Positioning method and device

Abstract

The invention provides a positioning method, which comprises the following steps that: terminal equipment processes received signals of at least two satellite navigation systems to obtain positioning information of the at least two satellite navigation systems, and carrying out independent positioning or fusion positioning by adopting the first satellite navigation system based on the positioning information of the at least two satellite navigation systems. Wherein the positioning information can reflect the positioning precision or the positioning result of the satellite navigation system, and the terminal equipment determines the positioning mode of the first satellite navigation system based on the positioning precision or the positioning result information of each satellite navigation system, so that the priority of the first satellite navigation system can be ensured, and the positioning precision is ensured.

Description

Technical Field

[0001] This application relates to satellite networks, and more particularly, to a positioning method and apparatus. Background Art

[0002] Non-terrestrial networks (NTN) such as satellite communication have significant advantages such as global coverage, long-distance transmission, flexible networking, convenient deployment, and being unrestricted by geographical conditions, and have been widely used in multiple fields such as maritime communication, positioning and navigation, disaster relief, scientific experiments, video broadcasting, and earth observation.

[0003] In a satellite communication system, a terminal device can calculate the distance between the terminal device and a satellite through global navigation satellite system (GNSS) signals and relevant information of the satellite (such as ephemeris information, etc.), so as to achieve the positioning of the terminal device. Among them, GNSS can include the Beidou Navigation Satellite System (hereinafter referred to as "Beidou"), the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Galileo Navigation Satellite System (Galileo), the Quasi-Zenith Satellite System (QZSS), the Indian Regional Navigation Satellite System (IRNSS), etc.

[0004] Therefore, how to select a reliable satellite navigation system for positioning is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a positioning method to ensure that a satellite navigation system with relatively high reliability is used for positioning, thereby ensuring positioning accuracy.

[0006] In a first aspect, a positioning method is provided. This method can be executed by a terminal device, or can also be executed by a chip or circuit configured in the terminal device. This application does not make any limitations in this regard.

[0007] The method may include: receiving signals of at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; determining positioning information of the at least two satellite navigation systems according to the signals of the at least two satellite navigation systems; and performing positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems.

[0008] Among them, the terminal device may receive signals of multiple satellite navigation systems. For example, the terminal device may receive signals of a first satellite navigation system, a second satellite navigation system,..., and a signal of an Nth satellite navigation system, where N is a positive integer and N≥3. In the embodiments of the present application, the first satellite navigation system and the second satellite navigation system are taken as examples for illustration.

[0009] Among them, the first satellite navigation system or the second satellite navigation system may be two different satellite navigation systems. For example, they may be any two of Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc. The embodiments of the present application do not make any limitations in this regard.

[0010] In a possible implementation, the first satellite navigation system is Beidou and the second satellite navigation system is GPS.

[0011] Based on the above technical solution, the terminal device processes the signals of at least two satellite navigation systems received, and can obtain the positioning information of the at least two satellite navigation systems. Based on the positioning information of the at least two satellite navigation systems, independent positioning or fusion positioning is performed using the first satellite navigation system. Among them, the positioning information may include information such as the positioning accuracy or positioning result of the satellite navigation system. The terminal device determines the positioning method using the first satellite navigation system based on the positioning accuracy information or positioning result information of each satellite navigation system, which can ensure the priority of the first satellite navigation system and guarantee the positioning accuracy.

[0012] Combined with the first aspect, in some implementations of the first aspect, the positioning information includes at least one of internal consistency information, timing result, and positioning location.

[0013] In this technical solution, the internal consistency information may characterize the positioning accuracy, and the timing result or positioning location may characterize the positioning result. Based on the positioning accuracy or positioning result, the positioning situation of the satellite navigation system that receives the satellite signal can be determined, so as to determine the positioning method of the first satellite navigation system. Ensure that the positioning accuracy of the first satellite navigation system is not affected.

[0014] In combination with the first aspect, in some implementations of the first aspect, the difference or ratio between the first a posteriori mean error and the second a posteriori mean error is less than the first threshold, and only the first satellite navigation system is used for the positioning; or, the difference or ratio between the first a posteriori mean error and the second a posteriori mean error is greater than or equal to the first threshold, and the first satellite navigation system and the second satellite navigation system are used for the positioning; wherein, the first threshold may be less than or equal to 0, or, the first threshold may be less than or equal to 1; or, the second a posteriori mean error is greater than or equal to the second threshold, and only the first satellite navigation system is used for the positioning; or, the second a posteriori mean error is less than the second threshold, and the first satellite navigation system and the second satellite navigation system are used for the positioning; wherein, the second threshold may be greater than or equal to 0; or, the first a posteriori mean error is less than or equal to the third threshold, and only the first satellite navigation system is used for the positioning; or, the first a posteriori mean error is greater than the third threshold, and the first satellite navigation system and the second satellite navigation system are used for the positioning; wherein, the third threshold may be greater than or equal to 0; wherein, the first a posteriori mean error is used to characterize the internal consistency information of the first satellite navigation system, and the second a posteriori mean error is used to characterize the internal consistency information of the second satellite navigation system or the internal consistency information of the first satellite navigation system and the second satellite navigation system.

[0015] It can be understood that the terminal device can receive the signals of N satellite navigation systems, and determine the positioning method based on the internal consistency information of the independent positioning of the N satellite navigation systems or the internal consistency information of the integrated positioning of the N satellite navigation systems, so as to ensure the priority of the first satellite navigation system.

[0016] In this technical solution, the positioning accuracy of the first satellite navigation system is not lower than the positioning accuracy of other satellite navigation systems when they are independently positioned, or the positioning accuracy of the first satellite navigation system is not lower than the positioning accuracy of the integrated positioning with other satellite navigation systems. In this case, the first satellite navigation system can be used for independent positioning only; or when the positioning accuracy of other satellite navigation systems during independent positioning is poor to a certain extent (for example, the posterior mean square error is greater than a certain threshold), the first satellite navigation system is used for positioning only. Or when the positioning accuracy of the integrated positioning of the first satellite navigation system and other satellite navigation systems is poor to a certain extent (for example, the posterior mean square error is greater than a certain threshold), the first satellite navigation system can be used for independent positioning only; or when the positioning accuracy of the first satellite navigation system is high to a certain extent (for example, the internal consistency is lower than a certain threshold), the first satellite navigation system is used for positioning only. Or when the positioning accuracy of the first satellite navigation system is low to a certain extent (for example, the internal consistency is higher than a certain threshold), the integrated positioning of the first satellite navigation system and other satellite navigation systems is adopted. By determining the positioning accuracy of other satellite navigation systems during independent positioning or integrated positioning, the positioning method is determined, thereby ensuring the positioning accuracy.

[0017] Combined with the first aspect, in some implementation manners of the first aspect, the positioning information includes the timing result. The positioning using the first satellite navigation system according to the positioning information of at least two satellite navigation systems includes: when the absolute value of the difference between the first timing result and the second timing result is greater than a fourth threshold, the first satellite navigation system is used for the positioning only; or when the absolute value of the difference between the first timing result and the second timing result is less than or equal to the fourth threshold, the first satellite navigation system and the second satellite navigation system are used for the positioning; where the fourth threshold may be greater than or equal to 0; where the first timing result is the timing result of the first satellite navigation system, and the second timing result is the timing result of the second satellite navigation system or the timing results of the first satellite navigation system and the second satellite navigation system.

[0018] It can be understood that the terminal device can receive the signals of N satellite navigation systems, and determine the positioning method based on the timing results of the independent positioning of the N satellite navigation systems or the timing results of the integrated positioning of the N satellite navigation systems, ensuring the priority of the first satellite navigation system.

[0019] In this technical solution, when the timing result during the independent positioning of other satellite navigation systems has a large difference from the timing result of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), only the first satellite navigation system is used for positioning. Or, when the timing result of the integrated positioning of the first satellite navigation system and other satellite navigation systems has a large difference from the timing result of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), the first satellite navigation system can be used alone for independent positioning. By determining the timing result of other satellite navigation systems to judge the positioning accuracy, the positioning method is determined to ensure the positioning accuracy.

[0020] Combined with the first aspect, in some implementation manners of the first aspect, the positioning information includes the positioning position. Using the first satellite navigation system for positioning according to the positioning information of the at least two satellite navigation systems includes: when the absolute value of the difference between the first positioning position and the second positioning position is greater than a fifth threshold, only using the first satellite navigation system for the first positioning; or, when the absolute value of the difference between the first positioning position and the second positioning position is less than or equal to the fifth threshold, using the first satellite navigation system and the second satellite navigation system for the first positioning; where the fifth threshold can be greater than or equal to 0; where the first positioning position is the positioning result determined only according to the first satellite navigation system, and the second positioning position is the positioning result determined only according to the second satellite navigation system or the positioning result determined according to the first satellite navigation system and the second satellite navigation system.

[0021] It can be understood that the terminal device can receive the signals of N satellite navigation systems, determine the positioning method based on the positioning positions of the independent positioning of the N satellite navigation systems or the positioning positions of the integrated positioning of the N satellite navigation systems, and ensure the priority of the first satellite navigation system.

[0022] In this technical solution, when the positioning position during the independent positioning of other satellite navigation systems has a large deviation from the positioning position of the first satellite navigation system (for example, the deviation between the two is greater than a certain threshold), only the first satellite navigation system is used for positioning. Or, when the positioning position of the integrated positioning of the first satellite navigation system and other satellite navigation systems has a large deviation from the positioning position of the first satellite navigation system (for example, the deviation between the two is greater than a certain threshold), the first satellite navigation system can be used alone for independent positioning. By determining the accuracy of the positioning position of the independent positioning or the integrated positioning of other satellite navigation systems to determine the positioning method, the positioning accuracy is ensured.

[0023] In combination with the first aspect, in some implementations of the first aspect, the positioning using the first satellite navigation system includes: using the first satellite navigation system and the second satellite navigation system for the positioning, where the difference or ratio between the number of first satellites used in the positioning and the number of second satellites used is greater than or equal to a sixth threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The sixth threshold may be greater than or equal to 0, or the sixth threshold may be greater than or equal to 1.

[0024] It can be understood that in a fusion positioning scenario, the terminal device can perform fusion positioning based on the signals of N satellite navigation systems.

[0025] In a fusion positioning scenario, the number of satellites of the first satellite navigation system used is not less than the number of satellites of any other satellite navigation system used, or the number of satellites of the first satellite navigation system used is not less than the sum of the numbers of satellites of other satellite navigation systems used. It can be understood that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems.

[0026] In combination with the first aspect, in some implementations of the first aspect, the positioning using the first satellite navigation system includes: using the first satellite navigation system and the second satellite navigation system for the positioning, where the difference or ratio between the ratio of the number of first satellites used in the positioning to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The seventh threshold may be greater than or equal to 0, or the seventh threshold may be greater than or equal to 1.

[0027] It can be understood that in a fusion positioning scenario, the terminal device can perform fusion positioning based on the signals of N satellite navigation systems.

[0028] In a fusion positioning scenario, the ratio of the number of satellites of the first satellite navigation system used is not less than the ratio of the number of satellites of any other satellite navigation system used; or the ratio of the number of satellites of the first satellite navigation system used is not less than the ratio of the numbers of satellites of all other satellite navigation systems used. It can be understood that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems.

[0029] In combination with the first aspect, in some implementations of the first aspect, the positioning using the first satellite navigation system includes: performing the positioning using the first satellite navigation system and the second satellite navigation system, and the difference or ratio between the number of unused first satellites and the number of unused second satellites in the positioning is less than or equal to an eighth threshold. The first satellite is a satellite of the first satellite navigation system, and the second satellite is a satellite of the second satellite navigation system. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites. The eighth threshold may be less than or equal to 0, or the eighth threshold may be less than or equal to 1.

[0030] It can be understood that in a fusion positioning scenario, a terminal device can perform fusion positioning based on the signals of N satellite navigation systems.

[0031] In a fusion positioning scenario, the number of satellites of the first satellite navigation system that are not used is not greater than the number of satellites of other satellite navigation systems that are not used; or, the number of satellites of the first satellite navigation system that are not used is not greater than the sum of the number of satellites of other satellite navigation systems that are not used, which can be understood as the first satellite navigation system having a priority not lower than that of other satellite navigation systems.

[0032] In combination with the first aspect, in some implementations of the first aspect, the positioning using the first satellite navigation system includes: performing the positioning using the first satellite navigation system and the second satellite navigation system, and the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites in the positioning is less than or equal to a ninth threshold. The first satellite is a satellite of the first satellite navigation system, and the second satellite is a satellite of the second satellite navigation system. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites. The ninth threshold may be less than or equal to 0, or the ninth threshold may be less than or equal to 1.

[0033] It can be understood that in a fusion positioning scenario, a terminal device can perform fusion positioning based on the signals of N satellite navigation systems.

[0034] In the integrated positioning scenario, the proportion of the number of satellites of the first satellite navigation system that are not used is not greater than the proportion of the number of satellites of other satellite navigation systems that are not used; or, the proportion of the number of satellites of the first satellite navigation system that are not used is not greater than the sum of the proportions of the number of satellites of other satellite navigation systems that are not used, which can be understood as the priority of the first satellite navigation system is not lower than the priority of other satellite navigation systems.

[0035] Combined with the first aspect, in some implementation manners of the first aspect, the positioning includes single positioning or multiple positionings.

[0036] Exemplarily, the above positioning may be single positioning in a time interval. For example, the terminal device may perform positioning once every 1 second and output a positioning result once.

[0037] Exemplarily, multiple positionings may be multiple positionings performed within a period of time. For example, the terminal device may perform 10 positionings within 10 seconds and output 10 positioning results.

[0038] In this technical solution, single positioning refers to the terminal device outputting a single positioning result, and the above conditions are satisfied during the process of outputting this single positioning result, so that the priority of the first satellite navigation system is not lower than the priority of other satellite navigation systems during the process of single positioning. Multiple positionings refer to the terminal device outputting multiple positioning results, and the above conditions are satisfied during the process of outputting these multiple positioning results, so that the priority of the first satellite navigation system is not lower than the priority of other satellite navigation systems during the overall process of multiple positionings.

[0039] Combined with the first aspect, in some implementation manners of the first aspect, the first satellite navigation system and the second satellite navigation system are used for the positioning, where the number of available first satellites is greater than or equal to the number of available second satellites, where the first satellites are the satellites of the first satellite navigation system and the second satellites are the satellites of the second satellite navigation system.

[0040] It can be understood that in the above solution, the priority of the first satellite navigation system is relatively high. A possible situation is that when the number of available first satellites is relatively larger, it is considered that the priority of the first satellite navigation system is relatively high. Therefore, by adding the above conditions, the practicability of the above solution is higher.

[0041] Combined with the first aspect, in some implementation manners of the first aspect, the positioning is used for the terminal to perform initial positioning or positioning in the tracking state.

[0042] In combination with the first aspect, in some implementations of the first aspect, the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system is one of GPS, GLONASS, and Galileo.

[0043] In a second aspect, a positioning method is provided. This method can be executed by a terminal device, or can also be executed by a chip or circuit configured in the terminal device. This application does not make any limitations in this regard.

[0044] This method may include: receiving signals from at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; and performing positioning based on the signals of the at least two satellite navigation systems.

[0045] Among them, the terminal device can receive signals from multiple satellite navigation systems. For example, the terminal device can receive the signals of the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system, where N is a positive integer and N≥3. In the embodiments of this application, the first satellite navigation system and the second satellite navigation system are taken as examples for illustration.

[0046] Among them, the first satellite navigation system or the second satellite navigation system can be two different satellite navigation systems. For example, they can be any two of Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc. This application does not make any limitations in the embodiments.

[0047] In a possible implementation, the first satellite navigation system is Beidou and the second satellite navigation system is GPS.

[0048] In this technical solution, the terminal device performs fusion positioning based on the signals of at least two satellite navigation systems.

[0049] In combination with the second aspect, in some implementations of the second aspect, the difference or ratio between the number of first satellites used and the number of second satellites used is greater than or equal to a sixth threshold. The first satellite is a satellite of the first satellite navigation system, and the second satellite is a satellite of the second satellite navigation system. The sixth threshold can be greater than or equal to 0, or the sixth threshold can be greater than or equal to 1.

[0050] The technical effects of this solution can refer to the first aspect and will not be elaborated here.

[0051] In combination with the second aspect, in some implementations of the second aspect, the difference or ratio between the ratio of the number of first satellites used in the positioning to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The seventh threshold may be greater than or equal to 0, or the seventh threshold may be greater than or equal to 1.

[0052] For the technical effects of this solution, reference can be made to the first aspect and will not be elaborated here.

[0053] In combination with the second aspect, in some implementations of the second aspect, the difference or ratio between the number of unused first satellites and the number of unused second satellites is less than or equal to an eighth threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used. The eighth threshold may be less than or equal to 0, or the eighth threshold may be less than or equal to 1.

[0054] For the technical effects of this solution, reference can be made to the first aspect and will not be elaborated here.

[0055] In combination with the second aspect, in some implementations of the second aspect, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites is less than or equal to a ninth threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used. The ninth threshold may be less than or equal to 0, or the ninth threshold may be less than or equal to 1.

[0056] For the technical effects of this solution, reference can be made to the first aspect and will not be elaborated here.

[0057] In combination with the second aspect, in some implementations of the second aspect, the positioning includes single positioning or multiple positionings.

[0058] For the technical effects of this solution, reference can be made to the first aspect and will not be elaborated here.

[0059] In combination with the second aspect, in some implementation manners of the second aspect, when using the first satellite navigation system and the second satellite navigation system for the positioning, the number of available first satellites is greater than or equal to the number of available second satellites, where the first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system.

[0060] For the technical effects of this solution, reference can be made to the first aspect and will not be elaborated here.

[0061] In combination with the second aspect, in some implementation manners of the second aspect, the positioning is used for the terminal to perform initial positioning or positioning in the tracking state.

[0062] In combination with the second aspect, in some implementation manners of the second aspect, the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system includes one of GPS, GLONASS, and Galileo.

[0063] In a third aspect, a communication device is provided. The device can be a terminal device, or can also be a chip or circuit configured in the terminal device, and this application does not make any limitations in this regard.

[0064] The device may include: a transceiver unit, configured to receive signals of at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; a processing unit, configured to determine the positioning information of the at least two satellite navigation systems according to the signals of the at least two satellite navigation systems; and a processing unit, configured to perform positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems.

[0065] In combination with the third aspect, in some implementation manners of the third aspect, the positioning information includes at least one of internal consistency information, timing result, and positioning location.

[0066] In combination with the third aspect, in some implementation manners of the third aspect, the difference or ratio between the first posterior mean square error and the second posterior mean square error is less than a first threshold, and the processing unit is configured to perform the positioning only by using the first satellite navigation system; or, the difference or ratio between the first posterior mean square error and the second posterior mean square error is greater than or equal to the first threshold, and the processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system; wherein, the first threshold may be less than or equal to 0, or, the first threshold may be less than or equal to 1; or, the second posterior mean square error is greater than or equal to a second threshold, and the processing unit is configured to perform the positioning only by using the first satellite navigation system; or, the second posterior mean square error is less than the second threshold, and the processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system; wherein, the second threshold may be greater than or equal to 0; or, the first posterior mean square error is less than or equal to a third threshold, and the processing unit is configured to perform the positioning only by using the first satellite navigation system; or, the first posterior mean square error is greater than the third threshold, and the processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system; wherein, the third threshold may be greater than or equal to 0; wherein, the first posterior mean square error is used to characterize the internal consistency information of the first satellite navigation system, and the second posterior mean square error is used to characterize the internal consistency information of the second satellite navigation system or the internal consistency information of the first satellite navigation system and the second satellite navigation system.

[0067] In combination with the third aspect, in some implementation manners of the third aspect, the positioning information includes the timing result, and the absolute value of the difference between the first timing result and the second timing result is greater than a fourth threshold, and the processing unit is configured to perform the positioning only by using the first satellite navigation system; or, the absolute value of the difference between the first timing result and the second timing result is less than or equal to the fourth threshold, and the processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system; wherein, the fourth threshold may be greater than or equal to 0; wherein, the first timing result is the timing result of the first satellite navigation system, and the second timing result is the timing result of the second satellite navigation system or the timing result of the first satellite navigation system and the second satellite navigation system.

[0068] In combination with the third aspect, in some implementation manners of the third aspect, the positioning information includes the positioning location, and the absolute value of the difference between the first positioning location and the second positioning location is greater than a fifth threshold. The processing unit is configured to perform the first positioning only using the first satellite navigation system; or, the absolute value of the difference between the first positioning location and the second positioning location is less than or equal to the fifth threshold, and the processing unit is configured to perform the first positioning using the first satellite navigation system and the second satellite navigation system; wherein, the fifth threshold may be greater than or equal to 0; wherein, the first positioning location is a positioning result determined only according to the first satellite navigation system, and the second positioning location is a positioning result determined only according to the second satellite navigation system or a positioning result determined according to the first satellite navigation system and the second satellite navigation system.

[0069] In combination with the third aspect, in some implementation manners of the third aspect, the processing unit is configured to perform the positioning using the first satellite navigation system and the second satellite navigation system, and the difference or ratio between the number of the first satellites used in the positioning and the number of the second satellites used is greater than or equal to a sixth threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The sixth threshold may be greater than or equal to 0, or the sixth threshold may be greater than or equal to 1.

[0070] In combination with the third aspect, in some implementation manners of the third aspect, the processing unit is configured to perform the positioning using the first satellite navigation system and the second satellite navigation system, and the difference or ratio between the ratio of the number of the first satellites used in the positioning to the number of available first satellites and the ratio of the number of the second satellites used to the number of available second satellites is greater than or equal to a seventh threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The seventh threshold may be greater than or equal to 0, or the seventh threshold may be greater than or equal to 1.

[0071] In combination with the third aspect, in some implementation manners of the third aspect, a processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system, and a difference or ratio between the number of unused first satellites and the number of unused second satellites in the positioning is less than or equal to an eighth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to a difference between the number of available first satellites and the number of used first satellites, the number of unused second satellites is equal to a difference between the number of available second satellites and the number of used second satellites, the eighth threshold may be less than or equal to 0, or the eighth threshold may be less than or equal to 1.

[0072] In combination with the third aspect, in some implementation manners of the third aspect, a processing unit is configured to perform the positioning by using the first satellite navigation system and the second satellite navigation system, and a difference or ratio between a ratio of the number of unused first satellites to the number of available first satellites and a ratio of the number of unused second satellites to the number of available second satellites in the positioning is less than or equal to a ninth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to a difference between the number of available first satellites and the number of used first satellites, the number of unused second satellites is equal to a difference between the number of available second satellites and the number of used second satellites, the ninth threshold may be less than or equal to 0, or the ninth threshold may be less than or equal to 1.

[0073] In combination with the third aspect, in some implementation manners of the third aspect, the positioning includes single positioning or multiple positionings.

[0074] In combination with the third aspect, in some implementation manners of the third aspect, the positioning is performed by using the first satellite navigation system and the second satellite navigation system, where the number of available first satellites is greater than or equal to the number of available second satellites, where the first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system.

[0075] In combination with the third aspect, in some implementation manners of the third aspect, the positioning is used for the terminal to perform initial positioning or positioning in a tracking state.

[0076] In combination with the third aspect, in some implementation manners of the third aspect, the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system is one of GPS, GLONASS, and Galileo.

[0077] Fourthly, a communication device is provided. The device may be a terminal device, or may also be a chip or circuit configured in the terminal device. This application does not limit this.

[0078] The device may include: a transceiver unit, configured to receive signals of at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; and a processing unit, configured to perform positioning based on the signals of the at least two satellite navigation systems.

[0079] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the difference or ratio between the number of first satellites used in the positioning and the number of second satellites used is greater than or equal to a sixth threshold, where the first satellite is a satellite of the first satellite navigation system, the second satellite is a satellite of the second satellite navigation system, the sixth threshold may be greater than or equal to 0, or the sixth threshold may be greater than or equal to 1.

[0080] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the difference or ratio between the ratio of the number of first satellites used in the positioning to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold, where the first satellite is a satellite of the first satellite navigation system, the second satellite is a satellite of the second satellite navigation system, the seventh threshold may be greater than or equal to 0, or the seventh threshold may be greater than or equal to 1.

[0081] In combination with the fourth aspect, in some implementation manners of the fourth aspect, the difference or ratio between the number of unused first satellites and the number of unused second satellites in the positioning is less than or equal to an eighth threshold, where the first satellite is a satellite of the first satellite navigation system, the second satellite is a satellite of the second satellite navigation system, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used, the eighth threshold may be less than or equal to 0, or the eighth threshold may be less than or equal to 1.

[0082] In combination with the fourth aspect, in some implementations of the fourth aspect, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites in the positioning is less than or equal to a ninth threshold. The first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites. The ninth threshold may be less than or equal to 0, or the ninth threshold may be less than or equal to 1.

[0083] In combination with the fourth aspect, in some implementations of the fourth aspect, the positioning includes single positioning or multiple positionings.

[0084] In combination with the fourth aspect, in some implementations of the fourth aspect, when using the first satellite navigation system and the second satellite navigation system for the positioning, the number of available first satellites is greater than or equal to the number of available second satellites, where the first satellites are satellites of the first satellite navigation system and the second satellites are satellites of the second satellite navigation system.

[0085] In combination with the fourth aspect, in some implementations of the fourth aspect, the positioning is used for the terminal to perform initial positioning or positioning in a tracking state.

[0086] In combination with the fourth aspect, in some implementations of the fourth aspect, the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system includes one of GPS, GLONASS, and Galileo.

[0087] Fifth aspect, a communication device is provided. The device is used to execute the method provided in any one of the first aspect to the fourth aspect. Specifically, the device may include units and / or modules for executing the method provided in any one of the above implementations of the first aspect to the fourth aspect, such as a processing unit and / or a communication unit.

[0088] In one implementation, the device is a communication device (such as a terminal device or a network device). When the device is a communication device, the communication unit may be a transceiver or an input / output interface; the processing unit may be at least one processor. Optionally, the transceiver may be a transceiver circuit. Optionally, the input / output interface may be an input / output circuit.

[0089] In another implementation, the device is a chip, a chip system, or a circuit in a communication device. When the device is a chip, a chip system, or a circuit in a device, the communication unit may be an input / output interface, an interface circuit, an output circuit, an input circuit, a pin, or a related circuit, etc. on the chip, the chip system, or the circuit; the processing unit may be at least one processor, a processing circuit, or a logic circuit, etc.

[0090] In a sixth aspect, a communication device is provided, the device includes: at least one processor, configured to execute the method provided by any one of the above-mentioned first aspect to the fourth aspect and any one of the above-mentioned implementations.

[0091] Optionally, the device further includes: a memory, configured to store a program; correspondingly, at least one processor is configured to execute the computer program or instruction stored in the memory.

[0092] In one implementation, the device is a communication device (such as a terminal device, or a network device).

[0093] In another implementation, the device is a chip, a chip system, or a circuit in a communication device.

[0094] In a seventh aspect, the present application provides a processor, configured to execute the methods provided by the above aspects.

[0095] For operations such as sending and obtaining / receiving involved by the processor, if there is no special description, or if it does not conflict with its actual role or internal logic in the relevant description, it may be understood as operations such as output and input by the processor, or it may also be understood as operations of sending and receiving performed by the radio frequency circuit and the antenna. The present application does not make any limitation on this.

[0096] In an eighth aspect, a computer-readable storage medium is provided, the computer-readable medium stores program code for a device to execute, and the program code includes the method provided by any one of the above-mentioned first aspect to the fourth aspect and any one of the above-mentioned implementations.

[0097] In a ninth aspect, a computer program product including instructions is provided. When the computer program product runs on a computer, the computer is caused to execute the method provided by any one of the above-mentioned first aspect to the fourth aspect and any one of the above-mentioned implementations.

[0098] In a tenth aspect, a chip is provided. The chip includes a processor and a communication interface. The processor reads instructions stored on a memory through the communication interface and executes the method provided by any one of the above-mentioned first aspect to the fourth aspect and any one of the above-mentioned implementations.

[0099] Optionally, as an implementation, the chip further includes a memory, in which computer programs or instructions are stored, and the processor is configured to execute the computer programs or instructions stored on the memory. When the computer programs or instructions are executed, the processor is configured to execute the method provided by any one of the above implementations in any one of the first to sixth aspects. Description of the Drawings

[0100] Figure 1 FIG. 100 is a schematic diagram of an architecture applicable to a communication system according to an embodiment of the present application.

[0101] Figure 2 FIG. 101 is a schematic diagram of a satellite positioning principle applicable to an embodiment of the present application.

[0102] Figure 3 FIG. 102 is a schematic diagram of internal consistency applicable to an embodiment of the present application.

[0103] Figure 4 FIG. 103 is a schematic diagram of external consistency applicable to an embodiment of the present application.

[0104] Figure 5 FIG. 104 is a schematic flowchart of a positioning method applicable to an embodiment of the present application.

[0105] Figure 6 FIG. 105 is a schematic flowchart of a positioning method applicable to an embodiment of the present application.

[0106] Figure 7 FIG. 106 is a schematic diagram of a communication device applicable to an embodiment of the present application.

[0107] Figure 8 FIG. 107 is a block diagram of a communication architecture applicable to an embodiment of the present application. Detailed Embodiments

[0108] Hereinafter, the technical solutions in the present application will be described in conjunction with the accompanying drawings.

[0109] The technical solutions provided by this application can be applied to various communication systems, such as: the 5th generation (5G) or new radio (NR) system, the long term evolution (LTE) system, the LTE frequency division duplex (FDD) system, the LTE time division duplex (TDD) system, etc. The technical solutions provided by this application can also be applied to future communication systems, such as the sixth generation mobile communication system. The technical solutions provided by this application can also be applied to device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine (M2M) communication, machine type communication (MTC), and the Internet of Things (IoT) communication system or other communication systems. The technical solutions provided by this application can also be applied to non-terrestrial network (NTN) systems such as inter-satellite communication and satellite communication.

[0110] As an example, a satellite communication system includes a satellite base station and a terminal device. The satellite base station provides communication services for the terminal device. The satellite base station can also communicate with a base station. A satellite can act as a base station or a terminal device. Among them, a satellite can refer to an unmanned aerial vehicle, a hot air balloon, a low-earth orbit satellite, a medium-earth orbit satellite, a geostationary orbit satellite, etc. A satellite can also refer to a non-ground base station or a non-ground device, etc.

[0111] As an example, V2X communication can include: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, vehicle-to-network (V2N) communication.

[0112] A device in a communication system can send a signal to another device or receive a signal from another device. Among them, the signal can include information, signaling, or data, etc. Among them, the device can also be replaced by an entity, a network entity, a communication device, a communication module, a node, a communication node, etc. In this disclosure, the device is described as an example.

[0113] The terminal devices in the embodiments of the present application include various devices with wireless communication functions, which can be used to connect people, things, machines, etc. The terminal devices can be widely applied to various scenarios, such as: cellular communication, D2D, V2X, peer-to-peer (P2P), M2M, MTC, IoT, virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city drones, robots, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and other scenarios. The terminal device can be a terminal in any of the above scenarios, such as an MTC terminal, an IoT terminal, etc. The terminal device can be a user equipment (UE), a terminal, a fixed device, a mobile station device or a mobile device, a subscriber unit, a handheld device, a vehicle-mounted device, a wearable device, a cellular phone, a smart phone, a session initiation protocol (SIP) phone, a wireless data card, a personal digital assistant (PDA), a computer, a tablet computer, a laptop computer, a wireless modem, a handset, a laptop computer, a computer with wireless transceiver functions, a smart book, a vehicle, a satellite, a global positioning system (GPS) device, a target tracking device, an aircraft (such as a drone, a helicopter, a multi-helicopter, a quadcopter, or an airplane, etc.), a ship, a remote control device, a smart home device, an industrial device, or a device built into the above devices (such as a communication module, a modem or a chip in the above devices), or other processing devices connected to a wireless modem. For the convenience of description, the terminal device will be described below by taking the terminal or UE as an example.

[0114] It should be understood that in some scenarios, the UE can also be used as a base station. For example, the UE can act as a scheduling entity, which provides sidelink signals between UEs in scenarios such as V2X, D2D or P2P.

[0115] In the embodiments of the present application, the device for implementing the functions of a terminal device, i.e., the terminal device, may be a terminal device or a device capable of supporting the terminal device to implement such functions, such as a chip system or a chip, and this device may be installed in the terminal device. In the embodiments of the present application, the chip system may be composed of chips or may include chips and other discrete devices.

[0116] The network device in the embodiments of the present application may be a device for communicating with a terminal device, and this network device may also be referred to as an access network device or a radio access network device. For example, the network device may be a base station. The network device in the embodiments of the present application may refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network. The base station may generally cover various names as follows or be replaced with the following names, such as: Node B, evolved Node B (eNB), next generation Node B (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point, master station, slave station, multi-mode radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station may be a macro base station, a micro base station, a relay node, a donor node or the like, or a combination thereof. The base station may also refer to a communication module, a modem or a chip disposed in the foregoing device or apparatus. The base station may also be a mobile switching center and a device that undertakes the functions of a base station in D2D, V2X, M2M communications, a network-side device in a 6G network, a device that undertakes the functions of a base station in a future communication system, etc. The base station may support networks of the same or different access technologies. The embodiments of the present application do not limit the specific technologies and specific device forms adopted by the network device.

[0117] The base station may be fixed or mobile. For example, a helicopter or a drone may be configured to act as a mobile base station, and one or more cells may move according to the position of this mobile base station. In other examples, a helicopter or a drone may be configured to be used as a device for communicating with another base station.

[0118] In some deployments, the network device mentioned in the embodiments of the present application may be a device including a CU, or a DU, or a device including a CU and a DU, or a control plane CU node (Central Unit-Control Plane, CU-CP) and a user plane CU node (Central Unit-User Plane, CU-UP) and a DU node.

[0119] In the embodiments of the present application, the device for implementing the functions of the network device may be the network device or a device capable of supporting the network device to implement the functions, such as a chip system or a chip, and this device may be installed in the network device. In the embodiments of the present application, the chip system may be composed of chips or may include chips and other discrete devices.

[0120] The network device and the terminal device may be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; may also be deployed on the water surface; and may also be deployed on airplanes, balloons, and satellites in the air. In the embodiments of the present application, the scenarios where the network device and the terminal device are located are not limited.

[0121] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0122] First, a communication architecture applicable to the communication system in the embodiments of the present application will be briefly introduced as follows.

[0123] See Figure 1 , as an example, Figure 1 shows a schematic diagram of an architecture of a communication system applicable to the embodiments of the present application. As Figure 1 shown, the communication system may include at least one network device, such as the network device shown in Figure 1 ; the communication system may also include at least one terminal device, such as the terminal device shown in Figure 1 . The network device and the terminal device may communicate through a wireless link.

[0124] In the present application, in a satellite communication system, the network device may include a satellite for positioning, and the terminal device may implement positioning according to the satellite for positioning.

[0125] Figure 1It is only a schematic diagram. Other devices may also be included in the wireless communication system, such as core network devices, wireless relay devices, and / or wireless backhaul devices, etc., which are not drawn in Figure 1 the figure.

[0126] The solution provided by this application can be applied to the field of satellite communication, such as positioning and navigation.

[0127] Satellite navigation is an important branch of satellite communication. Satellite navigation is a generalized satellite communication system that uses navigation satellites for time measurement and ranging. The terminal device can calculate the distance between the terminal device and the satellite by using the signals of the Global Navigation Satellite System (GNSS) and the relevant information of the satellite (such as ephemeris information, etc.), so as to realize the positioning of the terminal device.

[0128] In this application, GNSS may include multiple satellite navigation systems. For example, Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc. The embodiments of this application do not limit this.

[0129] To facilitate the understanding of the embodiments of this application, the following introduces the terms in the embodiments of this application.

[0130] 1. Principle of satellite positioning

[0131] The satellite used for positioning can send signals in a broadcast manner. In the sent signals, it may contain the time information when its own clock sends the signals. After the device receives the satellite signals, it can calculate the signal transmission time based on the time information of the signal emission time and the local time, and then combine the speed of light to obtain the distance between the satellite and the device. This distance can be represented by the pseudorange Pr.

[0132] Refer to Figure 2 , as an example, Figure 2 shows a schematic diagram of the principle of satellite positioning. As Figure 2 shown, the terminal device can obtain the pseudorange Pr between the terminal device and satellite #1 1 , the pseudorange Pr between the terminal device and satellite #2 2 , and the pseudorange Pr between the terminal device and satellite #3 3 .

[0133] When there are signals from multiple satellites, the terminal can obtain multiple values of the pseudorange. For example, each pseudorange can be represented by the following formula:

[0134]

[0135] Among them, {x, y, z} is the actual position of the terminal. A set of {x, y, z} with the superscript sat is the position of a satellite, and the position of the satellite can be calculated based on the time information carried in the signal and the ephemeris information of the satellite. dt is the time difference between the local time and the time of the GNSS system. Usually, it is assumed that the clock accuracy on the satellite is high enough, so it can be considered that the time on each satellite is synchronized, and the time error dt only comes from the error of the terminal clock. Therefore, it can be assumed that dt in the above equations is the same value.

[0136] Based on the above analysis, by solving the four unknowns {x, y, z, dt} through n equations, the position {x, y, z} of the terminal can be determined, that is, the terminal positioning is completed; or the time error dt can be determined, so that the terminal can obtain the correct time and complete the terminal timing.

[0137] Among them, terminal timing can also be called terminal timekeeping or time measurement, and its specific name does not limit the protection scope of this application. It will be uniformly described as terminal timing in the following text.

[0138] 2. Usable satellites

[0139] During the positioning process, the satellites that can be successfully captured and tracked by the terminal device are called usable satellites. In other words, the satellites that can be used by the terminal device to complete positioning are the usable satellites of this terminal device, or the satellites that the terminal device can use for positioning.

[0140] Usually, indicators such as CN0 (Carrier-to-Noise Density Ratio, CN0) and / or elevation angle can be used to determine whether a satellite is a usable satellite. Among them, CN0, that is, C / N0, C represents the carrier power of the signal, in dBm, and N0 represents the noise power density of the signal, in dB / Hz. For example, in one case, satellites with CN0 above 12 and elevation angle above 15° can be used as usable satellites.

[0141] In this application, usable satellites can also be called visible satellites, and their specific names do not limit the protection scope of this application. They will be uniformly described as usable satellites in the following text.

[0142] 3. Status of satellite positioning

[0143] Satellite positioning can usually be divided into the first positioning state and the tracking state.

[0144] 1). The first positioning state, including cold start or warm start.

[0145] a. Cold start: The terminal has not performed positioning for a long time (for example, more than two hours) or has not performed positioning over a long distance (for example, more than 200 kilometers), and there is no auxiliary information such as ephemeris when starting satellite positioning.

[0146] b. Warm start: The terminal was located within a certain period of time (e.g., within two hours) since the last positioning, and auxiliary information such as ephemeris was saved.

[0147] 2). Tracking status, i.e., the process in which the terminal continuously performs positioning.

[0148] 4. Accuracy of satellite positioning

[0149] The accuracy of satellite positioning can be measured by different evaluation criteria. For example, it can be measured by the accuracy of the terminal's positioning location, or it can be measured by the accuracy of the terminal's timekeeping.

[0150] Exemplarily, taking the accuracy of the terminal's positioning location as an example, two factors, namely internal consistency and external consistency, can be considered.

[0151] Internal consistency: It refers to the "consistency" among multiple satellite positioning locations, so it can also be called internal coherence. High internal consistency (or internal coherence) means that the residual after the optimal estimation is very small.

[0152] Exemplarily, internal consistency can be represented by the posterior mean error of the position. Its calculation method can be the weighted sum of squares of the distances between multiple "intermediate positions" calculated during the positioning process and the final positioning location (similar to variance). Exemplarily, the unit can be m. 2 .

[0153] See Figure 3 , as an example, Figure 3 shows an example diagram of internal consistency. Figure 3 In [reference], taking two satellite navigation systems (Satellite Navigation System #1 and Satellite Navigation System #2) as examples, as Figure 3 shown, the intermediate positions of multiple satellite positionings based on Satellite Navigation System #1 are represented by solid dots, and the intermediate positions of multiple satellite positionings based on Satellite Navigation System #2 are represented by hollow dots. In the figure, the solid dots are less dispersed than the hollow dots, so Figure 3 the posterior mean error of the positioning location of Satellite Navigation System #1 in [reference] will be smaller than that of Satellite Navigation System #2, that is, the internal consistency of the positioning location of Satellite Navigation System #1 is higher than that of Satellite Navigation System #2.

[0154] It should be noted that since the internal consistency is calculated based on multiple "intermediate positions", the internal consistency is only valuable when there are more "intermediate positions". In other words, the internal consistency is only valuable when the number of satellites is sufficient. For example, assume that the current terminal can only receive signals from four satellites. Based on the above formula, the terminal may only be able to calculate a set of result values of {x, y, z, dt}. Based on this set of results, the a posteriori mean square error is always 0.

[0155] External and internal consistency: It refers to the "consistency" between the satellite positioning position and the actual position, and can also be called external consistency. A high external consistency (or external consistency) means it is close to the true result.

[0156] Exemplarily, the external consistency can be represented by the positioning deviation of the position, that is, "the distance between the positioning position and the true position". Exemplarily, the unit can be m.

[0157] See Figure 4 , as an example, Figure 4 shows an example diagram of the external consistency. Figure 4 In Figure 4 , taking two satellite navigation systems (Satellite Navigation System #1 and Satellite Navigation System #2) as examples, as

[0158] In a satellite communication system, GNSS can include various different satellite navigation systems such as Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc. Each satellite navigation system can perform independent positioning, that is, the terminal can perform positioning only based on the signals of one satellite navigation system, or multiple satellite navigation systems can be fused for positioning, that is, the terminal can perform positioning based on the signals of multiple satellite navigation systems. However, in the case where the reliability of a certain navigation system is not high, for example, the satellite signals of a certain navigation system are poor, the fused positioning may lead to a decrease in positioning accuracy.

[0159] In view of this, the embodiments of the present application provide a positioning solution, which can ensure the use of a satellite navigation system with relatively high reliability for positioning based on the positioning accuracies of multiple satellite navigation systems, thereby ensuring the positioning accuracy.

[0160] The communication method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments provided by the present application can be applied to the Figure 1 communication system shown above, without limitation.

[0161] The solution of the present application will be introduced in detail below.

[0162] Refer to Figure 5 , as an example, Figure 5 is a schematic diagram of a communication method 500 provided by an embodiment of the present application. For ease of description below, the method 500 is exemplarily described with the execution entity being a terminal device. It can be understood that the execution entity of the method 500 can also be a component of the terminal device (such as a chip or a circuit), which is not limited herein. The steps described below as being executed by a single execution entity can also be divided into steps executed by multiple execution entities, and these execution entities can be logically and / or physically separated. Figure 5 The method 500 shown can include the following steps.

[0163] Figure 5 The method 500 shown can include the following steps.

[0164] S510, the terminal device receives signals from at least two satellite navigation systems.

[0165] Among them, at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system.

[0166] Among them, each satellite navigation system includes one or more satellites, and some or all of these satellites can be used by the terminal device for positioning.

[0167] The satellites of at least two satellite navigation systems can send signals in a broadcast form. Correspondingly, the terminal device receives the signals of the at least two satellite navigation systems through broadcast messages.

[0168] In the embodiments of the present application, the terminal device can receive signals from multiple satellite navigation systems. For example, the terminal device can receive the signals of the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system, where N is a positive integer and N≥3.

[0169] For ease of description, in the embodiments of the present application, the first satellite navigation system and the second satellite navigation system are taken as examples for illustration, and the specific number of satellite navigation systems does not limit the protection scope of the present application.

[0170] Among them, the first satellite navigation system and the second satellite navigation system can be two different satellite navigation systems. For example, they can be any two of Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc. The embodiments of the present application do not limit this.

[0171] In a possible implementation manner, the first satellite navigation system is Beidou and the second satellite navigation system is GPS.

[0172] S520. The terminal device determines the positioning information of at least two satellite navigation systems according to the signals of at least two satellite navigation systems.

[0173] The terminal device can perform positioning according to the signals of at least two satellite navigation systems. For the specific method, reference can be made to the relevant content of the above satellite positioning principle, which will not be elaborated here.

[0174] Among them, by processing the signals of the first satellite navigation system, the terminal device can determine the positioning information of the first satellite navigation system.

[0175] Among them, by processing the signals of the second satellite navigation system, the terminal device can determine the positioning information of the second satellite navigation system.

[0176] Exemplarily, the positioning information may include at least one of internal consistency information, timing result, and positioning location.

[0177] Among them, the internal consistency information is the consistency between multiple satellite positioning locations. The higher the internal consistency, the higher the consistency of the positions determined by multiple satellites, that is, the higher the positioning accuracy of the undetermined navigation system.

[0178] The internal consistency information can be represented by the posterior mean error. The specific calculation method of the posterior mean error can be referred to the relevant content of the above positioning accuracy, which will not be elaborated here.

[0179] Among them, the timing result is the time information of the terminal obtained during terminal positioning. The acquisition of the timing result can be referred to the relevant content of the above satellite positioning principle, which will not be elaborated here. The timing result can also be called the timing result or the time measurement result. Its specific name does not limit the protection scope of the present application. It will be uniformly described as the timing result hereinafter.

[0180] Among them, the positioning location is the positioning result of the terminal device. The determination of the positioning result can be referred to the relevant content of the above satellite positioning principle, which will not be elaborated here.

[0181] S530. The terminal device performs positioning using the first satellite navigation system according to the positioning information of at least two satellite navigation systems.

[0182] In this application, the first satellite navigation system is used for the first positioning, including positioning only using the first satellite navigation system (hereinafter simply referred to as independent positioning), or, using the first satellite navigation system and other satellite navigation systems for integrated positioning (hereinafter simply referred to as integrated positioning). For example, positioning is performed using the first satellite navigation system and the second satellite navigation system.

[0183] It can be understood that in this embodiment, the priority of the first satellite navigation system is higher than that of other satellite navigation systems as an example.

[0184] It can be understood that positioning is only performed using the first satellite navigation system, that is, the positioning result determined by the terminal device is the positioning result determined based on the satellite signals of the first satellite navigation system.

[0185] It can be understood that integrated positioning is performed using the first satellite navigation system and other satellite navigation systems, that is, the positioning result determined by the terminal device is the positioning result determined based on the satellite signals of the first satellite navigation system and other satellite navigation systems.

[0186] In the embodiments of this application, the terminal device can determine to perform positioning only using the first satellite navigation system, or determine to perform positioning using the first satellite navigation system and other satellite navigation systems according to the positioning information of multiple satellite navigation systems. For the convenience of description, in the embodiments of this application, the method of determining independent positioning or integrated positioning according to the positioning information of two satellite navigation systems is taken as an example.

[0187] The following gives an exemplary description of the method by which the terminal device determines to use the first satellite navigation system for independent positioning or integrated positioning according to the positioning information of at least two satellite navigation systems.

[0188] In a possible implementation, the positioning information includes internal consistency information, and the terminal device performs positioning using the first satellite navigation system according to the internal consistency information of at least two satellite navigation systems.

[0189] Among them, the first posterior mean error is used to characterize the internal consistency information of the first satellite navigation system, the second posterior mean error is used to characterize the internal consistency information of the second satellite navigation system, or, the second posterior mean error is used to characterize the internal consistency information of the first satellite navigation system and the second satellite navigation system.

[0190] It should be understood that when the second posterior mean error is used to characterize the internal consistency information of the first satellite navigation system and the second satellite navigation system, this second posterior mean error is the posterior mean error of the integrated positioning of the first satellite navigation system and the second satellite navigation system.

[0191] Exemplarily, when the difference or ratio between the first posterior mean error and the second posterior mean error is less than the first threshold, positioning is only performed using the first satellite navigation system.

[0192] Exemplarily, when the difference or ratio between the first a posteriori mean error and the second a posteriori mean error is greater than or equal to a first threshold, positioning is performed using a first satellite navigation system and a second satellite navigation system.

[0193] In the present application, when the first a posteriori mean error is smaller than the second a posteriori mean error to a certain extent (for example, the difference between the two is less than the first threshold), the internal consistency of the first satellite navigation system is higher than that of the second satellite navigation system, or the internal consistency of the first satellite navigation system is higher than the internal consistency of the integrated positioning of the first satellite navigation system and the second satellite navigation system. In this case, positioning can be performed only using the first satellite navigation system; when the first a posteriori mean error is larger than the second a posteriori mean error to a certain extent (for example, the difference between the two is greater than the first threshold), the internal consistency of the first satellite navigation system is lower than that of the second satellite navigation system, or the internal consistency of the first satellite navigation system is lower than the internal consistency of the integrated positioning of the first satellite navigation system and the second satellite navigation system. In this case, positioning can be performed using the first satellite navigation system and the second satellite navigation system.

[0194] An alternative understanding is that when the a posteriori mean error of the first satellite navigation system is small, the positioning accuracy of the first satellite navigation system is high (the internal consistency is high), the positioning accuracy of the first satellite navigation system is higher than that of the second satellite navigation system, or the positioning accuracy of the first satellite navigation system is higher than the positioning accuracy of the integrated positioning of the first satellite navigation system and the second satellite navigation system. At this time, positioning can be performed only using the first satellite navigation system, and using integrated positioning may cause a decrease in positioning accuracy; when the a posteriori mean error of the first satellite navigation system is large, the positioning accuracy of the first satellite navigation system is slightly worse (the internal consistency is low), the positioning accuracy of the first satellite navigation system is lower than that of the second satellite navigation system, or the positioning accuracy of the first satellite navigation system is lower than the positioning accuracy of the integrated positioning of the first satellite navigation system and the second satellite navigation system. At this time, integrated positioning can be performed using the first satellite navigation system and other satellite navigation systems to improve the positioning accuracy.

[0195] It can be understood that when the difference between the first a posteriori mean error and the second a posteriori mean error is small, it can be shown that the internal consistency of the independent positioning of the first satellite navigation system and the integrated positioning of the first satellite navigation system and the second satellite navigation system is not much different, that is, the positioning accuracies of the first satellite navigation system and the second satellite navigation system are similar. In this case, positioning can be performed only using the first satellite navigation system, or integrated positioning using the first satellite navigation system and the second satellite navigation system can be performed. The embodiments of the present application do not make any limitations in this regard.

[0196] Wherein, the difference between the first a posteriori mean square error and the second a posteriori mean square error can be the difference obtained by subtracting the second a posteriori mean square error from the first a posteriori mean square error taken as the minuend. In this case, the first threshold can be less than or equal to 0; the difference between the first a posteriori mean square error and the second a posteriori mean square error can also be the difference obtained by subtracting the first a posteriori mean square error from the second a posteriori mean square error taken as the minuend. In this case, the first threshold can be greater than or equal to 0. The embodiments of the present application do not make any limitation in this regard.

[0197] Wherein, the ratio of the first a posteriori mean square error to the second a posteriori mean square error can be the ratio of the first a posteriori mean square error to the second a posteriori mean square error. In this case, the first threshold can be less than or equal to 1; the ratio of the first a posteriori mean square error to the second a posteriori mean square error can also be the ratio of the second a posteriori mean square error to the first a posteriori mean square error. In this case, the first threshold can be greater than or equal to 1. The embodiments of the present application do not make any limitation in this regard.

[0198] As another example, when the difference or ratio between the first a posteriori mean square error and the second a posteriori mean square error is less than or equal to the first threshold, only the first satellite navigation system is used for positioning.

[0199] As another example, when the difference or ratio between the first a posteriori mean square error and the second a posteriori mean square error is greater than the first threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0200] It should be noted that the above positioning takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, for example, the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine to use the first satellite navigation system for independent positioning or use integrated positioning based on a similar manner as above.

[0201] Exemplarily, the terminal device can receive satellite signals from the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The terminal device can perform positioning using the first satellite navigation system according to the internal consistency information of the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system.

[0202] For example, the first a posteriori mean square error is used to characterize the internal consistency information of the first satellite navigation system, the second a posteriori mean square error is used to characterize the internal consistency information of the second satellite navigation system,..., and the Nth a posteriori mean square error is used to characterize the internal consistency information of the Nth satellite navigation system.

[0203] Wherein, the difference or ratio between the first a posteriori mean square error and the second a posteriori mean square error is less than threshold #A 1 , and the difference or ratio between the first a posteriori mean square error and the third a posteriori mean square error is less than threshold #A 2, ……, and the difference or ratio between the first posterior mean square error and the Nth posterior mean square error is less than the threshold #A N-1 , only use the first satellite navigation system for positioning; the difference or ratio between the first posterior mean square error and the second posterior mean square error is greater than or equal to the threshold #A 1 , or the difference or ratio between the first posterior mean square error and the third posterior mean square error is greater than or equal to the threshold #A 2 , ……, or the difference or ratio between the first posterior mean square error and the Nth posterior mean square error is greater than or equal to the threshold #A N-1 , use the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system for positioning. Or, the difference or ratio between the first posterior mean square error and the second posterior mean square error is less than the threshold #A 1 , or the difference or ratio between the first posterior mean square error and the third posterior mean square error is less than the threshold #A 2 , ……, or the difference or ratio between the first posterior mean square error and the Nth posterior mean square error is less than the threshold #A N-1 , only use the first satellite navigation system for positioning; the difference or ratio between the first posterior mean square error and the second posterior mean square error is greater than or equal to the threshold #A 1 , and the difference or ratio between the first posterior mean square error and the third posterior mean square error is greater than or equal to the threshold #A 2 , ……, and the difference or ratio between the first posterior mean square error and the Nth posterior mean square error is greater than or equal to the threshold #A N-1 , use the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system for positioning.

[0204] For another example, the first posterior mean square error is used to characterize the internal consistency information of the first satellite navigation system, and the second posterior mean square error is used to characterize the internal consistency information of the integrated positioning of the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0205] Among them, when the difference or ratio between the first posterior mean square error and the second posterior mean square error is less than the threshold #A’, only use the first satellite navigation system for positioning; when the difference or ratio between the first posterior mean square error and the second posterior mean square error is greater than or equal to the threshold #A’, use the first satellite navigation system, the second satellite navigation system ……, and the Nth satellite navigation system for positioning.

[0206] Based on this technical solution, the positioning accuracy of the first satellite navigation system is not lower than the positioning accuracy of other satellite navigation systems for independent positioning, or the positioning accuracy of the first satellite navigation system is not lower than the positioning accuracy of the integrated positioning with other satellite navigation systems, and the first satellite navigation system can be used for independent positioning only.

[0207] Exemplarily, the difference or ratio between the first posterior mean square error and other posterior mean square errors is less than a threshold, which can also be replaced by less than or equal to the threshold. At the same time, the difference or ratio between the first posterior mean square error and other posterior mean square errors being greater than or equal to the threshold can be replaced by greater than the threshold. The embodiments of the present application do not limit this.

[0208] The above threshold #A 1 , A 2 ……, A N-1 And the threshold #A' can be less than or equal to 0, or, the above threshold #A 1 , A 2 ……, A N-1 And the threshold #A' can be greater than or equal to 1. For example, when the threshold #A 1 , A 2 ……, A N-1 And the threshold #A' is the threshold of the difference, its value can be less than or equal to 0; when the threshold #A 1 , A 2 ……, A N-1 And the threshold #A' is the threshold of the ratio, its value can be greater than or equal to 1.

[0209] Exemplarily, when the second posterior mean square error is greater than or equal to the second threshold, only the first satellite navigation system is used for positioning.

[0210] Exemplarily, when the second posterior mean square error is less than the second threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0211] In the present application, when the second posterior mean square error is too large (for example, greater than or equal to the second threshold), the internal consistency of the second satellite navigation system is relatively low, or the internal consistency of the first satellite navigation system and the second satellite navigation system is relatively low, and only the first satellite navigation system can be used for positioning; when the second posterior mean square error is within a certain range (for example, less than the second threshold), the first satellite navigation system and the second satellite navigation system can be used for positioning.

[0212] An optional understanding is that when the positioning accuracy of the second satellite navigation system is poor (the internal consistency is relatively low), or the positioning accuracy of the integrated positioning of the first satellite navigation system and the second satellite navigation system is poor (the internal consistency is relatively low), only the first satellite navigation system can be used for positioning, and using integrated positioning may cause a decrease in positioning accuracy; when the positioning accuracy of the second satellite navigation system is high (the internal consistency is relatively high), or the positioning accuracy of the integrated positioning of the first satellite navigation system and the second satellite navigation system is high (the internal consistency is relatively high), the first satellite navigation system and other satellite navigation systems can be used for integrated positioning to improve the positioning accuracy.

[0213] Among them, the second threshold can be greater than or equal to 0.

[0214] As another example, when the second posterior mean error is greater than the second threshold, only the first satellite navigation system is used for positioning.

[0215] As another example, when the second posterior mean error is less than or equal to the second threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0216] It should be noted that the above positioning takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine to use the first satellite navigation system for independent positioning or use integrated positioning based on a similar method as above.

[0217] Exemplarily, the terminal device can receive satellite signals from the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The terminal device can perform positioning using the first satellite navigation system according to the internal consistency information of the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system.

[0218] For example, the first posterior mean error is used to characterize the internal consistency information of the first satellite navigation system, the second posterior mean error is used to characterize the internal consistency information of the second satellite navigation system,..., and the Nth posterior mean error is used to characterize the internal consistency information of the Nth satellite navigation system.

[0219] Among them, the second posterior mean error is greater than or equal to threshold #B 1 , and the third posterior mean error is greater than or equal to threshold #B 2 ,..., and the Nth posterior mean error is greater than or equal to threshold #B N-1 , only the first satellite navigation system is used for positioning; the second posterior mean error is less than threshold #B 1 , or the third posterior mean error is less than threshold #B 2 ,..., or the Nth posterior mean error is less than threshold #B N-1 , the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system are used for positioning. Or, the second posterior mean error is greater than or equal to threshold #B 1 , or the third posterior mean error is greater than or equal to threshold #B 2 ,..., or the Nth posterior mean error is greater than or equal to threshold #B N-1 , only the first satellite navigation system is used for positioning; the second posterior mean error is less than threshold #B 1 , and the third posterior mean error is less than threshold #B 2 ,..., and the Nth posterior mean error is less than threshold #BN-1 , positioning is performed using a first satellite navigation system, a second satellite navigation system, ……, and an Nth satellite navigation system.

[0220] For another example, the second posterior mean square error is used to characterize the internal consistency information of the integrated positioning of the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0221] Among them, when the second posterior mean square error is greater than or equal to the threshold #B’, only the first satellite navigation system is used for positioning; when the second posterior mean square error is less than the threshold #B’, the first satellite navigation system, the second satellite navigation system ……, and the Nth satellite navigation system are used for positioning.

[0222] Based on this technical solution, when the positioning accuracy of other satellite navigation systems for independent positioning is poor to a certain extent (for example, the posterior mean square error is greater than a certain threshold), only the first satellite navigation system is used for positioning, or when the positioning accuracy of the integrated positioning of the first satellite navigation system and other satellite navigation systems is poor to a certain extent (for example, the posterior mean square error is greater than a certain threshold), the first satellite navigation system can be used for independent positioning alone.

[0223] Exemplarily, that any of the above posterior mean square errors is greater than or equal to a threshold can also be replaced with being greater than the threshold. At the same time, that the posterior mean square error is less than the threshold can be replaced with being less than or equal to the threshold. The embodiments of the present application do not limit this.

[0224] The above threshold #B 1 , B 2 ……, B N-1 And the threshold #B’ can be greater than or equal to 0.

[0225] Exemplarily, when the first posterior mean square error is less than or equal to the third threshold, only the first satellite navigation system is used for positioning.

[0226] Exemplarily, when the first posterior mean square error is greater than the third threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0227] In the present application, when the first posterior mean square error is small enough (for example, less than or equal to the third threshold), the internal consistency of the first satellite navigation system is relatively high, and only the first satellite navigation system can be used for positioning; when the first posterior mean square error does not meet certain requirements (for example, greater than the third threshold), the first satellite navigation system and the second satellite navigation system can be used for positioning.

[0228] An alternative understanding is that the positioning accuracy of the first satellite navigation system is relatively high (with a high internal consistency), meeting the positioning requirements of the terminal device. In this case, only the first satellite navigation system can be used for positioning, and using integrated positioning may cause a decrease in positioning accuracy. When the positioning accuracy of the first satellite navigation system does not meet certain requirements (with a low internal consistency), integrated positioning can be performed using the first satellite navigation system and other satellite navigation systems to improve the positioning accuracy.

[0229] Among them, the third threshold can be greater than or equal to 0.

[0230] As another example, when the first posterior mean square error is less than or equal to the third threshold, only the first satellite navigation system is used for positioning.

[0231] As another example, when the first posterior mean square error is greater than the third threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0232] It should be noted that the above positioning takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine to use the first satellite navigation system for independent positioning or integrated positioning based on a similar method as above.

[0233] Exemplarily, the terminal device can receive satellite signals from the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The terminal device can perform positioning using the first satellite navigation system according to the internal consistency information of the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system.

[0234] For example, the first posterior mean square error is used to characterize the internal consistency information of the first satellite navigation system, the second posterior mean square error is used to characterize the internal consistency information of the second satellite navigation system,..., the Nth posterior mean square error is used to characterize the internal consistency information of the Nth satellite navigation system.

[0235] Among them, when the first posterior mean square error is less than or equal to threshold #C 1 , only the first satellite navigation system is used for positioning; when the first posterior mean square error is greater than threshold #C 1 , the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system are used for positioning.

[0236] Based on this technical solution, when the positioning accuracy of the first satellite navigation system is high enough (for example, the internal consistency is lower than a certain threshold), only the first satellite navigation system is used for positioning, or when the positioning accuracy of the first satellite navigation system is low enough (for example, the internal consistency is higher than a certain threshold), the first satellite navigation system and other satellite navigation systems are used for integrated positioning.

[0237] Exemplarily, the above-mentioned first posterior mean error being less than or equal to a threshold can also be replaced with being less than the threshold. At the same time, the first posterior mean error being greater than the threshold can be replaced with being greater than or equal to the threshold. The embodiments of the present application do not limit this.

[0238] The above-mentioned threshold #C 1 can be greater than or equal to 0.

[0239] It should be noted that when measuring the positioning accuracy of a satellite navigation system based on internal consistency, the number of satellites needs to be considered. Only when the number of satellites is large enough does the internal consistency make sense.

[0240] In a possible implementation, the number of available satellites of the first satellite navigation system is greater than or equal to X, and the number of available satellites of the second satellite navigation system is greater than or equal to Y.

[0241] Exemplarily, the value of X is greater than 4, and the value of Y is greater than 4.

[0242] The above is the solution for the terminal device to determine independent positioning or integrated positioning based on internal consistency information.

[0243] In the embodiments of the present application, the terminal device can determine to use only the first satellite navigation system for positioning, or determine to use the first satellite navigation system and other satellite navigation systems for positioning according to the timing results of multiple satellite navigation systems. For the convenience of description, in the embodiments of the present application, the example of determining independent positioning or integrated positioning according to the timing results of two satellite navigation systems is used.

[0244] In a possible implementation, the positioning information includes the timing result, and the terminal device uses the first satellite navigation system for positioning according to the timing results of at least two satellite navigation systems.

[0245] Among them, the first timing result is the timing result of the first satellite navigation system, the second timing result is the timing result of the second satellite navigation system, or the second timing result is the timing results of the first satellite navigation system and the second satellite navigation system.

[0246] It should be understood that the second timing result is the timing results of the first satellite navigation system and the second satellite navigation system, and this second timing result is the timing result of the integrated positioning of the first satellite navigation system and the second satellite navigation system.

[0247] Exemplarily, when the absolute value of the difference between the first timing result and the second timing result is greater than a fourth threshold, only the first satellite navigation system is used for positioning.

[0248] Exemplarily, when the absolute value of the difference between the first timing result and the second timing result is less than or equal to the fourth threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0249] In this application, when the gap between the second timing result and the first timing result is large (for example, greater than the fourth threshold), the timing deviation between the second satellite navigation system and the first satellite navigation system is large, or the timing deviation during the integrated positioning of the first satellite navigation system and the second satellite navigation system is large. In this case, only the first satellite navigation system can be used for positioning; when the gap between the second timing result and the first timing result is small (for example, less than or equal to the fourth threshold), the timing deviation between the second satellite navigation system and the first satellite navigation system is small, or the timing deviation during the integrated positioning of the first satellite navigation system and the second satellite navigation system is small. In this case, the first satellite navigation system and the second satellite navigation system can be used for positioning.

[0250] It can be understood that when the difference between the second timing result and the first timing result is small, it can indicate that the positioning accuracy of the first satellite navigation system for independent positioning and the integrated positioning of the first satellite navigation system and the second satellite navigation system is not much different, or rather, the positioning accuracies of the first satellite navigation system and the second satellite navigation system are similar. In this case, either only the first satellite navigation system can be used for positioning, or the integrated positioning of the first satellite navigation system and the second satellite navigation system can be used. The embodiments of this application do not make any limitations in this regard.

[0251] Among them, the fourth threshold can be greater than or equal to 0.

[0252] As another example, when the absolute value of the difference between the first timing result and the second timing result is greater than or equal to the fourth threshold, only the first satellite navigation system is used for positioning.

[0253] Exemplarily, when the absolute value of the difference between the first timing result and the second timing result is less than the fourth threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0254] It should be noted that the above positioning takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine to use the first satellite navigation system for independent positioning or integrated positioning based on a similar method as above.

[0255] Exemplarily, the terminal device may receive satellite signals from the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system. The terminal device may perform positioning using the first satellite navigation system according to the timing results of the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0256] For example, the first timing result is the timing result of the first satellite navigation system, the second timing result is the timing result of the second satellite navigation system, ……, and the Nth timing result is the timing result of the Nth satellite navigation system.

[0257] Wherein, the absolute value of the difference between the first timing result and the second timing result is greater than the threshold #D 1 , and the absolute value of the difference between the first timing result and the third timing result is greater than the threshold #D 2 , ……, and the absolute value of the difference between the first timing result and the Nth timing result is greater than the threshold #D N-1 , only perform positioning using the first satellite navigation system; the absolute value of the difference between the first timing result and the second timing result is less than or equal to the threshold #D 1 , or the absolute value of the difference between the first timing result and the third timing result is less than or equal to the threshold #D 2 , ……, or the absolute value of the difference between the first timing result and the Nth timing result is less than or equal to the threshold #D N-1 , perform positioning using the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system. Or, the absolute value of the difference between the first timing result and the second timing result is greater than the threshold #D 1 , or the absolute value of the difference between the first timing result and the third timing result is greater than the threshold #D 2 , ……, or the absolute value of the difference between the first timing result and the Nth timing result is greater than the threshold #D N-1 , only perform positioning using the first satellite navigation system; the absolute value of the difference between the first timing result and the second timing result is less than or equal to the threshold #D 1 , and the absolute value of the difference between the first timing result and the third timing result is less than or equal to the threshold #D 2 , ……, and the absolute value of the difference between the first timing result and the Nth timing result is less than or equal to the threshold #D N-1 , perform positioning using the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0258] For another example, the fourth timing result is the timing result for positioning using the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0259] Wherein, when the absolute value of the difference between the first timing result and the fourth timing result is greater than the threshold #D’, only the first satellite navigation system is used for positioning; when the absolute value of the difference between the first timing result and the fourth timing result is less than or equal to the threshold #D’, the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system are used for positioning.

[0260] Based on this technical solution, when the timing result of other satellite navigation systems during independent positioning has a large difference from the timing result of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), only the first satellite navigation system is used for positioning, or when the timing result of the integrated positioning of the first satellite navigation system and other satellite navigation systems has a large difference from the timing result of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), independent positioning can be performed only using the first satellite navigation system.

[0261] Exemplarily, the absolute value of the difference between the first timing result and any timing result being greater than a threshold can also be replaced with being greater than or equal to the threshold. At the same time, the absolute value of the difference between the first timing result and any timing result being less than or equal to the threshold can be replaced with being less than the threshold. The embodiments of the present application do not make any limitations in this regard.

[0262] The above threshold #D 1 , D 2 ……, D N-1 And the threshold #D’ can be greater than or equal to 0.

[0263] The above is the solution for the terminal device to determine independent positioning or integrated positioning based on the timing result.

[0264] In the embodiments of the present application, the terminal device can determine to use only the first satellite navigation system for positioning, or determine to use the first satellite navigation system and other satellite navigation systems for positioning according to the positioning positions of multiple satellite navigation systems. For ease of description, in the embodiments of the present application, the method of determining independent positioning or integrated positioning according to the positioning positions of two satellite navigation systems is taken as an example.

[0265] In a possible implementation, the positioning information includes the positioning position, and the terminal device uses the first satellite navigation system for positioning according to the positioning positions of at least two satellite navigation systems.

[0266] Wherein, the first positioning position is the positioning result of the first satellite navigation system, the second positioning position is the positioning result of the second satellite navigation system, or the second positioning position is the positioning result of the first satellite navigation system and the second satellite navigation system.

[0267] It should be understood that the second positioning position is the positioning result of the first satellite navigation system and the second satellite navigation system, and the second positioning position is the positioning result of the integrated positioning of the first satellite navigation system and the second satellite navigation system.

[0268] Exemplarily, if the absolute value of the difference between the first positioning position and the second positioning position is greater than a fifth threshold, only the first satellite navigation system is used for the first positioning.

[0269] Exemplarily, if the absolute value of the difference between the first positioning position and the second positioning position is less than or equal to the fifth threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0270] In this application, when the difference between the second positioning position and the first positioning position is large (for example, greater than the fifth threshold), the positioning deviation between the second satellite navigation system and the first satellite navigation system is large, or the positioning deviation during the integrated positioning of the first satellite navigation system and the second satellite navigation system is large. In this case, only the first satellite navigation system can be used for positioning; when the difference between the second positioning position and the first positioning position is small (for example, less than or equal to the fifth threshold), the positioning deviation between the second satellite navigation system and the first satellite navigation system is small, or the positioning deviation during the integrated positioning of the first satellite navigation system and the second satellite navigation system is small. In this case, the first satellite navigation system and the second satellite navigation system can be used for positioning.

[0271] It can be understood that when the difference between the second positioning position and the first positioning position is small, it can be explained that the positioning accuracy of the first satellite navigation system for independent positioning and the integrated positioning of the first satellite navigation system and the second satellite navigation system is not much different, or rather, the positioning accuracies of the first satellite navigation system and the second satellite navigation system are similar. In this case, either only the first satellite navigation system can be used for positioning, or the integrated positioning of the first satellite navigation system and the second satellite navigation system can be used. The embodiments of this application do not make any limitations in this regard.

[0272] Among them, the fifth threshold can be greater than or equal to 0.

[0273] As another example, if the absolute value of the difference between the first positioning position and the second positioning position is greater than or equal to the fifth threshold, only the first satellite navigation system is used for the first positioning.

[0274] As another example, if the absolute value of the difference between the first positioning position and the second positioning position is less than the fifth threshold, the first satellite navigation system and the second satellite navigation system are used for positioning.

[0275] It should be noted that the above positioning takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine to use the first satellite navigation system for independent positioning or use integrated positioning based on a similar method as above.

[0276] Exemplarily, the terminal device can receive satellite signals from the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The terminal device can perform positioning using the first satellite navigation system according to the positioning positions of the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system.

[0277] For example, the first positioning position is the positioning position of the first satellite navigation system, the second positioning position is the positioning position of the second satellite navigation system,..., the Nth positioning position is the positioning position of the Nth satellite navigation system.

[0278] Wherein, the absolute value of the difference between the first positioning position and the second positioning position is greater than the threshold #E 1 , and the absolute value of the difference between the first positioning position and the third positioning position is greater than the threshold #E 2 ,..., and the absolute value of the difference between the first positioning position and the Nth positioning position is greater than the threshold #E N-1 , only use the first satellite navigation system for positioning; the absolute value of the difference between the first positioning position and the second positioning position is less than or equal to the threshold #E 1 , or the absolute value of the difference between the first positioning position and the third positioning position is less than or equal to the threshold #E 2 ,..., or the absolute value of the difference between the first positioning position and the Nth positioning position is less than or equal to the threshold #E N-1 , use the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system for positioning. Or, the absolute value of the difference between the first positioning position and the second positioning position is greater than the threshold #E 1 , or the absolute value of the difference between the first positioning position and the third positioning position is greater than the threshold #E 2 ,..., or the absolute value of the difference between the first positioning position and the Nth positioning position is greater than the threshold #E N-1 , only use the first satellite navigation system for positioning; the absolute value of the difference between the first positioning position and the second positioning position is less than or equal to the threshold #E 1 , and the absolute value of the difference between the first positioning position and the third positioning position is less than or equal to the threshold #E 2 ,..., and the absolute value of the difference between the first positioning position and the Nth positioning position is less than or equal to the threshold #E N-1, positioning is performed using a first satellite navigation system, a second satellite navigation system, ……, and an Nth satellite navigation system.

[0279] For another example, the fourth positioning position is the positioning position determined by the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system.

[0280] Wherein, if the absolute value of the difference between the first positioning position and the fourth positioning position is greater than a threshold #E’, only the first satellite navigation system is used for positioning; if the absolute value of the difference between the first positioning position and the fourth positioning position is less than or equal to the threshold #E’, the first satellite navigation system, the second satellite navigation system, ……, and the Nth satellite navigation system are used for positioning.

[0281] Based on this technical solution, when the positioning position of other satellite navigation systems during independent positioning has a large deviation from the positioning position of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), only the first satellite navigation system is used for positioning, or when the positioning position of the integrated positioning of the first satellite navigation system and other satellite navigation systems has a large deviation from the positioning position of the first satellite navigation system (for example, the difference between the two is greater than a certain threshold), the first satellite navigation system can be used for independent positioning alone.

[0282] Exemplarily, the absolute value of the difference between the above-mentioned first positioning position and any positioning position being greater than a threshold can also be replaced with being greater than or equal to the threshold. At the same time, the absolute value of the difference between the first positioning position and any positioning position being less than or equal to the threshold can be replaced with being less than the threshold. The embodiments of the present application do not limit this.

[0283] The above-mentioned threshold #E 1 , E 2 ……, E N-1 And the threshold #E’ can be greater than or equal to 0.

[0284] The above is the solution for the terminal device to determine independent positioning or integrated positioning based on the positioning position.

[0285] It should be noted that the above satellite navigation systems take the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can determine independent positioning or integrated positioning based on a similar manner as above.

[0286] In the embodiments of the present application, the terminal device can determine independent positioning or integrated positioning based on the above solution, or the terminal device can also directly perform integrated positioning.

[0287] When the terminal device performs integrated positioning, the terminal device can perform integrated positioning based on the first satellite navigation system and the second satellite navigation system, or can perform integrated positioning based on the first satellite navigation system and other satellite navigation systems. For example, the first satellite navigation system, the second satellite navigation system, the third satellite navigation system, and the fourth satellite navigation system are used for integrated positioning. The embodiments of the present application do not limit this.

[0288] For ease of description, the following takes the integrated positioning of the first satellite navigation system and the second satellite navigation system as an example for illustration.

[0289] The following describes the method for the terminal device to perform integrated positioning.

[0290] In a possible implementation, the terminal device uses the first satellite navigation system and the second satellite navigation system for positioning.

[0291] In the embodiments of the present application, the satellite of the first satellite navigation system is the first satellite, and the satellite of the second satellite navigation system is the second satellite.

[0292] In the embodiments of the present application, the terminal device can determine some satellites from the available first satellites, and output a positioning result based on the data of these satellites. These satellites are the used first satellites. Similarly, the terminal device can determine some satellites from the available second satellites, and output a positioning result based on the data of these satellites. These satellites are the used second satellites.

[0293] For example, the terminal device can determine the satellites with higher internal consistency from the available first satellites, and use the data of the satellites with higher internal consistency for positioning.

[0294] For another example, the terminal device can determine the satellites with more accurate timekeeping from the available first satellites, and use the data of the satellites with more accurate timekeeping for positioning.

[0295] Exemplarily, the difference or ratio between the number of the first satellites used in this positioning and the number of the second satellites used is greater than or equal to the sixth threshold.

[0296] In the present application, when the number of satellites of the used first satellite navigation system is not less than the number of satellites of the used second satellite navigation system, it can be understood that the priority of the first satellite navigation system is not lower than the priority of the second satellite navigation system.

[0297] Among them, the difference between the number of first satellites used and the number of second satellites used can be the difference obtained by subtracting the number of second satellites used from the number of first satellites used as the minuend. In this case, the sixth threshold can be greater than or equal to 0; the difference between the number of first satellites used and the number of second satellites used can also be the difference obtained by subtracting the number of first satellites used from the number of second satellites used as the minuend. In this case, the sixth threshold can be less than or equal to 0. The embodiments of the present application do not limit this.

[0298] Among them, the ratio of the number of first satellites used to the number of second satellites used can be the ratio of the number of first satellites used to the number of second satellites used. In this case, the sixth threshold can be greater than or equal to 1; the ratio of the number of first satellites used to the number of second satellites used can be the ratio of the number of second satellites used to the number of first satellites used. In this case, the sixth threshold can be less than or equal to 1. The embodiments of the present application do not limit this.

[0299] For example, there are 5 available first satellites and 6 available second satellites, and the sixth threshold is the difference between the number of first satellites used and the number of second satellites used and its value is equal to 0. Among them, the consistency results of 4 out of the 5 available first satellites are relatively good (for example, the internal consistency of position and the internal consistency of time service are relatively high), and the data of only these 4 first satellites can be used for positioning in the first satellite navigation system. Then, the final positioning result can be output based on 4 first satellites and ≤4 second satellites.

[0300] For another example, there are 5 available first satellites and 6 available second satellites, and the sixth threshold is the difference between the number of first satellites used and the number of second satellites used and its value is equal to 1. Among them, the consistency results of 4 out of the 5 available first satellites are relatively good (for example, the internal consistency of position and the internal consistency of time service are relatively high), and the data of only these 4 first satellites can be used for positioning in the first satellite navigation system. Then, the final positioning result can be output based on 4 first satellites and ≤3 second satellites.

[0301] It should be noted that the above satellite navigation system takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, for example, the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can ensure the priority of the first satellite navigation system based on a similar manner as above.

[0302] Exemplarily, the terminal device can perform integrated positioning based on the first satellite navigation system, the second satellite navigation system, ……, the Nth satellite navigation system. The satellites of the Nth satellite navigation system are the Nth satellites. In this positioning, the difference or ratio between the number of the first satellites used and the number of the second satellites used is greater than or equal to a threshold #F 1 , and the difference or ratio between the number of the first satellites used and the number of the third satellites used is greater than or equal to a threshold #F 2 , ……, and the difference or ratio between the number of the first satellites used and the number of the Nth satellites used is greater than or equal to a threshold #F N-1 ; or, the difference or ratio between the number of the first satellites used and the sum of the number of the second satellites, the third satellites, ……, and the Nth satellites used is greater than or equal to a threshold #F'.

[0303] Based on this technical solution, the number of satellites of the first satellite navigation system used is not less than the number of satellites of any other satellite navigation system used, or, the number of satellites of the first satellite navigation system used is not less than the sum of the number of satellites of other satellite navigation systems used. It can be understood that the priority of the first satellite navigation system is not lower than the priority of other satellite navigation systems.

[0304] The above threshold #F 1 , F 2 ……, F N-1 and the threshold #F' can be greater than or equal to 0, or, the above threshold #F 1 , F 2 ……, F N-1 and the threshold #F' can be greater than or equal to 1. For example, when the thresholds #F1, F2……, F N-1 and the threshold #F' are the thresholds of the difference, their values can be greater than or equal to 0; when the threshold #F 1 , F 2 ……, F N-1 and the threshold #F' are the thresholds of the ratio, their values can be greater than or equal to 1.

[0305] In a possible implementation, the above positioning can include single positioning or multiple positionings.

[0306] It can be understood that single positioning means that the terminal device outputs a single positioning result, and the above conditions are met during the process of outputting this single positioning result, so that the priority of the first satellite navigation system is not lower than the priority of the second satellite navigation system during the process of single positioning. Multiple positionings mean that the terminal device outputs multiple positioning results, and the above conditions are met during the process of outputting these multiple positioning results, so that the priority of the first satellite navigation system is not lower than the priority of the second satellite navigation system during the overall process of multiple positionings.

[0307] Exemplarily, the above positioning can be performed once within a time interval.

[0308] For example, the terminal device can perform positioning once every 1 second and output a positioning result. Based on this positioning result, determine the number of satellites of the first satellite navigation system and the number of satellites of other satellite navigation systems used in this positioning, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0309] Exemplarily, multiple positionings can be performed multiple times within a period of time.

[0310] For example, the terminal device can perform 10 positionings within 10 seconds and output 10 positioning results. Based on these 10 positioning results, determine the number of satellites of the first satellite navigation system and the number of satellites of other satellite navigation systems used in these 10 positionings. Specifically, for example, the number of satellites of the first satellite navigation system used in the 10 positionings can be accumulated or averaged, and the number of satellites of other satellite navigation systems used in the 10 positionings can be accumulated or averaged, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0311] The positioning scheme in this embodiment can be used for both initial positioning and positioning in the tracking state. The embodiments of this application do not limit this.

[0312] Exemplarily, the difference or ratio between the ratio of the number of the first satellites used in the positioning to the number of available first satellites and the ratio of the number of the second satellites used to the number of available second satellites is greater than or equal to the seventh threshold.

[0313] In this application, the ratio of the number of satellites of the first satellite navigation system used to the number of available first satellite navigation systems is not less than the ratio of the number of satellites of the second satellite navigation system used to the number of available second satellite navigation systems, which can be understood as the priority of the first satellite navigation system is higher than that of the second satellite navigation system.

[0314] Among them, for the available first satellites or available second satellites, refer to the relevant descriptions of available satellites in the foregoing text, and details are not described herein again.

[0315] Wherein, the above difference can be the difference obtained by subtracting the ratio of the number of second satellites used to the number of second satellites available from the ratio of the number of first satellites used to the number of first satellites available as the minuend. In this case, the seventh threshold can be greater than or equal to 0. The above difference can also be the difference obtained by subtracting the ratio of the number of first satellites used to the number of first satellites available from the ratio of the number of second satellites used to the number of second satellites available as the minuend. In this case, the seventh threshold can be less than or equal to 0. The embodiments of the present application do not make any limitation in this regard.

[0316] Wherein, the above ratio can be the ratio of the ratio of the number of first satellites used to the number of first satellites available to the ratio of the number of second satellites used to the number of second satellites available. In this case, the seventh threshold can be greater than or equal to 1. The above ratio can also be the ratio of the ratio of the number of second satellites used to the number of second satellites available to the ratio of the number of first satellites used to the number of first satellites available. In this case, the seventh threshold can be less than or equal to 1. The embodiments of the present application do not make any limitation in this regard.

[0317] For example, there are 8 available first satellites and 10 available second satellites. The seventh threshold is the difference between the ratio of the number of first satellites used to the number of first satellites available and the ratio of the number of second satellites used to the number of second satellites available, and the seventh threshold is equal to 0. Among the 8 available first satellites, 7 satellites have relatively good consistency results, and only the data of these 7 first satellites can be used in the first satellite navigation system. Then, the ratio of the used first satellites to the available first satellites is 7 / 8 = 87.5%. When finally outputting the positioning result, the number of second satellites used is not greater than 10 * 87.5% = 8.75, that is, the second satellites can use at most 8 (rounding down) or 9 (rounding up).

[0318] For another example, there are 8 available first satellites and 10 available second satellites. The seventh threshold is the difference between the ratio of the number of first satellites used to the number of first satellites available and the ratio of the number of second satellites used to the number of second satellites available, and the seventh threshold is equal to 10%. Among the 8 available first satellites, 7 satellites have relatively good consistency results, and only the data of these 7 first satellites can be used in the first satellite navigation system. Then, the ratio of the Beidou satellites is 7 / 8 = 87.5%. When finally outputting the result, the number of GPS satellites used is not greater than 10 * (87.5% - 10%) = 7.75, and the GPS satellites can use at most 7 (rounding down) or 8 (rounding up).

[0319] It should be noted that the above satellite navigation systems take the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, for example, the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can ensure the priority of the first satellite navigation system based on a similar method as above.

[0320] Exemplarily, the terminal device can perform integrated positioning according to the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The satellites of the Nth satellite navigation system are the Nth satellites. In this positioning, the difference or ratio between the ratio of the number of the first satellites used to the number of available first satellites and the ratio of the number of the second satellites used to the number of available second satellites is greater than or equal to the threshold #G 1 and the difference or ratio between the ratio of the number of the first satellites used to the number of available first satellites and the ratio of the number of the third satellites used to the number of available third satellites is greater than or equal to the threshold #G 2 ..., and the difference or ratio between the ratio of the number of the first satellites used to the number of available first satellites and the ratio of the number of the Nth satellites used to the number of available Nth satellites is greater than or equal to the threshold #G N-1 ; or, the difference or ratio between the ratio of the number of the first satellites used to the number of available first satellites and the ratio of the number of the second, third,..., Nth satellites used to the number of available second, third,..., Nth satellites is greater than or equal to the threshold #G'.

[0321] Based on this technical solution, the ratio of the number of satellites of the first satellite navigation system used is not less than the ratio of the number of satellites of any other satellite navigation system used; or, the ratio of the number of satellites of the first satellite navigation system used is not less than the ratio of the number of satellites of all other satellite navigation systems used. It can be understood that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems.

[0322] The above threshold #G 1 , G 2 ..., G N-1 and the threshold #G' can be greater than or equal to 0, or, the above threshold #G 1 , G 2 ..., G N-1 and the threshold #G' can be greater than or equal to 1. For example, when the threshold #G 1 , G 2 ..., G N-1 and the threshold #G' are the thresholds for differences, their values can be greater than or equal to 0; when the threshold #G 1 , G 2 ..., G N-1When the threshold #G’ is the threshold of the ratio, its value can be greater than or equal to 1.

[0323] In one possible implementation, the above positioning may include single positioning or multiple positionings.

[0324] It can be understood that single positioning means that the terminal device outputs a single positioning result, and the above conditions are met during the process of outputting this single positioning result, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the process of single positioning. Multiple positionings mean that the terminal device outputs multiple positioning results, and the above conditions are met during the process of outputting these multiple positioning results, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the overall process of multiple positionings.

[0325] Exemplarily, the above positioning may be to perform single positioning within a time interval.

[0326] For example, the terminal device can perform single positioning every 1 second, output a single positioning result, determine the ratio of the number of the first satellites used in this single positioning to the number of available first satellites and the ratio of the number of other satellites used to the number of available other satellites based on this single positioning result, and compare whether the quantity relationship between the two meets the conditions of the above threshold.

[0327] Exemplarily, multiple positionings may be to perform multiple positionings within a period of time.

[0328] For example, the terminal device can perform 10 positionings within 10 seconds, output 10 positioning results, determine the ratio of the number of the first satellites used in these 10 positionings to the number of available first satellites and the ratio of the number of other satellites used to the number of available other satellites based on these 10 positioning results. Specifically, for example, the ratio of the number of the first satellites used in the 10 positionings to the number of available first satellites can be accumulated or averaged, and the ratio of the number of other satellites used in the 10 positionings to the number of available other satellites can be accumulated or averaged, and compare whether the quantity relationship between the two meets the conditions of the above threshold.

[0329] The positioning scheme in this embodiment can be used for both initial positioning and positioning in the tracking state, and the embodiments of the present application do not make any limitations in this regard.

[0330] Exemplarily, the difference or ratio between the number of unused first satellites and the number of unused second satellites is less than or equal to the eighth threshold, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites.

[0331] Among them, for the available first satellite or the available second satellite, refer to the relevant description of the available satellites in the foregoing text, which will not be elaborated herein.

[0332] In this application, when the number of satellites of the unused first satellite navigation system is not greater than the number of satellites of the unused second satellite navigation system, it can be understood that the priority of the first satellite navigation system is higher than that of the second satellite navigation system.

[0333] Among them, the difference between the number of unused first satellites and the number of unused first satellites can be the difference obtained by subtracting the number of unused second satellites from the number of unused first satellites as the minuend. In this case, the eighth threshold can be less than or equal to 0. The difference between the number of unused first satellites and the number of unused first satellites can also be the difference obtained by subtracting the number of unused first satellites from the number of unused second satellites as the minuend. In this case, the eighth threshold can be greater than or equal to 0. The embodiments of this application do not make any limitations in this regard.

[0334] Among them, the ratio of the number of unused first satellites to the number of unused second satellites can be the ratio of the number of unused first satellites to the number of unused second satellites. In this case, the eighth threshold can be less than or equal to 1. The ratio of the number of unused first satellites to the number of unused second satellites can also be the ratio of the number of unused second satellites to the number of unused first satellites. In this case, the eighth threshold can be greater than or equal to 1. The embodiments of this application do not make any limitations in this regard.

[0335] For example, there are 5 available first satellites and 6 available second satellites. The eighth threshold is the difference between the number of unused first satellites and the number of unused second satellites, and the eighth threshold is equal to 0. Among the 5 available first satellites, the consistency results of 4 satellites are relatively good (for example, the internal consistency of position and the internal consistency of time service are relatively high). The data of only these 4 first satellites can be used for positioning in the first satellite navigation system, and the excluded first satellite is 1. Then when finally outputting the positioning result, the number of excluded second satellites should be greater than or equal to 1, that is, the number of used second satellites is less than or equal to 5.

[0336] For another example, there are 5 available first satellites and 6 available second satellites. The eighth threshold is the difference between the number of unused first satellites and the number of unused second satellites, and the eighth threshold is equal to 1. Among the 5 available first satellites, 4 satellites have relatively good consistency results (for example, the internal consistency of position and the internal consistency of timekeeping are relatively high), and the data of only these 4 first satellites can be used for positioning in the first satellite navigation system. The excluded first satellite is 1. Then, when finally outputting the positioning result, the number of excluded second satellites should be greater than or equal to 2, that is, the number of used second satellites is less than or equal to 4.

[0337] It should be noted that the above satellite navigation system takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can ensure the priority of the first satellite navigation system based on a similar method as above.

[0338] Exemplarily, the terminal device can perform integrated positioning according to the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The satellites of the Nth satellite navigation system are the Nth satellites. In this positioning, the difference or ratio between the number of unused first satellites and the number of unused second satellites is less than or equal to the threshold #H 1 , and the difference or ratio between the number of unused first satellites and the number of unused third satellites is less than or equal to the threshold #H 2 ,..., and the difference or ratio between the number of unused first satellites and the number of unused Nth satellites is less than or equal to the threshold #H N-1 ; or, the difference or ratio between the number of unused first satellites and the sum of the number of unused second satellites, the number of unused third satellites,..., and the number of unused Nth satellites is less than or equal to the threshold #H'.

[0339] Based on this technical solution, the number of satellites of the unused first satellite navigation system is not greater than the number of satellites of the unused other satellite navigation systems; or, the number of satellites of the unused first satellite navigation system is not greater than the sum of the number of satellites of the unused other satellite navigation systems, which can be understood as the priority of the first satellite navigation system is not lower than that of the other satellite navigation systems.

[0340] The above threshold #H 1 , H 2 ..., H N-1 and the threshold #H' can be less than or equal to 0, or, the above threshold #H 1 , H 2 ..., H N-1And the threshold #H’ can be less than or equal to 1. For example, when the threshold #H 1 , H 2 ……, H N-1 and the threshold #H’ is the threshold of the difference, its value can be less than or equal to 0; when the threshold #H 1 , H 2 ……, H N-1 and the threshold #H’ is the threshold of the ratio, its value can be less than or equal to 1.

[0341] In a possible implementation, the above positioning may include single positioning or multiple positionings.

[0342] It can be understood that single positioning means that the terminal device outputs a single positioning result, and the above conditions are satisfied during the process of outputting this single positioning result, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the single positioning process. Multiple positionings mean that the terminal device outputs multiple positioning results, and the above conditions are satisfied during the process of outputting these multiple positioning results, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the overall process of multiple positionings.

[0343] Exemplarily, the above positioning may be to perform single positioning within a time interval.

[0344] For example, the terminal device can perform single positioning every 1 second, output a single positioning result, determine the number of satellites of the first satellite navigation system that are not used and the number of satellites of other satellite navigation systems that are not used in this single positioning based on this single positioning result, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0345] Exemplarily, multiple positionings may be to perform multiple positionings within a period of time.

[0346] For example, the terminal device can perform 10 positionings within 10 seconds, output 10 positioning results, determine the number of satellites of the first satellite navigation system that are not used and the number of satellites of other satellite navigation systems that are not used in these 10 positionings based on these 10 positioning results. Specifically, for example, the number of satellites of the first satellite navigation system that are not used in the 10 positionings can be accumulated or averaged, and the number of satellites of other satellite navigation systems that are not used in the 10 positionings can be accumulated or averaged, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0347] The positioning scheme in this embodiment can be used for both initial positioning and positioning in the tracking state, and the embodiments of the present application do not make any limitations in this regard.

[0348] Exemplarily, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites is less than or equal to a ninth threshold. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites. The number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites.

[0349] In this application, the ratio of the number of satellites of the unused first satellite navigation system to the available first satellite navigation system is not greater than the ratio of the number of satellites of the unused second satellite navigation system to the available second satellite navigation system, which can be understood as the priority of the first satellite navigation system being higher than that of the second satellite navigation system.

[0350] Among them, the above difference can be the difference when the ratio of the number of unused first satellites to the number of available first satellites is used as the minuend minus the ratio of the number of unused second satellites to the number of available second satellites. In this case, the ninth threshold can be less than or equal to 0. The above difference can also be the difference when the ratio of the number of unused second satellites to the number of available second satellites is used as the minuend minus the ratio of the number of unused first satellites to the number of available first satellites. In this case, the ninth threshold can be less than or equal to 1. The embodiments of this application do not limit this.

[0351] For example, there are 8 available first satellites and 10 available second satellites, and the seventh threshold is equal to 0. Among them, the consistency results of 7 out of the 8 available first satellites are relatively good, and only the data of these 7 first satellites can be used in the first satellite navigation system. Then, the excluded first satellite is 1. The ratio of the unused first satellites to the available first satellites is 1 / 8 = 12.5%. Then, when finally outputting the positioning result, the ratio of the unused second satellites to the available second satellites is not less than 10 * 12.5% = 1.25, that is, when finally outputting the positioning result, the number of excluded second satellites is not less than 1 (rounding down) or 2 (rounding up). Then, the maximum number of used second satellites is 8 or 9.

[0352] For another example, there are 8 available first satellites, 10 available second satellites, and the seventh threshold is equal to 10. Among them, the consistency results of 7 out of the 8 available first satellites are relatively good, and the data of only these 7 first satellites can be used in the first satellite navigation system. Then, the number of excluded first satellites is 1. The ratio of the unused first satellites to the available first satellites is 1 / 8 = 12.5%. When finally outputting the positioning result, the ratio of the unused second satellites to the available second satellites is not less than 10*(12.5% - 10%) = 2.75, and GPS can use at most 8 (rounded down) or 7 (rounded up).

[0353] It should be noted that the above satellite navigation system takes the first satellite navigation system and the second satellite navigation system as examples. When there are multiple satellite navigation systems, such as the third satellite navigation system, the fourth satellite navigation system, the fifth satellite navigation system, etc., the terminal device can ensure the priority of the first satellite navigation system based on a similar method as above.

[0354] Exemplarily, the terminal device can perform fusion positioning according to the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system. The satellites of the Nth satellite navigation system are the Nth satellites. In this positioning, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites is less than or equal to the threshold #I 1 , and the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused third satellites to the number of available third satellites is less than or equal to the threshold #I 2 ,..., and the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused Nth satellites to the number of available Nth satellites is less than or equal to the threshold #I N-1 ; or, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second, third,..., Nth satellites to the number of available second, third,..., Nth satellites is less than or equal to the threshold #I'.

[0355] Based on this technical solution, the ratio of the number of satellites in the unused first satellite navigation system is not greater than the ratio of the number of satellites in the unused other satellite navigation systems; or, the ratio of the number of satellites in the unused first satellite navigation system is not greater than the sum of the ratios of the number of satellites in the unused other satellite navigation systems, which can be understood as the priority of the first satellite navigation system is not lower than that of the other satellite navigation systems.

[0356] The above threshold #I 1 , I2 ……, I N-1 and the threshold #I' can be less than or equal to 0, or, the above-mentioned threshold I 1 , I 2 ……, I N-1 and the threshold #I' can be less than or equal to 1. For example, when the threshold #I 1 , I 2 ……, I N-1 and the threshold #I' is the threshold of the difference, its value can be less than or equal to 0; when the threshold #I 1 , I 2 ……, I N-1 and the threshold #I' is the threshold of the ratio, its value can be less than or equal to 1.

[0357] In a possible implementation, the above positioning may include single positioning or multiple positionings.

[0358] It can be understood that single positioning means that the terminal device outputs a single positioning result, and the above conditions are satisfied during the process of outputting this single positioning result, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the process of single positioning. Multiple positionings mean that the terminal device outputs multiple positioning results, and the above conditions are satisfied during the process of outputting these multiple positioning results, so that the priority of the first satellite navigation system is not lower than that of the second satellite navigation system during the overall process of multiple positionings.

[0359] Exemplarily, the above positioning may be to perform single positioning within a time interval.

[0360] For example, the terminal device can perform single positioning every 1 second, output a single positioning result, determine, based on this single positioning result, the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused other satellites to the number of available other satellites during this single positioning, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0361] Exemplarily, multiple positionings may be to perform multiple positionings within a period of time.

[0362] For example, the terminal device can perform 10 positionings within 10 seconds, output 10 positioning results, determine, based on these 10 positioning results, the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused other satellites to the number of available other satellites during these 10 positionings. Specifically, for example, the ratio of the number of unused first satellites to the number of available first satellites during the 10 positionings can be accumulated or averaged, and the ratio of the number of unused other satellites to the number of available other satellites during the 10 positionings can be accumulated or averaged, and compare whether the quantitative relationship between the two satisfies the conditions of the above threshold.

[0363] The positioning solution in this embodiment can be used for initial positioning or positioning in the tracking state. The embodiments of the present application do not limit this.

[0364] Optionally, in any of the above implementation manners, when positioning using the first satellite navigation system and the second satellite navigation system, the number of available first satellites is greater than or equal to the number of available second satellites, where the first satellite is a satellite of the first satellite navigation system and the second satellite is a satellite of the second satellite navigation system.

[0365] Optionally, in any of the above implementation manners, when positioning using the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system, the number of available first satellites is greater than or equal to the number of available second satellites,..., and the number of available first satellites is greater than or equal to the number of available Nth satellites, where the first satellite is a satellite of the first satellite navigation system, the second satellite is a satellite of the second satellite navigation system, and the Nth satellite is a satellite of the Nth satellite navigation system.

[0366] Optionally, in any of the above implementation manners, when positioning using the first satellite navigation system, the second satellite navigation system,..., and the Nth satellite navigation system, the number of available first satellites is greater than or equal to the sum of the numbers of available second satellites, third satellites,..., and available Nth satellites, where the first satellite is a satellite of the first satellite navigation system, the second satellite is a satellite of the second satellite navigation system, and the Nth satellite is a satellite of the Nth satellite navigation system.

[0367] It can be understood that in the above solution, the first satellite navigation system has a relatively higher priority. A possible situation is that when the number of available first satellites is relatively larger, it is considered that the first satellite navigation system has a relatively higher priority. Therefore, by adding the above conditions, the practicability of the above solution is higher.

[0368] Based on the above technical solution, whether the terminal device performs independent positioning based on the first satellite navigation system or the terminal device performs integrated positioning based on the first satellite navigation system and other satellite navigation systems, it can meet the requirement that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems, thereby ensuring the positioning accuracy.

[0369] In the embodiments of the present application, a possible implementation also provides an integrated positioning solution, which can ensure the priority of a satellite navigation system with relatively high reliability.

[0370] See Figure 6 , as an example, Figure 6It is a schematic diagram of a communication method 600 provided by an embodiment of the present application. For ease of description below, the method 600 is exemplarily described with the execution subject being a terminal device. It can be understood that the execution subject of the method 600 can also be a component of the terminal device (such as a chip or a circuit), which is not limited herein. The steps described below as being executed by a single execution subject can also be divided into steps executed by multiple execution subjects, and these execution subjects can be logically and / or physically separated. Figure 6 The method 600 shown may include the following steps.

[0371] Figure 6 The method 600 shown may include the following steps.

[0372] S610, the terminal device receives signals from at least two satellite navigation systems.

[0373] Among them, the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system.

[0374] For a specific description of this step, reference can be made to S510, which will not be elaborated here.

[0375] S620, the terminal device performs positioning according to the signals of at least two satellite navigation systems.

[0376] The terminal device performs integrated positioning according to the signals of the at least two satellite navigation systems. For the specific method, reference can be made to the relevant content of the above satellite positioning principle, which will not be elaborated here.

[0377] Exemplarily, the terminal device can perform positioning according to the first satellite navigation system and the second satellite navigation system.

[0378] Exemplarily, the terminal device can perform positioning according to the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system, where N is a positive integer and N≥3.

[0379] In the embodiment of the present application, in this integrated positioning scenario, it is necessary to ensure that the priority of the first satellite navigation system is not lower than the priority of other satellite navigation systems.

[0380] In the embodiment of the present application, the satellites of the first satellite navigation system are the first satellites, the satellites of the second satellite navigation system are the second satellites,..., and the satellites of the Nth satellite navigation system are the Nth satellites.

[0381] In a possible implementation, the difference or ratio between the number of the first satellites used and the number of the second satellites used is greater than or equal to a sixth threshold, and the sixth threshold can be greater than or equal to 0, or the sixth threshold is greater than or equal to 1.

[0382] In a possible implementation, the difference or ratio between the ratio of the number of first satellites used to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold, where the seventh threshold is greater than or equal to 0, or the seventh threshold can be greater than or equal to 1.

[0383] In a possible implementation, the difference or ratio between the number of unused first satellites and the number of unused second satellites is less than or equal to an eighth threshold. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used. The eighth threshold is less than or equal to 0, or the eighth threshold can be less than or equal to 1.

[0384] In a possible implementation, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites is less than or equal to a ninth threshold. The number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, and the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used. The ninth threshold is less than or equal to 0, or the ninth threshold can be less than or equal to 1.

[0385] Specifically, the specific implementation manners of the above various implementations can refer to the content about the method of the terminal device performing integrated positioning in S530, which will not be elaborated here.

[0386] It should be noted that in the content about the method of the terminal device performing integrated positioning in S530, the method of the terminal device performing positioning based on the first satellite navigation system, the second satellite navigation system,..., the Nth satellite navigation system is also applicable to step S620, which will not be elaborated here.

[0387] It should be noted that the solution in S530 regarding positioning including single positioning or multiple positionings is also applicable to step S620, which will not be elaborated here.

[0388] It should be noted that the solution in S530 regarding the number of available satellites of the first satellite navigation system being greater than or equal to the number of available satellites of other satellite navigation systems is also applicable to step S620, which will not be elaborated here.

[0389] In S630, this positioning solution can be used for both initial positioning and positioning in the tracking state, and the embodiments of the present application do not make any limitations in this regard.

[0390] Based on this technical solution, when the terminal device performs integrated positioning, under certain conditions, it can ensure that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems, thereby ensuring positioning accuracy.

[0391] In an embodiment of the present application, a possible implementation also provides a positioning solution. By limiting the deviation between the final positioning result / time synchronization result and the positioning result / time synchronization result obtained only based on the first satellite navigation system within a certain range, the positioning accuracy is ensured.

[0392] In a possible implementation manner, the terminal device receives signals from at least two satellite navigation systems and performs a first positioning based on the signals of the at least two satellite navigation systems.

[0393] Among them, the specific description of the terminal device receiving signals from at least two satellite navigation systems can refer to S510 and will not be elaborated here.

[0394] Among them, the terminal device can perform independent positioning or integrated positioning based on the at least two satellite navigation systems, and the embodiments of the present application do not limit this. The specific implementation manner of this step can refer to the relevant content of the above satellite positioning principle and will not be elaborated here.

[0395] Among them, the first positioning can be positioning based on a single satellite navigation system. For example, the terminal device performs independent positioning according to any one of Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc.; the first positioning can also be integrated positioning. For example, the terminal device performs integrated positioning according to at least two of Beidou, GPS, GLONASS, Galileo, QZSS, IRNSS, etc.

[0396] Among them, the second positioning is positioning only based on the first satellite navigation system.

[0397] In an embodiment of the present application, take the example that the priority of the first satellite navigation system is higher than that of other satellite navigation systems.

[0398] Among them, the gap between the positioning result of the first positioning and the positioning result of the second positioning is less than a certain threshold.

[0399] Exemplarily, the positioning result of the first positioning includes a first positioning position, and the positioning result of the second positioning includes a second positioning position. The absolute value of the difference between the first positioning position and the second positioning position is less than or equal to the threshold #X 1 。

[0400] Exemplarily, the time synchronization result of the first positioning is a first time synchronization result, and the time synchronization result of the second positioning is a second time synchronization result. The absolute value of the difference between the first time synchronization result and the second time synchronization result is less than or equal to the threshold #X2 。

[0401] In a possible implementation, in the scenario where the first positioning is integrated positioning, it is necessary to ensure that the priority of the first satellite navigation system is not lower than that of other satellite navigation systems. For example, the number of satellites of the first satellite navigation system used is greater than or equal to the number of satellites of other satellite navigation systems.

[0402] It should be noted that the solution regarding positioning including single positioning or multiple positionings in S530 is equally applicable to this solution and will not be elaborated here.

[0403] It should be noted that the solution in S530 where the number of available satellites of the first satellite navigation system is greater than or equal to the number of available satellites of other satellite navigation systems is equally applicable to this solution and will not be elaborated here.

[0404] This positioning solution can be used for both initial positioning and positioning in the tracking state, and the embodiments of the present application do not make any limitations in this regard.

[0405] In the embodiments of the present application, whether in an independent positioning scenario or an integrated positioning scenario, if the deviation between the positioning result / timekeeping result and the positioning result / timekeeping result of the first satellite navigation system is within a certain range, or in other words, the gap between this positioning result / timekeeping result and the positioning result / timekeeping result of the first satellite navigation system is very small (for example, less than a threshold between the two), then it can be considered that the accuracy of this positioning result is reliable.

[0406] Above, in combination with Figures 5 to 6 The method provided by the embodiments of the present application has been described in detail. Below, in combination with Figures 7 to 8 The device provided by the embodiments of the present application will be described in detail. It should be understood that the description of the device embodiments corresponds to the description of the method embodiments. Therefore, for the content not described in detail, reference can be made to the above method embodiments, and for the sake of brevity, it will not be elaborated here.

[0407] Refer to Figure 7 , as an example, Figure 7 is a schematic diagram of a communication device 700 provided by the embodiments of the present application.

[0408] The device 700 includes a transceiver unit 710 and a processing unit 720. Among them, the transceiver unit 710 can be used to implement corresponding communication functions, and the processing unit 720 can be used for data processing.

[0409] Optionally, the transceiver unit 710 may also be referred to as a communication interface or a communication unit, including a transmitting unit and / or a receiving unit. The transceiver unit 710 may be a transceiver (including a transmitter and / or a receiver), an input / output interface (including an input and / or an output interface), a pin, a circuit, etc. The transceiver unit 710 may be used to perform the sending and / or receiving steps in the above method embodiments.

[0410] Optionally, the processing unit 720 may be a processor (which may include one or more), a processing circuit with processor functions, etc., and may be used to perform other steps in the above method embodiments except for sending and receiving.

[0411] Optionally, the device 700 further includes a storage unit, and the storage unit may be a memory, an internal storage unit (such as a register, a cache, etc.), an external storage unit (such as a read-only memory, a random access memory, etc.). The storage unit is used to store instructions, and the above processing unit 720 executes the instructions stored in the storage unit to enable the communication device to execute the above method.

[0412] In a first possible design, the device 700 may be used to perform the actions executed by the terminal device in the above method embodiments. For example, the device 700 may be used to perform the actions executed by the terminal device in the above method 500. At this time, the device 700 may be a component of the terminal device. The transceiver unit 710 is used to perform the transceiver-related operations on the terminal device side in the above method embodiments, and the processing unit 720 is used to perform the processing-related operations on the terminal device in the above method embodiments.

[0413] In a possible implementation, the transceiver unit 710 is used to receive signals of at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; the processing unit 720 is used to determine the positioning information of the at least two satellite navigation systems according to the signals of the at least two satellite navigation systems; the processing unit 720 is used to perform positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems.

[0414] It should be understood that the transceiver unit 710 and the processing unit 720 may also perform other operations executed by the terminal device in the above method 500, which will not be elaborated here one by one.

[0415] A second possible design, the apparatus 700 can be used to perform the actions executed by the terminal device in the above method embodiments. For example, the apparatus 700 can be used to perform the actions executed by the terminal device in the above method 600. At this time, the apparatus 700 can be a component of the terminal device. The transceiver unit 710 is used to perform the transceiver-related operations on the terminal device side in the above method embodiments, and the processing unit 720 is used to perform the processing-related operations on the terminal device in the above method embodiments.

[0416] A possible implementation, the transceiver unit 710 is used to receive signals of at least two satellite navigation systems, and the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; the processing unit 720 is used to perform positioning according to the signals of the at least two satellite navigation systems.

[0417] It should be understood that the transceiver unit 710 and the processing unit 720 can also perform other operations executed by the terminal device in the above method 600, which will not be elaborated here one by one.

[0418] It should be understood that the specific processes of each unit executing the above corresponding steps have been described in detail in the above method embodiments. For the sake of brevity, they will not be repeated here.

[0419] It should also be understood that the apparatus 700 here is embodied in the form of functional units. The term "unit" here can refer to an application specific integrated circuit (ASIC), an electronic circuit, a processor (such as a shared processor, a dedicated processor or a group of processors, etc.) for executing one or more software or firmware programs, and a memory, a combined logic circuit and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art can understand that the apparatus 700 can specifically be the communication device in the above embodiments, and can be used to execute each process and / or step corresponding to the communication device in the above method embodiments. To avoid repetition, it will not be elaborated here.

[0420] The apparatus 700 in the above various solutions has the function of implementing the corresponding steps executed by the communication device (such as the sending end device or the receiving end device) in the above method. The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (for example, the sending unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units, such as the processing unit, can be replaced by a processor, respectively executing the transceiver operations and related processing operations in each method embodiment.

[0421] In addition, the above transceiver unit 710 may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit may be a processing circuit.

[0422] It should be noted that Figure 7 the device in may be the communication device in the foregoing embodiments (such as a terminal device or a network device), or a chip or a chip system, for example: a system on chip (SoC). Among them, the transceiver unit may be an input / output circuit or a communication interface; the processing unit is a processor, a microprocessor, or an integrated circuit integrated on the chip. There is no limitation here.

[0423] See Figure 8 As an example, Figure 8 is a schematic diagram of a communication architecture provided by an embodiment of the present application. Figure 8 The communication device 800 shown includes: a processor 810 and a transceiver 820. Optionally, the processor 810 and the transceiver 820 may be connected to each other through a bus 830. The communication device 800 may be a terminal device or a network device.

[0424] Optionally, the communication device 800 may further include a memory 840. The memory 840 includes but is not limited to a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM). The memory 840 is used to store relevant instructions and data.

[0425] The processor 810 is coupled to the memory 840 and is configured to execute the instructions stored in the memory 840 to control the transceiver 820 to send signals and / or receive signals.

[0426] It should be understood that the above processor 810 and memory 840 may be integrated into a processing device, and the processor 810 is configured to execute the program code stored in the memory 840 to implement the above functions. Specifically, the memory 840 may also be integrated in the processor 810 or independent of the processor 810. It should be understood that the processor 810 may also correspond to each processing unit in the previous communication device, and the transceiver 820 may correspond to each receiving unit and sending unit in the previous communication device.

[0427] It should also be understood that the transceiver 820 may include a receiver (or, a receiver) and a transmitter (or, a transmitter). The transceiver may further include an antenna, and the number of antennas may be one or more. The transceiver may also be a communication interface or an interface circuit.

[0428] Specifically, the communication device 800 may correspond to the terminal device in the method 500 according to the embodiments of the present application. The communication device 800 may include units of the method executed by the terminal device in the method 500. It should be understood that the specific processes of each unit executing the corresponding steps above have been described in detail in the above method embodiments. For the sake of brevity, they will not be repeated here.

[0429] Specifically, the communication device 800 may correspond to the terminal device in the method 600 according to the embodiments of the present application. The communication device 800 may include units of the method executed by the terminal device in the method 600. It should be understood that the specific processes of each unit executing the corresponding steps above have been described in detail in the above method embodiments. For the sake of brevity, they will not be repeated here.

[0430] When the communication device 800 is a chip, the chip includes an interface unit and a processing unit. Among them, the interface unit may be an input / output circuit or a communication interface; the processing unit may be a processor, a microprocessor, or an integrated circuit integrated on the chip.

[0431] In the implementation process, each step of the above method may be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by the hardware processor, or executed and completed by the combination of the hardware and software modules in the processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0432] It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiments can be completed by the integrated logic circuit in the hardware of the processor or the instructions in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0433] The present application also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by the computer, it realizes the functions of any one of the above method embodiments.

[0434] The present application also provides a computer program product, and when the computer program product is executed by the computer, it realizes the functions of any one of the above method embodiments.

[0435] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from a website, computer, server, or data center to another website, computer, server, or data center in a wired manner (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or a wireless manner (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a high-density digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0436] In the embodiments of the present application, words such as "exemplary" and "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as "exemplary" in this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "exemplary" is intended to present concepts in a specific manner.

[0437] It should be understood that the "embodiments" mentioned throughout the specification mean that specific features, structures, or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics can be combined in one or more embodiments in any suitable manner.

[0438] It should be understood that in various embodiments of the present application, the magnitudes of the serial numbers of the above processes do not indicate the sequence of execution, and the execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. The names of all nodes and messages in the present application are only set for the convenience of description in the present application, and their names in the actual network may be different. It should not be understood that the present application limits the names of various nodes and messages. On the contrary, any name having the same or similar function as the nodes or messages used in the present application is regarded as the method of the present application or an equivalent replacement, and is within the protection scope of the present application.

[0439] It should also be understood that in the present application, "when...", "if", and "in case" all mean that under certain objective circumstances, the UE or the base station will perform corresponding processing, which does not limit the time, and does not require the UE or the base station to have a judgment action when implemented, nor does it mean the existence of other limitations.

[0440] In addition, the terms "system" and "network" are often used interchangeably in this article. The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0441] The term "at least one of..." or "at least one kind of..." in this article means all or any combination of the listed items. For example, "at least one of A, B, and C" can represent: A exists alone, B exists alone, C exists alone, A and B exist simultaneously, B and C exist simultaneously, and A, B, and C exist simultaneously. The "at least one" in this article means one or more. "Multiple" means two or more.

[0442] It should be understood that in each embodiment of the present application, the terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0443] It should be understood that in various embodiments of the present application, the first, second, and various numerical numbers are only for the convenience of description and are not used to limit the scope of the embodiments of the present application. For example, to distinguish different information, etc.

[0444] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0445] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0446] In several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. 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 displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be electrical, mechanical, or other forms.

[0447] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0448] In addition, the functional units in each embodiment of this application can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0449] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0450] As described above, the above is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that, it includes: receiving signals from at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; determining the positioning information of the at least two satellite navigation systems according to the signals of the at least two satellite navigation systems; performing positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems.

2. The method according to claim 1, characterized in that, the positioning information includes at least one of internal consistency information, timing result, and positioning location.

3. The method according to claim 2, characterized in that, the positioning information includes the internal consistency information, and the performing positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems includes: when the difference or ratio between the first posterior mean error and the second posterior mean error is less than a first threshold, only using the first satellite navigation system for the positioning; or, when the difference or ratio between the first posterior mean error and the second posterior mean error is greater than or equal to the first threshold, using the first satellite navigation system and the second satellite navigation system for the positioning; wherein, the first threshold is less than or equal to 0, or, the first threshold is less than or equal to 1; or, when the second posterior mean error is greater than or equal to a second threshold, only using the first satellite navigation system for the positioning; or, when the second posterior mean error is less than the second threshold, using the first satellite navigation system and the second satellite navigation system for the positioning; wherein, the second threshold is greater than or equal to 0; or, when the first posterior mean error is less than or equal to a third threshold, only using the first satellite navigation system for the positioning; or, when the first posterior mean error is greater than the third threshold, using the first satellite navigation system and the second satellite navigation system for the positioning; wherein, the third threshold is greater than or equal to 0; wherein, the first posterior mean error is used to represent the internal consistency information of the first satellite navigation system, and the second posterior mean error is used to represent the internal consistency information of the second satellite navigation system or the internal consistency information of the first satellite navigation system and the second satellite navigation system.

4. The method according to claim 2, characterized in that, the positioning information includes the timing result, and the performing positioning using the first satellite navigation system according to the positioning information of the at least two satellite navigation systems includes: when the absolute value of the difference between the first timing result and the second timing result is greater than a fourth threshold, only using the first satellite navigation system for the positioning; or, when the absolute value of the difference between the first timing result and the second timing result is less than or equal to the fourth threshold, using the first satellite navigation system and the second satellite navigation system for the positioning; wherein, the fourth threshold is greater than or equal to 0; Wherein, the first timing result is the timing result of the first satellite navigation system, and the second timing result is the timing result of the second satellite navigation system or the timing results of the first satellite navigation system and the second satellite navigation system.

5. The method according to claim 2, wherein, the positioning information includes the positioning location, and the positioning using the first satellite navigation system according to the positioning information of at least two satellite navigation systems includes: when the absolute value of the difference between the first positioning location and the second positioning location is greater than a fifth threshold, only using the first satellite navigation system for the first positioning; or, when the absolute value of the difference between the first positioning location and the second positioning location is less than or equal to the fifth threshold, using the first satellite navigation system and the second satellite navigation system for the first positioning; wherein, the fifth threshold is greater than or equal to 0; wherein, the first positioning location is the positioning result determined only according to the first satellite navigation system, and the second positioning location is the positioning result determined only according to the second satellite navigation system or the positioning result determined according to the first satellite navigation system and the second satellite navigation system.

6. The method according to any one of claims 1-5, wherein, the positioning using the first satellite navigation system includes: using the first satellite navigation system and the second satellite navigation system for the positioning, the difference or ratio between the number of first satellites used in the positioning and the number of second satellites used is greater than or equal to a sixth threshold, the first satellites are the satellites of the first satellite navigation system, the second satellites are the satellites of the second satellite navigation system, the sixth threshold is greater than or equal to 0, or the sixth threshold is greater than or equal to 1.

7. The method according to any one of claims 1-5, wherein, the positioning using the first satellite navigation system includes: using the first satellite navigation system and the second satellite navigation system for the positioning, the difference or ratio between the ratio of the number of first satellites used in the positioning to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold, the first satellites are the satellites of the first satellite navigation system, the second satellites are the satellites of the second satellite navigation system, the seventh threshold is greater than or equal to 0, or the seventh threshold is greater than or equal to 1.

8. The method according to any one of claims 1-5, wherein, the positioning using the first satellite navigation system includes: using the first satellite navigation system and the second satellite navigation system for the positioning, The difference or ratio between the number of unused first satellites and the number of unused second satellites in the positioning is less than or equal to an eighth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites, the eighth threshold is less than or equal to 0, or the eighth threshold is less than or equal to 1.

9. The method according to any one of claims 1-5, wherein, using the first satellite navigation system for positioning includes: using the first satellite navigation system and the second satellite navigation system for the positioning, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites in the positioning is less than or equal to a ninth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of used first satellites, the number of unused second satellites is equal to the difference between the number of available second satellites and the number of used second satellites, the ninth threshold is less than or equal to 0, or the ninth threshold is less than or equal to 1.

10. The method according to any one of claims 1-9, wherein, the positioning includes single positioning or multiple positionings.

11. The method according to any one of claims 1-10, wherein, using the first satellite navigation system for positioning includes: using the first satellite navigation system and the second satellite navigation system for the positioning, where the number of available first satellites is greater than or equal to the number of available second satellites, the first satellites are satellites of the first satellite navigation system, and the second satellites are satellites of the second satellite navigation system.

12. The method according to any one of claims 1-11, wherein, the positioning is used for the terminal to perform initial positioning or positioning in a tracking state.

13. The method according to any one of claims 1-12, wherein, the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system is one of the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), and the Galileo satellite navigation system.

14. A positioning method, wherein, it includes: receiving signals from at least two satellite navigation systems, where the at least two satellite navigation systems include a first satellite navigation system and a second satellite navigation system; performing positioning according to the signals of the at least two satellite navigation systems.

15. The method according to claim 14, wherein, wherein, The difference or ratio between the number of first satellites used in the positioning and the number of second satellites used is greater than or equal to a sixth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the sixth threshold is greater than or equal to 0, or the sixth threshold is greater than or equal to 1.

16. According to the method described in claim 14, characterized in that, wherein, the difference or ratio between the ratio of the number of first satellites used in the positioning to the number of available first satellites and the ratio of the number of second satellites used to the number of available second satellites is greater than or equal to a seventh threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the seventh threshold is greater than or equal to 0, or the seventh threshold is greater than or equal to 1.

17. According to the method described in claim 14, characterized in that, wherein, the difference or ratio between the number of unused first satellites and the number of unused second satellites in the positioning is less than or equal to an eighth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used, the eighth threshold is less than or equal to 0, or the eighth threshold is less than or equal to 1.

18. According to the method described in claim 14, characterized in that, wherein, the difference or ratio between the ratio of the number of unused first satellites to the number of available first satellites and the ratio of the number of unused second satellites to the number of available second satellites in the positioning is less than or equal to a ninth threshold, where the first satellites are satellites of the first satellite navigation system, the second satellites are satellites of the second satellite navigation system, the number of unused first satellites is equal to the difference between the number of available first satellites and the number of first satellites used, the number of unused second satellites is equal to the difference between the number of available second satellites and the number of second satellites used, the ninth threshold is less than or equal to 0, or the ninth threshold is less than or equal to 1.

19. According to the method described in any one of claims 14 - 18, characterized in that, the positioning includes one positioning or multiple positionings.

20. According to the method described in any one of claims 14 - 19, characterized in that, wherein, the number of available first satellites in the positioning is greater than or equal to the number of available second satellites, where the first satellites are satellites of the first satellite navigation system and the second satellites are satellites of the second satellite navigation system.

21. According to the method described in any one of claims 14 - 20, characterized in that, the positioning is used for the terminal to perform an initial positioning or positioning in a tracking state.

22. According to the method described in any one of claims 14 - 21, It is characterized in that the first satellite navigation system is the Beidou satellite navigation system, and the second satellite navigation system includes one of the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), and the Galileo satellite navigation system.

23. A communication device It is characterized in that it includes a processor, and the processor is used to execute the computer program or instructions stored in the memory, so that the device executes the method described in any one of claims 1 to 22.

24. The device according to claim 23 It is characterized in that the device further includes the memory.

25. A computer-readable storage medium It is characterized in that a computer program or instructions are stored on the computer-readable storage medium, and when the computer program or instructions run on a computer, the method described in any one of claims 1 to 22 is executed.

26. A computer program product It is characterized in that when the computer program product runs on a computer, the method described in any one of claims 1 to 22 is executed.

Images