Terminal positioning method and device, storage medium and electronic equipment

Abstract

The invention discloses a terminal positioning method and device, a storage medium and electronic equipment. The method comprises the following steps: determining a single-point positioning result of a target terminal based on a navigation signal; determining a target positioning result based on the communication signal and the single-point positioning result, the target positioning result being determined by at least two corrections in the enhancement information when the target terminal executes the communication service through the broadcast channel, and the target positioning result being determined by at least two corrections in the enhancement information when the target terminal executes the communication service through the service channel. The target positioning result is determined by at least three corrections in the enhanced information, and the at least three corrections comprise atmospheric corrections; and under the condition that the first broadcast ephemeris and the second broadcast ephemeris meet verification conditions, determining positioning information of the target terminal according to the target positioning result. The technical problem of low terminal positioning accuracy is solved.

Description

Technical Field

[0001] The present application relates to the field of computers, and in particular to a terminal positioning method and device, a storage medium, and an electronic device. Background Art

[0002] In the current global positioning system (GNSS) system, terminals can often only obtain meter-level positioning services, which is difficult to meet the needs of high-precision applications. Specifically, traditional GNSS positioning relies on the direct reception of satellite signals. However, in the signal propagation path, it will be affected by ionosphere, troposphere delay and multipath effects. In addition, the satellite signal landing level is low and cannot penetrate obstacles such as leaves and cement, which limits its application indoors and in densely built-up areas. Therefore, there is a technical problem of low terminal positioning accuracy in related technologies.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present application provide a terminal positioning method and device, a storage medium and an electronic device to at least solve the technical problem of low terminal positioning accuracy.

[0005] According to one aspect of an embodiment of the present application, a terminal positioning method is provided, comprising: receiving a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; determining a single-point positioning result of a target terminal based on the navigation signal; determining a target positioning result based on the communication signal and the single-point positioning result, wherein, in a case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhancement information, and in a case where the target terminal performs the communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number; and in a case where the first broadcast ephemeris and the second broadcast ephemeris meet a verification condition, determining the positioning information of the target terminal according to the target positioning result.

[0006] According to another aspect of an embodiment of the present application, a terminal positioning device is also provided, including: a receiving module, used to receive a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; a determination module, used to determine a single-point positioning result of a target terminal based on the navigation signal; determine a target positioning result based on the communication signal and the single-point positioning result, wherein, in a case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhancement information, and in a case where the target terminal performs the communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number; a verification module, used to determine the positioning information of the target terminal according to the target positioning result when the first broadcast ephemeris and the second broadcast ephemeris meet a verification condition.

[0007] Optionally, the device is used to determine the target positioning result based on the communication signal and the single-point positioning result in the following manner: when the target terminal performs the communication service through the broadcast channel, obtain the second broadcast ephemeris, the precise orbit correction number and the precise clock correction number in the enhancement information; perform coordinate transformation on the precise orbit correction number to obtain an updated precise orbit correction number in the Earth-centered Earth-fixed coordinate system; perform an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain an ambiguity fixing solution; perform calculation according to the updated precise orbit correction number, the precise clock correction number, the ambiguity fixing solution and the single-point positioning result to determine the target position data and the target clock error; and generate the target positioning result based on the target position data and the target clock error.

[0008] Optionally, the device is also used to: convert the original carrier phase ambiguity in the second broadcast ephemeris into wide lane ambiguity and narrow lane ambiguity through ionospheric-free combination operation; perform ambiguity search on the wide lane ambiguity and the narrow lane ambiguity to determine the ambiguity fixed solution.

[0009] Optionally, the device is used to determine the target positioning result based on the communication signal and the single-point positioning result in the following manner: when the target terminal performs the communication service through the service channel, obtain the second broadcast ephemeris, the precise orbit correction number, the precise clock correction number and the atmospheric correction number in the enhancement information; determine the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number; and perform coordinate transformation on the precise orbit correction number to obtain an updated precise orbit correction number in the geocentric earth-fixed coordinate system; perform an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain an ambiguity fixing solution; solve according to the updated precise orbit correction number, the precise clock correction number, the ambiguity fixing solution, the target ionospheric delay and the target tropospheric delay and the single-point positioning result to determine the target position data and the target clock error; generate the target positioning result based on the target position data and the target clock error.

[0010] Optionally, the device is used to determine the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number in the following manner: input the initial position data in the single-point positioning result and the position data of the navigation satellite into the background ionosphere model to obtain the initial ionospheric delay, and input the initial position data and the position data of the navigation satellite into the tropospheric delay model to obtain the initial tropospheric delay; determine the zenith tropospheric delay and the residual ionospheric slant delay according to the atmospheric correction number; determine the sum of the zenith tropospheric delay and the initial tropospheric delay as the target tropospheric delay, and determine the sum of the residual ionospheric slant delay and the initial ionospheric delay as the target ionospheric delay.

[0011] Optionally, the device is also used for: the ambiguity fixing solution is used to determine the distance between the target terminal and the navigation satellite; the undifferentiated carrier phase data represents the phase change of the navigation signal sent from the navigation satellite to the target terminal; the ambiguity fixing operation is used to determine the value of the phase integer ambiguity in the undifferentiated carrier phase data.

[0012] Optionally, the device is used to determine the single-point positioning result of the target terminal based on the navigation signal in the following manner: determine the position data of the navigation satellite according to the first broadcast ephemeris; determine the pseudorange between the navigation satellite and the target terminal; use the position data of the navigation satellite and the pseudorange to perform calculations to determine the initial position data and the initial clock difference; and generate the single-point positioning result based on the initial position data and the initial clock difference.

[0013] Optionally, the device is also used to: determine the positioning mode data of the target terminal according to the position data of the navigation satellite indicated by the navigation signal and the distance between the navigation satellite and the ground, wherein the positioning mode data is used to indicate whether the target terminal is in a mobile state; and generate the positioning information based on the positioning mode data when the first broadcast ephemeris and the second broadcast ephemeris meet the verification conditions.

[0014] Optionally, the device is also used to: in response to a ground monitoring station making a prediction based on the received historical navigation signal at a historical moment, obtain the enhanced information corresponding to the current moment, and receive the communication signal when the ground monitoring station sends the enhanced information to the communication satellite.

[0015] Optionally, the apparatus is further configured to: generate prompt information when the first broadcast ephemeris and the second broadcast ephemeris do not satisfy the verification condition, wherein the prompt information indicates that the position of the target terminal cannot be determined.

[0016] According to another aspect of the embodiments of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned terminal positioning method when running.

[0017] According to another aspect of the embodiments of the present application, a computer program product or a computer program is provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the terminal positioning method as described above.

[0018] According to another aspect of the embodiments of the present application, there is further provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the terminal positioning method through the computer program.

[0019] In an embodiment of the present application, a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite are first received, the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; a single-point positioning result of a target terminal is determined based on the navigation signal; an ambiguity fixed solution is generated based on the communication signal, and a target positioning result is determined according to the ambiguity fixed solution and the single-point positioning result, wherein, in a case where the target terminal performs a communication service through a broadcast channel, the ambiguity fixed solution is determined by at least two correction numbers in the enhancement information, and in a case where the target terminal needs to perform a communication service through a service channel, the ambiguity fixed solution is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number, an atmospheric correction number, and a target positioning result. The correction number and the ambiguity fixed solution are used to determine the distance between the target terminal and the navigation satellite; when the first broadcast ephemeris and the second broadcast ephemeris meet the verification conditions, the positioning information of the target terminal is determined according to the target positioning result, and the ambiguity fixed solution generated by the enhanced information received from the communication satellite is combined with the single-point positioning result. The target positioning result finally determined can achieve higher accuracy. Specifically, more accurate orbit and clock correction information, as well as atmospheric correction information, are provided with the assistance of communication satellites, thereby achieving the purpose of improving the terminal positioning accuracy, thereby achieving the technical effect of maintaining high-precision positioning even in complex environments and shielding conditions, and thus solving the technical problem of low terminal positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 is a schematic diagram of an application environment of an optional terminal positioning method according to an embodiment of the present application;

[0022] Figure 2 is a flow chart of an optional terminal positioning method according to an embodiment of the present application;

[0023] Figure 3 is a schematic diagram of a fusion positioning process of an optional terminal positioning method according to an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of an ambiguity fixing process of an optional terminal positioning method according to an embodiment of the present application;

[0025] Figure 5 is a schematic structural diagram of an optional terminal positioning device according to an embodiment of the present application;

[0026] Figure 6is a schematic diagram of the structure of an optional terminal positioning product according to an embodiment of the present application;

[0027] Figure 7 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] The present application is described below in conjunction with embodiments:

[0031] According to one aspect of an embodiment of the present application, a terminal positioning method is provided. Optionally, in this embodiment, the terminal positioning method can be applied to Figure 1 In the hardware environment composed of the server 101 and the terminal device 103 shown in FIG. Figure 1As shown, the server 101 is connected to the terminal device 103 via a network, and can be used to provide services for the terminal device or an application 107 installed on the terminal device. The application can be a video application, an instant messaging application, a browser application, an educational application, a game application, etc. A database 105 may be set up on the server or independently of the server to provide data storage services for the server 101, for example, a game data storage server. The above-mentioned network may include but is not limited to: a wired network, a wireless network, wherein the wired network includes: a local area network, a metropolitan area network and a wide area network, and the wireless network includes: Bluetooth, WIFI and other networks that realize wireless communication. The terminal device 103 may be a terminal configured with an application, and may include but is not limited to at least one of the following: a mobile phone (such as an Android phone, an iOS phone, etc.), a laptop computer, a tablet computer, a PDA, a MID (Mobile Internet Devices), a PAD, a desktop computer, a smart TV, an intelligent voice interaction device, a smart home appliance, a vehicle-mounted terminal, an aircraft, a virtual reality (Virtual Reality, VR for short) terminal, an augmented reality (Augmented Reality, AR for short) terminal, a mixed reality (Mixed Reality, MR for short) terminal and other computer devices. The above-mentioned server may be a single server, or a server cluster consisting of multiple servers, or a cloud server.

[0032] Combination Figure 1 As shown, the terminal positioning method can be executed by an electronic device, which can be a terminal device or a server. The terminal positioning method can be implemented by the terminal device or the server respectively, or by the terminal device and the server together.

[0033] The above is only an example and is not specifically limited in this embodiment.

[0034] Optionally, as an optional implementation, as Figure 2 As shown, the terminal positioning method includes:

[0035] S202, receiving a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information;

[0036] Optionally, in an embodiment of the present application, the above-mentioned navigation signal refers to a signal transmitted by the above-mentioned navigation satellite (such as a satellite in the GPS, Beidou, Galileo or GLONASS system), carrying a first broadcast ephemeris, that is, satellite orbit and clock status information for rough positioning; the above-mentioned communication signal refers to a signal transmitted by the above-mentioned communication satellite, for example, a narrowband communication signal, which not only includes a second broadcast ephemeris for a rough description of the satellite status, but also carries enhancement information, and the above-mentioned second broadcast ephemeris refers to the orbit and clock information of the navigation satellite forwarded by the communication satellite.

[0037] Optionally, in an embodiment of the present application, the above-mentioned enhanced information refers to additional positioning data contained in the signal transmitted by the communication satellite, including but not limited to precise orbit corrections, precise clock corrections, atmospheric corrections (such as ionospheric and tropospheric delay corrections) and other auxiliary positioning parameters.

[0038] It should be noted that the communication signals sent by communication satellites can carry various forms of enhanced information, not limited to the correction numbers mentioned above, but also include encrypted authentication information, satellite health status reports, etc. This application does not limit this.

[0039] It should also be noted that, when the satellite is in normal operating state, the first broadcast ephemeris and the second broadcast ephemeris may include the same content, and are used to indicate the position of the same navigation satellite.

[0040] S204, determining a single point positioning result of the target terminal based on the navigation signal; determining a target positioning result based on the communication signal and the single point positioning result, wherein, in the case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhanced information, and in the case where the target terminal performs a communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhanced information, and the at least three correction numbers include an atmospheric correction number;

[0041] Optionally, in an embodiment of the present application, the above-mentioned navigation signal refers to all signal data received from the navigation satellite, including but not limited to the first broadcast ephemeris, clock status data, pseudorange measurement values ​​and other auxiliary navigation parameters. During the single-point positioning process, the target terminal can use the satellite orbit parameters and clock information in the navigation signal, combined with the received satellite signal strength and timestamp, to determine the preliminary geographic location information of the target terminal, i.e., the single-point positioning result, by solving the pseudorange equation group.

[0042] Optionally, in an embodiment of the present application, the above-mentioned single-point positioning results include but are not limited to the three-dimensional coordinates (longitude, latitude, altitude) and time deviation of the target terminal, which is a preliminary positioning solution calculated based on the navigation signal, and the accuracy is usually in the range of several meters to more than ten meters.

[0043] Further, an ambiguity fixed solution is generated based on the communication signal, and a target positioning result is determined according to the ambiguity fixed solution and the single point positioning result, wherein, in the case where the target terminal performs a communication service through a broadcast channel, the ambiguity fixed solution is determined by at least two correction numbers in the enhanced information, and in the case where the target terminal needs to perform a communication service through a service channel, the ambiguity fixed solution is determined by at least three correction numbers in the enhanced information, the at least three correction numbers include an atmospheric correction number, and the ambiguity fixed solution is used to determine the distance between the target terminal and the navigation satellite;

[0044] Optionally, in an embodiment of the present application, the above-mentioned ambiguity fixed solution generated based on the communication signal refers to a solution for accurately solving the target terminal position obtained by processing the enhanced information sent by the communication satellite through a specific positioning algorithm, including but not limited to the determined value of the carrier phase integer ambiguity, that is, the above-mentioned ambiguity fixed solution.

[0045] Optionally, in an embodiment of the present application, the at least two correction numbers mentioned above may be a precise orbit correction number and a precise clock correction number; the at least three correction numbers mentioned above may be a precise orbit correction number, a precise clock correction number, and an atmospheric correction number.

[0046] Optionally, in an embodiment of the present application, the above-mentioned target positioning result refers to the final positioning information obtained after comprehensive positioning based on the navigation signal, the ambiguity fixed solution and the enhanced information received through the broadcast and service channels, including but not limited to the precise three-dimensional coordinates (longitude, latitude, altitude) of the target terminal, positioning accuracy indicators and positioning status information, such as whether it is in a dynamic or static environment, whether there is a multipath effect, etc.

[0047] It can be understood that the above-mentioned ambiguity fixed solution is used to determine the precise distance between the target terminal and the navigation satellite. By combining it with the single-point positioning result, it can generate a more accurate target positioning result based on full consideration of various error sources.

[0048] S206: When the first broadcast ephemeris and the second broadcast ephemeris satisfy the verification condition, determine the positioning information of the target terminal according to the target positioning result.

[0049] Optionally, in an embodiment of the present application, the above-mentioned verification condition refers to a condition satisfied after a consistency check is performed on the first broadcast ephemeris and the second broadcast ephemeris, which may include but is not limited to the consistency of satellite orbit parameters and clock status data in the two ephemeris information within an allowable error range, and the update time and validity of the ephemeris information. Meeting the verification condition indicates that the calculated target positioning result has not been interfered with or deceived, and can be used to determine the positioning information of the target terminal.

[0050] It should be noted that the specific settings of the above verification conditions may vary according to different application scenarios and technical requirements.

[0051] For example, in a scenario with high security requirements, the verification conditions may require that the consistency of the two ephemeris information can only be considered satisfied under stricter standards. In certain low-bandwidth or poor signal quality environments, the verification conditions will be more relaxed to increase the probability of successful positioning. This application does not limit this.

[0052] In an exemplary embodiment, the terminal positioning method includes but is not limited to:

[0053] S1, the fusion positioning terminal (the above-mentioned target terminal) receives the navigation signal and the communication signal carrying the correction number (the above-mentioned predicted correction information) through the communication and guidance fusion antenna. The correction number is the correction number at the current moment predicted by the ground monitoring station using the navigation signal received historically, and then sends the predicted correction number to the communication satellite, including but not limited to the precise orbit correction number, precise clock correction number and atmospheric correction number, etc.;

[0054] S2, enter the preliminary positioning process: the fusion positioning terminal uses only the navigation signal to perform single-point positioning through the four-star positioning method to obtain the single-point positioning result (including but not limited to the initial position and initial clock difference of the fusion positioning terminal), and determines whether the current fusion positioning terminal is in a stationary state or in a moving state according to the single-point positioning result within a period of time;

[0055] S3, enter the precise positioning process, and determine which method to use between S3-1 and S3-2 based on the channel type (broadcast channel, service channel, the difference between the two is that the service channel has higher communication quality requirements):

[0056] S3-1, PPP (Precise Point Positioning) positioning mode, broadcast channel positioning information analysis:

[0057] Obtain broadcast channel positioning information in communication signals, including broadcast ephemeris and correction numbers (precision orbit correction number, precision clock correction number);

[0058] Perform coordinate transformation on the precise orbit correction numbers and convert them into precise orbit correction numbers in the Earth-centered Earth-fixed system (the above-mentioned updating of precise orbit correction numbers);

[0059] Use the PPP integer ambiguity fixation method to process the wide lane UDP (Undifferenced Phase) and narrow lane UDP in the broadcast ephemeris to obtain wide lane ambiguity and narrow lane ambiguity;

[0060] The carrier phase ambiguity is calculated according to the wide lane ambiguity and the narrow lane ambiguity to obtain the ambiguity fixed solution. The ambiguity fixed solution here can be understood as the number of transmitted waves between the fusion positioning terminal and the navigation satellite, which is used to determine the distance between the fusion positioning terminal and the navigation satellite. This distance is used to determine the target position of the fusion positioning terminal.

[0061] The observation equation corresponding to the PPP positioning algorithm is solved according to the precise orbit correction number, precise clock correction number and ambiguity fixed solution after the coordinate conversion, and the target position and target clock error of the fusion positioning terminal are determined;

[0062] S3-2, PPP-RTK (Precise Point Positioning - Real-Time Kinematic) positioning mode, service channel information authentication and reception:

[0063] The fusion positioning terminal first uses the background ionosphere model (model input: the initial position of the fusion positioning terminal and the initial position of the satellite parsed from the navigation signal; the model is actually a quadratic function) to output the initial ionospheric delay; and the tropospheric delay model (model input: the initial position of the fusion positioning terminal and the initial position of the satellite parsed from the navigation signal; the model is actually a quadratic function, which is different from the background ionosphere model in processing, but has the same input) to output the initial tropospheric delay;

[0064] Obtain broadcast channel positioning information in communication signals, including broadcast ephemeris and corrections (precision orbit correction, precision clock correction, and atmospheric correction);

[0065] The zenith tropospheric delay and residual ionospheric slant delay are obtained from the atmospheric correction data;

[0066] The sum of the zenith tropospheric delay and the initial tropospheric delay is determined as the target tropospheric delay; the sum of the residual ionospheric slant delay and the initial ionospheric delay is determined as the target ionospheric delay;

[0067] Perform coordinate transformation on the precise orbit correction numbers and convert them into precise orbit correction numbers in the Earth-centered Earth-fixed system (the above-mentioned updating of precise orbit correction numbers);

[0068] The wide lane UDP and narrow lane UDP in the broadcast ephemeris are processed using the PPP integer ambiguity fixing method to obtain wide lane ambiguity and narrow lane ambiguity.

[0069] The carrier phase ambiguity is calculated based on the wide lane ambiguity and the narrow lane ambiguity to obtain an ambiguity fixed solution;

[0070] The observation equation corresponding to PPP-RTK positioning is solved according to the converted precise orbit correction number, precise clock correction number, ambiguity fixation solution, target ionospheric delay, and target tropospheric delay to determine the target position and target clock error of the fusion positioning terminal;

[0071] S4, mutually verify the broadcast ephemeris of the navigation satellite obtained after parsing the navigation signal and the broadcast ephemeris of the navigation satellite obtained after parsing the communication signal. If the verification is successful, the target position and target clock error of the fusion positioning terminal and the current positioning status (the above-mentioned positioning mode data, for example, stationary state or moving state) are output; if the verification fails, a prompt message of positioning error is output.

[0072] Through the embodiments of the present application, a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite are first received, the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; a single-point positioning result of a target terminal is determined based on the navigation signal; an ambiguity fixed solution is generated based on the communication signal, and a target positioning result is determined according to the ambiguity fixed solution and the single-point positioning result, wherein, in a case where the target terminal performs a communication service through a broadcast channel, the ambiguity fixed solution is determined by at least two correction numbers in the enhancement information, and in a case where the target terminal needs to perform a communication service through a service channel, the ambiguity fixed solution is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number, an atmospheric correction number, and a target positioning result. The correction number and the ambiguity fixed solution are used to determine the distance between the target terminal and the navigation satellite; when the first broadcast ephemeris and the second broadcast ephemeris meet the verification conditions, the positioning information of the target terminal is determined according to the target positioning result, and the ambiguity fixed solution generated by the enhanced information received from the communication satellite is combined with the single-point positioning result. The target positioning result finally determined can achieve higher accuracy. Specifically, more accurate orbit and clock correction information, as well as atmospheric correction information, are provided with the assistance of communication satellites, thereby achieving the purpose of improving the terminal positioning accuracy, thereby achieving the technical effect of maintaining high-precision positioning even in complex environments and shielding conditions, and thus solving the technical problem of low terminal positioning accuracy.

[0073] As an optional scheme, the above-mentioned determination of the target positioning result based on the communication signal and the single-point positioning result includes: when the above-mentioned target terminal performs the above-mentioned communication service through the above-mentioned broadcast channel, obtaining the above-mentioned second broadcast ephemeris, the precise orbit correction number and the precise clock correction number in the above-mentioned enhancement information; performing coordinate transformation on the above-mentioned precise orbit correction number to obtain updated precise orbit correction number in the Earth-centered Earth-fixed coordinate system; performing ambiguity fixing operation on the undifferentiated carrier phase data in the above-mentioned second broadcast ephemeris to obtain an ambiguity fixed solution; performing calculation according to the above-mentioned updated precise orbit correction number, the above-mentioned precise clock correction number, the above-mentioned ambiguity fixed solution and the above-mentioned single-point positioning result to determine the target position data and the target clock error; and generating the above-mentioned target positioning result based on the above-mentioned target position data and the above-mentioned target clock error.

[0074] Optionally, in an embodiment of the present application, the above-mentioned scheme for generating a fixed solution of ambiguity based on communication signals refers to a process of performing positioning calculations based on PPP and PPP-RTK algorithms using signal data received from communication satellites in combination with precise orbit and clock correction information, including but not limited to the target terminal parsing the second broadcast ephemeris, precise orbit correction numbers, and precise clock correction numbers in the communication signal, and applying the correction numbers to the positioning solution of the GNSS signal to improve positioning accuracy and anti-interference capability.

[0075] Specifically, first, the orbit information of the navigation satellite is corrected using the above-mentioned updated precise orbit correction number to reduce the orbit error of the navigation satellite and obtain the corrected distance observation value; then, the clock bias of the navigation satellite is corrected using the precise clock correction number to eliminate the uncertainty of the satellite clock; the above-mentioned ambiguity fixed solution is applied to the carrier phase observation value to eliminate the integer ambiguity error in the carrier phase measurement value. The determination of the ambiguity fixed solution allows the solver to convert the carrier phase observation into a more accurate pseudorange measurement, thereby achieving high-precision positioning of the target terminal. Furthermore, the single-point positioning result can also be used as an initial estimate to speed up the convergence speed of the positioning process. Although the single-point positioning result has a lower accuracy, it can provide a rough position estimate, which is convenient for the solver to quickly determine more accurate positioning information of the target terminal based on the rough position estimate.

[0076] Furthermore, the above-mentioned corrected distance observation value, carrier phase measurement value and the above-mentioned various correction information are input into the solver, and the solver solves the target position data and target clock error through mathematical models (such as observation equations) and iterative algorithms (such as least squares method), thereby obtaining a high-precision positioning solution.

[0077] It should be noted that the coordinate transformation process of the precise orbit correction number may involve the conversion of multiple coordinate systems, such as the conversion from the satellite coordinate system to the Earth-centered Earth-fixed coordinate system, to ensure that the correction number can be accurately applied to the positioning calculation. At the same time, there are many ways to implement the ambiguity fixing operation, including but not limited to the use of the LAMBDA (Least-squares AMBital DetermAination, integer ambiguity iterative solution with least squares estimation) method or its variants, as well as combining specific error models and optimization algorithms, which are not limited in this application.

[0078] In an exemplary embodiment, the target terminal first receives the signal from the navigation satellite, parses the first broadcast ephemeris for preliminary positioning, and obtains the single-point positioning result; then, the target terminal receives the second broadcast ephemeris and enhancement information sent by the communication satellite through the broadcast channel, including the precise orbit correction number and the precise clock correction number; the target terminal converts the precise orbit correction number from the satellite coordinate system to the updated precise orbit correction number in the earth-centered earth-fixed coordinate system, and then performs an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to determine the ambiguity fixing solution. Finally, the target terminal comprehensively solves the updated precise orbit correction number, the precise clock correction number, the ambiguity fixing solution and the single-point positioning result to generate the target positioning result to achieve a higher-precision positioning effect.

[0079] Through the embodiments of the present application, the communication satellite-assisted fusion positioning technology is adopted to achieve the technical effect of providing stable and high-precision positioning services in complex environments and the presence of potential deception signals, thereby achieving the purpose of expanding the positioning capability of the navigation system and improving positioning accuracy and anti-interference level.

[0080] As an optional scheme, the above method also includes: converting the original carrier phase ambiguity in the above second broadcast ephemeris into wide lane ambiguity and narrow lane ambiguity through ionospheric-free combination operation; performing ambiguity search on the above wide lane ambiguity and the above narrow lane ambiguity to determine the above ambiguity fixed solution.

[0081] Optionally, in an embodiment of the present application, the above-mentioned ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris refers to the fusion positioning terminal processing the navigation signal broadcast by the communication satellite to determine the integer ambiguity of the carrier phase.

[0082] Optionally, in an embodiment of the present application, the above-mentioned undifferentiated carrier phase data represents the phase change of the navigation signal sent from the navigation satellite to the target terminal, without any differential or combined processing, retaining the original phase information and the integer ambiguity it carries.

[0083] Optionally, in an embodiment of the present application, the wide lane ambiguity and narrow lane ambiguity are separated from the original carrier phase ambiguity through ionospheric-free combination operation, wherein the wide lane ambiguity is easier to estimate, while the narrow lane ambiguity carries higher-precision positioning information and needs to be resolved in combination with the wide lane ambiguity.

[0084] It should be noted that before performing ambiguity search on the wide lane ambiguity and the narrow lane ambiguity, the hardware bias of the target terminal can be eliminated through an inter-satellite single difference operation. The implementation of the inter-satellite single difference operation can include the use of different frequency combinations to eliminate the influence of the hardware bias of the target terminal. At the same time, the ambiguity search process can adopt a variety of algorithms, such as the LAMBDA method or its improved version, to optimize the solution efficiency and success rate, which is not limited in this application.

[0085] In an exemplary embodiment, after receiving the second broadcast ephemeris forwarded by the communication satellite, the fusion positioning terminal first converts the original carrier phase ambiguity into wide lane and narrow lane ambiguity. Then, the terminal eliminates the influence of its own hardware bias through inter-satellite single difference calculation, and then uses the calculation formula of wide lane ambiguity estimation and narrow lane ambiguity to determine the narrow lane ambiguity estimation. Finally, the terminal uses the ambiguity search algorithm to combine the wide lane ambiguity and the narrow lane ambiguity to determine the fixed value of the integer ambiguity, that is, the above-mentioned ambiguity fixed solution.

[0086] Through the embodiments of the present application, inter-satellite single-difference and ionosphere-free combined operations are adopted to achieve fast and accurate resolution of integer ambiguities in undifferentiated carrier phase data, improve positioning accuracy and reliability, and achieve the purpose of realizing high-precision, anti-interference positioning services in complex environments.

[0087] As an optional scheme, the above-mentioned generation of an ambiguity fixed solution based on the above-mentioned communication signal, and determining the target positioning result according to the above-mentioned ambiguity fixed solution and the above-mentioned single-point positioning result, include: when the above-mentioned target terminal performs the above-mentioned communication service through the above-mentioned service channel, obtaining the above-mentioned second broadcast ephemeris, the precise orbit correction number in the above-mentioned enhancement information, the above-mentioned precise clock correction number and the atmospheric correction number; determining the target ionospheric delay and the target tropospheric delay according to the above-mentioned atmospheric correction number; performing coordinate transformation on the above-mentioned precise orbit correction number to obtain an updated precise orbit correction number in the geocentric earth-fixed coordinate system; performing an ambiguity fixing operation on the undifferentiated carrier phase data in the above-mentioned second broadcast ephemeris to obtain an ambiguity fixed solution; performing calculation according to the above-mentioned updated precise orbit correction number, the above-mentioned precise clock correction number, the above-mentioned ambiguity fixed solution, the above-mentioned target ionospheric delay, the above-mentioned target tropospheric delay and the above-mentioned single-point positioning result to determine the target position data and the target clock error; and generating the above-mentioned target positioning result based on the above-mentioned target position data and the above-mentioned target clock error.

[0088] Optionally, in an embodiment of the present application, the above-mentioned process of generating a fixed solution for ambiguity based on communication signals refers to the fusion positioning terminal using the enhanced information provided by the communication satellite, including the second broadcast ephemeris, precise orbit correction numbers, precise clock correction numbers and atmospheric correction numbers, based on the PPP-RTK algorithm, to process the undifferentiated carrier phase data to determine the phase integer ambiguity value, that is, the fixed solution for ambiguity.

[0089] Optionally, in an embodiment of the present application, the second broadcast ephemeris refers to the orbit and clock information of the GNSS satellite forwarded by the communication satellite, which can provide the target terminal with a priori information of satellite dynamic parameters and is the basis for positioning and differential calculation.

[0090] Optionally, in an embodiment of the present application, the above-mentioned atmospheric correction number includes a target ionospheric delay and a target tropospheric delay, which are used to compensate for the delay caused by the signal propagating in the atmosphere and improve the accuracy of positioning.

[0091] Optionally, in an embodiment of the present application, the above-mentioned updated precise orbit correction number refers to a precise orbit correction number applicable to the Earth-centered Earth-fixed coordinate system after coordinate transformation, which is used to correct the orbit parameter error in the second broadcast ephemeris.

[0092] It should be noted that the use of the above-mentioned atmospheric correction number may vary according to different environmental conditions and positioning requirements, and this application does not limit this.

[0093] Specifically, first, the orbit information of the navigation satellite is corrected using the above-mentioned updated precise orbit correction number to reduce the orbit error of the navigation satellite and obtain the corrected distance observation value; then, the clock bias of the navigation satellite is corrected using the precise clock correction number to eliminate the uncertainty of the satellite clock; the above-mentioned ambiguity fixed solution is applied to the carrier phase observation value to eliminate the integer ambiguity error in the carrier phase measurement value, and then, according to the target ionospheric delay and target tropospheric delay information, the carrier phase and pseudorange observation values ​​are corrected for atmospheric delay to eliminate the influence of the ionosphere and troposphere on the propagation speed of the navigation signal, and further, the single-point positioning result can be used as an initial estimate to speed up the convergence speed of the positioning process. Although the single-point positioning result has low accuracy, it can provide a rough position estimate, which is convenient for the solver to quickly determine more accurate positioning information of the target terminal based on the rough position estimate.

[0094] Furthermore, the above-mentioned corrected distance observation values, carrier phase measurement values ​​and the above-mentioned various correction information (including atmospheric correction numbers) are input into the solver, and the solver calculates the target position data and target clock error through mathematical models (such as observation equations) and iterative algorithms (such as least squares method), thereby obtaining a high-precision positioning solution.

[0095] In an exemplary embodiment, a target terminal receives a second broadcast ephemeris, precise orbit corrections, precise clock corrections and atmospheric corrections forwarded by a communication satellite through a service channel. The target terminal first calculates a target ionospheric delay and a target tropospheric delay based on the atmospheric corrections, and then performs coordinate transformation on the precise orbit corrections to adapt to the coordinate system of the positioning solution. Next, the terminal uses the undifferentiated carrier phase data to perform an ambiguity fixing operation to determine an ambiguity fixing solution. Finally, the fusion positioning terminal combines the updated precise orbit corrections, precise clock corrections, ambiguity fixing solution, target ionospheric delay and target tropospheric delay with the single-point positioning results for solution to generate a more accurate target positioning result, including target position data and target clock error.

[0096] Through the embodiment of the present application, the second broadcast ephemeris and atmospheric correction number forwarded by the communication satellite are used, combined with the precise orbit correction number and the precise clock correction number, to achieve the accurate determination of the phase integer ambiguity in the undifferentiated carrier phase data, and the high-precision optimization of the single-point positioning result. This not only improves the accuracy of positioning, but also shortens the first positioning convergence time, achieving the purpose of providing stable, fast, and anti-interference positioning services under complex environments and high-precision requirements.

[0097] As an optional scheme, the above-mentioned determination of the target ionospheric delay and the target tropospheric delay according to the above-mentioned atmospheric correction number includes: inputting the initial position data in the above-mentioned single-point positioning result and the position data of the above-mentioned navigation satellite into the background ionosphere model to obtain the initial ionospheric delay, and inputting the above-mentioned initial position data and the position data of the above-mentioned navigation satellite into the tropospheric delay model to obtain the initial tropospheric delay; determining the zenith tropospheric delay and the residual ionospheric slant delay according to the above-mentioned atmospheric correction number; determining the sum of the above-mentioned zenith tropospheric delay and the above-mentioned initial tropospheric delay as the above-mentioned target tropospheric delay, and determining the sum of the above-mentioned residual ionospheric slant delay and the above-mentioned initial ionospheric delay as the above-mentioned target ionospheric delay.

[0098] Optionally, in the embodiment of the present application, the process of determining the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number refers to the fusion positioning terminal using the atmospheric model and the atmospheric correction number received from the communication satellite to accurately calculate the atmospheric delay of the initial position data contained in the single-point positioning result. This includes but is not limited to using the background ionospheric model and the tropospheric delay model to estimate the initial ionospheric delay and the initial tropospheric delay, and combining the zenith tropospheric delay and the residual ionospheric oblique delay in the atmospheric correction number to obtain a more accurate target ionospheric delay and target tropospheric delay.

[0099] Optionally, in an embodiment of the present application, the initial position data in the above-mentioned single-point positioning result refers to the rough position information obtained after preliminary positioning based on the navigation satellite signal; the above-mentioned background ionosphere model and tropospheric delay model are established based on prior knowledge and atmospheric physical properties, and are used to estimate the influence of the ionosphere and troposphere on the signal propagation speed.

[0100] It should be noted that the calculation of atmospheric delay can be adjusted according to different atmospheric models and environmental parameters to adapt to changes in different regions and seasons, and this application does not limit this.

[0101] In an exemplary embodiment, after receiving the single-point positioning result and atmospheric correction number forwarded by the communication satellite, the fusion positioning terminal first uses the background ionosphere model and the tropospheric delay model, combined with the position data of the navigation satellite and the initial position data in the single-point positioning result, to estimate the initial ionospheric delay and the initial tropospheric delay. Subsequently, the terminal adds the zenith tropospheric delay in the atmospheric correction number to the initial tropospheric delay to calculate the target tropospheric delay; at the same time, the residual ionospheric oblique delay is added to the initial ionospheric delay to obtain the target ionospheric delay. This process ensures that the compensation of atmospheric delay is more accurate in the positioning calculation, which helps to improve the positioning accuracy.

[0102] Through the embodiments of the present application, a background ionosphere model, a tropospheric delay model and atmospheric correction numbers forwarded by communication satellites are adopted to achieve accurate estimation of ionosphere and tropospheric delays, improve the accuracy of positioning calculations, effectively reduce errors in signal propagation paths, ensure rapid convergence and high-precision positioning in the PPP-RTK algorithm, and achieve the purpose of providing stable and high-precision positioning services under complex atmospheric environment conditions.

[0103] As an optional scheme, the above method also includes: the above ambiguity fixed solution is used to determine the distance between the above target terminal and the above navigation satellite; the above undifferentiated carrier phase data represents the phase change of the above navigation signal sent from the above navigation satellite to the above target terminal; the above ambiguity fixing operation is used to determine the value of the phase integer ambiguity in the above undifferentiated carrier phase data.

[0104] Optionally, in an embodiment of the present application, the above-mentioned ambiguity fixed solution refers to the precise value of the carrier phase integer ambiguity determined by the PPP or PPP-RTK algorithm during the fusion positioning process. The ambiguity fixed solution is used to determine the actual distance between the target terminal and the navigation satellite; the above-mentioned undifferentiated carrier phase data refers to the original carrier phase measurement value of the navigation signal received by the target terminal, that is, the distance observation value that has not been differentially processed with the data of other observation stations, which can directly reflect the phase change experienced by the navigation signal during the process of being sent from the navigation satellite to the target terminal.

[0105] The purpose of the above-mentioned ambiguity fixing operation is to determine the accurate value of the phase integer ambiguity in the undifferentiated carrier phase data. The undifferentiated carrier phase observations are converted into wide-lane and narrow-lane ambiguities, and the floating-point solution of the ambiguity is first estimated using information such as ephemeris data, precise orbit corrections, precise clock corrections, and atmospheric corrections. Then, the integer ambiguity solution is determined through search algorithms such as LAMBDA, thereby converting the carrier phase observations into accurate measurement values ​​that can be used for high-precision positioning.

[0106] It should be noted that in actual positioning operations, the ambiguity fixation operation is to determine the number of complete carrier wavelengths experienced during signal propagation, that is, the phase integer ambiguity, by comparing the phase change when the satellite signal reaches the target terminal with the known satellite orbit and clock correction number, thereby effectively eliminating the uncertainty in the carrier phase observation and improving positioning accuracy. In other words, after the ambiguity fixation solution is determined, the ambiguity fixation solution can be used in combination with the undifferentiated carrier phase data to accurately calculate the actual distance between the target terminal and the navigation satellite, thereby achieving high-precision positioning.

[0107] As an optional scheme, the above-mentioned single-point positioning result of the target terminal determined based on the above-mentioned navigation signal includes: determining the position data of the above-mentioned navigation satellite according to the above-mentioned first broadcast ephemeris; determining the pseudorange between the above-mentioned navigation satellite and the target terminal; using the position data of the above-mentioned navigation satellite and the above-mentioned pseudorange to perform calculations to determine the initial position data and the initial clock error; generating the above-mentioned single-point positioning result based on the above-mentioned initial position data and the above-mentioned initial clock error.

[0108] Optionally, in an embodiment of the present application, the above-mentioned process of determining the single-point positioning result of the target terminal based on the navigation signal refers to the fusion positioning terminal using the signal (navigation signal) and ephemeris information (first broadcast ephemeris) directly received from the navigation satellite to calculate the preliminary position and time deviation of the target terminal on the surface of the earth based on the single-point positioning algorithm.

[0109] Optionally, in an embodiment of the present application, the position data of the above-mentioned navigation satellite is calculated based on the parameters in the first broadcast ephemeris, indicating the exact position of the navigation satellite in the Earth orbit at a certain moment; the above-mentioned pseudorange is calculated based on the propagation time of the navigation signal and the speed of light, indicating the actual distance required for the navigation signal to be transmitted from the navigation satellite to the target terminal, and the propagation time here refers to the time difference between the reception time displayed by the target terminal's own clock and the transmission time displayed by the clock inside the navigation satellite; the above-mentioned initial position data and initial clock difference are obtained by the target terminal by solving the pseudorange and satellite position data, and are preliminary estimates of the target terminal position and time deviation.

[0110] Specifically, the above pseudorange can be determined by the following steps: first obtain the time difference between the reception time displayed by the target terminal's own clock and the transmission time displayed by the clock inside the navigation satellite; then, determine the product of the time difference and the speed of light C as the above pseudorange.

[0111] It should be noted that the calculation of the above pseudorange may produce errors due to factors such as multipath effects in the signal transmission path, receiver noise and instability of satellite signals, which can be further corrected by PPP or PPP-RTK. At the same time, the single point positioning algorithm can be implemented in a variety of ways, such as least squares method, Kalman filtering or a combination thereof, to adapt to different positioning requirements and environmental conditions, which is not limited in this application.

[0112] For example, the above pseudorange can be expressed by the following formula:

[0113]

[0114] in, represents the pseudo-range between the satellite and the receiver at the ith frequency point; P is the actual distance between the satellite and the receiver antenna; for the relativistic effect; is the tropospheric propagation delay; is the ionospheric propagation delay at the i-th frequency; is the j-th satellite clock error; is the channel time delay of the i-th frequency point of the j-th satellite; is the receiver clock error; is the ranging noise (random error) at the i-th frequency point; is the channel time delay of receiving the j-th satellite channel at the i-th frequency point; is the pseudorange multipath effect at the i-th frequency point.

[0115] In an exemplary embodiment, after receiving the signal from the navigation satellite, the target terminal first determines the satellite's position data based on the first broadcast ephemeris; then, the terminal calculates the pseudorange from each navigation satellite based on the signal propagation time and the speed of light; finally, the satellite position data and all pseudoranges are used to perform multi-dimensional solution to determine the initial position data and initial clock error of the target terminal, thereby generating a single-point positioning result.

[0116] Through the embodiments of the present application, the navigation signal propagation time and the navigation satellite position data in the first broadcast ephemeris are used to achieve rapid estimation of the preliminary position and time deviation of the target terminal, ensuring that the terminal can obtain a basic positioning result even in the absence of external enhancement information, laying the foundation for further positioning accuracy optimization and anti-interference processing, and achieving the purpose of providing preliminary positioning information in various environments.

[0117] As an optional scheme, the above method also includes: determining the positioning mode data of the above target terminal according to the position data of the above navigation satellite indicated by the above navigation signal and the distance between the above navigation satellite and the ground, wherein the above positioning mode data is used to indicate whether the above target terminal is in a mobile state; and generating the above positioning information based on the above positioning mode data when the above first broadcast ephemeris and the above second broadcast ephemeris meet the above verification conditions.

[0118] Optionally, in an embodiment of the present application, the above positioning mode data includes but is not limited to adaptive switching between a dynamic PPP mode and a static PPP mode to adapt to positioning requirements of the target terminal in different environments.

[0119] Through the embodiments of the present application, accurate control of the positioning information generation process is achieved, the intelligence level of the positioning service and the reliability of the positioning results are improved, and it is ensured that in different environments, the target terminal can adaptively select the most appropriate positioning mode and generate positioning information that conforms to the current state, thereby achieving the purpose of providing efficient and accurate positioning services in complex and changeable application scenarios.

[0120] As an optional scheme, the above method also includes: in response to the ground monitoring station making a prediction based on the received historical navigation signal at a historical moment, obtaining the above-mentioned enhanced information corresponding to the current moment, and receiving the above-mentioned communication signal when the above-mentioned ground monitoring station sends the above-mentioned enhanced information to the above-mentioned communication satellite.

[0121] Optionally, in an embodiment of the present application, the transmission process of the prediction and enhancement information of the above-mentioned ground monitoring station refers to the ground monitoring station predicting and calculating the enhancement information at the current moment based on the received historical navigation signals, which may include but is not limited to precise orbit corrections, precise clock corrections, code deviations, phase deviations, and atmospheric corrections, etc.

[0122] Specifically, ground monitoring stations include but are not limited to ground monitoring stations using historical navigation signal data to predict precise positioning parameters at a certain moment in the future by analyzing the signal propagation characteristics, satellite motion status, and changes in atmospheric conditions, and sending these enhanced information to the communication satellite at that moment, which is forwarded to the target terminal by the communication satellite, so that the target terminal can receive the enhanced information in the communication signal and perform high-precision positioning. The above-mentioned historical navigation signals refer to GNSS satellite signals received by ground monitoring stations at different historical moments, which are used to analyze signal change trends and predict the signal status at the current moment.

[0123] It should be noted that the prediction algorithm of the ground monitoring station can be based on different mathematical models and statistical methods, such as Kalman filtering, least squares estimation or machine learning model, to adapt to signal changes and prediction requirements in different environments. In addition, the transmission method of enhanced information can include a variety of communication protocols and data formats to ensure accurate and efficient transmission of information. This application is not limited to this.

[0124] In an exemplary embodiment, the ground monitoring station predicts the current enhanced information, including precise orbit corrections, precise clock corrections, etc., by analyzing the historical navigation signals received within the previous hour. Subsequently, the ground monitoring station packages these prediction results in a specific data format and sends them to the communication satellite through a secure communication link. After receiving the enhanced information, the communication satellite forwards the enhanced information to the target terminal through the communication signal. The target terminal can receive this information in real time, perform precise positioning corrections, and improve positioning accuracy and positioning speed.

[0125] Through the embodiments of the present application, the historical navigation signal prediction of the ground monitoring station and the communication satellite forwarding solution are adopted to achieve real-time enhancement and optimization of the target terminal positioning service, improve the overall performance of the positioning system, and ensure that the target terminal can obtain continuous high-precision positioning services even in complex environments and dynamic changes, thereby achieving the purpose of enhancing the reliability, accuracy and response speed of the positioning system.

[0126] As an optional solution, the method further includes: generating a prompt message when the first broadcast ephemeris and the second broadcast ephemeris do not satisfy the verification condition, wherein the prompt message indicates that the position of the target terminal cannot be determined.

[0127] Exemplarily, the above verification conditions include but are not limited to checking parameters such as the update time, data integrity and signal strength of the ephemeris data in the first broadcast ephemeris and the second broadcast ephemeris. If it is found that the two sets of ephemeris data do not match in terms of timeliness, consistency and signal quality, or the information itself is abnormal, the terminal will generate a prompt message to inform the user or the system that the location of the target terminal cannot be determined at present.

[0128] Optionally, in an embodiment of the present application, the above prompt information is a warning message issued by the fusion positioning terminal when it finds that the ephemeris data does not meet the verification conditions, indicating that the current positioning process may be affected by interference or insufficient data quality and cannot provide reliable location information.

[0129] Through the embodiments of the present application, the robustness of the positioning system and the user experience are improved, ensuring that when the quality of the ephemeris data is poor or there is interference, the user can be notified in a timely manner and corresponding measures can be taken, thereby avoiding the inconvenience caused to the user by the positioning error, and achieving the purpose of improving the service quality of the positioning system and user safety.

[0130] In an exemplary embodiment, the above-mentioned terminal positioning method can be applied to the field of wireless navigation. Considering that the existing GNSS system and GNSS enhancement system have low landing power, are very susceptible to interference and deception, have poor positioning accuracy without external data enhancement, and have insufficient reliability and integrity, and the communication satellite runs fast, has a longer trajectory in the sky in the same period of time, and changes dramatically in its geometric configuration. In the process of precise positioning, the correlation between ambiguity, tropospheric parameters and receiver clock error can be quickly separated. Therefore, the embodiment of the present application proposes that fusion positioning with communication satellites can greatly shorten the first positioning convergence time; at the same time, the communication satellite signal has high landing power, which can achieve positioning under complex conditions such as shielding and even indoor conditions, making up for the shortcomings of traditional navigation satellite positioning capabilities.

[0131] Specifically, the above terminal positioning method can be used to implement a fusion positioning system based on narrowband communication satellites. Figure 3 is a schematic diagram of a fusion positioning process of an optional terminal positioning method according to an embodiment of the present application, such as Figure 3 As shown, the system includes but is not limited to communication terminals, fusion positioning terminals and communication and guidance fusion antennas, etc. The communication terminals and fusion positioning terminals here can be understood as modules and chips with specific functions on the target terminal. Under the constraints of the mobile communication system, the analysis, process, fusion positioning algorithm and expected effect of the fusion positioning information are specified.

[0132] Specifically, the communication terminals in this system have the ability to receive narrowband mobile communication signals, where communication signal resources can be divided into broadcast channels and service channels. The broadcast channels can be directly received by the communication terminals, while the service channels are aimed at high value-added users and use two-way authentication to provide high-end customized services after obtaining network access permission.

[0133] The fusion positioning terminal in this system may include but is not limited to using the traditional navigation terminal system architecture, communicating with the communication terminal through the reserved RJ45 network port, and transmitting and receiving enhanced information including GNSS precise orbit correction numbers, precise clock correction numbers, code deviation, phase deviation, and atmospheric correction numbers. The fusion positioning terminal receives the information and parses it in the prescribed format, and uses the fusion positioning algorithm to enhance the terminal positioning accuracy, shorten the first positioning time, reduce the precise positioning convergence time, and perform telegram authentication; the communication and navigation fusion antenna can use two L-band omnidirectional multi-frequency antennas to support left and right rotations respectively, and complete the reception of GNSS signals (the above-mentioned navigation signals) and communication signals sent by communication satellites.

[0134] It is understandable that the fusion positioning terminal uses the fusion positioning algorithm to achieve high-precision positioning for the PPP and PPP-RTK algorithms. The fusion positioning terminal can adaptively adjust the dynamic PPP and static PPP positioning modes according to the single-point positioning results, thereby further improving the positioning accuracy and shortening the positioning convergence time. Through the three steps of precision product recovery, PPP integer ambiguity fixation and PPP-RTK atmospheric parameter correction, the fusion positioning function is realized to obtain the above-mentioned target position and target clock error, including but not limited to:

[0135] S1, calculate the satellite position and clock error based on the broadcast ephemeris and the broadcast precision correction number to achieve precision product recovery. Since the broadcast ephemeris is in the Earth-centered Earth-fixed coordinate system, and the coordinate system of the orbit correction number of the fused positioning information is the satellite coordinate system, it is necessary to convert the orbit correction number in the fused positioning information into the correction number in the Earth-centered Earth-fixed system, and then correct the GNSS satellite orbit.

[0136] S2-1, for the fusion positioning of the broadcast channel, the atmospheric correction number is not broadcast, so the PPP integer ambiguity fixation method is used to achieve precise positioning:

[0137] First, the original ambiguity is transformed into wide-lane and narrow-lane ambiguity to avoid the influence of ionospheric residual errors and unify the non-differenced non-combined ambiguity fixation problem into ionospheric-free combined ambiguity. Then, the inter-satellite single difference is used to eliminate the hardware bias of the receiver end, and the wide-lane UDP broadcast in the information is used to estimate the wide-lane ambiguity. According to the wide-lane ambiguity, the inter-satellite single difference formula obtains the inter-satellite single difference narrow-lane ambiguity estimate. After the narrow-lane UDP correction, the integer characteristics of the inter-satellite single difference narrow-lane ambiguity can be restored. Then, based on the LAMBDA method, a real-time PPP integer ambiguity search is performed to solve the narrow-lane ambiguity. Finally, the carrier phase ambiguity is calculated based on the wide-lane and narrow-lane ambiguities, and the parameters to be estimated are updated to obtain the ambiguity fixed solution. Figure 4 FIG. 1 is a schematic diagram of an optional ambiguity fixing process of a terminal positioning method according to an embodiment of the present application. The PPP ambiguity fixing process is as follows: Figure 4 shown.

[0138] S2-2, for the fusion positioning of the service channel, the regional atmospheric correction number is broadcast, so the PPP-RTK method is used. Atmospheric parameter correction includes ionospheric delay correction and tropospheric delay correction, and the correction parameters are all in grid form. First, the ionospheric delay and tropospheric delay are calculated using the background ionosphere model and the tropospheric delay model, and then the accurate tropospheric delay and ionospheric delay are calculated based on the zenith tropospheric delay and residual ionospheric oblique delay in the information, and are introduced into the observation equation as known parameters. The PPP integer ambiguity fixing method is used to achieve fast and high-precision positioning.

[0139] It should be noted that the fusion positioning PPP positioning accuracy is expected to reach 10 cm horizontally and 20 cm in elevation. The convergence time of the PPP-RTK algorithm can reach 1 minute. The characteristics of large bandwidth and high rate of communication resources can also be used to broadcast broadcast messages. When the fusion positioning terminal is cold started, the broadcast messages can be quickly received and stored, which speeds up the satellite search and capture process. The first positioning time is shortened to within 10 seconds. The fusion positioning terminal itself receives the broadcast messages broadcast by the GNSS satellite and calculates the GNSS satellite position. At the same time, the broadcast messages in the broadcast fusion positioning information are used to calculate the GNSS satellite position. The anti-spoofing effect is achieved by comparing the calculation results of the broadcast messages from two different sources.

[0140] In general, the embodiments of the present application adopt the traditional navigation terminal system architecture, and utilize the fused positioning information received by the communication terminal to realize the communication satellite-assisted GNSS, thereby achieving accuracy enhancement, authentication positioning and assisted positioning functions. Specifically, the parsing process of the fused positioning information, the fused positioning algorithm and the expected effect are designed under the constraints of the mobile communication system. The PPP and PPP-RTK algorithms are also used to achieve high-precision positioning. The fused positioning terminal can adaptively adjust the dynamic PPP and static PPP positioning modes according to the single-point positioning results, thereby further improving the positioning accuracy and shortening the positioning convergence time; furthermore, utilizing the characteristics of large bandwidth and high rate of communication resources, broadcast telegrams are broadcast, and the broadcast telegrams are quickly received and stored when the fused positioning terminal is cold started, thereby speeding up the satellite search and capture process, and shortening the first positioning time to within 10 seconds; and the fused positioning terminal itself receives the broadcast telegrams broadcast by the GNSS satellite, calculates the GNSS satellite position, and uses the broadcast telegrams in the broadcast fused positioning information to calculate the GNSS satellite position, and achieves the anti-spoofing effect by comparing the calculation results of the broadcast telegrams from two different sources.

[0141] It is understandable that in the specific implementation of this application, related data such as user information is involved. When the above embodiments of this application are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data need to comply with relevant laws, regulations and standards of relevant countries and regions.

[0142] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0143] According to another aspect of the embodiments of the present application, a terminal positioning device for implementing the above-mentioned terminal positioning method is also provided. Figure 5 As shown, the device comprises:

[0144] A receiving module 502, configured to receive a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris and the communication signal carries a second broadcast ephemeris and enhancement information;

[0145] A determination module 504 is configured to determine a single point positioning result of the target terminal based on the navigation signal; determine a target positioning result based on the communication signal and the single point positioning result, wherein, in the case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhancement information; in the case where the target terminal performs a communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number;

[0146] The verification module 506 is used to determine the positioning information of the target terminal according to the target positioning result when the first broadcast ephemeris and the second broadcast ephemeris meet the verification condition.

[0147] As an optional scheme, the above-mentioned device is used to determine the target positioning result based on the communication signal and the single-point positioning result in the following manner: when the target terminal performs communication services through a broadcast channel, obtain the second broadcast ephemeris, the precise orbit correction number and the precise clock correction number in the enhancement information; perform coordinate transformation on the precise orbit correction number to obtain an updated precise orbit correction number in the Earth-centered Earth-fixed coordinate system; perform an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain an ambiguity fixing solution; perform calculations based on the updated precise orbit correction number, the precise clock correction number, the ambiguity fixing solution and the single-point positioning result to determine the target position data and the target clock error; and generate the target positioning result based on the target position data and the target clock error.

[0148] As an optional solution, the above-mentioned device is also used to: convert the original carrier phase ambiguity in the second broadcast ephemeris into wide lane ambiguity and narrow lane ambiguity through ionosphere-free combination operation; perform ambiguity search on the wide lane ambiguity and narrow lane ambiguity to determine the ambiguity fixed solution.

[0149] As an optional solution, the above-mentioned device is used to generate an ambiguity fixed solution based on the communication signal in the following manner, and determine the target positioning result according to the ambiguity fixed solution and the single-point positioning result: when the target terminal performs communication services through a service channel, obtain the second broadcast ephemeris, the precise orbit correction number, the precise clock correction number and the atmospheric correction number in the enhancement information; determine the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number; perform coordinate transformation on the precise orbit correction number to obtain the updated precise orbit correction number in the geocentric earth-fixed coordinate system; perform an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain the ambiguity fixed solution; determine the target position data and the target clock error according to the updated precise orbit correction number, the precise clock correction number, the ambiguity fixed solution, the target ionospheric delay and the target tropospheric delay and the single-point positioning result; generate the target positioning result based on the target position data and the target clock error.

[0150] As an optional scheme, the above-mentioned device is used to determine the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number in the following manner: input the initial position data in the single-point positioning result and the position data of the navigation satellite into the background ionosphere model to obtain the initial ionospheric delay, and input the initial position data and the position data of the navigation satellite into the tropospheric delay model to obtain the initial tropospheric delay; determine the zenith tropospheric delay and the residual ionospheric slant delay according to the atmospheric correction number; determine the sum of the zenith tropospheric delay and the initial tropospheric delay as the target tropospheric delay, and determine the sum of the residual ionospheric slant delay and the initial ionospheric delay as the target ionospheric delay.

[0151] As an optional scheme, the above-mentioned device is also used for: the ambiguity fixing solution is used to determine the distance between the target terminal and the navigation satellite; the undifferentiated carrier phase data represents the phase change of the navigation signal sent from the navigation satellite to the target terminal; the ambiguity fixing operation is used to determine the value of the phase integer ambiguity in the undifferentiated carrier phase data.

[0152] As an optional scheme, the above-mentioned device is used to determine the single-point positioning result of the target terminal based on the navigation signal in the following manner: determine the position data of the navigation satellite according to the first broadcast ephemeris; determine the pseudo-range between the navigation satellite and the target terminal according to the propagation time of the navigation signal and the speed of light, wherein the pseudo-range represents the propagation distance required for the navigation signal to be transmitted from the navigation satellite to the target terminal; use the position data and pseudo-range of the navigation satellite to perform calculations to determine the initial position data and the initial clock error; and generate the single-point positioning result based on the initial position data and the initial clock error.

[0153] As an optional scheme, the above-mentioned device is also used to: determine the positioning mode data of the target terminal according to the position data of the navigation satellite indicated by the navigation signal and the distance between the navigation satellite and the ground, wherein the positioning mode data is used to indicate whether the target terminal is in a mobile state; and generate positioning information based on the positioning mode data when the first broadcast ephemeris and the second broadcast ephemeris meet the verification conditions.

[0154] As an optional solution, the above-mentioned device is also used to: respond to the ground monitoring station making predictions based on the historical navigation signals received at historical moments, obtain the enhanced information corresponding to the current moment, and receive the communication signal when the ground monitoring station sends the enhanced information to the communication satellite.

[0155] As an optional solution, the above-mentioned device is also used to: generate prompt information when the first broadcast ephemeris and the second broadcast ephemeris do not meet the verification condition, wherein the prompt information indicates that the position of the target terminal cannot be determined.

[0156] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program that has a predetermined function and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories), or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0157] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0158] According to one aspect of the present application, a computer program product is provided. The computer program product includes a computer program.

[0159] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0160] Figure 6 The structure block diagram of a computer system for implementing an electronic device according to an embodiment of the present application is schematically shown.

[0161] It should be noted that Figure 6 The computer system 600 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0162] like Figure 6As shown, the computer system 600 includes a central processing unit 601 (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory 602 (ROM) or the program loaded from the storage part 608 to the random access memory 603 (RAM). Various programs and data required for system operation are also stored in the random access memory 603. The central processing unit 601, the read-only memory 602 and the random access memory 603 are connected to each other through a bus 604. The input / output interface 605 (Input / Output interface, i.e., I / O interface) is also connected to the bus 604.

[0163] The following components are connected to the input / output interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the input / output interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed so that a computer program read therefrom is installed into the storage section 608 as needed.

[0164] In particular, according to an embodiment of the present application, the process described in each method flow chart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program contains a program code for executing the method shown in the flow chart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processor 601, various functions defined in the system of the present application are executed.

[0165] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processor 601, various functions provided by the embodiment of the present application are performed.

[0166] According to another aspect of the embodiment of the present application, an electronic device for implementing the above terminal positioning method is also provided. The electronic device may be Figure 1 The terminal device or server shown in the figure. This embodiment is described by taking the electronic device as a terminal device as an example. Figure 7 As shown, the electronic device includes a memory 702 and a processor 704. The memory 702 stores a computer program, and the processor 704 is configured to execute the steps in any of the above method embodiments through the computer program.

[0167] Optionally, in this embodiment, the electronic device may be located in at least one network device among a plurality of network devices of a computer network.

[0168] Optionally, in this embodiment, the above-mentioned processor can be configured to execute the methods in each embodiment of the present application through a computer program.

[0169] Alternatively, a person skilled in the art may understand that: Figure 7 The structure shown is for illustration only. Figure 7 The structure of the electronic device is not limited. Figure 7 More or fewer components (such as network interfaces, etc.) as shown in, or with Figure 7 Different configurations are shown.

[0170] Among them, the memory 702 can be used to store software programs and modules, such as the program instructions / modules corresponding to the terminal positioning method and device in the embodiments of the present application. The processor 704 executes various functional applications and data processing by running the software programs and modules stored in the memory 702, that is, to implement the above-mentioned terminal positioning method. The memory 702 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 702 may further include a memory remotely located relative to the processor 704, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. Among them, the memory 702 can be specifically, but not limited to, used to store information such as broadcast ephemeris. As an example, such as Figure 7 As shown, the memory 702 may include but is not limited to the receiving module 502, the first determining module 504, the second determining module 506 and the third determining module 508 in the terminal positioning device. In addition, it may also include but is not limited to other module units in the terminal positioning device, which will not be repeated in this example.

[0171] Optionally, the transmission device 706 is used to receive or send data via a network. Specific examples of the network may include a wired network and a wireless network. In one example, the transmission device 706 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices and routers via a network cable so as to communicate with the Internet or a local area network. In one example, the transmission device 706 is a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0172] In addition, the electronic device further includes: a display 708 for displaying the positioning information; and a connection bus 710 for connecting various module components in the electronic device.

[0173] In other embodiments, the terminal device or server may be a node in a distributed system, wherein the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting the multiple nodes through network communication. The nodes may form a peer-to-peer network, and any form of computing device, such as a server, terminal or other electronic device, may become a node in the blockchain system by joining the peer-to-peer network.

[0174] According to one aspect of the present application, a computer-readable storage medium is provided, and a processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the terminal positioning method provided in various optional implementations of the above-mentioned terminal positioning aspects.

[0175] Optionally, in this embodiment, the above-mentioned computer-readable storage medium can be configured to store data for executing the methods in various embodiments of the present application.

[0176] Optionally, in this embodiment, a person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing hardware related to the terminal device through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0177] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0178] If the integrated units in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in the above computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for one or more electronic devices to execute all or part of the steps of the methods described in each embodiment of the present application.

[0179] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0180] In the several embodiments provided in the present application, it should be understood that the disclosed application can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0181] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0182] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0183] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A terminal positioning method, characterized in that: include: Receiving a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; determining a single point positioning result of the target terminal based on the navigation signal; determining a target positioning result based on the communication signal and the single point positioning result, wherein, in the case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhanced information, and in the case where the target terminal performs the communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhanced information, and the at least three correction numbers include an atmospheric correction number; In a case where the first broadcast ephemeris and the second broadcast ephemeris satisfy a verification condition, the positioning information of the target terminal is determined according to the target positioning result.

2. The method according to claim 1, characterized in that The determining the target positioning result based on the communication signal and the single point positioning result comprises: When the target terminal performs the communication service through the broadcast channel, obtaining the second broadcast ephemeris, the precise orbit correction number and the precise clock correction number in the augmentation information; performing coordinate transformation on the precise orbit correction number to obtain an updated precise orbit correction number in an Earth-centered Earth-fixed coordinate system; performing an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain an ambiguity fixing solution; Calculating according to the updated precise orbit correction number, the precise clock correction number, the ambiguity fixed solution and the single point positioning result to determine the target position data and the target clock error; The target positioning result is generated based on the target position data and the target clock error.

3. The method according to claim 2, characterized in that The method further comprises: Converting the original carrier phase ambiguity in the second broadcast ephemeris into wide lane ambiguity and narrow lane ambiguity through an ionospheric-free combining operation; An ambiguity search is performed on the wide lane ambiguity and the narrow lane ambiguity to determine the ambiguity fixed solution.

4. The method according to claim 1, characterized in that: The determining the target positioning result based on the communication signal and the single point positioning result comprises: When the target terminal performs the communication service through the service channel, acquiring the second broadcast ephemeris, the precise orbit correction number, the precise clock correction number and the atmospheric correction number in the augmentation information; Determining a target ionospheric delay and a target tropospheric delay according to the atmospheric correction number; performing coordinate transformation on the precise orbit correction number to obtain an updated precise orbit correction number in an Earth-centered Earth-fixed coordinate system; performing an ambiguity fixing operation on the undifferentiated carrier phase data in the second broadcast ephemeris to obtain an ambiguity fixing solution; Calculating according to the updated precise orbit correction number, the precise clock correction number, the ambiguity fixed solution, the target ionospheric delay, the target tropospheric delay and the single point positioning result to determine the target position data and the target clock error; The target positioning result is generated based on the target position data and the target clock error.

5. The method according to claim 4, characterized in that Determining the target ionospheric delay and the target tropospheric delay according to the atmospheric correction number includes: Inputting the initial position data in the single point positioning result and the position data of the navigation satellite into a background ionosphere model to obtain an initial ionosphere delay, and inputting the initial position data and the position data of the navigation satellite into a tropospheric delay model to obtain an initial tropospheric delay; determining the zenith tropospheric delay and the residual ionospheric slant delay according to the atmospheric correction number; The sum of the zenith tropospheric delay and the initial tropospheric delay is determined as the target tropospheric delay, and the sum of the residual ionospheric slant delay and the initial ionospheric delay is determined as the target ionospheric delay.

6. The method according to claim 2 or 4, characterized in that: The method further comprises: The ambiguity fixed solution is used to determine the distance between the target terminal and the navigation satellite; The undifferentiated carrier phase data represents a phase change of the navigation signal sent from the navigation satellite to the target terminal; The ambiguity fixing operation is used to determine the value of the phase integer ambiguity in the undifferentiated carrier phase data.

7. The method according to claim 1, characterized in that The determining a single point positioning result of the target terminal based on the navigation signal includes: Determine the position data of the navigation satellite according to the first broadcast ephemeris; Determining a pseudorange between the navigation satellite and the target terminal; Using the position data of the navigation satellite and the pseudorange to perform calculations, the initial position data and the initial clock error are determined; The single point positioning result is generated based on the initial position data and the initial clock error.

8. The method according to claim 1, characterized in that The method further comprises: Determining positioning mode data of the target terminal according to the position data of the navigation satellite indicated by the navigation signal and the distance between the navigation satellite and the ground, wherein the positioning mode data is used to indicate whether the target terminal is in a moving state; In a case where the first broadcast ephemeris and the second broadcast ephemeris satisfy the verification condition, the positioning information is generated based on the positioning mode data.

9. The method according to claim 1, characterized in that: The method further comprises: In response to a ground monitoring station making a prediction based on the received historical navigation signal at a historical moment, the enhancement information corresponding to the current moment is obtained, and when the ground monitoring station sends the enhancement information to the communication satellite, the communication signal is received.

10. The method according to claim 1, characterized in that The method further comprises: In a case where the first broadcast ephemeris and the second broadcast ephemeris do not satisfy the verification condition, a prompt message is generated, wherein the prompt message indicates that the location of the target terminal cannot be determined.

11. A terminal positioning device, characterized in that: include: A receiving module, used to receive a navigation signal sent by a navigation satellite and a communication signal sent by a communication satellite, wherein the navigation signal carries a first broadcast ephemeris, and the communication signal carries a second broadcast ephemeris and enhancement information; a determination module, configured to determine a single point positioning result of the target terminal based on the navigation signal; and determine a target positioning result based on the communication signal and the single point positioning result, wherein, in a case where the target terminal performs a communication service through a broadcast channel, the target positioning result is determined by at least two correction numbers in the enhancement information, and in a case where the target terminal performs the communication service through a service channel, the target positioning result is determined by at least three correction numbers in the enhancement information, and the at least three correction numbers include an atmospheric correction number; A verification module is used to determine the positioning information of the target terminal according to the target positioning result when the first broadcast ephemeris and the second broadcast ephemeris meet a verification condition.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein the computer program can be executed by an electronic device to perform the method described in any one of claims 1 to 10.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 10 are implemented.

14. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to execute the method according to any one of claims 1 to 10 through the computer program.

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