Rapid warm start method, device and equipment for receiver and medium

Abstract

The invention relates to the technical field of satellite navigation, and discloses a receiver rapid warm start method, device and equipment and a medium, and the method comprises the steps: receiving an external 1PPS and a serial port time service signal, so as to synchronize the local time; the serial port time service signal comes from time service equipment; constructing a satellite launching time parameter based on the local time; constructing a satellite position parameter based on the satellite launching time parameter; the satellite position parameter is a function of a satellite launching time parameter; constructing a nonlinear equation based on the difference between the local time and the satellite launching time parameter and the difference between the receiver position and the satellite position parameter so as to obtain a target solution of the satellite launching time parameter; and according to the target solution and the local time, constructing a pseudo-range equation set to complete positioning solution. According to the technical scheme provided by one or more embodiments of the invention, the problems of high cost and poor adaptability of hot start positioning hardware can be solved.

Description

Technical Field

[0001] The present invention relates to the field of satellite navigation technology, and in particular to a method, device, equipment and medium for rapid hot start of a receiver. Background Art

[0002] Rapid positioning is a very important indicator for measuring the performance of satellite navigation user terminals. Therefore, research on rapid positioning is also an important development direction for satellite navigation user terminals at present and in the future. The rapid positioning capability of satellite navigation user terminals mainly depends on the first positioning time. Improving the first positioning time is particularly important in both the civil field (vehicle navigation, etc.) and the military field (aircraft, missile, ship and other platforms). There are many methods for rapid positioning of user terminals, and hot start positioning is the most commonly used method. The hot start method generally uses the following known information: 1. Time information to reconstruct the launch time. In order to eliminate the 20ms ambiguity, the clock error does not exceed 10ms; 2. The distance between the approximate coordinates (or the last positioning coordinates) and the current actual coordinates cannot exceed 150km, which is generally stored in non-volatile memory or added to the receiver through the serial port; 3. Satellite ephemeris information is generally stored in non-volatile memory or added to the receiver through the serial port.

[0003] Among them, time information is particularly critical and directly affects the performance of hot start. In related technical solutions, time information is generally provided by a real-time clock (RTC). However, a receiver designed with an RTC chip needs to be configured with peripheral circuits and maintain power supply, which has a high hardware cost. In addition, there is a risk that the RTC will have a time error of more than 10ms or fail, and its applicability is poor. In addition to the RTC solution, time information can also be calculated by receiving geosynchronous orbit (GEO) satellite telegrams in combination with approximate coordinate information, but this solution requires receiving GEO satellite signals and is also less adaptable.

[0004] In view of this, a method for quickly hot-starting a satellite receiver using external timing is needed, which can meet most usage scenarios in the civil and military fields, and can effectively reduce hardware costs and improve system performance. Summary of the invention

[0005] In view of this, the present invention provides a method, device, equipment and medium for rapid hot start of a receiver to solve the problems of high cost and poor adaptability of hot start positioning hardware.

[0006] In a first aspect, the present invention provides a method for rapid hot start of a receiver, the method comprising: receiving external 1PPS and serial port timing signals to synchronize local time; the serial port timing signal is a time signal of a timing device; based on local time, constructing satellite transmission time parameters; based on satellite transmission time parameters, constructing satellite position parameters; the satellite position parameters are a function of the satellite transmission time parameters; based on the difference between local time and satellite transmission time parameters, and the difference between receiver position and satellite position parameters, constructing a nonlinear equation to obtain a target solution for the satellite transmission time parameters; based on the target solution and local time, constructing a group of pseudo-range equations to complete positioning solution.

[0007] In a second aspect, the present invention provides a receiver rapid hot start device, the device comprising: a signal receiving module, used to receive external 1PPS and serial port timing signals to synchronize local time; a time parameter construction module, used to construct satellite transmission time parameters based on local time; a position parameter construction module, used to construct satellite position parameters based on satellite transmission time parameters; the satellite position parameters are a function of the satellite transmission time parameters; a target solution acquisition module, used to construct a nonlinear equation based on the difference between the local time and the satellite transmission time parameters, and the difference between the receiver position and the satellite position parameters to obtain a target solution for the satellite transmission time parameters; a positioning solution module, used to construct a pseudorange equation group based on the target solution and the local time to complete the positioning solution.

[0008] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the receiver quick hot start method of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0009] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the receiver rapid hot start method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0010] In a fifth aspect, the present invention provides a computer program product, including computer instructions, which are used to enable a computer to execute the receiver rapid hot start method of the above-mentioned first aspect or any corresponding embodiment thereof.

[0011] The technical solution provided by one or more embodiments of the present invention is that the receiver synchronizes its local clock by receiving an external 1PPS signal and a serial timing signal; wherein the serial timing signal provides accurate time calibration information. Using this synchronized local time, the receiver can construct key satellite transmission time parameters. Then, the receiver determines the position parameters of the satellite based on the satellite transmission time parameters. By calculating the difference between the local time and the satellite transmission time parameters, and the difference between the estimated position of the receiver and the actual position parameters of the satellite, the receiver constructs a nonlinear equation group to obtain a target solution, which is an accurate estimate of the satellite transmission time parameters. After obtaining this target solution, the receiver will construct a pseudo-range equation group in combination with the local time. By solving this equation group, the receiver can complete the positioning solution and thus determine its precise position on the earth. The present invention uses a built-in time acquisition mechanism to optimize time synchronization, reduce external hardware dependence, reduce costs and improve system adaptability, simplify the design process, improve positioning startup speed and operating efficiency, and enhance the reliability and performance of the system in various environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0013] Figure 1 is a flowchart of a method for rapid hot starting of a receiver according to an embodiment of the present invention;

[0014] Figure 2 1PPS timing principle schematic diagram of the serial port according to an embodiment of the present invention;

[0015] Figure 3 is a structural block diagram of a receiver quick hot start device according to an embodiment of the present invention;

[0016] Figure 4 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0018] The embodiment of the present invention provides a method for rapid hot start of a receiver, which synchronizes the local time through an external high-precision timing signal to achieve a rapid and accurate positioning effect.

[0019] According to an embodiment of the present invention, an embodiment of a method for quickly hot starting a receiver is provided. 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.

[0020] In this embodiment, a method for quickly hot starting a receiver is provided. Figure 1 is a flow chart of a method for rapid hot start of a receiver according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0021] Step S101, receiving external 1PPS and serial port timing signal to synchronize local time; the serial port timing signal is the time signal of the timing device.

[0022] Specifically, the receiver receives an external 1PPS signal through its 1PPS input interface, which provides an accurate time reference. At the same time, the receiver receives an external timing signal from a timing device through a serial communication interface. A timing device refers to a device that can provide an accurate time signal (such as a satellite receiver), which usually includes information such as a timestamp or synchronization code for calibrating the receiver's internal clock. The timing signal ensures the accuracy of the receiver's time and provides a reference for subsequent steps.

[0023] For example, Figure 2As shown, an external timing scheme is used to receive timing instructions through the serial port, and the time information is aligned with the starting edge of the instruction data. Then, 1PPS input is added, and the time information is aligned with the rising edge of 1PPS. The alignment time mark uses the receiver clk time mark. The 1PPS accuracy of this scheme needs to be within 0.5 telegram bit width (10ms), which can meet the hot start time accuracy requirements. The specific operation is as follows: when the 1PPP_IN pulse is received, the receiver records the current time mark LockCounter1, and the receiver then records the serial port receiving the second pulse and resolves the corresponding time as t, and then records the corresponding observation quantity latch TIC count when it is N The corresponding time mark LockCounter2, at this time, the time when the receiver TIC is N is T N ,T N =t+LockCounter-LockCounter2, now the timing is completed.

[0024] Step S102, constructing satellite transmission time parameters based on local time.

[0025] Specifically, after synchronizing the local time, the receiver uses the local time as a reference to construct the satellite transmission time parameters. This involves extracting the transmission time information from the received satellite signal and associating this time with the local time of the receiver to obtain the time stamp when the satellite signal was transmitted.

[0026] Step S103, constructing satellite position parameters based on the satellite transmission time parameters; the satellite position parameters are a function of the satellite transmission time parameters.

[0027] Specifically, the receiver calculates the position of the satellite at the time of launch based on the launch time parameters and the satellite's ephemeris data. This position parameter is a function of the launch time parameters. Satellite ephemeris data provides detailed information about the satellite orbit, including the semi-major axis, eccentricity, inclination, right ascension of the ascending node, perigee angle, and mean anomaly of the satellite orbit. Satellite ephemeris data describes the position of the satellite at different times. By matching the launch time with the ephemeris data, the position of the satellite at that point in time can be inferred.

[0028] Step S104, constructing a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter, to obtain a target solution for the satellite transmission time parameter.

[0029] Specifically, the receiver uses the difference between the local time and the calculated satellite launch time parameters, as well as the difference between the receiver's current position and the satellite position parameters, to construct a nonlinear equation. This equation takes into account the signal propagation time and the actual distance between the receiver and the satellite. By solving this equation through an iterative method, a more accurate satellite launch time parameter can be obtained.

[0030] It should be noted that the present invention uses an external serial port and 1PPS timing method to obtain local time information. First, the rough satellite launch time is calculated using the average value of the approximate location information stored in the non-volatile memory and the satellite signal transmission time. Secondly, using the rough launch time Calculate the satellite position, and then use the satellite position and approximate position information to calculate a more accurate satellite signal transmission time to obtain the satellite launch time.

[0031] Step S105: construct a pseudo-range equation group according to the target solution and the local time to complete the positioning solution.

[0032] Specifically, once the receiver obtains the precise satellite launch time parameters, it can construct a set of pseudorange equations in combination with the local time. The receiver uses the pseudorange equations of multiple satellites to solve its precise position on the earth and complete the positioning solution. Positioning solution refers to the construction of more than four pseudorange observation equations to calculate the three-dimensional position information and receiver clock error information to obtain positioning information and speed measurement information. In order to determine the three-dimensional position of the receiver, it is necessary to receive signals from at least four satellites, with each satellite providing an equation. Once the solution is completed, the receiver will obtain its precise position on the earth, usually expressed as latitude, longitude and altitude. By analyzing the positioning results in the time series, the speed and direction of the receiver can also be calculated, which is the positioning and speed measurement information.

[0033] In this embodiment, the implementation method is exemplified:

[0034] 1) The receiver time after successful timing, recorded as Tr;

[0035] 2) Receiver position, denoted as Pr;

[0036] 3) The launch time of the satellite is recorded as ts;

[0037] 4) The satellite position Ps can be calculated from ts, and Ps = P(ts). The satellite position is a function of the launch time.

[0038] 5) The real receiving time tr minus the transmitting time ts is the pseudorange, which is equal to Pr minus Ps, that is, tr-ts=Pr-Ps=Pr-P(ts);

[0039] 6) Tr and Pr are relatively accurate, but ts is unknown. The initial value of ts is calculated based on the average satellite-to-ground propagation time: ts0 = Tr - averagetranstime;

[0040] 7) For the satellite that has been synchronized, according to tr-ts=Pr-P(ts), we can get ts=tr-(Pr-P(ts)); under the condition that tr and Pr are known, this expression becomes a nonlinear equation for the launch time ts, which can be calculated by iteration starting from the initial value ts0.

[0041] 8) The calculated ts error can be guaranteed to be within 1ms. When combined with the intra-bit observations locked by the signal, the accurate transmission of the satellite can be obtained, and the satellite can participate in the positioning solution.

[0042] With the assistance of ephemeris, the receiver can capture more than 8 satellites within 1 second. The time required for stable tracking and bit synchronization does not exceed 1 second. During this time, the receiver has completed serial port timing, so the receiver can start positioning within 2 seconds and can meet the positioning requirement within 3 seconds.

[0043] The receiver rapid hot start method provided in this embodiment realizes rapid hot start positioning through these steps, reduces the dependence on external hardware, reduces costs, and improves the adaptability and positioning accuracy of the receiver in various environments.

[0044] In some optional implementations, the above step S101 of receiving the external 1PPS and serial port timing signal to synchronize the local time includes the following steps:

[0045] Step a11, receiving an external 1PPS signal.

[0046] Specifically, the receiver receives an externally provided 1PPS signal through its dedicated 1PPS input interface. This signal is a periodic pulse and is usually used to provide an accurate time reference.

[0047] Step a12, receiving a timing instruction synchronized with the 1PPS signal through the serial port.

[0048] Specifically, the receiver receives timing instructions synchronized with the 1PPS signal through the serial communication interface. These instructions may contain specific time codes or other synchronization information to assist in time calibration.

[0049] Step a13, aligning the time information in the timing instruction with the internal clock of the receiver.

[0050] Specifically, the internal clock of the receiver will be adjusted according to the received timing instruction to ensure that the time information is aligned with the timestamp in the timing instruction.

[0051] Step a14, record the time stamp when the 1PPS signal is triggered, and the serial timing signal received by the serial port, to complete time synchronization.

[0052] Specifically, when the 1PPS signal is triggered, the receiver will record the time stamp of this moment, which is the precise time point synchronized with the 1PPS signal. At the same time, the receiver will also record the timing signals received through the serial port, which provide additional time calibration information. Through these records, the receiver completes time synchronization.

[0053] Step a15, ensuring that the 1PPS signal accuracy meets the hot start preset time accuracy requirement.

[0054] Specifically, in order to meet the time accuracy requirements of hot start, the receiver needs to ensure that the accuracy of the 1PPS signal is within a specific range, such as within 0.5 telegram bit width (10 milliseconds). This means that the stability and reliability of the 1PPS signal are crucial to the entire synchronization process.

[0055] The method provided in this embodiment ensures that the receiver can quickly and accurately synchronize to the external time source when it is started, providing necessary time information for subsequent positioning solutions. In this way, the receiver can quickly complete positioning without external assistance, thereby improving the speed and accuracy of positioning.

[0056] In some optional implementations, the above step S104 constructs a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter to obtain a target solution for the satellite transmission time parameter, including the following steps:

[0057] Step b11, calculating the initial value of the satellite launch time parameter according to the average satellite-to-ground propagation time.

[0058] Specifically, the receiver first estimates the initial value of the satellite transmission time parameter based on the average signal propagation time between the satellite and the ground. This initial value is determined based on the difference between the satellite signal received by the receiver and the local time, as well as the time required for the signal to propagate in space.

[0059] Step b12, for the satellite that has been synchronized, starting from the initial value of the satellite launch time parameter, the nonlinear equation of the satellite launch time parameter is iteratively calculated to obtain the target solution.

[0060] Specifically, for the satellites that have completed bit synchronization, the receiver uses the initial value obtained in step b11 as the starting point and solves the nonlinear equation of the satellite transmission time parameter through iterative calculation. This process involves continuous observation and adjustment of the satellite signal to gradually approach the true value of the transmission time. Each iteration uses the previous result as input and continuously optimizes the solution result until the predetermined accuracy is achieved or the iteration end condition is met. The target solution is the precise value of the satellite transmission time parameter, which allows the receiver to accurately calculate the signal propagation time, thereby reducing the positioning error.

[0061] The method provided in this embodiment can use the known local time, satellite signal propagation time and bit synchronization information to accurately determine the satellite transmission time parameter through a mathematical model and an iterative algorithm. This accurate transmission time parameter is the key to constructing the pseudo-range equation group and completing the positioning solution in the subsequent steps.

[0062] In some optional implementations, the above step S105 constructs a pseudorange equation group according to the target solution and the local time to complete the positioning solution, including the following steps:

[0063] Step c11: if the target solution is greater than the preset parameter, the target solution is appropriately rounded to obtain the first target solution result.

[0064] Specifically, after obtaining the target solution, the receiver will check whether the solution is greater than a preset parameter. This parameter may be based on the requirements of the signal processing or positioning algorithm. If the target solution is greater than the preset parameter, the receiver will perform appropriate rounding on the solution. The rounding process is to adjust the target solution to a reasonable numerical range to ensure the accuracy of subsequent calculations. After completing the rounding, the first target solution result is obtained.

[0065] Step c12: If the target solution is less than the preset parameter, the target solution is accurately determined through bit synchronization to obtain a second target solution result.

[0066] Specifically, if the target solution is less than the preset parameters, the receiver uses the bit synchronization information to make more precise adjustments to the target solution. Bit synchronization refers to the alignment of the bit boundaries between the receiver and the satellite signal, which ensures accurate signal decoding and time measurement. Through bit synchronization, the receiver can accurately determine the target solution and obtain the second target solution result.

[0067] Step c13, based on the first target solution result and the second target solution result, construct a pseudo-range equation group to complete the positioning solution.

[0068] Specifically, the receiver constructs a pseudorange equation group based on the first target solution result and the second target solution result obtained in steps c11 and c12. Pseudorange refers to the distance between the receiver and the satellite, which is calculated from the transmission time, reception time and signal propagation speed of the satellite signal. The receiver needs to obtain pseudorange information from at least four satellites to construct enough equations to solve its position in three-dimensional space (latitude, longitude and altitude). By solving this set of equations, the receiver can complete the positioning solution and determine its precise position.

[0069] For example, the satellite transmission time is divided into a part above 20ms and a part below 20ms, which is obtained by appropriately rounding the rough satellite transmission time and then obtained after satellite signal bit synchronization. The satellite signal transmission time is then reconstructed and the pseudorange equations are constructed in combination with the local time of the receiver to complete the positioning solution.

[0070] The method provided in this embodiment ensures that the receiver can use accurate time information and satellite data to quickly and accurately complete positioning. Through this method, the receiver not only improves the speed of positioning, but also ensures the accuracy of positioning, meeting the requirements of fast hot start.

[0071] In this embodiment, a receiver quick hot start device is also provided, which is used to implement the above embodiments and preferred implementation modes, and the descriptions that have been made are not repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0072] This embodiment provides a receiver quick hot start device, such as Figure 3 As shown, including:

[0073] The signal receiving module 301 is used to receive external 1PPS and serial port timing signals to synchronize local time; the serial port timing signal is the time signal of the timing device.

[0074] The time parameter building module 302 is used to build satellite transmission time parameters based on local time.

[0075] The position parameter construction module 303 is used to construct satellite position parameters based on the satellite transmission time parameters; the satellite position parameters are a function of the satellite transmission time parameters.

[0076] The target solution acquisition module 304 is used to construct a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter to obtain the target solution of the satellite transmission time parameter.

[0077] The positioning solution module 305 is used to construct a pseudo-range equation group according to the target solution and the local time to complete the positioning solution.

[0078] In some optional implementations, the signal receiving module 301 includes:

[0079] The first signal receiving unit is used to receive an external 1PPS signal.

[0080] The second signal receiving unit is used to receive a timing instruction synchronized with the 1PPS signal through a serial port.

[0081] The third signal receiving unit is used to align the time information in the timing instruction with the internal clock of the receiver.

[0082] The fourth signal receiving unit is used to record the time stamp when the 1PPS signal is triggered and the serial port timing signal received by the serial port to complete time synchronization.

[0083] The fifth signal receiving unit is used to ensure that the accuracy of the 1PPS signal meets the preset time accuracy requirement of the hot start.

[0084] In some optional implementations, the target solution acquisition module 304 includes:

[0085] The first target acquisition unit is used to calculate the initial value of the satellite launch time parameter according to the average satellite-to-ground propagation time.

[0086] The second target acquisition unit is used to obtain the target solution for the synchronized satellite by iteratively calculating the nonlinear equation of the satellite launch time parameter starting from the initial value of the satellite launch time parameter.

[0087] In some optional implementations, the positioning solution module 305 includes:

[0088] The first positioning solution unit is used to properly round the target solution to obtain a first target solution result if the target solution is greater than a preset parameter.

[0089] The second positioning solution unit is used to accurately determine the target solution through bit synchronization if the target solution is less than a preset parameter to obtain a second target solution result.

[0090] The third positioning solution unit is used to construct a pseudo-range equation group based on the first target solution result and the second target solution result to complete the positioning solution.

[0091] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0092] The receiver quick hot start device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0093] The embodiment of the present invention also provides a computer device having the above Figure 3 The receiver quick hot start device is shown.

[0094] See also Figure 4 , Figure 4is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 4 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 4 A processor 10 is taken as an example.

[0095] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0096] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0097] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device 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.

[0098] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0099] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 4 The example of connecting through bus is taken in the following.

[0100] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0101] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0102] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0103] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A receiver quick hot start method, characterized in that: The method comprises: Receive external 1PPS and serial port timing signals to synchronize local time; the serial port timing signals are time signals of timing devices; Based on the local time, construct satellite launch time parameters; Based on the satellite transmission time parameter, construct the satellite position parameter; the satellite position parameter is a function of the satellite transmission time parameter; Constructing a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter to obtain a target solution for the satellite transmission time parameter; According to the target solution and the local time, a pseudorange equation group is constructed to complete the positioning solution.

2. The method according to claim 1, characterized in that The receiving of external 1PPS and serial port timing signals to synchronize local time includes: Receive external 1PPS signal; Receiving a timing instruction synchronized with the 1PPS signal through a serial port; Aligning the time information in the timing instruction with the internal clock of the receiver; Record the time stamp when the 1PPS signal is triggered, and the serial port timing signal received by the serial port, to complete time synchronization; Ensure that the 1PPS signal accuracy meets the hot start preset time accuracy requirement.

3. The method according to claim 1, characterized in that The constructing of a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter to obtain a target solution of the satellite transmission time parameter comprises: Calculating the initial value of the satellite launch time parameter according to the average satellite-to-ground propagation time; For a satellite that has been synchronized, starting from the initial value of the satellite transmission time parameter, the target solution is obtained by iteratively calculating the nonlinear equation of the satellite transmission time parameter.

4. The method according to claim 1, characterized in that The constructing a pseudorange equation group according to the target solution and the local time to complete the positioning solution includes: If the target solution is greater than the preset parameter, the target solution is appropriately rounded to obtain a first target solution result; If the target solution is less than the preset parameter, the target solution is accurately determined through bit synchronization to obtain a second target solution result; Based on the first target solution result and the second target solution result, a pseudorange equation group is constructed to complete the positioning solution.

5. A receiver quick hot start device, characterized in that: The device comprises: Signal receiving module, used to receive external 1PPS and serial port timing signals to synchronize local time; A time parameter building module, used to build satellite launch time parameters based on the local time; A position parameter construction module, used to construct the satellite position parameter based on the satellite transmission time parameter; the satellite position parameter is a function of the satellite transmission time parameter; A target solution acquisition module, used to construct a nonlinear equation based on the difference between the local time and the satellite transmission time parameter, and the difference between the receiver position and the satellite position parameter, so as to obtain a target solution for the satellite transmission time parameter; The positioning solution module is used to construct a pseudo-range equation group according to the target solution and the local time to complete the positioning solution.

6. The device according to claim 5, characterized in that The signal receiving module is also used for: Receive external 1PPS signal; Receiving a timing instruction synchronized with the 1PPS signal through a serial port; Aligning the time information in the timing instruction with the internal clock of the receiver; Record the time stamp when the 1PPS signal is triggered, and the serial port timing signal received by the serial port, to complete time synchronization; Ensure that the 1PPS signal accuracy meets the hot start preset time accuracy requirement.

7. The device according to claim 5, characterized in that The target solution acquisition module is also used for: Calculating the initial value of the satellite launch time parameter according to the average satellite-to-ground propagation time; For a satellite that has been synchronized, starting from the initial value of the satellite transmission time parameter, the target solution is obtained by iteratively calculating the nonlinear equation of the satellite transmission time parameter.

8. The device according to claim 5, characterized in that The positioning solution module is also used for: If the target solution is greater than the preset parameter, the target solution is appropriately rounded to obtain a first target solution result; If the target solution is less than the preset parameter, the target solution is accurately determined through bit synchronization to obtain a second target solution result; Based on the first target solution result and the second target solution result, a pseudorange equation group is constructed to complete the positioning solution.

9. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 4 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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