Satellite screening method and device based on equipment positioning, equipment and medium

Abstract

The invention discloses a satellite screening method and device based on equipment positioning, equipment and a medium, and relates to the technical field of aerospace, and the method comprises the steps: obtaining an orbital satellite with broadcast information as a target message and an elevation angle meeting a preset angle condition based on a Beidou satellite navigation system, and determining a target satellite through the orbital satellite; wherein the target telegraph text comprises a B-CNAV1 telegraph text and / or a B-CNAV2 telegraph text; judging whether the message content corresponding to the target satellite receiving the navigation message meets a preset availability condition or not; if the message content corresponding to the target satellite receiving the navigation message meets a preset availability condition, determining the spatial signal precision based on the message data in the message content, and taking the target satellite of which the spatial signal precision meets a preset precision condition as a satellite for carrying out equipment positioning calculation; the telegraph text content comprises the target telegraph text. And satellites participating in positioning calculation are screened to ensure the accuracy of navigation data.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a satellite screening method, device, equipment and medium based on device positioning. Background Art

[0002] The BeiDou satellite navigation system consists of dozens of satellites, namely MEO (Medium Earth Orbit), IGSO (Inclined Geosynchronous Satellite Orbit) and GEO (Geostationary Earth Orbit) satellites. The broadcast frequencies include B1I, B1C, B2a, B3I, B2b, B2I, etc. The broadcast messages include B-CNAV1, B-CNAV2, B-CNAV3, D1, D2, etc. At present, the BeiDou satellite navigation system signals have been widely used for positioning and navigation of various civil terminals. Since civil terminals have no requirements for the integrity of positioning and navigation data, there are no special requirements for the selection of satellites in their positioning calculations. However, in the field of aviation, the accuracy and integrity of navigation data will directly affect the safety of aviation operations.

[0003] As can be seen from the above, how to screen the satellites involved in positioning calculations to ensure the accuracy of navigation data is a problem that needs to be solved urgently. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a satellite screening method, device, equipment and medium based on device positioning, which can screen satellites involved in positioning calculation to ensure the accuracy of navigation data. The specific scheme is as follows:

[0005] In a first aspect, the present application provides a satellite screening method based on device positioning, comprising:

[0006] Based on the Beidou satellite navigation system, an orbiting satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition is obtained, and the target satellite is determined by using the orbiting satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message;

[0007] Determine whether the target satellite has received the navigation message, and determine whether the message content corresponding to the target satellite that has received the navigation message meets a preset availability condition;

[0008] If the message content corresponding to the target satellite of the received navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation; the message content includes the target message.

[0009] Optionally, the step of acquiring an orbiting satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining the target satellite using the orbiting satellite includes:

[0010] Acquire a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and whose elevation angle is higher than a first preset angle threshold based on the Beidou satellite navigation system;

[0011] Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and whose elevation angle is higher than a second preset angle threshold;

[0012] The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

[0013] Optionally, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes:

[0014] If the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message, determining whether the pseudo-random noise code in the first subframe of the B-CNAV1 message meets a preset range condition;

[0015] If the pseudo-random noise code in the first subframe of the B-CNAV1 message meets the preset range condition, determine the second count in the first hour corresponding to the first subframe that meets the preset range condition, and judge whether the second count in the first hour is within the first preset second range;

[0016] If the second count in the first hour is within the first preset second range, a cyclic redundancy check is performed on the second subframe and the third subframe in the B-CNAV1 message, and a first preset satellite integrity condition is performed on the data bits related to the B1C signal in the B-CNAV1 message of the target satellite that passes the cyclic redundancy check; the first preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV1 message are all 0;

[0017] If the data bits related to the B1C signal in the B-CNAV1 message of the target satellite meet the first preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV1 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

[0018] Optionally, the step of acquiring an orbiting satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining the target satellite using the orbiting satellite includes:

[0019] Acquire a medium earth orbit satellite based on the Beidou satellite navigation system, which broadcasts B-CNAV2 messages and has an elevation angle higher than a first preset angle threshold;

[0020] Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold;

[0021] The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

[0022] Optionally, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes:

[0023] If the message content corresponding to the target satellite of the received navigation message is a B-CNAV2 message, determining whether the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets a preset numerical condition;

[0024] If the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition, a cyclic redundancy check is performed on the B-CNAV2 message corresponding to the target satellite that meets the preset numerical condition, and the second count in the second hour corresponding to the fourth subframe in the B-CNAV2 message corresponding to the target satellite that passes the cyclic redundancy check is determined, and it is determined whether the second count in the second hour is a count within the second preset second range;

[0025] If the second count in the second hour is within the second preset second range, a second preset satellite integrity condition is performed on the data bits related to the B2a signal in the B-CNAV2 message; the second preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B2a signal in the B-CNAV2 message are all 0;

[0026] If the data bits related to the B2a signal in the B-CNAV2 message of the target satellite meet the second preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV2 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

[0027] Optionally, the step of acquiring an orbiting satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining the target satellite using the orbiting satellite includes:

[0028] Acquire a medium earth orbit satellite that broadcasts B-CNAV1 messages and B-CNAV2 messages based on the Beidou satellite navigation system and whose elevation angle is higher than a first preset angle threshold;

[0029] Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold;

[0030] The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

[0031] Optionally, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes:

[0032] If the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message and a B-CNAV2 message, it is determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition respectively;

[0033] If both the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition, a third preset satellite integrity condition is performed on the data bits related to the B1C signal in the B-CNAV2 message; the third preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV2 message are all 0;

[0034] If the data bits related to the B1C signal in the B-CNAV2 message meet the third preset satellite integrity condition, parsing the message data in the B-CNAV1 message to obtain the target parameters related to the space signal accuracy;

[0035] The spatial signal accuracy is calculated based on the target parameters, and the target satellite whose spatial signal accuracy does not exceed a preset accuracy threshold is used as a satellite for performing device positioning calculation.

[0036] In a second aspect, the present application provides a satellite screening device based on device positioning, comprising:

[0037] A target satellite determination module is used to obtain an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition based on the Beidou satellite navigation system, and determine the target satellite using the orbital satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message;

[0038] An availability judgment module is used to judge whether the target satellite has received the navigation message, and to judge whether the message content corresponding to the target satellite that has received the navigation message meets a preset availability condition;

[0039] A signal accuracy judgment module is used to determine the spatial signal accuracy based on the message data in the message content if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, and use the target satellite whose spatial signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation; the message content includes the target message.

[0040] In a third aspect, the present application provides an electronic device, including:

[0041] Memory, used to store computer programs;

[0042] The processor is used to execute the computer program to implement the aforementioned satellite screening method based on device positioning.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium for storing a computer program, wherein the computer program, when executed by a processor, implements the aforementioned satellite screening method based on device positioning.

[0044] The present application is based on the Beidou satellite navigation system to obtain an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition, and uses the orbital satellite to determine the target satellite; judges whether the target satellite has received the navigation message, and judges whether the message content corresponding to the target satellite that has received the navigation message meets the preset availability condition; if the message content corresponding to the target satellite that has received the navigation message meets the preset availability condition, determines the spatial signal accuracy based on the message data in the message content, and uses the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation; the message content includes the target message.

[0045] As can be seen from the above, this application selects an orbital satellite that only broadcasts target messages and whose elevation angles meet the preset angle conditions, and then makes an availability judgment on the message content corresponding to the navigation message received by the target satellite determined based on the orbital satellite, and judges the spatial signal accuracy determined based on the message data in the message content, and uses the target satellite that meets the preset accuracy conditions as the satellite for device positioning calculation. In this way, screening satellites used for device positioning calculations based on the Beidou satellite navigation system can not only exclude satellite signals with large spatial signal errors and improve positioning accuracy and integrity; it can also eliminate the impact of insufficient navigation signal integrity due to sudden satellite failures or signal interference on positioning accuracy and integrity. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present invention 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 embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0047] Figure 1 This is a flow chart of a satellite screening method based on device positioning disclosed in this application;

[0048] Figure 2 This is a schematic diagram of the structure of a satellite screening device based on device positioning disclosed in this application;

[0049] Figure 3 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] At present, the Beidou satellite navigation system signals have been widely used for positioning and navigation of various civil terminals. Since civil terminals have no requirements for the integrity of positioning and navigation data, there are no special requirements for the selection of satellites in their positioning calculations. However, in the field of aviation, the accuracy and integrity of navigation data will have a direct impact on the safety of aviation operations. To this end, the present application provides a satellite screening method based on device positioning, which screens satellites used for device positioning calculations based on the Beidou satellite navigation system, which can not only exclude satellite signals with large spatial signal errors and improve positioning accuracy and integrity; it can also exclude the impact of insufficient navigation signal integrity due to sudden satellite failures or signal interference on positioning accuracy and integrity.

[0052] See also Figure 1 As shown, an embodiment of the present invention discloses a satellite screening method based on device positioning, comprising:

[0053] Step S11, based on the Beidou satellite navigation system, obtaining an orbiting satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition, and using the orbiting satellite to determine the target satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message.

[0054] In this embodiment, based on the Beidou satellite navigation system, an orbital satellite whose broadcast information is B-CNAV1 message and / or B-CNAV2 message and whose elevation angle meets the preset angle condition is obtained, and the target satellite is determined by using the orbital satellite. That is, the navigation signal from the satellite in the Beidou satellite navigation system is received by the user receiver, and the received navigation signal is decoded to obtain the corresponding satellite signal, and the satellite that only broadcasts B-CNAV1 message and / or B-CNAV2 message is obtained based on the satellite signal and the preset screening rule. After the satellite that broadcasts B-CNAV1 message and / or B-CNAV2 message is screened out, the type information of the above satellite is further obtained, and then the elevation angle of each satellite is calculated according to the position of the user receiver and the position of the satellite, and only MEO satellites (i.e. medium earth orbit satellites) with an elevation angle higher than 5° and IGSO satellites (i.e. inclined geosynchronous orbit satellites) with an elevation angle higher than 12° are selected, and after the above screening, the target satellite is obtained. It should be noted that, since the satellite orbit changes over time, the user receiver needs to update relevant data regularly to ensure the accuracy of screening and positioning.

[0055] In a first specific implementation, based on the Beidou satellite navigation system, a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and whose elevation angle is higher than a first preset angle threshold and an inclined geosynchronous orbit satellite whose elevation angle is higher than a second preset angle threshold are acquired, and the medium earth orbit satellite and the inclined geosynchronous orbit satellite are used as target satellites. Specifically, based on the Beidou satellite navigation system, an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition is acquired, and the target satellite is determined using the orbital satellite, including: based on the Beidou satellite navigation system, acquiring a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and whose elevation angle is higher than a first preset angle threshold; acquiring, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and whose elevation angle is higher than a second preset angle threshold; and using the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites.

[0056] It can be understood that based on the Beidou satellite navigation system, the MEO satellite (i.e., medium earth orbit satellite) whose broadcast information is B-CNAV1 message and whose elevation angle is higher than 5° is obtained, and based on the Beidou satellite navigation system, the IGSO satellite (i.e., inclined geosynchronous orbit satellite) whose broadcast information is B-CNAV1 message and whose elevation angle is higher than 12° is obtained, and the medium earth orbit satellite and the inclined geosynchronous orbit satellite that meet the preset angle condition are taken as target satellites.

[0057] In a second specific implementation, based on the Beidou satellite navigation system, a medium earth orbit satellite whose broadcast information is a B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold and an inclined geosynchronous orbit satellite whose elevation angle is higher than a second preset angle threshold are acquired, and the medium earth orbit satellite and the inclined geosynchronous orbit satellite are used as target satellites. Specifically, based on the Beidou satellite navigation system, the acquisition of an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition, and the use of the orbital satellite to determine the target satellite includes: based on the Beidou satellite navigation system, the acquisition of a medium earth orbit satellite whose broadcast information is a B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold; the acquisition of an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold through the Beidou satellite navigation system; and the acquisition of the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites. That is, based on the Beidou satellite navigation system, the MEO satellite that broadcasts B-CNAV2 messages and has an elevation angle higher than 5° is acquired, and based on the Beidou satellite navigation system, the IGSO satellite that broadcasts B-CNAV1 messages and has an elevation angle higher than 12° is acquired, and the MEO satellite and the IGSO satellite that meet the preset angle conditions are taken as target satellites.

[0058] In a third specific implementation, based on the Beidou satellite navigation system, a medium earth orbit satellite whose broadcast information is B-CNAV1 message and B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold and an inclined geosynchronous orbit satellite whose elevation angle is higher than a second preset angle threshold are acquired, and the medium earth orbit satellite and the inclined geosynchronous orbit satellite are used as target satellites. Specifically, the acquisition of an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition based on the Beidou satellite navigation system, and the determination of the target satellite using the orbital satellite, includes: based on the Beidou satellite navigation system, acquiring a medium earth orbit satellite whose broadcast information is B-CNAV1 message and B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold; acquiring, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold; and using the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites. That is, based on the Beidou satellite navigation system, the MEO satellite that broadcasts the B-CNAV1 message and the B-CNAV2 message and has an elevation angle higher than 5° is acquired, and based on the Beidou satellite navigation system, the IGSO satellite that broadcasts the B-CNAV1 message and the B-CNAV2 message and has an elevation angle higher than 12° is acquired, and the MEO satellite and the IGSO satellite that meet the preset angle condition are taken as target satellites.

[0059] Step S12: determining whether the target satellite has received the navigation message, and determining whether the message content corresponding to the target satellite that has received the navigation message satisfies a preset availability condition.

[0060] In this embodiment, after obtaining the target satellite, it is first determined whether the target satellite can receive the message. If the target satellite can receive the message, it is determined whether the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition. Specifically, the navigation signal from the target satellite is received by the user receiver, the navigation signal is decoded to obtain the navigation message, and it is determined whether the message content corresponding to the target satellite of the navigation message meets the preset availability condition. If the message content corresponding to the target satellite of the navigation message does not meet the preset availability condition, the target satellite that does not meet the preset availability condition is eliminated.

[0061] It can be understood that when parsing the navigation signal of the target satellite, the signal quality corresponding to the navigation signal can be evaluated first. The signal quality includes signal strength and signal-to-noise ratio. If the signal quality is lower than a preset quality threshold, it indicates that the navigation signal is interfered with or the signal reception conditions for receiving the navigation signal are poor, which may result in the inability to decode the navigation message corresponding to the navigation signal.

[0062] Step S13: If the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation; the message content includes the target message.

[0063] In this embodiment, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, the preset availability condition may include the integrity of the message, the correctness of the format, the validity of the time, etc. For example, the message must contain all necessary subframes, and the data of each subframe must conform to the expected format and range. Then, the target parameter related to the spatial signal accuracy is extracted from the message content, so as to calculate the spatial signal accuracy based on the target parameter, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

[0064] In a first specific implementation manner, if the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message, the first subframe in the B-CNAV1 message is parsed to obtain a pseudo-random noise code (i.e., a PRN code) of the first subframe, and it is determined whether the pseudo-random noise code meets a preset range condition. If the pseudo-random noise code meets the preset range condition, the second count within the first hour in the first subframe is further checked, and it is determined whether the second count within the first hour falls within a first preset second range. If the second count within the first hour falls within the first preset second range, the B-CNAV1 message is decoded. The second and third subframes in the text are subjected to cyclic redundancy check (CRC check), and the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV1 message that passes the cyclic redundancy check are all 0, that is, the data bits related to the B1C signal in the B-CNAV1 message of the target satellite meet the first preset satellite integrity condition, and then the spatial signal accuracy is determined based on the message data in the B-CNAV1 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation. It should be pointed out that the preset range condition that the pseudo-random noise code needs to meet is 1 to 63; the first preset second range that the second count within the first hour needs to meet is 0 to 3582.

[0065] Specifically, if the message content corresponding to the target satellite of the received navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for performing device positioning calculation, including: if the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message, then it is determined whether the pseudo-random noise code in the first subframe of the B-CNAV1 message meets the preset range condition; if the pseudo-random noise code in the first subframe of the B-CNAV1 message meets the preset range condition, then the second count in the first hour corresponding to the first subframe that meets the preset range condition is determined, and it is determined whether the second count in the first hour is a count within the first preset second range; if the second count in the first hour is within the first preset range, then the second count in the first hour is within the first preset range. If the count is within the preset second range, a cyclic redundancy check is performed on the second subframe and the third subframe in the B-CNAV1 message, and a first preset satellite integrity condition is performed on the data bits related to the B1C signal in the B-CNAV1 message of the target satellite that passes the cyclic redundancy check; the first preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV1 message are all 0; if the data bits related to the B2a signal in the B-CNAV1 message of the target satellite meet the first preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV2 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

[0066] In a second specific implementation manner, if the message content corresponding to the target satellite receiving the navigation message is a B-CNAV2 message, the frame synchronization data in the B-CNAV2 message is parsed, and the frame synchronization data is converted into hexadecimal, and it is determined whether the converted data is consistent with the preset value. If the converted data is consistent with the preset value, a cyclic redundancy check is performed on the B-CNAV2 message corresponding to the target satellite, and whether the second count within the second hour corresponding to the fourth subframe in the B-CNAV2 message that passes the check falls within the second preset second range. If the second count within the second hour falls within the second preset second range, it is determined whether the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B2a signal in the B-CNAV1 message are all 0. If so, the space signal accuracy is determined based on the message data in the B-CNAV2 message, and the target satellite whose space signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation. It should be noted that the preset value is 0xE24DE8; the preset range condition that the pseudo-random noise code needs to meet is 1 to 63; and the second preset second range that the second count in the second hour needs to meet is 0 to 3582.

[0067] Specifically, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for performing device positioning calculation, including: if the message content corresponding to the target satellite receiving the navigation message is a B-CNAV2 message, then it is determined whether the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition; if the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition, a cyclic redundancy check is performed on the B-CNAV2 message corresponding to the target satellite that meets the preset numerical condition, and the second subframe corresponding to the fourth subframe in the B-CNAV2 message corresponding to the target satellite that passes the cyclic redundancy check is determined. The second count within the hour is determined, and it is determined whether the second count within the second hour is within the second preset second range; if the second count within the second hour is within the second preset second range, a second preset satellite integrity condition is performed on the data bits related to the B2a signal in the B-CNAV2 message; the second preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B2a signal in the B-CNAV2 message are all 0; if the data bits related to the B2a signal in the B-CNAV2 message of the target satellite meet the second preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV2 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

[0068] In a third specific implementation manner, if the message content corresponding to the target satellite receiving the navigation message is a B-CNAV1 message and a B-CNAV2 message, then based on the first specific implementation manner and the second specific implementation manner, it is respectively determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability conditions; if both the B-CNAV1 message and the B-CNAV2 message meet the preset availability conditions, it is determined whether the data bits corresponding to the message integrity flag, the signal integrity flag and the system alarm flag related to the B1C signal in the B-CNAV2 message are all 0; if the data bits are all 0, the message data in the B-CNAV1 message is parsed to obtain target parameters related to the spatial signal accuracy, and the spatial signal accuracy is calculated based on the target parameters, and the target satellite whose spatial signal accuracy does not exceed the preset accuracy threshold is used as the satellite for device positioning calculation.

[0069] Specifically, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation, including: if the message content corresponding to the target satellite receiving the navigation message is a B-CNAV1 message and a B-CNAV2 message, then it is determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition respectively; if both the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition, the B-CNAV2 message and the B-CNAV1 message meet the preset availability condition. The data bits related to the B1C signal are judged according to a third preset satellite integrity condition; the third preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV2 message are all 0; if the data bits related to the B1C signal in the B-CNAV2 message meet the third preset satellite integrity condition, the message data in the B-CNAV1 message is parsed to obtain target parameters related to the spatial signal accuracy; the spatial signal accuracy is calculated based on the target parameters, and the target satellite whose spatial signal accuracy does not exceed the preset accuracy threshold is used as the satellite for device positioning calculation.

[0070] It can be understood that the message data in the B-CNAV1 message is parsed to obtain the target parameters related to the accuracy of the space signal. The target parameters are parameters related to the accuracy of the space signal, such as the tangential and normal accuracy index of the target satellite orbit, the radial and target satellite clock fixed deviation accuracy index, the target satellite clock frequency deviation accuracy index, the target satellite clock frequency drift accuracy index, and the data predicted time of the week, etc. The target parameters are used to calculate the tangential and normal accuracy of the target satellite orbit, the radial accuracy of the target satellite orbit and the satellite clock difference accuracy, and then the tangential and normal accuracy of the target satellite orbit, the radial accuracy of the target satellite orbit and the satellite clock difference accuracy are used to calculate the accuracy of the space signal. The calculation formula is as follows:

[0071] ;

[0072] in, is the spatial signal accuracy, are the tangential and normal accuracy of the target satellite orbit, The target satellite orbit radial and satellite clock error accuracy are then determined. If the calculated spatial signal accuracy does not exceed 64 meters, the target satellite with a spatial signal accuracy not exceeding 64 meters is used as the satellite for device positioning calculation.

[0073] As can be seen from the above, this application selects an orbital satellite that only broadcasts target messages and whose elevation angles meet the preset angle conditions, and then makes an availability judgment on the message content corresponding to the navigation message received by the target satellite determined based on the orbital satellite, and judges the spatial signal accuracy determined based on the message data in the message content, and uses the target satellite that meets the preset accuracy conditions as the satellite for device positioning calculation. In this way, screening satellites used for device positioning calculations based on the Beidou satellite navigation system can not only exclude satellite signals with large spatial signal errors and improve positioning accuracy and integrity; it can also eliminate the impact of insufficient navigation signal integrity due to sudden satellite failures or signal interference on positioning accuracy and integrity.

[0074] Accordingly, see Figure 2 As shown, the present application also provides a satellite screening device based on device positioning, comprising:

[0075] The target satellite determination module 11 is used to obtain an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition based on the Beidou satellite navigation system, and determine the target satellite using the orbital satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message;

[0076] Availability determination module 12, used to determine whether the target satellite has received the navigation message, and to determine whether the message content corresponding to the target satellite that has received the navigation message meets a preset availability condition;

[0077] The signal accuracy judgment module 13 is used to determine the spatial signal accuracy based on the message data in the message content if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, and use the target satellite whose spatial signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation; the message content includes the target message.

[0078] As can be seen from the above, this application selects an orbital satellite that only broadcasts target messages and whose elevation angles meet the preset angle conditions, and then makes an availability judgment on the message content corresponding to the navigation message received by the target satellite determined based on the orbital satellite, and judges the spatial signal accuracy determined based on the message data in the message content, and uses the target satellite that meets the preset accuracy conditions as the satellite for device positioning calculation. In this way, screening satellites used for device positioning calculations based on the Beidou satellite navigation system can not only exclude satellite signals with large spatial signal errors and improve positioning accuracy and integrity; it can also eliminate the impact of insufficient navigation signal integrity due to sudden satellite failures or signal interference on positioning accuracy and integrity.

[0079] In some specific implementations, the target satellite determination module 11 may specifically include:

[0080] A first medium earth orbit satellite determination unit is used to obtain a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and whose elevation angle is higher than a first preset angle threshold based on the Beidou satellite navigation system;

[0081] A first inclined satellite determination unit is used to obtain, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and whose elevation angle is higher than a second preset angle threshold;

[0082] The first target satellite determination unit is used to take the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites.

[0083] In some specific implementations, the signal accuracy determination module 13 may specifically include:

[0084] a noise code determination unit, configured to determine whether the pseudo-random noise code in the first subframe of the B-CNAV1 message satisfies a preset range condition if the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message;

[0085] A first counting judgment unit is used to determine the second count in the first hour corresponding to the first subframe that meets the preset range condition if the pseudo-random noise code in the first subframe in the B-CNAV1 message meets the preset range condition, and judge whether the second count in the first hour is a count within a first preset second range;

[0086] a first integrity judgment unit, configured to perform a cyclic redundancy check on a second subframe and a third subframe in the B-CNAV1 message if the second count in the first hour is within a first preset second range, and perform a first preset satellite integrity condition judgment on a data bit related to a B1C signal in a B-CNAV1 message of a target satellite that passes the cyclic redundancy check; the first preset satellite integrity condition is that data bits corresponding to a message integrity flag, a signal integrity flag, and a system alarm flag related to the B1C signal in the B-CNAV1 message are all 0;

[0087] The first accuracy determination unit is used to determine the spatial signal accuracy based on the message data in the B-CNAV1 message if the data bits related to the B1C signal in the B-CNAV1 message of the target satellite meet the first preset satellite integrity condition, and use the target satellite whose spatial signal accuracy meets the preset accuracy condition as the satellite for performing device positioning calculation.

[0088] In some specific implementations, the target satellite determination module 11 may specifically include:

[0089] A second medium earth orbit satellite determination unit is used to obtain a medium earth orbit satellite whose broadcast information is a B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold based on the Beidou satellite navigation system;

[0090] A second inclined satellite determination unit is used to obtain, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold;

[0091] The second target satellite determination unit is used to take the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites.

[0092] In some specific implementations, the signal accuracy determination module 13 may specifically include:

[0093] A synchronization data judgment unit, configured to judge whether the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message satisfies a preset numerical condition if the message content corresponding to the target satellite of the received navigation message is a B-CNAV2 message;

[0094] A second counting judgment unit is configured to perform a cyclic redundancy check on the B-CNAV2 message corresponding to the target satellite that meets the preset numerical condition if the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition, and determine the second count in the second hour corresponding to the fourth subframe in the B-CNAV2 message corresponding to the target satellite that passes the cyclic redundancy check, and judge whether the second count in the second hour is a count within a second preset second range;

[0095] a second integrity judgment unit, configured to perform a second preset satellite integrity condition judgment on the data bits related to the B2a signal in the B-CNAV2 message if the second second count in the second hour is within a second preset second range; the second preset satellite integrity condition is that the data bits corresponding to the message integrity flag, the signal integrity flag, and the system alarm flag related to the B2a signal in the B-CNAV2 message are all 0;

[0096] The second accuracy determination unit is used to determine the spatial signal accuracy based on the message data in the B-CNAV2 message if the data bits related to the B2a signal in the B-CNAV2 message of the target satellite meet the second preset satellite integrity condition, and use the target satellite whose spatial signal accuracy meets the preset accuracy condition as the satellite for performing device positioning calculation.

[0097] In some specific implementations, the target satellite determination module 11 may specifically include:

[0098] A third medium earth orbit satellite determination unit is used to obtain, based on the Beidou satellite navigation system, a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and a B-CNAV2 message and whose elevation angle is higher than a first preset angle threshold;

[0099] A third inclined satellite determination unit is used to obtain, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold;

[0100] The third target satellite determination unit is used to take the medium earth orbit satellite and the inclined geosynchronous orbit satellite as target satellites.

[0101] In some specific implementations, the signal accuracy determination module 13 may specifically include:

[0102] A message availability judgment unit, configured to judge whether the B-CNAV1 message and the B-CNAV2 message meet preset availability conditions respectively if the message contents corresponding to the target satellite receiving the navigation message are B-CNAV1 message and B-CNAV2 message;

[0103] a third integrity judgment unit, configured to, if both the B-CNAV1 message and the B-CNAV2 message meet a preset availability condition, perform a third preset satellite integrity condition judgment on the data bits related to the B1C signal in the B-CNAV2 message; the third preset satellite integrity condition is that the data bits corresponding to the message integrity flag, the signal integrity flag, and the system alarm flag related to the B1C signal in the B-CNAV2 message are all 0;

[0104] a message data parsing unit, configured to parse the message data in the B-CNAV1 message to obtain a target parameter related to the space signal accuracy if the data bits related to the B1C signal in the B-CNAV2 message meet a third preset satellite integrity condition;

[0105] The third accuracy determination unit is used to calculate the spatial signal accuracy based on the target parameter, and use the target satellite whose spatial signal accuracy does not exceed a preset accuracy threshold as a satellite for performing device positioning calculation.

[0106] Furthermore, the present application also discloses an electronic device. Figure 3: This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the figure cannot be regarded as any limitation on the scope of use of this application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the satellite screening method based on device positioning disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0107] In this embodiment, the power supply 23 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0108] In addition, the memory 22, as a carrier for storing resources, can be a read-only memory, a random access memory, a disk or an optical disk, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0109] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and may be Windows Server, Netware, Unix, Linux, etc. In addition to the computer program that can be used to complete the satellite screening method based on device positioning performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 may further include computer programs that can be used to complete other specific tasks.

[0110] Furthermore, the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the satellite screening method based on device positioning disclosed above is implemented. For the specific steps of the method, reference may be made to the corresponding contents disclosed in the above embodiments, and no further description will be given here.

[0111] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0112] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0113] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0114] Finally, 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 presence of other identical elements in the process, method, article or device including the elements.

[0115] The technical solution provided by the present application is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A satellite screening method based on device positioning, characterized in that: include: Based on the Beidou satellite navigation system, an orbiting satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition is obtained, and the target satellite is determined by using the orbiting satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message; Determine whether the target satellite has received the navigation message, and determine whether the message content corresponding to the target satellite that has received the navigation message meets a preset availability condition; If the message content corresponding to the target satellite of the received navigation message meets the preset availability condition, the spatial signal accuracy is determined based on the message data in the message content, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation; the message content includes the target message.

2. The satellite screening method based on device positioning according to claim 1, characterized in that: The method of acquiring an orbital satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining a target satellite using the orbital satellite, includes: Acquire a medium earth orbit satellite whose broadcast information is a B-CNAV1 message and whose elevation angle is higher than a first preset angle threshold based on the Beidou satellite navigation system; Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and whose elevation angle is higher than a second preset angle threshold; The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

3. The satellite screening method based on device positioning according to claim 2, characterized in that: If the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes: If the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message, determining whether the pseudo-random noise code in the first subframe of the B-CNAV1 message meets a preset range condition; If the pseudo-random noise code in the first subframe of the B-CNAV1 message meets the preset range condition, determine the second count in the first hour corresponding to the first subframe that meets the preset range condition, and judge whether the second count in the first hour is within the first preset second range; If the second count in the first hour is within the first preset second range, a cyclic redundancy check is performed on the second subframe and the third subframe in the B-CNAV1 message, and a first preset satellite integrity condition is performed on the data bits related to the B1C signal in the B-CNAV1 message of the target satellite that passes the cyclic redundancy check; the first preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV1 message are all 0; If the data bits related to the B1C signal in the B-CNAV1 message of the target satellite meet the first preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV1 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

4. The satellite screening method based on device positioning according to claim 1, characterized in that: The method of acquiring an orbital satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining a target satellite using the orbital satellite, includes: Acquire a medium earth orbit satellite based on the Beidou satellite navigation system, which broadcasts B-CNAV2 messages and has an elevation angle higher than a first preset angle threshold; Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold; The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

5. The satellite screening method based on device positioning according to claim 4, characterized in that: If the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes: If the message content corresponding to the target satellite of the received navigation message is a B-CNAV2 message, determining whether the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets a preset numerical condition; If the hexadecimal corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition, a cyclic redundancy check is performed on the B-CNAV2 message corresponding to the target satellite that meets the preset numerical condition, and the second count in the second hour corresponding to the fourth subframe in the B-CNAV2 message corresponding to the target satellite that passes the cyclic redundancy check is determined, and it is determined whether the second count in the second hour is a count within the second preset second range; If the second count in the second hour is within the second preset second range, a second preset satellite integrity condition is performed on the data bits related to the B2a signal in the B-CNAV2 message; the second preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B2a signal in the B-CNAV2 message are all 0; If the data bits related to the B2a signal in the B-CNAV2 message of the target satellite meet the second preset satellite integrity condition, the spatial signal accuracy is determined based on the message data in the B-CNAV2 message, and the target satellite whose spatial signal accuracy meets the preset accuracy condition is used as the satellite for device positioning calculation.

6. The satellite screening method based on device positioning according to claim 1, characterized in that: The method of acquiring an orbital satellite whose broadcast information is a target message and whose elevation angle satisfies a preset angle condition based on the Beidou satellite navigation system, and determining a target satellite using the orbital satellite, includes: Acquire a medium earth orbit satellite that broadcasts B-CNAV1 messages and B-CNAV2 messages based on the Beidou satellite navigation system and whose elevation angle is higher than a first preset angle threshold; Acquire, through the Beidou satellite navigation system, an inclined geosynchronous orbit satellite whose broadcast information is the B-CNAV1 message and the B-CNAV2 message and whose elevation angle is higher than a second preset angle threshold; The medium earth orbit satellite and the inclined geosynchronous orbit satellite are taken as target satellites.

7. The satellite screening method based on device positioning according to claim 6, characterized in that: If the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, determining the spatial signal accuracy based on the message data in the message content, and using the target satellite whose spatial signal accuracy meets the preset accuracy condition as a satellite for performing device positioning calculation, includes: If the message content corresponding to the target satellite of the received navigation message is a B-CNAV1 message and a B-CNAV2 message, it is determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition respectively; If both the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition, a third preset satellite integrity condition is performed on the data bits related to the B1C signal in the B-CNAV2 message; the third preset satellite integrity condition is that the data bits corresponding to the message integrity flag, signal integrity flag and system alarm flag related to the B1C signal in the B-CNAV2 message are all 0; If the data bits related to the B1C signal in the B-CNAV2 message meet the third preset satellite integrity condition, parsing the message data in the B-CNAV1 message to obtain the target parameters related to the space signal accuracy; The spatial signal accuracy is calculated based on the target parameters, and the target satellite whose spatial signal accuracy does not exceed a preset accuracy threshold is used as a satellite for performing device positioning calculation.

8. A satellite screening device based on device positioning, characterized in that: include: A target satellite determination module is used to obtain an orbital satellite whose broadcast information is a target message and whose elevation angle meets a preset angle condition based on the Beidou satellite navigation system, and determine the target satellite using the orbital satellite; wherein the target message includes a B-CNAV1 message and / or a B-CNAV2 message; An availability judgment module is used to judge whether the target satellite has received the navigation message, and to judge whether the message content corresponding to the target satellite that has received the navigation message meets a preset availability condition; A signal accuracy judgment module is used to determine the spatial signal accuracy based on the message data in the message content if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, and use the target satellite whose spatial signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation; the message content includes the target message.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the satellite screening method based on device positioning as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program, wherein when the computer program is executed by a processor, the satellite screening method based on device positioning according to any one of claims 1 to 7 is implemented.

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