A GNSS positioning system and method based on low earth orbit satellites

Abstract

A kind of GNSS positioning system and positioning method based on low-orbit satellite, it is related to satellite navigation field, and positioning system includes main user end, for sending positioning request, and can be communicated with low-orbit satellite and GNSS navigation satellite;Satellite measurement and control module, for being communicated with low-orbit satellite;GNSS enhanced positioning module, for providing GNSS enhancement product, communication auxiliary module, for being communicated with GNSS enhanced positioning module and low-orbit satellite, and with main user end communication connection, main user end, for receiving and processing data from low-orbit satellite, and for receiving and processing data from GNSS navigation satellite, according to GNSS enhancement product realizes positioning, it is favorable to reduce the broadcast data volume of low-orbit satellite, and can save communication cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite navigation technology, in particular to a GNSS positioning system and positioning method based on low-orbit satellites. BACKGROUND

[0002] Global satellite positioning technology refers to a technology for realizing global, all-weather, continuous, accurate and real-time navigation, positioning and timing by using a GNSS (Global Navigation Satellites System). A low-orbit satellite constellation is composed of multiple low-orbit satellites, and the multiple low-orbit satellites have inter-satellite links. The low-orbit satellite constellation can cover a region on the ground. To realize high-precision navigation and positioning, a large amount of data is usually broadcast. However, satellite communication services are expensive, and the cost of communication is high, which makes it difficult to guarantee the quality of communication. SUMMARY

[0003] In view of this, the present application aims to provide a GNSS positioning system and positioning method based on low-orbit satellites.

[0004] The present application provides a GNSS positioning system based on low-orbit satellites, comprising:

[0005] a main user end for sending a positioning request and capable of communicating with low-orbit satellites and GNSS navigation satellites;

[0006] a satellite measurement and control module for communicating with low-orbit satellites;

[0007] a GNSS enhanced positioning module for providing GNSS enhanced products, based on the ability to obtain the measurement and control authority of the satellite measurement and control module, the GNSS enhanced positioning module can communicate with the low-orbit satellites through the satellite measurement and control module, and send GNSS enhanced products to the main user end through low-orbit satellites;

[0008] a communication auxiliary module for communicating with the GNSS enhanced positioning module and low-orbit satellites, and being in communication connection with the main user end, based on the GNSS enhanced positioning module being unable to obtain the measurement and control authority of the satellite measurement and control module, the communication auxiliary module can enable the GNSS enhanced positioning module to communicate with low-orbit satellites, and enable the GNSS enhanced positioning module to send GNSS enhanced products to the main user end through the communication auxiliary module;

[0009] the main user end is used for receiving and processing data from low-orbit satellites, and receiving and processing data from GNSS navigation satellites, and realizing positioning according to GNSS enhanced products.

[0010] In an embodiment, the master user terminal comprises a communication signal processing module, a GNSS signal processing module, an algorithm processing module and a differential information generation module, the communication signal processing module is configured to receive and process data from low-orbit satellites or the communication auxiliary module, the GNSS signal processing module is configured to receive and process data from GNSS navigation satellites, the algorithm processing module is configured to perform algorithm processing on data from the communication signal processing module and the GNSS signal processing module, and the differential information generation module is configured to generate regional RTK differential information.

[0011] In an embodiment, a group user terminal is further included, which is configured to communicate with the master user terminal and GNSS navigation satellites, and is capable of receiving and processing regional RTK differential information from the master user terminal and receiving and processing data from GNSS navigation satellites.

[0012] In an embodiment, the group user terminal comprises a group GNSS signal processing module, a group algorithm processing module and a group differential information generation module, the group GNSS signal processing module is configured to communicate with GNSS navigation satellites, and is capable of receiving and processing data from GNSS navigation satellites, the group algorithm processing module is configured to perform algorithm processing on regional RTK differential information from the differential information generation module and data from the GNSS signal processing module, and the group differential information generation module is configured to generate group regional RTK differential information.

[0013] In an embodiment, the master user terminal comprises a first communication module, the group user terminal comprises a second communication module, the first communication module and the second communication module are capable of communicating, and the regional RTK differential information generated by the differential information generation module can be sent to the second communication module through the first communication module, and then sent to the group algorithm processing module by the second communication module.

[0014] In an embodiment, the GNSS augmentation product can comprise a first type of product, a second type of product and a third type of product, the first type of product comprises precise orbit and precise clock bias product, the second type of product comprises code bias and phase bias product, and the third type of product comprises troposphere product and slant path ionosphere product.

[0015] In an embodiment, the GNSS augmentation positioning module can provide the GNSS augmentation product required by the master user terminal according to a positioning request of the master user terminal, or the GNSS augmentation product possessed by the GNSS augmentation positioning module is broadcast to the master user terminal, and then the master user terminal implements a corresponding positioning mode according to the received GNSS augmentation product.

[0016] A low-orbit satellite based GNSS positioning method, which can be applied to the low-orbit satellite based GNSS positioning system described above, comprises:

[0017] S1, measurement and control authority confirmation:

[0018] Confirm whether the low-orbit satellite has the measurement and control authority;

[0019] S2, providing GNSS enhancement products:

[0020] The GNSS enhancement positioning module can obtain the measurement and control authority of the satellite measurement and control module. The GNSS enhancement positioning module can communicate with the low-orbit satellite through the satellite measurement and control module, and send GNSS enhancement products to the main user terminal through the low-orbit satellite;

[0021] The GNSS enhancement positioning module cannot obtain the measurement and control authority of the satellite measurement and control module. The GNSS enhancement positioning module can communicate with the low-orbit satellite through the communication auxiliary module, and send GNSS enhancement products to the main user terminal through the communication auxiliary module;

[0022] S3, positioning:

[0023] The main user terminal receives and processes data from the low-orbit satellite or the communication auxiliary module, and receives and processes data from the GNSS navigation satellite, and realizes positioning based on the GNSS enhancement products.

[0024] In an embodiment, the positioning step S3 further comprises: the main user terminal generates regional RTK differential information and sends it to the group user terminal. The group user terminal receives the regional RTK differential information from the main user terminal and receives the data of the GNSS navigation satellite, and processes them to realize positioning.

[0025] In an embodiment, it further comprises before the measurement and control authority confirmation step S1:

[0026] S0, positioning request:

[0027] The main user terminal sends a positioning request to the GNSS enhancement positioning module through the low-orbit satellite and the satellite measurement and control module, or sends a positioning request to the GNSS enhancement positioning module through the communication auxiliary module.

[0028] The GNSS enhancement positioning module can provide a GNSS enhancement product, so that the main user end completes positioning according to the category of the GNSS enhancement product; the satellite measurement and control module can establish communication between the GNSS enhancement positioning module and the main user end, the main user end can obtain the GNSS enhancement product through the low-orbit satellite, so that the main user end realizes positioning and has good positioning accuracy; the communication auxiliary module can establish communication connection between the GNSS enhancement positioning module and the main user end, so that the user end can obtain the GNSS enhancement product through the communication auxiliary module, without the need of the low-orbit satellite to broadcast data, which is beneficial to reducing the broadcast data amount of the low-orbit satellite and saving communication cost. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope. Other related drawings can also be obtained by those skilled in the art without creative labor on the basis of the drawings.

[0030] Figure 1 It is a schematic diagram of the positioning system of an embodiment of the present application;

[0031] Figure 2 It is a schematic diagram of the main user end of an embodiment of the present application;

[0032] Figure 3 It is a schematic diagram of the positioning system of another embodiment of the present application;

[0033] Figure 4 It is a schematic diagram of the group user end of an embodiment of the present application;

[0034] Figure 5 It is a schematic diagram of the working scene of an embodiment of the present application;

[0035] Figure 6 It is a flowchart of the positioning method of an embodiment of the present application.

[0036] In the drawings:

[0037] 10-main user end; 11-communication signal processing module; 12-GNSS signal processing module; 13-algorithm processing module; 14-difference information generation module; 15-first communication module; 20-satellite measurement and control module; 30-GNSS enhancement positioning module; 31-product service center; 40-communication auxiliary module; 50-group user end; 51-group GNSS signal processing module; 52-group algorithm processing module; 53-group difference information generation module; 54-second communication module. DETAILED DESCRIPTION

[0038] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the description of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0039] Unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or integrally connected; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium. The specific meanings of the above terms can be understood according to the specific circumstances by those of ordinary skill in the art.

[0040] The terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship when the product of the application is usually placed, and are only for the convenience of description and simplification of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application.

[0041] The terms "first", "second", "third" and the like are only for distinguishing similar attributes of elements, and do not indicate or imply relative importance or a particular order.

[0042] The terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, in addition to including the listed elements, other elements not explicitly listed can also be included.

[0043] Global satellite positioning technology refers to a technology for realizing global, all-weather, continuous, accurate and real-time navigation, positioning and timing by using a GNSS (Global Navigation Satellites System). A low-orbit satellite constellation is composed of multiple low-orbit satellites, and the multiple low-orbit satellites have inter-satellite links. The low-orbit satellite constellation can cover a region on the ground. To realize high-precision navigation and positioning, a large amount of data is usually broadcast, but satellite communication service is expensive, the cost of communication is high, and it is difficult to guarantee the communication quality.

[0044] As shown in Figure 1 The GNSS positioning system based on low-orbit satellites provided by the present application comprises:

[0045] A main user terminal 10 is configured to send a positioning request and capable of communicating with low-orbit satellites and GNSS navigation satellites.

[0046] The satellite TT&C module 20 is configured to communicate with the low-orbit satellite. The GNSS augmentation positioning module 30 is configured to provide the GNSS augmentation product. Based on the ability to obtain the TT&C authority of the satellite TT&C module 20, the GNSS augmentation positioning module 30 is capable of communicating with the low-orbit satellite through the satellite TT&C module 20 and transmitting the GNSS augmentation product to the main user terminal 10 through the low-orbit satellite.

[0047] The communication auxiliary module 40 is configured to communicate with the GNSS augmentation positioning module 30 and the low-orbit satellite and is in communication connection with the main user terminal 10. Based on the inability of the GNSS augmentation positioning module 30 to obtain the TT&C authority of the satellite TT&C module 20, the communication auxiliary module 40 is capable of enabling the GNSS augmentation positioning module 30 to communicate with the low-orbit satellite and enabling the GNSS augmentation positioning module 30 to transmit the GNSS augmentation product to the main user terminal 10 through the communication auxiliary module 40.

[0048] The main user terminal 10 is configured to receive and process data from the low-orbit satellite or the communication auxiliary module 40 and receive and process data from the GNSS navigation satellite and realize positioning according to the GNSS augmentation product.

[0049] The GNSS augmentation positioning module 30 is capable of providing the GNSS augmentation product to enable the main user terminal 10 to complete positioning according to the category of the GNSS augmentation product. The satellite TT&C module 20 is capable of establishing communication between the GNSS augmentation positioning module 30 and the main user terminal 10, and the main user terminal 10 is capable of obtaining the GNSS augmentation product through the low-orbit satellite to enable the main user terminal 10 to realize positioning and have good positioning accuracy. The communication auxiliary module 40 is capable of establishing communication connection between the GNSS augmentation positioning module 30 and the main user terminal 10 to enable the main user terminal 10 to obtain the GNSS augmentation product through the communication auxiliary module 40, without the need of the low-orbit satellite to broadcast data, which is conducive to reducing the broadcasting data amount of the low-orbit satellite and saving communication cost.

[0050] In an example scheme, the low-orbit satellite adopts a “navigation and communication integrated” low-orbit constellation. Compared with the traditional maritime satellite, the communication cost is lower, and the overall coverage of the low-orbit constellation is wider, with stronger communication signals. Compared with the traditional Beidou short message communication mode, the information broadcasting frequency is higher, and the information broadcasting efficiency is high, with strong real-time performance.

[0051] In an example scheme, the satellite TT&C module 20 has complete control right of the low-orbit satellite and is capable of directly communicating with the low-orbit satellite.

[0052] In an example scheme, a possible implementation of the GNSS augmentation positioning module 30 acquiring the satellite control authority of the satellite control module 20 is that the service provider of the GNSS augmentation positioning module 30 is the same as the service provider of the satellite control module 20. The GNSS augmentation positioning module 30 and the satellite control module 20 can be integrated through satellite-to-ground, and the satellite can be multicast through satellite control. Thus, the low-orbit satellite can communicate with the main user terminal 10 with specific needs.

[0053] In an example scheme, a possible implementation of the GNSS augmentation positioning module 30 failing to acquire the satellite control authority of the satellite control module 20 is that the service provider of the GNSS augmentation positioning module 30 is different from the service provider of the satellite control module 20. The GNSS augmentation positioning module 30 communicates with the communication auxiliary module 40 through a network, and communicates with the main user terminal 10 through the communication auxiliary module 40.

[0054] As an optional embodiment, as shown in Figure 2 The main user terminal 10 includes a communication signal processing module 11, a GNSS signal processing module 12, an algorithm processing module 13, and a differential information generation module 14. The communication signal processing module 11 is used to realize communication connection with the low-orbit satellite or the communication auxiliary module 40, and can receive and process data from the low-orbit satellite or the communication auxiliary module 40. The GNSS signal processing module 12 is used to realize communication connection with the GNSS navigation satellite, and can receive and process data from the GNSS navigation satellite. The algorithm processing module 13 is used to perform algorithm processing on data from the communication signal processing module 11 and data from the GNSS signal processing module 12. The differential information generation module 14 is used to generate regional RTK differential information.

[0055] In an example scheme, the communication signal processing module 11 is used to receive an information package from the low-orbit satellite or the communication auxiliary module 40. The information package contains GNSS augmentation products. The communication signal processing module 11 can perform verification, packet assembly, analysis, and other processing on the information package, and strip the GNSS augmentation products in the information package to send the complete GNSS augmentation products to the algorithm processing module 13 for algorithm processing.

[0056] In an example scheme, the GNSS signal processing module 12 can receive data from the GNSS navigation satellite. The data of the GNSS navigation satellite includes GNSS broadcast ephemeris. The GNSS signal processing module 12 can analyze the data of the GNSS navigation satellite and send it to the algorithm processing module 13. The algorithm processing module 13 can perform algorithm processing in combination with the GNSS augmentation products to realize different levels of positioning modes according to the categories of the GNSS augmentation products.

[0057] As an optional embodiment, as shown inFigure 3 As shown, the low-orbit satellite-based GNSS positioning system provided by the present application further comprises a group user terminal 50, which is configured to communicate with the master user terminal 10 and the GNSS navigation satellite, and is capable of receiving and processing regional RTK (Real-Time Kinematic) differential information from the master user terminal 10, and receiving and processing data from the GNSS navigation satellite, thereby realizing positioning.

[0058] In an example scheme, one implementation of the group user terminal 50 is that in a region such as marine exploration, oil development in uninhabited areas, etc., there can be a large number of devices on a platform, which need to be positioned at a decimeter level or even a centimeter level, or high-precision relative positioning, and then a plurality of group user terminals 50 can be set to communicate with the master user terminal 10, and the master user terminal 10 can serve as an RTK reference station of the group user terminal 50, thereby meeting the positioning requirements of the group user terminal 50.

[0059] In an example scheme, as shown in Figure 4 The group user terminal 50 comprises a group GNSS signal processing module 51, a group algorithm processing module 52, and a group differential information generation module 53. The group GNSS signal processing module 51 is configured to communicate with the GNSS navigation satellite, and is capable of receiving and processing data from the GNSS navigation satellite. The group algorithm processing module 52 is configured to perform algorithm processing on regional RTK differential information from the differential information generation module 14 and data from the GNSS signal processing module 51. The group differential information generation module 53 is configured to generate group regional RTK differential information, so as to realize high-precision positioning relative to the master user terminal 10.

[0060] In an example scheme, in combination with Figure 2 and Figure 4 The master user terminal 10 comprises a first communication module 15, and the group user terminal 50 comprises a second communication module 54. The first communication module 15 and the second communication module 54 are capable of realizing communication, and establishing a communication connection between the master user terminal 10 and the group user terminal 50. The master user terminal 10 calculates and generates regional RTK differential information according to its own positioning convergence state through the differential information generation module 14, and sends the regional RTK differential information to the second communication module 54 through the first communication module 15, and then the second communication module 54 sends the regional RTK differential information to the group algorithm processing module 52 for processing.

[0061] Exemplarily, the first communication module 15 and the second communication module 54 both adopt radio communication modules, and the master user terminal 10 and the group user terminal 50 realize communication through a radio link. The master user terminal 10 can assume the role of a relay device, and based on the range of a regional wireless coverage of dozens of kilometers, the master user terminal 10 can realize fast convergence of GNSS high-precision positioning, reduce the demand of multiple group user terminals 50 on a low-orbit satellite communication link, and can provide regional RTK differential information for relative positioning for the group user terminal 50, and can ensure the accuracy of positioning. If information transmission and broadcasting are to be completed, the communication means and transmission bandwidth are usually required to be very high, and the master user terminal 10 can ensure that the group user terminal 50 within the region realizes high-precision positioning, and reduces the occupation of the low-orbit satellite bandwidth.

[0062] In an example scheme, the GNSS navigation satellite is used to send positioning information to the master user terminal 10 or the group user terminal 50 and the reference station in the ground-based GNSS network.

[0063] The GNSS enhancement product is used to realize information enhancement of the GNSS navigation satellite. In an example scheme, the GNSS enhancement product can include a first type of product, a second type of product and a third type of product. The first type of product includes precise orbit, precise clock error product, the second type of product includes code bias, phase bias product, and the third type of product includes troposphere product, slant ionospheric product.

[0064] In an example scheme, the GNSS enhancement positioning module 30 can broadcast the GNSS enhancement product required by the master user terminal 10 according to the positioning request of the master user terminal 10. If only the first type of product is broadcast, the master user terminal 10 can realize precise point positioning; if the first type of product and the second type of product are broadcast, the master user terminal 10 can realize precise point positioning with ambiguity fixed; if the first type of product, the second type of product and the third type of product are broadcast, the master user terminal 10 can realize fast high-precision positioning with regional atmospheric enhancement ambiguity fixed.

[0065] Exemplarily, the master user terminal 10 can send a positioning request through a low-orbit satellite, send the positioning request to the GNSS enhancement positioning module 30 through the low-orbit satellite and the satellite measurement and control module 20, or send the positioning request to the GNSS enhancement positioning module 30 through the communication auxiliary module 40, so that the GNSS enhancement positioning module 30 broadcasts the GNSS enhancement product meeting the positioning request.

[0066] Exemplarily, the group user terminal 10 can send a positioning request to the master user terminal 10, and send the positioning request to the GNSS enhancement positioning module 30 through the master user terminal 10.

[0067] In another example scheme, the positioning mode of the main user terminal 10 depends on the GNSS enhancement product that the GNSS enhancement positioning module 30 can provide, that is, after the GNSS enhancement product possessed by the GNSS enhancement positioning module 30 is broadcast to the main user terminal 10, the main user terminal 10 implements the corresponding positioning mode according to the received GNSS enhancement product.

[0068] In an example scheme, as shown in Figure 5 The GNSS enhancement positioning module 30 includes a product service center 31, and the product service center 31 is configured to provide the GNSS enhancement product, and the GNSS enhancement product is generated by the product service center 31 based on the ground-based GNSS network.

[0069] When the product service center 31 communicates with the low-orbit satellite through the satellite measurement and control module 20 and broadcasts the GNSS enhancement product to the main user terminal 10 through the low-orbit satellite, the broadcasting mode is the satellite measurement and control mode; when the product service center 31 communicates with the low-orbit satellite through the communication auxiliary module 40 and broadcasts the GNSS enhancement product to the main user terminal 10 through the communication auxiliary module 40, the broadcasting mode is the network mode, and the broadcasting protocols of the satellite measurement and control broadcasting mode and the network broadcasting mode are the same after the GNSS enhancement product is parsed by the communication auxiliary module 40, so that seamless switching and connection of the two modes of satellite communication and network communication can be realized, the consistency of the transmission layer protocol is ensured, and the real-time GNSS high-precision positioning demand in the areas with poor network conditions such as unmanned areas, ocean resource development areas, and high-latitude areas can be met.

[0070] As shown in Figure 6 The application provides a GNSS positioning method based on a low-orbit satellite, and at least includes the following steps:

[0071] S1, measurement and control permission confirmation:

[0072] Confirm whether the measurement and control permission of the low-orbit satellite is possessed;

[0073] S2, providing a GNSS enhancement product:

[0074] Based on the fact that the GNSS enhancement positioning module 30 can obtain the measurement and control permission of the satellite measurement and control module 20, the GNSS enhancement positioning module 30 can communicate with the low-orbit satellite through the satellite measurement and control module 20 and send the GNSS enhancement product to the main user terminal 10 through the low-orbit satellite; further, the low-orbit satellite sends an information package to the main user terminal 10, and the information package contains the GNSS enhancement product that the GNSS enhancement positioning module 30 can provide.

[0075] The GNSS augmentation positioning module 30 cannot obtain the measurement and control authority of the satellite measurement and control module 20, and the GNSS augmentation positioning module 30 can communicate with the low-orbit satellite through the communication auxiliary module 40 and send the GNSS augmentation product to the main user terminal 10 through the communication auxiliary module 40;

[0076] S3, positioning:

[0077] The main user terminal 10 receives and processes the data from the low-orbit satellite or the communication auxiliary module 40, and receives and processes the data from the GNSS navigation satellite, and realizes positioning based on the GNSS augmentation product.

[0078] In an example scheme, the measurement and control authority confirmation step S1 further includes:

[0079] The GNSS augmentation positioning module 30 sends an authority request to the satellite measurement and control module 20, the satellite measurement and control module 20 sends feedback information to the GNSS augmentation positioning module 30, and whether the GNSS augmentation positioning module 30 can obtain the measurement and control authority of the satellite measurement and control module 20 is judged based on the feedback information of the satellite measurement and control module 20.

[0080] In an example scheme, the positioning step S3 further includes: the communication signal processing module 11 receives and processes the data from the low-orbit satellite or the communication auxiliary module 40, the GNSS signal processing module 12 receives and processes the data from the GNSS navigation satellite, the algorithm processing module 13 performs algorithm processing on the data from the communication signal processing module 11 and the data from the GNSS signal processing module 12, and the differential information generation module 14 is used to generate regional RTK differential information.

[0081] Exemplarily, it further includes that the communication signal processing module 11 performs checking, packetizing, parsing and other processing on the information packet from the low-orbit satellite or the communication auxiliary module 40, strips the GNSS augmentation product in the information packet, and sends the complete GNSS augmentation product to the algorithm processing module 13 for algorithm processing.

[0082] Exemplarily, it further includes that the GNSS signal processing module 12 receives and processes the data from the GNSS navigation satellite, the data of the GNSS navigation satellite includes GNSS broadcast ephemeris, the GNSS signal processing module 12 parses the data of the GNSS navigation satellite and sends it to the algorithm processing module 13.

[0083] In an example scheme, the positioning step S3 further includes:

[0084] The main user terminal 10 generates regional RTK differential information and sends it to the group user terminal 50, the group user terminal 50 receives the regional RTK differential information from the main user terminal 10 and receives the data of the GNSS navigation satellite, and processes to realize positioning.

[0085] Exemplarily, the group GNSS signal processing module 51 receives and processes data from GNSS navigation satellites, the group algorithm processing module 52 algorithmically processes regional RTK differential information from the differential information generation module 14 and data from the GNSS signal processing module 51, and the group differential information generation module 53 generates group regional RTK differential information to achieve high-precision positioning relative to the primary user terminal 10.

[0086] Exemplarily, the primary user terminal 10 calculates and generates regional RTK differential information through the differential information generation module 14 according to its own positioning convergence state, and sends the regional RTK differential information to the second communication module 54 through the first communication module 15, and then sends the regional RTK differential information to the group algorithm processing module 52 for processing.

[0087] In an example scheme, the GNSS positioning method based on low-orbit satellites proposed by the present application further includes, before the measurement and control authority confirmation step S1:

[0088] S0, positioning request:

[0089] The primary user terminal 10 sends a positioning request to the GNSS enhanced positioning module 30 through the low-orbit satellite and satellite measurement and control module 20, or sends a positioning request to the GNSS enhanced positioning module 30 through the communication auxiliary module 40.

[0090] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A low earth orbit satellite based GNSS positioning system, characterized in that, Comprise: The main user terminal (10) is used for sending positioning request and can communicate with low-orbit satellite and GNSS navigation satellite; Satellite measurement and control module (20) is used for communicating with low-orbit satellite; GNSS enhanced positioning module (30) is used for providing GNSS enhanced product, and based on the measurement and control authority of satellite measurement and control module (20) can be obtained, GNSS enhanced positioning module (30) can communicate with low-orbit satellite through satellite measurement and control module (20), and send GNSS enhanced product to main user terminal (10) through low-orbit satellite; Communication auxiliary module (40) is used for communicating with GNSS enhanced positioning module (30) and low-orbit satellite, and is in communication connection with main user terminal (10), based on the measurement and control authority of satellite measurement and control module (20) can not be obtained by GNSS enhanced positioning module (30), communication auxiliary module (40) can make GNSS enhanced positioning module (30) communicate with low-orbit satellite, and make GNSS enhanced positioning module (30) can send GNSS enhanced product to main user terminal (10) through communication auxiliary module (40); The main user terminal (10) is used for receiving and processing data from low-orbit satellite, and is used for receiving and processing data from GNSS navigation satellite, and realizes positioning according to GNSS enhanced product.

2. The low earth orbit satellite based GNSS positioning system of claim 1, wherein, The main user terminal (10) comprises communication signal processing module (11), GNSS signal processing module (12), algorithm processing module (13) and differential information generation module (14), communication signal processing module (11) is used for receiving and processing data from low-orbit satellite or communication auxiliary module (40), GNSS signal processing module (12) is used for receiving and processing data from GNSS navigation satellite, algorithm processing module (13) is used for algorithm processing data from communication signal processing module (11) and GNSS signal processing module (12), and differential information generation module (14) is used for generating regional RTK differential information.

3. The low earth orbit satellite based GNSS positioning system of claim 2, wherein, Also comprise group user terminal (50), the group user terminal (50) is used for communicating with main user terminal (10) and GNSS navigation satellite, the group user terminal (50) can receive and process regional RTK differential information from main user terminal (10), and can receive and process data from GNSS navigation satellite.

4. The low earth orbit satellite based GNSS positioning system of claim 3, wherein, The group user terminal (50) comprises a group GNSS signal processing module (51), a group algorithm processing module (52) and a group differential information generation module (53), the group GNSS signal processing module (51) is used for realizing communication connection with a GNSS navigation satellite, can receive and process data from the GNSS navigation satellite, the group algorithm processing module (52) is used for algorithm processing regional RTK differential information from the differential information generation module (14) and data from the group GNSS signal processing module (51), and the group differential information generation module (53) is used for generating group regional RTK differential information.

5. The low Earth orbit satellite-based GNSS positioning system of claim 4, wherein, The main user terminal (10) comprises a first communication module (15), the group user terminal (50) comprises a second communication module (54), the first communication module (15) and the second communication module (54) can realize communication, and the regional RTK differential information generated by the differential information generation module (14) can be sent to the second communication module (54) through the first communication module (15) and sent to the group algorithm processing module (52) by the second communication module (54).

6. The low earth orbit satellite based GNSS positioning system of claim 1, wherein, The GNSS enhancement product can comprise a first type of product, a second type of product and a third type of product, the first type of product comprises a precise orbit and a precise clock bias product, the second type of product comprises a code bias and a phase bias product, and the third type of product comprises a troposphere product and an oblique path ionosphere product.

7. The low Earth orbit satellite based GNSS positioning system of claim 6, wherein, The GNSS enhancement positioning module (30) can provide the GNSS enhancement product required by the main user terminal (10) according to a positioning request of the main user terminal (10), or the GNSS enhancement product possessed by the GNSS enhancement positioning module (30) is broadcast to the main user terminal (10), and then the main user terminal (10) realizes a corresponding positioning mode according to the received GNSS enhancement product.

8. A low earth orbit satellite based GNSS positioning method, characterized in that, The low-orbit satellite-based GNSS positioning system can be applied to any one of claims 1 to 7, comprising: S1, confirming the measurement and control authority: Confirming whether the low-orbit satellite has the measurement and control authority; S2, providing the GNSS enhancement product: Based on the measurement and control authority of the satellite measurement and control module (20) acquired by the GNSS enhancement positioning module (30), the GNSS enhancement positioning module (30) can realize communication with the low-orbit satellite through the satellite measurement and control module (20), and send the GNSS enhancement product to the main user terminal (10) through the low-orbit satellite; Based on the measurement and control authority of the satellite measurement and control module (20) which cannot be acquired by the GNSS enhancement positioning module (30), the GNSS enhancement positioning module (30) can realize communication with the low-orbit satellite through the communication auxiliary module (40), and send the GNSS enhancement product to the main user terminal (10) through the communication auxiliary module (40); S3, positioning: The main user terminal (10) receives and processes data from the low-orbit satellite or the communication auxiliary module (40), and receives and processes data from the GNSS navigation satellite, and realizes positioning based on the GNSS enhancement product.

9. The low Earth orbit satellite based GNSS positioning method of claim 8, wherein, The positioning step S3 further comprises: The master user terminal (10) generates regional RTK differential information and sends it to the group user terminal (50), the group user terminal (50) receives the regional RTK differential information from the master user terminal (10) and receives the data of the GNSS navigation satellite, and processes them to realize positioning.

10. The low Earth orbit satellite-based GNSS positioning method of claim 8, wherein, Also includes before the measurement control authority confirmation step S1: S0, positioning request: The master user terminal (10) sends a positioning request to the GNSS enhanced positioning module (30) through the low-orbit satellite and the satellite measurement control module (20), or sends a positioning request to the GNSS enhanced positioning module (30) through the communication auxiliary module (40).

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