such limited satellite bandwidth, after ensuring the complete broadcast of corrections for orbital errors, clock errors, and phase fractional deviations from the above multiple satellite navigation systems, the remaining bandwidth for broadcasting wide-area atmospheric corrections is very limited. In practice, the correction parameters of the regional atmospheric model must be optimized and simplified, making it impossible to broadcast all corrections and achieve optimal positioning convergence performance.

[0033] To address the problems existing in related technologies, this application provides a data broadcasting method, which can be run in... Figure 1 The computing device shown will be explained below.

[0034] The data broadcasting method embodiments provided in this application can be executed in a computing device. Figure 1 A hardware block diagram of a computing device for implementing a data broadcasting method is shown. Figure 1 As shown, the computing device 10 may include one or more processors (shown as 102a, 102b, ..., 102n in the figure) (the processor may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), 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. Those skilled in the art will understand that... Figure 1The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the computing device 10 may also include a... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0035] It should be noted that the aforementioned one or more processors and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computing device 10. As involved in the embodiments of this application, the data processing circuits serve as processor control (e.g., selection of a variable resistor termination 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 this embodiment. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the above-mentioned data broadcasting method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor, and these remote memories can be connected to the computing device 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0037] The transmission module 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computing device 10. In one example, the transmission module 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0038] The display can be, for example, a touchscreen liquid crystal display (LCD), which allows the user to interact with the user interface of the computing device 10.

[0039] It should be noted here that, in some optional embodiments, the above... Figure 1The computing device shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 1 This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned computing device.

[0040] In the above operating environment, this application provides a data broadcasting method embodiment. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0041] Figure 2 This is a flowchart of a data broadcasting method according to an embodiment of this application, such as... Figure 2 As shown, the method includes the following steps:

[0042] Step S202: Obtain the raw observation data of the navigation satellite.

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

[0044] Step S204: Perform regional data processing on the original observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data covers the first geographic region, and the local correction data covers the second geographic region. The area of ​​the first geographic region is larger than the area of ​​the second geographic region.

[0045] In step S204 above, the processor or server can perform real-time regional data processing on the raw observation data through the service data processing platform to generate real-time navigation enhancement service data (stream), including satellite orbit corrections, satellite clock corrections, phase fractional deviations, ionospheric delay corrections, tropospheric delay corrections, and other satellite positioning correction data. After generating the navigation enhancement service data, it is encrypted to ensure secure data transmission. For example, the navigation enhancement service data can be encrypted using a service data encryption module.

[0046] In this embodiment, the navigation enhancement service data is divided into wide-area correction data and local correction data. Wide-area correction data includes satellite orbit corrections, satellite clock corrections, phase fractional deviations, etc. Based on the regional coverage characteristics of the target satellite point beam, the country is divided into different grid areas (adjacent areas have different target satellite point beam frequencies), and local modeling is performed for each area to calculate and generate local correction data, such as ionospheric delay corrections and tropospheric delay corrections. The data broadcast by each target satellite point beam includes both wide-area correction data and local correction data.

[0047] Step S206: After encrypting the navigation enhancement service data, configure it to be broadcast to the spot beam of the target satellite.

[0048] In step S206 above, the processor or server can parse the navigation enhancement service data output by the data processing service platform through the service data broadcasting control platform, repackage and reassemble the data according to the satellite ground network access protocol and broadcasting control requirements, and configure the encrypted different navigation enhancement service data to the regional spot beams of the corresponding target satellites according to the service broadcasting strategy, and broadcast the navigation enhancement service data through the spot beams of the target satellites.

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

[0050] In step S206 above, before configuring the navigation enhancement service data to the spot beam of the target satellite for broadcast after data encryption, the method further includes: associating the navigation enhancement service data with a geographic information ID, wherein the geographic information ID is used to represent 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, determining the service broadcasting strategy for navigation enhancement service data includes: 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 service broadcasting strategy is 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 a valid value range, it indicates that the associated navigation enhancement service data is local correction data, and the service broadcasting strategy is to configure the local correction data to be broadcast to specific point beams of the target satellite.

[0052] In the embodiments of this application, each point beam of the target satellite or the coverage area of ​​multiple adjacent point beams corresponds to a geographic information ID. After receiving the raw observation data from the global ground reference station network, the service data processing platform performs modeling and processing of wide-area correction data and regional (or local) correction data through a server or processor. Then, it associates the correction service data with the geographic information ID and transmits it to the next stage, the service data broadcasting control platform, through the network according to the broadcasting protocol (or service broadcasting strategy). The service broadcasting strategy or broadcasting protocol is as follows: if the geographic information ID in the broadcasting protocol data is in the default state, it indicates wide-area correction data, and all beams of the target satellite broadcast this wide-area correction data; if the geographic information ID exists in the broadcasting protocol data and is within the valid value range, it indicates local correction data, and the local correction data needs to be configured to be broadcast on a specific satellite point beam of the target satellite.

[0053] In step S206 above, the navigation enhancement service data is broadcast through the spot beam of the target satellite, 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 lookup table based on the geographic information ID, wherein the lookup table stores the correspondence between the spot beam ID of the target satellite and all geographic information IDs; re-encapsulating the navigation enhancement service data according to the service broadcasting strategy, and sending the re-encapsulated navigation enhancement service data to the spot beam of the target satellite corresponding to the spot beam ID of the target satellite.

[0054] In this embodiment, the processor or server parses the data packets (including navigation enhancement service data) output by the data processing service platform according to a specific protocol through the service data broadcasting control platform. This parsing extracts the correction (service) data (i.e., navigation enhancement service data) and geographic information IDs. Based on the geographic information IDs, the platform uses a pre-stored lookup table of target satellite spot beam IDs and geographic information IDs to find the corresponding broadcast spot beam ID for the correction service data. The service data broadcasting control platform repackages and reassembles the correction service data according to the satellite ground network access protocol and broadcasting control protocol, and sends it to the satellite ground gateway station. After parsing, the satellite ground gateway station uploads the correction service data to the spot beams of all or specific target satellites, broadcasting the correction service data promptly. Depending on the scope of the correction service data, wide-area correction data is configured for broadcast first, followed by local-area correction data. It should be noted that the local correction data and the spot beams in this application are not in a one-to-one correspondence. The granularity of the broadcast range can be flexibly adjusted according to actual business needs. For example, local correction data can be broadcast by one beam or by several adjacent beams in a larger area.

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

[0056] By dividing the large service area into several smaller sub-regions, the navigation augmentation service data broadcast by satellite differs for each sub-region. Compared to the common large-beam coverage technology, broadcasting navigation augmentation service data by satellite region allows for the dissemination of more detailed regional satellite positioning corrections within limited satellite broadcast bandwidth resources. This accelerates the convergence speed of high-precision positioning services and reduces service latency.

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

[0058] In the scenario of an area without terrestrial network coverage in this application embodiment, from the perspective of integrated satellite communication and navigation applications, the S-band allows for the reuse of satellite communication antennas and satellite navigation enhancement service data receiving antennas, resulting in cost advantages for terminal integration. The S-band has a shorter wavelength than the L-band, allowing for smaller satellite transceiver antennas and miniaturized terminals. Because the S-band frequency is higher than the L-band, it has a larger channel capacity, enabling not only the broadcasting of navigation enhancement service data but also additional channel capacity for bidirectional satellite communication of other service data. For example, the device can receive navigation enhancement service data provided by the S-band broadcast channel of the Tiantong satellite and calculate high-precision positioning coordinates. Then, the high-precision positioning coordinates and other information such as device status can be transmitted back via the target satellite's S-band packet data service channel, or remote control commands can be received, integrating multiple functions into one system.

[0059] The above data broadcasting method further includes: broadcasting navigation enhancement service data to a satellite positioning terminal via a target satellite, wherein the satellite positioning terminal receives encrypted navigation enhancement service data sent by the target satellite via a first antenna; decrypting the navigation enhancement service data to obtain decrypted navigation enhancement service data; receiving raw observation data from the navigation satellite via a second antenna; and calculating the positioning coordinates based on the raw observation data and the decrypted navigation enhancement service data.

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

[0061] The navigation satellite positioning module receives raw observation data (or raw observations) from navigation satellites through a navigation satellite positioning antenna (RF signal in the L-band). This navigation satellite positioning antenna (or satellite positioning antenna) is the second antenna mentioned above. The target satellite communication module receives encrypted navigation enhancement service data (satellite positioning correction data) broadcast by the target satellite through a target satellite communication antenna (RF signal in the S-band). This target satellite communication antenna is the first antenna mentioned above. The target satellite broadcast decryption module outputs the decrypted navigation enhancement service data (plaintext) to the high-precision positioning algorithm module. The high-precision positioning algorithm module fuses and calculates the received raw observation data and navigation enhancement service data from the navigation satellites to output high-precision positioning coordinate results.

[0062] Navigation augmentation service data is broadcast via S-band from target satellites to provide high-precision positioning services in areas without terrestrial network coverage, meeting the needs of industries such as navigation and surveying. By leveraging the regional broadcast coverage characteristics of the target satellite's point beams and through regional modeling, differentiated satellite broadcasting of navigation augmentation service data can be achieved. With the same satellite bandwidth, more refined satellite positioning correction models can be broadcast, resulting in faster high-precision positioning convergence and effectively improving operational efficiency. This technology enables faster and more accurate positioning services with limited satellite bandwidth, thus solving the technical problem of slow convergence speed in satellite-based navigation augmentation services providing positioning services.

[0063] To better understand the above steps, the following will be combined with... Figure 4 The process of broadcasting the above data will be explained. Figure 4 This is an architecture diagram of a target satellite S-band satellite-based navigation enhancement system according to an embodiment of this application, including the following modules: ground reference station network, service data calculation platform, service data encryption module, service data broadcasting control platform, satellite ground gateway station, target satellite, and satellite positioning terminal.

[0064] The embodiments of this application divide the vast area of ​​satellite-based navigation augmentation service into several grid regions based on the coverage characteristics of the target satellite's spot beam area. Each region is modeled separately, and satellite positioning correction data is broadcast to each region using different spot beams of the target satellite. This can achieve better positioning performance with 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 targeted regional densification deployment should be carried out according to the positioning performance (positioning accuracy and convergence time) requirements of different regional services.

[0066] Step 2: The service data processing platform receives the raw observation data from the global ground reference station network, performs real-time regional data 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 processing service platform.

[0068] Step 4: The satellite ground gateway station performs protocol parsing on the broadcast data of the service data broadcast control platform, configures the navigation enhancement service data to the broadcast channels of the satellite and its point beam, and uploads it to the target satellite.

[0069] Specifically, the navigation enhancement service data output by the data processing service platform is parsed, repackaged according to the satellite ground network access protocol and broadcast control requirements, and configured onto the area spot beams corresponding to the spot beam IDs of the target satellites according to the service broadcast strategy. The method for configuring and broadcasting navigation enhancement service data is as follows:

[0070] The current mainstream method for broadcasting satellite-based navigation augmentation services is to broadcast navigation augmentation service data in a wide-area, undifferentiated manner, as shown in Table 1.

[0071] Table 1 Broadcasting of Wide-Area Indiscriminate Satellite Correction Data

[0072]

[0073] This application divides the entire service area into different grid regions, and models and calculates local correction parameters for each grid region separately. Utilizing the small-area coverage capability of the target satellite's spot beam, navigation enhancement service data is broadcast in a targeted manner across different regions, achieving regionally differentiated satellite broadcast coverage of navigation enhancement service data, as shown in Table 2. It should be noted that the spot beam frequencies of the target satellites in adjacent coverage areas are different. The 1200bps satellite bandwidth in Table 2 represents the mainstream international leased satellite bandwidth and is only used as an example, not representing actual usage parameters.

[0074] Table 2. Regionally Differentiated Satellite Correction Data Broadcasting

[0075]

[0076] Step 5: The target satellite will transparently forward and broadcast the navigation enhancement service data uploaded by the satellite ground gateway station 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 raw observation data from navigation satellites through the navigation satellite positioning antenna. The target satellite communication module receives 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 calculates the received raw observation data from navigation satellites and navigation enhancement service data, and outputs high-precision positioning coordinate results.

[0078] In related technologies, large-scale agricultural machinery operations are already widespread, and the usage rate 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 agricultural machinery automatic driving systems based on ground network access frequently drops, making it impossible to continuously and stably perform high-precision operations. Using temporary base stations also presents problems such as high after-sales maintenance costs and delays in agricultural operations. Therefore, for open large-scale agricultural machinery operation scenarios, satellite-based navigation enhanced high-precision positioning services have significant advantages. The following section uses precision agriculture as an example to illustrate the subsequent application of the data broadcasting method provided in this application embodiment.

[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 this application. A high-precision reference operation path file is first loaded into the agricultural machinery automatic driving main control unit. The navigation satellite positioning module acquires raw observation data from navigation satellites through the navigation satellite positioning antenna and outputs the raw observation data to the high-precision positioning algorithm module. Simultaneously, the target satellite broadcast receiving module (such as a target satellite communication module) receives navigation enhancement service data broadcast by the target satellite through the target satellite communication antenna, decrypts it through the target satellite broadcast decryption module, and injects it into the high-precision positioning algorithm module. The high-precision algorithm module, through the received raw observation data from the navigation system satellites and the navigation enhancement service data broadcast by the target satellite, and after a certain period of initialization and convergence (<1 minute to 3 minutes), can calculate the high-precision positioning coordinates in real time. Based on the input real-time calculated high-precision coordinates and the attitude data from the agricultural machinery attitude sensing device, the agricultural machinery automatic driving main control unit controls the agricultural machinery servo control unit, enabling the agricultural machinery to perform precise field operations according to the pre-loaded high-precision reference operation path.

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

[0081] Acquisition module 50 is used to acquire raw observation data from navigation satellites;

[0082] The calculation module 52 is used to perform regional data calculation on the original observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data is the correction data covering the first geographic region, and the local correction data is the correction data covering the second geographic region. The area of ​​the first geographic region is larger than the area of ​​the second geographic region.

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

[0084] Through the acquisition module 50, the calculation module 52 and the broadcasting module 54 in the above-mentioned data broadcasting device, the goal of accelerating the initial convergence time of the positioning service and improving the positioning accuracy is achieved by broadcasting high-precision positioning correction data in a regionally differentiated manner under limited satellite bandwidth, thereby solving the technical problem of slow convergence speed in satellite-based navigation augmentation services.

[0085] In the broadcasting module of the aforementioned 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 represent the identification of a single point beam coverage area or multiple adjacent point beam coverage areas of the target satellite; and the service broadcasting strategy of the navigation enhancement service data is determined based on the geographic information ID associated with the navigation enhancement service data.

[0086] In the broadcasting module of the aforementioned data broadcasting device, the broadcasting module is further configured to, when the geographic information ID is in the default state, indicate that the associated navigation enhancement service data is wide-area correction data and determine the service broadcasting strategy as broadcasting 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 a valid value range, indicate that the associated navigation enhancement service data is local correction data and determine the service broadcasting strategy as configuring the local correction data to a specific point beam of the target satellite for broadcasting.

[0087] In the broadcasting module of the aforementioned data broadcasting device, the broadcasting module is also used to acquire navigation enhancement service data and geographic information IDs; determine the spot beam ID of the target satellite corresponding to the navigation enhancement service data from a lookup table based on the geographic information ID, wherein the lookup 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 service 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 aforementioned data broadcasting device, the target satellite uses the S-band frequency range of radio signals when broadcasting navigation enhancement service data.

[0089] The aforementioned data broadcasting device also includes a processing module 56, which is used to broadcast navigation enhancement service data to a satellite positioning terminal via a target satellite. The satellite positioning terminal receives the encrypted navigation enhancement service data sent by the target satellite via a first antenna; decrypts the navigation enhancement service data to obtain decrypted navigation enhancement service data; receives the original observation data of the navigation satellite via a 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 of the aforementioned data broadcasting device, the broadcasting module is further configured to broadcast wide-area correction data in the encrypted navigation enhancement service data to the spot beams of all target satellites within the first geographical area covered by the beam coverage area; and to broadcast local correction data in the encrypted navigation enhancement service data to the spot beams of target satellites within the second geographical area covered by the beam coverage area.

[0091] It should be noted that, Figure 6 The data broadcasting device shown is used to perform Figure 2 The data broadcasting method shown above is also applicable to this data broadcasting device, and will not be repeated here.

[0092] This application embodiment also provides a data broadcasting system, including: a ground reference station, a service data processing platform, and a service data broadcasting control platform. The ground reference station is used to acquire raw observation data from navigation satellites. The service data processing platform is used to perform regional data processing on the raw observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data covers a first geographical region, and the local correction data covers a second geographical region, where the area of ​​the first geographical region is larger than the area of ​​the second geographical region. The service data broadcasting control platform is used to encrypt the navigation enhancement service data and then configure it to a spot beam of a target satellite for broadcasting.

[0093] It should be noted that this data broadcasting system is used to execute... Figure 2 The data broadcasting method shown above is also applicable to this data broadcasting system, and will not be repeated here.

[0094] This application also provides an electronic device, which includes a memory and a processor. The memory stores program instructions, and the processor is connected to the memory to execute program instructions that perform the following functions: acquiring raw observation data from navigation satellites; performing data processing on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data, the wide-area correction data being correction data covering a first geographical region, and the local correction data being correction data covering a second geographical region, the area of ​​the first geographical region being larger than the area of ​​the second geographical region; and broadcasting the navigation enhancement service data through a spot beam of a target satellite.

[0095] It should be noted that the aforementioned electronic equipment is used to perform Figure 2 The data broadcasting method shown above also applies to this electronic device, and will not be repeated here.

[0096] This application also provides a non-volatile storage medium, which includes a stored computer program, wherein the device containing the non-volatile storage medium executes the above-described data broadcasting method by running the computer program.

[0097] It should be noted that the aforementioned non-volatile storage media is used for execution. Figure 2 The data broadcasting method shown above is also applicable to this non-volatile storage medium, and will not be repeated here.

[0098] This application also provides a computer program product, including computer instructions that, when executed by a processor, implement the data broadcasting method described above.

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

[0100] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0101] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions 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. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0103] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0104] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0105] If the integrated unit is implemented as 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 this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard drive, magnetic disk, or optical disk.

[0106] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A data broadcasting method, characterized in that, include: Obtain raw observation data from navigation satellites; Regional data processing is performed on the original observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data is correction data covering a first geographic region, and the local correction data is correction data covering a second geographic region. The area of ​​the first geographic region is larger than the area of ​​the second geographic region. The navigation enhancement service data is encrypted and then configured to be broadcast to the spot beam of the target satellite; Before configuring the navigation enhancement service data to be broadcast on the target satellite's spot beam after data encryption, the method further includes: associating the navigation enhancement service data with a geographic information ID, wherein the geographic information ID is used to represent the identifier 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. Determining the service broadcasting strategy for the navigation enhancement service data includes: when the geographic information ID is in a default state, indicating that the associated navigation enhancement service data is wide-area correction data, determining the service broadcasting 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 a valid value range, indicating that the associated navigation enhancement service data is local correction data, determining the service broadcasting strategy to configure the local correction data to a specific point beam of the target satellite for broadcasting.

2. The method according to claim 1, characterized in that, The navigation enhancement service data is encrypted and then configured to be broadcast to the spot beam of the target satellite, including: Obtain the navigation enhancement service data and the geographic information ID; Based on the geographic information ID, the spot beam ID of the target satellite corresponding to the navigation enhancement service data is determined from the lookup table, wherein the lookup 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.

3. The method according to claim 1, characterized in that, The target satellite uses S-band frequencies for the radio signals it broadcasts when transmitting the navigation enhancement service data.

4. The method according to claim 1, characterized in that, The method further includes: broadcasting the navigation enhancement service data to a satellite positioning terminal via the target satellite, wherein... The satellite positioning terminal receives encrypted navigation enhancement service data sent by the target satellite through the first antenna; The navigation enhancement service data is decrypted to obtain the decrypted navigation enhancement service data; The system receives raw observation data from 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.

5. The method according to claim 1, characterized in that, The navigation enhancement service data is encrypted and then configured to be broadcast to the spot beam of the target satellite, including: The wide-area correction data in the encrypted navigation enhancement service data is configured to be broadcast to the spot beams of all target satellites within the first geographic region covered by the beam coverage area. The local correction data in the encrypted navigation enhancement service data is configured to be broadcast to the point beam of the target satellite within the beam coverage area involving the second geographic region.

6. A data broadcasting system, characterized in that, include: Ground reference station, service data processing platform, and service data broadcasting control platform, among which, The ground reference station is used to acquire raw observation data from navigation satellites; The service data processing platform is used to perform regional data processing on the original observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data is correction data covering a first geographical region, and the local correction data is correction data covering a second geographical region. The area of ​​the first geographical region is larger than the area of ​​the second geographical region. The service data processing platform is further configured to associate the navigation enhancement service data with a geographic information ID, wherein the geographic information ID represents the coverage area of ​​a single point beam of a target satellite or the identifier of multiple adjacent point beam coverage areas; based on the geographic information ID associated with the navigation enhancement service data, a service broadcasting strategy for the navigation enhancement service data is determined; determining the service broadcasting strategy for the navigation enhancement service data includes: when the geographic information ID is in a default state, indicating that the associated navigation enhancement service data is wide-area correction data, the service broadcasting strategy is 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 a valid value range, indicating that the associated navigation enhancement service data is local correction data, the service broadcasting strategy is to configure the local correction data to a specific point beam of the target satellite for broadcasting; The service data broadcasting control platform is used to encrypt the navigation enhancement service data and then configure it to be broadcast to the spot beam of the target satellite.

7. A data broadcasting device, characterized in that, include: The acquisition module is used to acquire raw observation data from navigation satellites; The calculation module is used to perform regional data calculation on the original observation data to obtain navigation enhancement service data. The navigation enhancement service data includes wide-area correction data and local correction data. The wide-area correction data is correction data covering a first geographic region, and the local correction data is correction data covering a second geographic region. The area of ​​the first geographic region is larger than the area of ​​the second geographic region. The broadcast module is used to encrypt the navigation enhancement service data and then configure it to be broadcast to the spot beam of the target satellite; The broadcasting module is also used to associate the navigation enhancement service data with a geographic information ID, wherein the geographic information ID is used to represent the identifier of a single point beam coverage area or multiple adjacent point beam coverage areas of the target satellite; and to determine the service broadcasting strategy of the navigation enhancement service data based on the geographic information ID associated with the navigation enhancement service data. The broadcasting module is further configured to, when the geographic information ID is in a default state, indicate that the associated navigation enhancement service data is wide-area correction data, and determine that the service broadcasting strategy is 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 a valid value range, indicate that the associated navigation enhancement service data is local correction data, and determine that the service broadcasting strategy is to configure the local correction data to a specific point beam of the target satellite for broadcasting.

8. An electronic device, characterized in that, include: Memory, used to store program instructions; A processor, connected to the memory, is configured to execute program instructions to perform the following functions: acquiring raw observation data from navigation satellites; performing regional data processing on the raw observation data to obtain navigation enhancement service data, wherein the navigation enhancement service data includes wide-area correction data and local correction data, the wide-area correction data being correction data covering a first geographical region, and the local correction data being correction data covering a second geographical region, the area of ​​the first geographical region being larger than the area of ​​the second geographical region; encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcast; before encrypting the navigation enhancement service data and configuring it to a spot beam of a target satellite for broadcast, the processor further includes: associating the navigation enhancement service data with a geographic information ID, wherein the geographic information ID is... The geographic information ID is used to identify the coverage area of ​​a single point beam or multiple adjacent point beam coverage areas of the target satellite. Based on the geographic information ID associated with the navigation enhancement service data, a service broadcasting strategy for the navigation enhancement service data is determined. Determining the service broadcasting strategy includes: if the geographic information ID is in a default state, indicating that the associated navigation enhancement service data is wide-area correction data, determining the service broadcasting strategy to broadcast the wide-area correction data to all beams of the target satellite; if the geographic information ID exists and is within a valid value range, indicating that the associated navigation enhancement service data is local correction data, determining the service broadcasting strategy to configure the local correction data to a specific point beam of the target satellite for broadcasting.

9. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored computer program, wherein the device containing the non-volatile storage medium executes the data broadcasting method according to any one of claims 1 to 5 by running the computer program.

10. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the data broadcasting method according to any one of claims 1 to 5.

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