A Satellite Screening Method, Device, Equipment and Medium Based on Device Positioning

Abstract

The present application discloses a satellite screening method, device, equipment and medium based on device positioning, which relates to the field of aerospace technology, and includes: obtaining orbital satellites whose broadcast information is the target message and the elevation angle meets the preset angle condition based on the Beidou satellite navigation system, and using the orbital satellites to determine the target satellites; wherein, the target message includes B-CNAV1 message and / or B-CNAV2 message; judging whether the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition; if the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition, determining the space signal accuracy based on the message data in the message content, and using the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation; the message content includes the target message. Screening the satellites participating in the positioning calculation to ensure the accuracy of the navigation data.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and particularly 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 frequency points include B1I, B1C, B2a, B3I, B2b, B2I, etc., and the broadcast navigation messages include B-CNAV1, B-CNAV2, B-CNAV3, D1, D2, etc. At present, the signals of the Beidou satellite navigation system have been widely used for the positioning and navigation of various civilian terminals. Since civilian terminals have no requirements for the integrity of positioning and navigation data, there are no special requirements for satellite selection in their positioning calculations. However, in the aviation field, 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 participating in the positioning calculation to ensure the accuracy of navigation data is an urgent problem to be solved at present. 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 the satellites participating in the positioning calculation to ensure the accuracy of navigation data. The specific solutions are as follows:

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

[0006] Obtaining orbital satellites whose broadcast information is the target navigation message and the elevation angle meets the preset angle condition based on the Beidou satellite navigation system, and using the orbital satellites to determine target satellites; wherein, the target navigation message includes B-CNAV1 navigation message and / or B-CNAV2 navigation message;

[0007] Judging whether the target satellites receive navigation messages, and judging whether the message content corresponding to the target satellites that receive navigation messages meets the preset availability condition;

[0008] If the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition, determine the space signal accuracy based on the message data in the message content, and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation; the message content includes the target message.

[0009] Optionally, the method of obtaining, based on the Beidou satellite navigation system, an orbital satellite whose broadcast information is the target message and whose elevation angle meets the preset angle condition, and using the orbital satellite to determine the target satellite includes:

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

[0011] 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 the second preset angle threshold;

[0012] Use the medium Earth orbit satellite and the inclined geosynchronous orbit satellite as the target satellites.

[0013] Optionally, the step of, if the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition, determining the space signal accuracy based on the message data in the message content, and using the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation includes:

[0014] If the message content corresponding to the target satellite that receives the navigation message is the B-CNAV1 message, determine whether the pseudo-random noise code in the first sub-frame of the B-CNAV1 message meets the preset range condition;

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

[0016] If the second count within the first hour is within the range of the first preset second count, perform a cyclic redundancy check on the second sub-frame and the third sub-frame of the B-CNAV1 message, and perform a first preset satellite integrity condition judgment 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, the signal integrity flag, and the 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, determine the space signal accuracy based on the message data in the B-CNAV1 message, and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation.

[0018] Optionally, the method for obtaining an in-orbit satellite whose broadcast information is the target message and whose elevation angle meets the preset angle condition based on the Beidou satellite navigation system, and using the in-orbit satellite to determine the target satellite includes:

[0019] Obtain a medium Earth orbit satellite based on the Beidou satellite navigation system whose broadcast information is the B-CNAV2 message and whose elevation angle is higher than the first preset angle threshold;

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

[0021] Use the medium Earth orbit satellite and the inclined geosynchronous orbit satellite as the target satellites.

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

[0023] If the message content corresponding to the target satellite that receives the navigation message is the B-CNAV2 message, determine whether the hexadecimal value corresponding to the frame synchronization data in the B-CNAV2 message meets the preset numerical condition;

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

[0025] If the second-hour second count is within the range of the second preset second count, perform a second preset satellite integrity condition judgment 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 warning 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, determine the space signal accuracy based on the message data in the B-CNAV2 message, and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation.

[0027] Optionally, the method of obtaining, based on the Beidou satellite navigation system, an orbital satellite whose broadcast information is a target message and whose elevation angle meets the preset angle condition, and using the orbital satellite to determine the target satellite includes:

[0028] Obtain, based on the Beidou satellite navigation system, medium Earth orbit satellites whose broadcast information is B-CNAV1 messages and B-CNAV2 messages and whose elevation angle is higher than the first preset angle threshold;

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

[0030] Use the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites.

[0031] Optionally, the method of, if the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition, determining the space signal accuracy based on the message data in the message content, and using the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation includes:

[0032] If the message content corresponding to the target satellite that receives the navigation message is a B-CNAV1 message and a B-CNAV2 message, respectively determine whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition;

[0033] If both the B-CNAV1 message and the B-CNAV2 message meet the 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, signal integrity flag, and system warning 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, parse the message data in the B-CNAV1 message to obtain target parameters related to the space signal accuracy;

[0035] Calculate the spatial signal accuracy based on the target parameter, and use the target satellite whose spatial signal accuracy does not exceed the preset accuracy threshold as the satellite for device positioning calculation.

[0036] In a second aspect, the present application provides a satellite screening device for device positioning, including:

[0037] A target satellite determination module, configured 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 a target satellite by using the orbital satellite; wherein, the target message includes B-CNAV1 message and / or B-CNAV2 message;

[0038] An availability judgment module, configured to judge whether the target satellite has received a navigation message, and 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, configured to, if the message content corresponding to the target satellite that has received the navigation message meets the preset availability condition, determine the spatial signal accuracy based on the message data in the message content, 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] A memory, configured to store a computer program;

[0042] A processor, configured to execute the computer program to implement the foregoing satellite screening method for device positioning.

[0043] In a fourth aspect, the present application provides a computer-readable storage medium, configured to store a computer program, wherein the computer program, when executed by a processor, implements the foregoing satellite screening method for device positioning.

[0044] The present application obtains 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 determines a target satellite by using the orbital satellite; judges whether the target satellite has received a navigation message, and judges 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 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 the satellite for device positioning calculation; the message content includes the target message.

[0045] As can be seen from the above, in this application, an orbital satellite that only broadcasts target messages and whose elevation angle meets the preset angle condition is selected. Then, the usability of the message content corresponding to the navigation message received by the target satellite determined based on the orbital satellite is judged, and the accuracy of the space signal determined based on the message data in the message content is judged. The target satellite that meets the preset accuracy condition is used as the satellite for device positioning calculation. In this way, screening the satellites for device positioning calculation based on the Beidou satellite navigation system can not only exclude satellite signals with large space signal errors, improve positioning accuracy and integrity, but also exclude the influence on positioning accuracy and integrity caused by sudden satellite failures or signal interference resulting in insufficient integrity of the navigation signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0047] Figure 1 It is a flowchart of a satellite screening method for device positioning disclosed in this application;

[0048] Figure 2 It is a schematic structural diagram of a satellite screening device for device positioning disclosed in this application;

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

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

[0051] At present, the signals of the Beidou Satellite Navigation System have been widely used for the positioning and navigation of various civilian terminals. Since civilian 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 aviation field, the accuracy and integrity of navigation data will directly affect the safety of aviation operations. For this reason, this application provides a satellite screening method based on device positioning, which screens the satellites used for device positioning calculations based on the Beidou Satellite Navigation System, and can not only exclude satellite signals with large space signal errors, improve positioning accuracy and integrity; It can also exclude the influence on positioning accuracy and integrity caused by insufficient integrity of navigation signals due to sudden satellite failures or signal interference.

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

[0053] Step S11, obtain orbital satellites whose broadcast information is the target message and the elevation angle meets the preset angle condition based on the Beidou Satellite Navigation System, and use the orbital satellites to determine the target satellites; wherein, the target message includes B-CNAV1 message and / or B-CNAV2 message.

[0054] In this embodiment, obtain orbital satellites whose broadcast information is B-CNAV1 message and / or B-CNAV2 message and the elevation angle meets the preset angle condition based on the Beidou Satellite Navigation System, and use the orbital satellites to determine the target satellites. That is, the user receiver receives the navigation signals from the satellites in the Beidou Satellite Navigation System, decodes the received navigation signals to obtain the corresponding satellite signals, and based on the satellite signals and the preset screening rules, obtains the satellites that only broadcast B-CNAV1 message and / or B-CNAV2 message. After screening out the satellites that broadcast B-CNAV1 message and / or B-CNAV2 message, further obtain the type information of the above satellites, and then calculate the elevation angles of each satellite according to the position of the user receiver and the position of the satellites, and only select 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°. After the above screening, the target satellites can be obtained. It should be noted that since the satellite orbit will change with time, the user receiver needs to update the relevant data regularly to ensure the accuracy of screening and positioning.

[0055] In the first specific embodiment, medium Earth orbit satellites with a broadcast message of B-CNAV1 and an elevation angle higher than the first preset angle threshold and inclined geosynchronous orbit satellites with an elevation angle higher than the second preset angle threshold are obtained based on the Beidou satellite navigation system, and the medium Earth orbit satellites and the inclined geosynchronous orbit satellites are used as target satellites. Specifically, the method for obtaining orbit satellites with a broadcast message as the target message and an elevation angle meeting the preset angle condition based on the Beidou satellite navigation system and using the orbit satellites to determine target satellites includes: obtaining medium Earth orbit satellites with a broadcast message of B-CNAV1 and an elevation angle higher than the first preset angle threshold based on the Beidou satellite navigation system; obtaining inclined geosynchronous orbit satellites with a broadcast message of B-CNAV1 and an elevation angle higher than the second preset angle threshold through the Beidou satellite navigation system; and using the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites.

[0056] It can be understood that Medium Earth Orbit (MEO) satellites (i.e., medium Earth orbit satellites) with a broadcast message of B-CNAV1 and an elevation angle higher than 5° are obtained based on the Beidou satellite navigation system, and Inclined Geosynchronous Orbit (IGSO) satellites (i.e., inclined geosynchronous orbit satellites) with a broadcast message of B-CNAV1 and an elevation angle higher than 12° are obtained based on the Beidou satellite navigation system, and the medium Earth orbit satellites and the inclined geosynchronous orbit satellites meeting the preset angle condition are used as target satellites.

[0057] In the second specific embodiment, medium Earth orbit satellites with a broadcast message of B-CNAV2 and an elevation angle higher than the first preset angle threshold and inclined geosynchronous orbit satellites with an elevation angle higher than the second preset angle threshold are obtained based on the Beidou satellite navigation system, and the medium Earth orbit satellites and the inclined geosynchronous orbit satellites are used as target satellites. Specifically, the method for obtaining orbit satellites with a broadcast message as the target message and an elevation angle meeting the preset angle condition based on the Beidou satellite navigation system and using the orbit satellites to determine target satellites includes: obtaining medium Earth orbit satellites with a broadcast message of B-CNAV2 and an elevation angle higher than the first preset angle threshold based on the Beidou satellite navigation system; obtaining inclined geosynchronous orbit satellites with a broadcast message of B-CNAV2 and an elevation angle higher than the second preset angle threshold through the Beidou satellite navigation system; and using the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites. That is, MEO satellites with a broadcast message of B-CNAV2 and an elevation angle higher than 5° are obtained based on the Beidou satellite navigation system, and IGSO satellites with a broadcast message of B-CNAV1 and an elevation angle higher than 12° are obtained based on the Beidou satellite navigation system, and the MEO satellites and the IGSO satellites meeting the preset angle condition are used as target satellites.

[0058] In the third specific embodiment, medium Earth orbit satellites with broadcast information of B-CNAV1 message and B-CNAV2 message obtained based on the Beidou satellite navigation system and elevation angles higher than the first preset angle threshold, and inclined geosynchronous orbit satellites with elevation angles higher than the second preset angle threshold are acquired, and the medium Earth orbit satellites and the inclined geosynchronous orbit satellites are used as target satellites. Specifically, acquiring orbit satellites with broadcast information of target messages obtained based on the Beidou satellite navigation system and elevation angles meeting the preset angle condition, and determining target satellites by using the orbit satellites includes: acquiring medium Earth orbit satellites with broadcast information of B-CNAV1 message and B-CNAV2 message obtained based on the Beidou satellite navigation system and elevation angles higher than the first preset angle threshold; acquiring inclined geosynchronous orbit satellites with broadcast information of the B-CNAV1 message and the B-CNAV2 message obtained through the Beidou satellite navigation system and elevation angles higher than the second preset angle threshold; using the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites. That is, acquiring MEO satellites with broadcast information of B-CNAV1 message and the B-CNAV2 message obtained based on the Beidou satellite navigation system and elevation angles higher than 5°, and acquiring IGSO satellites with broadcast information of B-CNAV1 message and the B-CNAV2 message obtained based on the Beidou satellite navigation system and elevation angles higher than 12°, and using the MEO satellites and the IGSO satellites meeting the preset angle condition as target satellites.

[0059] Step S12: 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 the preset availability condition.

[0060] In this embodiment, after obtaining the target satellite, first determine whether the target satellite can receive the message. If the target satellite can receive the message, then determine whether the message content corresponding to the target satellite that has received the navigation message meets the preset availability condition. Specifically, receive the navigation signal from the target satellite through the user receiver, decode the navigation signal to obtain the navigation message, and determine 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, then eliminate the target satellite corresponding to the non-meeting of the preset availability condition.

[0061] It can be understood that when analyzing 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 the preset quality threshold, it indicates that the navigation signal is interfered or the signal reception condition for receiving the navigation signal is poor, resulting in possible failure to decode the navigation message corresponding to the navigation signal.

[0062] Step S13: If the message content corresponding to the target satellite of the navigation message meets the preset availability condition, determine the space signal accuracy based on the message data in the message content, and use the target satellite whose space signal accuracy meets the preset accuracy condition 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 of 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 sub-frames, and the data of each sub-frame must conform to the expected format and range. Then, extract the target parameters related to the space signal accuracy from the message content, calculate the space signal accuracy based on the target parameters, and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation.

[0064] In the first specific implementation manner, if the message content corresponding to the target satellite of the navigation message is a B-CNAV1 message, parse the first sub-frame in the B-CNAV1 message to obtain the pseudo-random noise code (i.e., PRN code) of the first sub-frame, and determine whether the pseudo-random noise code meets the preset range condition. If the pseudo-random noise code meets the preset range condition, further check the second count of seconds within the first hour in the first sub-frame, and determine whether the second count of seconds within the first hour falls within the first preset number of seconds range. If the second count of seconds within the first hour falls within the first preset number of seconds range, perform a cyclic redundancy check (i.e., CRC check) on the second and third sub-frames in the B-CNAV1 message. For the B-CNAV1 message that passes the cyclic redundancy check, the data bits corresponding to the message integrity flag, signal integrity flag, and system alarm flag related to the B1C signal 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. Then, determine the space signal accuracy based on the message data in the B-CNAV1 message, and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation. It should be noted that the preset range condition that the pseudo-random noise code needs to meet is 1 to 63; the first preset number of seconds range that the second count of seconds within the first hour needs to meet is 0 to 3582.

[0065] Specifically, if the message content corresponding to the target satellite that receives the navigation message meets the preset availability condition, the space signal accuracy is determined based on the message data in the message content, and the target satellite whose space 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 that receives the navigation message is the B-CNAV1 message, 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, the second count of seconds within the first hour corresponding to the first subframe that meets the preset range condition is determined, and it is determined whether the second count of seconds within the first hour is within the range of the first preset number of seconds; if the second count of seconds within the first hour is within the range of the first preset number of seconds, cyclic redundancy check is performed on the second and third subframes of the B-CNAV1 message, and a first preset satellite integrity condition judgment 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 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.

[0066] In the second specific implementation manner, if the message content corresponding to the target satellite that receives the navigation message is the B-CNAV2 message, then parse the frame synchronization data in the B-CNAV2 message, convert the frame synchronization data into hexadecimal, and determine whether the converted data is consistent with a preset value. If the converted data is consistent with the preset value, then perform a cyclic redundancy check on the B-CNAV2 message corresponding to the target satellite, and determine whether the second-hour second count corresponding to the fourth sub-frame in the B-CNAV2 message that passes the check falls within a second preset second range. If the second-hour second count falls within the second preset second range, then determine 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, determine the space signal accuracy based on the message data in the B-CNAV2 message, and use the target satellite whose space signal accuracy meets the preset accuracy condition 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 from 1 to 63; the second preset second range that the second-hour second count needs to meet is from 0 to 3582.

[0067] Specifically, if the message content corresponding to the target satellite receiving the navigation message meets the preset availability condition, the space signal accuracy is determined based on the message data in the message content, and the target satellite whose space 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-CNAV2 message, 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, cyclic redundancy check is performed on the B-CNAV2 message corresponding to the target satellite that meets the preset numerical condition, and the second-hour second count corresponding to the fourth sub-frame in the B-CNAV2 message corresponding to the target satellite passing the cyclic redundancy check is determined, and it is determined whether the second-hour second count is within the range of the second preset second count; if the second-hour second count is within the range of the second preset second count, a second preset satellite integrity condition judgment 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 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.

[0068] In the 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, it is respectively determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition based on the first specific embodiment and the second specific embodiment. If both the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition, it is determined whether 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 are all 0, the message data in the B-CNAV1 message is parsed to obtain target parameters related to the space signal accuracy, and the space signal accuracy is calculated based on the target parameters. The target satellite whose space 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 space signal accuracy is determined based on the message data in the message content, and the target satellite whose space 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 B-CNAV1 message and B-CNAV2 message, it is respectively determined whether the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition; if both the B-CNAV1 message and the B-CNAV2 message meet the preset availability condition, a third preset satellite integrity condition judgment 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, the message data in the B-CNAV1 message is parsed to obtain target parameters related to the space signal accuracy; the space signal accuracy is calculated based on the target parameters, and the target satellite whose space 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 target parameters related to the space signal accuracy. The target parameters are parameters related to the space signal accuracy, such as the tangential and normal accuracy indices of the target satellite orbit, the radial and target satellite clock fixed deviation accuracy indices, the target satellite clock frequency deviation accuracy index, the target satellite clock frequency drift accuracy index, and the week number within the data prediction, etc. The tangential and normal accuracy of the target satellite orbit and the radial and satellite clock error accuracy of the target satellite are calculated using the target parameters, and then the space signal accuracy is calculated using the tangential and normal accuracy of the target satellite orbit and the radial and satellite clock error accuracy of the target satellite. The calculation formula is as follows:

[0071] ;

[0072] Among them, is the space signal accuracy, is the tangential and normal accuracy of the target satellite orbit, is the radial and satellite clock error accuracy of the target satellite orbit. Then, the calculated space signal accuracy is judged. If the space signal accuracy does not exceed 64 meters, the target satellite whose space signal accuracy does not exceed 64 meters is used as the satellite for device positioning calculation.

[0073] As can be seen from the above, in this application, by selecting orbiting satellites that only broadcast target messages and whose elevation angles meet the preset angle conditions, then making an availability judgment on the message content corresponding to the navigation messages received by the target satellites determined based on the orbiting satellites, and making a judgment on the space signal accuracy determined based on the message data in the message content, the target satellites that meet the preset accuracy conditions are used as the satellites for device positioning calculation. In this way, by screening the satellites for device positioning calculation based on the Beidou satellite navigation system, not only can satellite signals with large space signal errors be excluded, improving positioning accuracy and integrity; but also the impact on positioning accuracy and integrity caused by sudden satellite failures or signal interference resulting in insufficient integrity of the navigation signal can be excluded.

[0074] Correspondingly, as shown in Figure 2 the present application also provides a satellite screening device for device positioning, including:

[0075] A target satellite determination module 11, configured to obtain orbiting satellites whose broadcast information is target messages and whose elevation angles meet the preset angle conditions based on the Beidou satellite navigation system, and determine target satellites by using the orbiting satellites; wherein, the target messages include B-CNAV1 messages and / or B-CNAV2 messages;

[0076] An availability judgment module 12, configured to judge whether the target satellites receive navigation messages, and make a judgment on whether the message content corresponding to the target satellites that receive navigation messages meets the preset availability conditions;

[0077] A signal accuracy judgment module 13, configured to, if the message content corresponding to the target satellites that receive navigation messages meets the preset availability conditions, determine the space signal accuracy based on the message data in the message content, and use the target satellites whose space signal accuracy meets the preset accuracy conditions as the satellites for device positioning calculation; the message content includes the target messages.

[0078] As can be seen from the above, in this application, by selecting orbiting satellites that only broadcast target messages and whose elevation angles meet the preset angle conditions, then making an availability judgment on the message content corresponding to the navigation messages received by the target satellites determined based on the orbiting satellites, and making a judgment on the space signal accuracy determined based on the message data in the message content, the target satellites that meet the preset accuracy conditions are used as the satellites for device positioning calculation. In this way, by screening the satellites for device positioning calculation based on the Beidou satellite navigation system, not only can satellite signals with large space signal errors be excluded, improving positioning accuracy and integrity; but also the impact on positioning accuracy and integrity caused by sudden satellite failures or signal interference resulting in insufficient integrity of the navigation signal can be excluded.

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

[0080] A first medium Earth orbit satellite determination unit, configured to obtain medium Earth orbit satellites with a broadcast message of B-CNAV1 and an elevation angle higher than a first preset angle threshold based on the Beidou satellite navigation system;

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

[0082] A first target satellite determination unit, configured to use the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites.

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

[0084] A noise code judgment unit, configured to judge whether the pseudo-random noise code in the first sub-frame of the B-CNAV1 message meets a preset range condition if the message content corresponding to the target satellite receiving the navigation message is the B-CNAV1 message;

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

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

[0087] A first accuracy determination unit, configured to determine the space signal accuracy based on the message data in the B-CNAV1 message and use the target satellite whose space signal accuracy meets the preset accuracy condition as the satellite for device positioning calculation 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.

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

[0089] A second medium Earth orbit satellite determination unit, configured to obtain medium Earth orbit satellites with a broadcast message being B-CNAV2 message and an elevation angle higher than a first preset angle threshold based on the Beidou satellite navigation system;

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

[0091] A second target satellite determination unit, configured to use the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites.

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

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

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

[0095] A second integrity judgment unit, configured to, if the second hour second count is a count within the second preset second range, perform a second preset satellite integrity condition judgment 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;

[0096] A second accuracy determination unit, configured to, 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, determine the space signal accuracy based on the message data in the B-CNAV2 message, and use the target satellite with the space signal accuracy meeting the preset accuracy condition as the satellite for device positioning calculation.

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

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

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

[0100] A third target satellite determination unit, configured to use the medium Earth orbit satellites and the inclined geosynchronous orbit satellites as target satellites.

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

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

[0103] A third integrity judgment unit, configured to perform a third preset satellite integrity condition judgment on the data bits related to the B1C signal in the B-CNAV2 message if both the B-CNAV1 message and the B-CNAV2 message meet the preset availability conditions; 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;

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

[0105] A third accuracy determination unit, configured to calculate the space signal accuracy based on the target parameters, and use the target satellites with the space signal accuracy not exceeding a preset accuracy threshold as the satellites for device positioning calculation.

[0106] Furthermore, an embodiment of the present application also discloses an electronic device, Figure 3The structural diagram of the electronic device 20 shown according to an exemplary embodiment, and 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. Among them, the memory 22 is used to store a computer program, and the computer program 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 foregoing 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 external devices, and the communication protocol it follows is any communication protocol applicable to the technical solution of this application, and no specific limitation is imposed on it here; the input / output interface 25 is used to obtain external input data or output data to the outside, and its specific interface type can be selected according to specific application needs, and no specific limitation is made here.

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

[0109] Among them, the operating system 221 is used to manage and control each hardware device and the computer program 222 on the electronic device 20, and it may be Windows Server, Netware, Unix, Linux, etc. The computer program 222 may further include a computer program capable of completing other specific tasks in addition to the computer program capable of implementing the satellite screening method based on device positioning executed by the electronic device 20 disclosed in any of the foregoing embodiments.

[0110] Furthermore, this application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the satellite screening method based on device positioning disclosed above. For the specific steps of this method, reference may be made to the corresponding content disclosed in the foregoing embodiments, and details are not repeated here.

[0111] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various 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 description of the method part.

[0112] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0113] The steps of the methods or algorithms described in combination with the embodiments disclosed herein can be directly implemented by hardware, software modules executed by a processor, or a combination of both. The software modules can be placed in a random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium well-known in the technical field.

[0114] Finally, it should also be noted that in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0115] The technical solutions provided in this application have been introduced in detail above. Specific examples have been used herein to elaborate on the principles and implementation manners of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this 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, including: 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, including: 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, including: 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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