Positioning method, system, device and equipment and storage medium

Abstract

The embodiment of the invention provides a positioning method, system, device and equipment and a storage medium, and relates to the technical field of satellite positioning, and the specific implementation scheme is as follows: in response to a detected satellite positioning instruction, estimating a current equipment position based on an auxiliary signal, and taking the current equipment position as a coarse positioning position; sending a real-time ephemeris acquisition request to a target server based on the coarse positioning position and the current time, so that the target server determines a to-be-fed-back target ephemeris corresponding to the real-time ephemeris acquisition request based on target information stored in the target server and feeds back the to-be-fed-back target ephemeris to the target terminal equipment; and in response to the received target ephemeris, positioning the device position of the target terminal device based on the received target ephemeris. Therefore, through the scheme, the positioning time of satellite positioning can be shortened on the basis that the ephemeris in the root ephemeris server cannot be obtained.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and in particular to a positioning method, system, device, equipment and storage medium. Background Art

[0002] The satellite positioning system is a technology that uses artificial satellites to measure points. It is also the most widely used and popular positioning technology. It has the characteristics of high accuracy, high speed and low cost. In the process of satellite positioning, the terminal device can calculate the position of the terminal device based on the time when the satellite signal is received, the broadcast time of the satellite signal and the satellite position, thereby completing satellite positioning.

[0003] In the related technology, the GNSS (Global Navigation Satellite System) chip in the terminal device can obtain the ephemeris from the root ephemeris server through the communication link of "terminal device->product manufacturer server->chip manufacturer server->root ephemeris server", and perform satellite positioning based on the satellite position in the ephemeris. Among them, the root ephemeris server is used to receive the real-time ephemeris broadcast by the satellite once a day and calculate the satellite position. If any link in the communication link is interrupted, the terminal device cannot obtain the ephemeris from the root ephemeris server. At this time, the terminal device will perform positioning in a cold start manner, that is, directly receive the real-time ephemeris broadcast by the satellite for positioning. Since it takes a long time to receive the real-time ephemeris broadcast by the satellite, the positioning time is relatively long.

[0004] Therefore, how to shorten the positioning time of satellite positioning on the basis of being unable to obtain the ephemeris in the root ephemeris server has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a positioning method, system, device, equipment and storage medium to shorten the positioning time of satellite positioning when the ephemeris in the root ephemeris server cannot be obtained. The specific technical solution is as follows:

[0006] In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a target terminal device, and the method includes:

[0007] In response to detecting a satellite positioning instruction, based on the auxiliary signal, estimating the current device position as a rough positioning position; wherein the auxiliary signal is a signal other than the satellite signal used for device positioning;

[0008] Based on the rough positioning position and the current time, a real-time ephemeris acquisition request is sent to a target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0009] In response to receiving the target ephemeris, a device position of the target terminal device is located based on the received target ephemeris.

[0010] Optionally, the target ephemeris is a real-time ephemeris that meets a predetermined selection condition;

[0011] Among them, the predetermined selection conditions include: the distance between the corresponding device position and the coarse positioning position does not exceed a specified distance, and the time difference between the corresponding reporting time and the current time does not exceed a specified duration.

[0012] Optionally, the specified distance is a distance set based on the coverage distance of a single satellite, and the specified duration is a duration set based on a real-time ephemeris update cycle.

[0013] Optionally, the method further comprises:

[0014] In response to the failure to receive the target ephemeris, the real-time ephemeris broadcast by the satellite is downloaded, and the device position of the target terminal device is located based on the downloaded real-time ephemeris.

[0015] Optionally, the method further comprises:

[0016] In response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris, the real-time ephemeris downloaded by itself and the corresponding description information are reported to the target server.

[0017] Optionally, the auxiliary signal includes a base station signal and / or a WiFi signal.

[0018] In a second aspect, an embodiment of the present application provides a positioning system, including a target terminal device and a target server;

[0019] The target terminal device is used to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting the satellite positioning instruction; and send a real-time ephemeris acquisition request to the target server based on the rough positioning position and the current time; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal;

[0020] The target server is used to determine the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feed back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0021] The target terminal device is further configured to locate a device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

[0022] In a third aspect, an embodiment of the present application provides a positioning device, which is applied to a target terminal device, and the device includes:

[0023] An estimation module, configured to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting a satellite positioning instruction; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal;

[0024] The acquisition module is used to send a real-time ephemeris acquisition request to a target server based on the rough positioning position and the current time, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0025] The positioning module is used for locating the device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

[0026] Optionally, the target ephemeris is a real-time ephemeris that meets a predetermined selection condition;

[0027] Among them, the predetermined selection conditions include: the distance between the corresponding device position and the coarse positioning position does not exceed a specified distance, and the time difference between the corresponding reporting time and the current time does not exceed a specified duration.

[0028] Optionally, the specified distance is a distance set based on the coverage distance of a single satellite, and the specified duration is a duration set based on a real-time ephemeris update cycle.

[0029] Optionally, the device further comprises:

[0030] A download module is used to download the real-time ephemeris broadcast by the satellite in response to the failure of receiving the target ephemeris, and locate the device position of the target terminal device based on the downloaded real-time ephemeris. Optionally, the device also includes:

[0031] The reporting module is used to report the real-time ephemeris downloaded by itself and the corresponding description information to the target server in response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris.

[0032] Optionally, the auxiliary signal includes a base station signal and / or a WiFi signal.

[0033] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0034] Memory, used to store computer programs;

[0035] The processor is used to implement the steps of any of the above-mentioned positioning methods when executing the program stored in the memory.

[0036] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above-mentioned positioning methods are implemented.

[0037] Beneficial effects of the embodiments of the present application:

[0038] The solution provided by the embodiment of the present application is, in response to detecting a satellite positioning instruction, estimating the current device position based on the auxiliary signal as a rough positioning position; based on the rough positioning position and the current time, sending a real-time ephemeris acquisition request to the target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in itself and feeds back to the target terminal device; in response to receiving the target ephemeris, locating the device position of the target terminal device based on the received target ephemeris. Since the target server stores the real-time ephemeris reported by each terminal device after successful positioning based on the real-time ephemeris downloaded from the satellite, the time for obtaining the target ephemeris from the target server is shorter than that for downloading the real-time ephemeris broadcast by the satellite. Therefore, through this solution, the positioning time of satellite positioning can be shortened on the basis of being unable to obtain the ephemeris in the root ephemeris server.

[0039] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0041] Figure 1 A flowchart of a positioning method provided in an embodiment of the present application;

[0042] Figure 2A A schematic diagram of a satellite's orbit and coverage area;

[0043] Figure 2B A schematic diagram of a satellite positioning process provided in an embodiment of the present application;

[0044] Figure 3A A schematic diagram of a traditional ephemeris acquisition process;

[0045] Figure 3B A schematic diagram of an ephemeris acquisition process when positioning is performed in a cold start manner;

[0046] Figure 4 A flowchart of a specific example of the positioning method provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of the structure of a positioning system provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the structure of a positioning device provided in an embodiment of the present application;

[0049] Figure 7 A block diagram of an electronic device for implementing the positioning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0051] Below, the professional terms involved in this application are first introduced.

[0052] Ephemeris: A table of the precise position or trajectory of a celestial body over time as it moves.

[0053] Offline ephemeris: Ephemeris stored in the server, generally valid for days, such as 1, 2, 3, 7, 14, 28 days and so on.

[0054] Real-time ephemeris: Satellites in the sky continuously send real-time ephemeris. The ephemeris of GPS (Global Positioning System) satellites is valid for 2 hours.

[0055] The principle of satellite positioning is to use satellite broadcast signals. When the terminal device receives the satellite signal, it can calculate the signal transmission time based on the broadcast time of the satellite signal and the local time, and then combine it with the speed of light to obtain the distance from the satellite to the terminal device. In the process of satellite positioning, an open environment with visible sky and satellite signals broadcast by at least 4 satellites are usually required for satellite positioning. Figure 2A A schematic diagram showing the satellite orbits and coverage areas in the GPS satellite system. GPS satellites are constantly orbiting the earth, and the satellite orbits are a mesh-like "surface". No matter how the satellites in the GPS satellite system operate and change, it is guaranteed that at least four satellites can be simultaneously received at a certain point on the ground.

[0056] like Figure 2B As shown in the figure, during the satellite positioning process, the terminal device obtains the position and time information of satellite 1, satellite 2, satellite 3 and satellite 4, which are (x1, y1, z1, t1), (x2, y2, z2, t2), (x3, y3, z3, t3), and (x4, y4, z4, t4) respectively. Among them, x is longitude, y is latitude, Z is altitude, and t is signal broadcast time. Through 4 satellites, using the distance formula in three-dimensional coordinates, a four-element equation group can be obtained. By solving the four-element equation group, the position of the terminal device (x, y, z) can be solved.

[0057] At present, when performing satellite positioning, terminal devices need to write valid ephemeris data into the GNSS chip. Generally, GNSS chip manufacturers will connect to the official standard root ephemeris server and synchronize the official ephemeris in the root ephemeris server to the chip manufacturer's ephemeris server; the terminal device manufacturer then obtains the ephemeris by connecting to the chip manufacturer's ephemeris server, that is, through the communication link of "terminal device->product manufacturer server->chip manufacturer server->root ephemeris server", the ephemeris is obtained from the root ephemeris server. If any of the communication links is interrupted, the terminal product will not be able to obtain the ephemeris data, and the terminal device without ephemeris will be positioned in a cold start mode, which will result in a very slow positioning speed.

[0058] like Figure 3A As shown, the traditional ephemeris acquisition process includes:

[0059] (1) The root ephemeris server receives the real-time ephemeris broadcast by the satellite;

[0060] (2) The chip manufacturer's server obtains the ephemeris from the root ephemeris server every day. The ephemeris validity period can be 1, 2, 3, 7, 14, 28 days, etc.;

[0061] (3) The product manufacturer's server synchronizes the ephemeris data from the chip manufacturer's server to local storage every day;

[0062] (4) The terminal device (such as a smart watch) synchronizes the ephemeris data from the product manufacturer's server to the local device and writes the received ephemeris data into the GNSS chip.

[0063] like Figure 3B As shown, if Figure 3A If any of the communication links is interrupted, the smart watch will not be able to obtain the ephemeris data. At this time, the smart watch directly receives the real-time ephemeris broadcast by the satellite for positioning. Among them, Beidou satellites update ephemeris data every 1 hour, and GPS satellites update ephemeris data every 2 hours, which are valid within 4 hours before and after. Beidou satellites and GPS satellites broadcast ephemeris every 30 seconds, and ephemeris within the same validity period is broadcast repeatedly. If the first subframe is lost, you must wait 30 seconds to obtain the next subframe. Because it takes at least 30 seconds to download the complete ephemeris in an open environment (the pure ephemeris download time is at least 18 seconds), it may take several minutes to download the ephemeris when the signal is weak. Due to the long time required to receive the real-time ephemeris broadcast by the satellite, the positioning time is long.

[0064] Based on the above content, in order to shorten the positioning time of satellite positioning when the ephemeris in the root ephemeris server cannot be obtained, the embodiments of the present application provide a positioning method, system, apparatus, device and storage medium.

[0065] Below, a positioning method provided in an embodiment of the present application is first introduced.

[0066] A positioning method provided in an embodiment of the present application can be applied to a target terminal device, and the target terminal device can be any terminal device to be satellite positioned. The name of the target terminal device does not have any restrictive meaning. In practical applications, the target terminal device can be a smart wearable device, such as a smart watch, a smart bracelet, smart glasses, and so on. Of course, the terminal device can also be other devices that can be positioned based on real-time ephemeris, such as smart phones, tablet computers, and so on. In addition, specifically, the executor of the positioning method can be a positioning device. Exemplarily, when the positioning method is applied to a terminal device, the positioning device can be a functional module running in the terminal device, such as a positioning service module.

[0067] Among them, a positioning method provided in an embodiment of the present application may include the following steps:

[0068] In response to detecting a satellite positioning instruction, based on the auxiliary signal, estimating the current device position as a rough positioning position; wherein the auxiliary signal is a signal other than the satellite signal used for device positioning;

[0069] Based on the rough positioning position and the current time, a real-time ephemeris acquisition request is sent to a target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0070] In response to receiving the target ephemeris, a device position of the target terminal device is located based on the received target ephemeris.

[0071] The solution provided by the embodiment of the present application is, in response to detecting a satellite positioning instruction, estimating the current device position based on the auxiliary signal as a rough positioning position; based on the rough positioning position and the current time, sending a real-time ephemeris acquisition request to the target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in itself and feeds back to the target terminal device; in response to receiving the target ephemeris, locating the device position of the target terminal device based on the received target ephemeris. Since the target server stores the real-time ephemeris reported by each terminal device after successful positioning based on the real-time ephemeris downloaded from the satellite, the time for obtaining the target ephemeris from the target server is shorter than that for downloading the real-time ephemeris broadcast by the satellite. Therefore, through this solution, the positioning time of satellite positioning can be shortened on the basis of being unable to obtain the ephemeris in the root ephemeris server.

[0072] The positioning method provided in the embodiments of the present application is introduced below in conjunction with the accompanying drawings.

[0073] like Figure 1 As shown, the positioning method provided in the embodiment of the present application, applied to a target terminal device, may include the following steps:

[0074] S101, in response to detecting a satellite positioning instruction, estimating a current device position as a rough positioning position based on an auxiliary signal; wherein the auxiliary signal is a signal other than a satellite signal used for device positioning;

[0075] In this embodiment, the target terminal device can be any mobile phone, tablet computer, smart wearable device, etc. that has satellite positioning service enabled. In actual applications, the user can enable the satellite positioning service in the target terminal device and trigger the satellite positioning command. In response to detecting the satellite positioning command, the target terminal device can estimate the current device position based on the auxiliary signal as the rough positioning position.

[0076] Optionally, in one implementation, the auxiliary signal includes a base station signal and / or a WiFi signal.

[0077] Exemplarily, based on the base station signal, the method for estimating the current device location may be to determine the distance of the current device location from the base station (the base station location is determined) according to the strength of at least three base station signals, thereby estimating the rough positioning location. Exemplarily, based on the WiFi signal, the method for estimating the current device location may be to detect the MAC (Media Access Control) address of all wireless APs (Access Points) around the target terminal device, to compare the coordinates of the MAC address in the database, and to cross-calculate the location of the target terminal device as the estimated rough positioning location. Exemplarily, based on the base station signal and the WiFi signal, the method for estimating the current device location may be to estimate the current device location using base station positioning as the first device location, to estimate the current device location using WiFi positioning as the second device location, and then to determine the rough positioning location based on the first device location and the second device location, for example, to perform weighted summation on the coordinates of the first device location and the second device location to obtain the rough positioning location.

[0078] It should be noted that the auxiliary signal may also be other signals used for device positioning other than satellite signals, such as Bluetooth signals. The embodiments of the present application do not limit the auxiliary signal and the method of estimating the device position using the auxiliary signal.

[0079] S102, based on the rough positioning position and the current time, sending a real-time ephemeris acquisition request to a target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0080] In this embodiment, the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request may be the ephemeris required for the target terminal device to perform satellite positioning at the rough positioning position and the current time. It can be understood that, since the target server stores the real-time ephemeris and corresponding description information reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite, after estimating the rough positioning position, the target terminal device can send a request to obtain the real-time ephemeris to the target server, so that the target server can feed back the target ephemeris to the target terminal device.

[0081] For example, in actual applications, a real-time ephemeris acquisition request carrying a rough positioning position and current time can be constructed first; then, the real-time ephemeris acquisition request is sent to the target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request from the real-time ephemeris included in the target information stored by itself, based on the description information in the target information stored by itself, and the current time and rough positioning position carried by the real-time ephemeris acquisition request, and feeds back to the target terminal device. It should be noted that for the sake of clarity of the solution layout, the method for determining the target ephemeris is introduced below.

[0082] S103: In response to receiving the target ephemeris, locate the device position of the target terminal device based on the received target ephemeris.

[0083] It is understandable that when the target terminal device detects the satellite positioning instruction, the target terminal device can also passively receive satellite signals. At this time, the signal transmission time can be calculated based on the time when the satellite signal is received and the broadcast time of the signal carried in the satellite signal, and then the signal transmission distance can be calculated based on the propagation of the satellite signal at the speed of light. Since the target ephemeris is the ephemeris required for satellite positioning at the rough positioning position and the current time, the target ephemeris contains the position information of the satellite that broadcasts the satellite signal to the target terminal device, and therefore, the device position of the target terminal device can be located based on the transmission distance of the satellite signal and the satellite position in the target ephemeris.

[0084] Exemplarily, in actual application, in response to receiving the target ephemeris, firstly, based on the satellite signals broadcast by the four satellites, according to the broadcasting time t1, t2, t3, t4 of the four satellite signals, and the time t of receiving the satellite signals, the signal transmission distances when the satellite signals broadcast by the four satellites are transmitted to the target terminal device are calculated, which are c*(t-t1), c*(t-t2), c*(t-t3), c*(t-t4), respectively, where c is the speed of light. Then, according to the satellite positions (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4) of the four satellites included in the received target ephemeris, the following set of equations can be constructed:

[0085]

[0086] By solving the above equation, the device position (x, y, z) of the target terminal device can be obtained, where x is longitude, y is latitude, and Z is altitude.

[0087] It should be noted that, in actual applications, using signals other than satellite signals such as base station signals and / or WiFi signals for device positioning, it generally takes 1-2 seconds to estimate the device location, and it generally takes 2-3 seconds to query and download the target ephemeris from the target server, while it takes at least 18 seconds to download the real-time ephemeris broadcast by the satellite. Therefore, satellite positioning by obtaining the ephemeris from the target server using the coarse positioning position greatly shortens the positioning time compared to positioning by downloading the real-time ephemeris broadcast by the satellite.

[0088] The solution provided by the embodiment of the present application is, in response to detecting a satellite positioning instruction, estimating the current device position based on the auxiliary signal as a rough positioning position; based on the rough positioning position and the current time, sending a real-time ephemeris acquisition request to the target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in itself and feeds back to the target terminal device; in response to receiving the target ephemeris, locating the device position of the target terminal device based on the received target ephemeris. Since the target server stores the real-time ephemeris reported by each terminal device after successful positioning based on the real-time ephemeris downloaded from the satellite, the time for obtaining the target ephemeris from the target server is shorter than that for downloading the real-time ephemeris broadcast by the satellite. Therefore, through this solution, the positioning time of satellite positioning can be shortened on the basis of being unable to obtain the ephemeris in the root ephemeris server.

[0089] Optionally, in another embodiment of the present application, the target ephemeris is a real-time ephemeris that meets a predetermined selection condition;

[0090] Among them, the predetermined selection condition includes: the distance between the corresponding device position and the coarse positioning position does not exceed the specified distance, and the time difference between the corresponding reporting time and the current time does not exceed the specified duration.

[0091] It is understandable that if the time difference between the reporting time of any terminal device reporting real-time ephemeris to the target server and the current time is too long, the real-time ephemeris reported by the terminal device may have expired at the current time. At this time, if the invalid ephemeris is selected as the target ephemeris, the final satellite positioning will be inaccurate. And if the distance between the device position of the terminal device and the rough positioning position is too far when any terminal device reports the real-time ephemeris to the target server, the satellite used by the terminal device reporting the ephemeris for satellite positioning may be inconsistent with the satellite required to be used by the target terminal device of the rough positioning position for satellite positioning. At this time, the ephemeris reported by the terminal device cannot be used as the target ephemeris. Therefore, in this embodiment, in order to ensure the validity of the target ephemeris, the ephemeris that meets the predetermined selection conditions can be determined as the target ephemeris. In the process of determining the target ephemeris, the real-time ephemeris whose distance between the corresponding device position and the rough positioning position does not exceed the specified distance and the time difference between the corresponding reporting time and the current time does not exceed the specified duration can be selected from the various ephemeris stored in the target server as the target ephemeris.

[0092] For example, in actual application, the specified distance and the specified duration may be set by relevant technicians based on experience.

[0093] Optionally, in one implementation, the designated distance is a distance set based on the coverage distance of a single satellite, and the designated duration is a duration set based on a real-time ephemeris update cycle.

[0094] It is understandable that, since multiple terminal devices within the coverage distance of any satellite can use the satellite signal broadcast by the satellite when performing satellite positioning, multiple terminal devices within the coverage distance of the satellite can share the ephemeris of the satellite. Therefore, the specified distance can be set based on the coverage distance of a single satellite. Exemplarily, in actual applications, the coverage distance of the single satellite can be directly set as the specified distance. For example, if GPS satellites are used for satellite positioning, the specified distance can be set to 400 km.

[0095] In addition, since the satellite ephemeris will be updated according to the ephemeris update cycle, for example, the ephemeris of GPS satellites is updated every 2 hours, and the ephemeris of Beidou satellites is updated every 1 hour, and in the satellite positioning process, the newer the ephemeris used, the closer the recorded satellite position is to the position of the satellite at the current time; therefore, it is also reasonable to set a specified duration based on the update cycle of the real-time ephemeris, for example, setting the specified duration to the duration of the update cycle, or setting twice the duration of the update cycle as the specified duration. Exemplarily, in actual applications, in order to improve the accuracy of satellite positioning, the specified duration can be set to the duration of the real-time ephemeris update cycle of the satellite used. For example, if GPS satellites are used for satellite positioning, the specified duration can be set to 2 hours.

[0096] It can be seen that, through this solution, the target ephemeris can be determined from the ephemeris stored in the target server.

[0097] Optionally, in another embodiment of the present application, the method may further include step S104:

[0098] S104, in response to the failure to receive the target ephemeris, download the real-time ephemeris broadcast by the satellite, and locate the device position of the target terminal device based on the downloaded real-time ephemeris.

[0099] For example, in actual applications, GPS satellites and Beidou satellites broadcast their respective real-time ephemeris every 30 seconds. At this time, if the target terminal device fails to obtain the target ephemeris from the target server, the real-time ephemeris broadcast by the satellite can be downloaded. Then, based on the downloaded real-time ephemeris, the device position of the target terminal device is located. It should be noted that the method of locating the device position of the target terminal device based on the downloaded real-time ephemeris can be the same as the method of locating the device position of the target terminal device based on the received target ephemeris in the above step S103, which will not be repeated here.

[0100] Accordingly, in this embodiment, the method may further include step S105:

[0101] S105, in response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris, reporting the downloaded real-time ephemeris and corresponding description information to the target server.

[0102] It is understandable that if the device position of the target terminal device is successfully located based on the downloaded real-time ephemeris, the downloaded real-time ephemeris can be reported to the target server, so that other terminal devices can use the real-time ephemeris reported by the target terminal device when performing satellite positioning, and realize the sharing of ephemeris, thereby shortening the positioning time of other terminal devices performing satellite positioning. In addition, when reporting the real-time ephemeris downloaded by itself, the device position of the terminal device and the reporting time can be reported together as the description information of the reported ephemeris, so that when the target terminal device obtains the target ephemeris from the target server, it can determine the target ephemeris to be obtained according to the description information corresponding to each ephemeris.

[0103] It can be seen that through this solution, the target terminal device can successfully complete satellite positioning.

[0104] In order to better understand the content of the embodiments of the present application, a specific example is described below.

[0105] This example uses a shared server to store real-time ephemeris reported by different manufacturers and different types of terminal devices. When any terminal device performs satellite positioning, if it cannot obtain ephemeris from the root server, it can obtain the current real-time ephemeris reported by the terminal device at a similar location from the shared server. Figure 4 As shown, the positioning process of the terminal device performing satellite positioning includes steps S401-S407:

[0106] S401, turn on the satellite positioning service and start positioning;

[0107] S402, performing base station positioning and / or WiFi positioning to obtain a rough positioning position;

[0108] S403, querying whether there is a target ephemeris in the shared server (corresponding to the target server mentioned above) according to the current time and the rough positioning position; wherein the target ephemeris is an ephemeris whose time difference between the corresponding reporting time and the current time is within 2 hours and whose distance between the corresponding reporting position and the rough positioning position is less than 400 km;

[0109] S404, if yes, write the target ephemeris into the GNSS chip for rapid positioning, obtain the device location, and proceed to step S407;

[0110] S405, if not, download the real-time ephemeris broadcast by the satellite for positioning to obtain the device location;

[0111] S406, reporting the current time, device location and downloaded real-time ephemeris to the shared server;

[0112] S407, positioning is completed.

[0113] It can be seen that through this solution, since the speed of obtaining ephemeris from the shared server is faster than the speed of downloading the real-time ephemeris broadcast by the satellite, the positioning speed of the terminal device can be accelerated, that is, the positioning time of satellite positioning can be shortened on the basis of being unable to obtain the ephemeris in the root ephemeris server.

[0114] Corresponding to the above method embodiment, the present application embodiment also provides a positioning system, such as Figure 5 As shown, it includes a target terminal device 510 and a target server 520;

[0115] The target terminal device 510 is used to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting the satellite positioning instruction; and send a real-time ephemeris acquisition request to the target server based on the rough positioning position and the current time; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal;

[0116] The target server 520 is used to determine the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the server and feed it back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0117] The target terminal device 510 is further configured to locate a device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

[0118] It should be noted that the functions of the target terminal device and the target server in the system have been introduced in the above method embodiment and will not be repeated here.

[0119] Corresponding to the above method embodiment, the present application embodiment also provides a positioning device, such as Figure 6 As shown, the device comprises:

[0120] The estimation module 610 is used to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting the satellite positioning instruction; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal;

[0121] The acquisition module 620 is used to send a real-time ephemeris acquisition request to a target server based on the rough positioning position and the current time, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris;

[0122] The positioning module 630 is used to locate the device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

[0123] Optionally, the target ephemeris is a real-time ephemeris that meets a predetermined selection condition;

[0124] Among them, the predetermined selection conditions include: the distance between the corresponding device position and the coarse positioning position does not exceed a specified distance, and the time difference between the corresponding reporting time and the current time does not exceed a specified duration.

[0125] Optionally, the specified distance is a distance set based on the coverage distance of a single satellite, and the specified duration is a duration set based on a real-time ephemeris update cycle.

[0126] Optionally, the device further comprises:

[0127] The download module is used to download the real-time ephemeris broadcast by the satellite in response to the failure of receiving the target ephemeris, and locate the device position of the target terminal device based on the downloaded real-time ephemeris.

[0128] Optionally, the device further comprises:

[0129] The reporting module is used to report the real-time ephemeris downloaded by itself and the corresponding description information to the target server in response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris.

[0130] Optionally, the auxiliary signal includes a base station signal and / or a WiFi signal.

[0131] In the technical solution of this application, the operations involved in obtaining, storing, using, processing, transmitting, providing and disclosing user personal information are all carried out with the user's authorization.

[0132] The present application also provides an electronic device, such as Figure 7 As shown, including:

[0133] Memory 701, used for storing computer programs;

[0134] The processor 702 is used to implement the steps of any of the above positioning methods when executing the program stored in the memory 703;

[0135] Furthermore, the electronic device may further include a communication bus and / or a communication interface, and the processor 702, the communication interface, and the memory 701 communicate with each other via the communication bus.

[0136] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0137] The communication interface is used for communication between the above electronic device and other devices.

[0138] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0139] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0140] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above positioning methods are implemented.

[0141] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any positioning method in the above embodiments.

[0142] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a solid-state hard disk (SSD), etc.

[0143] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0144] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system and device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0145] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A positioning method, characterized in that: Applied to a target terminal device, the method comprises: In response to detecting a satellite positioning instruction, based on the auxiliary signal, estimating the current device position as a rough positioning position; wherein the auxiliary signal is a signal other than the satellite signal used for device positioning; Based on the rough positioning position and the current time, a real-time ephemeris acquisition request is sent to a target server, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris; In response to receiving the target ephemeris, a device position of the target terminal device is located based on the received target ephemeris.

2. The method according to claim 1, characterized in that The target ephemeris is a real-time ephemeris that meets the predetermined selection conditions; Among them, the predetermined selection conditions include: the distance between the corresponding device position and the coarse positioning position does not exceed a specified distance, and the time difference between the corresponding reporting time and the current time does not exceed a specified duration.

3. The method according to claim 2, characterized in that The specified distance is a distance set based on the coverage distance of a single satellite, and the specified duration is a duration set based on a real-time ephemeris update cycle.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to the failure to receive the target ephemeris, the real-time ephemeris broadcast by the satellite is downloaded, and the device position of the target terminal device is located based on the downloaded real-time ephemeris.

5. The method according to claim 4, characterized in that The method further comprises: In response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris, the real-time ephemeris downloaded by itself and the corresponding description information are reported to the target server.

6. The method according to any one of claims 1 to 3, characterized in that: The auxiliary signal includes a base station signal and / or a WiFi signal.

7. A positioning system, characterized in that: Including target terminal devices and target servers; The target terminal device is used to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting the satellite positioning instruction; and send a real-time ephemeris acquisition request to the target server based on the rough positioning position and the current time; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal; The target server is used to determine the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feed back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris; The target terminal device is further configured to locate a device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

8. A positioning device, characterized in that: Applied to a target terminal device, the device comprises: An estimation module, configured to estimate the current device position as a rough positioning position based on the auxiliary signal in response to detecting a satellite positioning instruction; wherein the auxiliary signal is a signal used for device positioning other than the satellite signal; The acquisition module is used to send a real-time ephemeris acquisition request to a target server based on the rough positioning position and the current time, so that the target server determines the target ephemeris to be fed back corresponding to the real-time ephemeris acquisition request based on the target information stored in the target server and feeds back to the target terminal device; wherein the target information includes: the real-time ephemeris reported by each terminal device after successful positioning according to the real-time ephemeris downloaded from the satellite and the corresponding description information, and the description information corresponding to each real-time ephemeris includes the device position and reporting time of the terminal device reporting the real-time ephemeris; The positioning module is used for locating the device position of the target terminal device based on the received target ephemeris in response to receiving the target ephemeris.

9. The device according to claim 8, characterized in that The target ephemeris is a real-time ephemeris that meets the predetermined selection conditions; Among them, the predetermined selection conditions include: the distance between the corresponding device position and the coarse positioning position does not exceed a specified distance, and the time difference between the corresponding reporting time and the current time does not exceed a specified duration.

10. The device according to claim 9, characterized in that The specified distance is a distance set based on the coverage distance of a single satellite, and the specified duration is a duration set based on a real-time ephemeris update cycle.

11. The device according to any one of claims 8 to 10, characterized in that: The device also includes: The download module is used to download the real-time ephemeris broadcast by the satellite in response to the failure of receiving the target ephemeris, and locate the device position of the target terminal device based on the downloaded real-time ephemeris.

12. The device according to claim 11, characterized in that The device also includes: The reporting module is used to report the real-time ephemeris downloaded by itself and the corresponding description information to the target server in response to successfully locating the device position of the target terminal device based on the downloaded real-time ephemeris.

13. The device according to any one of claims 8 to 10, characterized in that: The auxiliary signal includes a base station signal and / or a WiFi signal.

14. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-6 when executing a program stored in a memory.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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