Satellite selection method and device, satellite positioning method and device, satellite communication terminal and medium

Abstract

The invention relates to the technical field of satellite navigation, and discloses a satellite selection method and device, a satellite positioning method and device, a satellite communication terminal and a medium, and the method comprises the steps: obtaining a plurality of satellites to be selected; obtaining the number of receiver channels, and determining the grouping number of the satellites to be selected based on the number of receiver channels; according to the azimuth angles and the elevation angles of the satellites to be selected and the grouping number, the satellites to be selected are divided into multiple groups, and multiple satellite groups to be selected are obtained; and respectively selecting a target satellite from each to-be-selected satellite group. According to the method, the calculation process and the calculation amount of the receiver facing the large-scale navigation constellation are reduced, and the receiver can quickly and accurately position and calculate.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation, and particularly relates to a satellite selection method, a positioning method, a device, a satellite communication terminal, and a medium. Background Art

[0002] Low Earth Orbit (LEO) constellation satellites have the advantages of a large number, global coverage, and inter-satellite interconnection. By transmitting navigation augmentation signals using LEO satellites, the positioning accuracy and integrity capabilities of navigation users can be effectively improved, and the application scope of satellite navigation can be effectively expanded.

[0003] With the deployment of LEO navigation constellations, for receivers, the number of visible satellites increases. If all of them are used for positioning and calculation, the positioning accuracy will be greatly improved compared to a single navigation system. However, limited by the number of hardware channels and signal processing capabilities, it is impossible to use all visible satellites for positioning, so satellite selection becomes inevitable.

[0004] However, the satellite selection methods in related technologies cannot balance accuracy and computational complexity. Summary of the Invention

[0005] In view of this, the present invention provides a satellite selection method, a positioning method, a device, a satellite communication terminal, and a medium to solve the problem that the satellite selection methods in related technologies cannot balance accuracy and computational complexity.

[0006] In a first aspect, the present invention provides a satellite selection method applied to a satellite communication terminal. The method includes: Obtaining a plurality of candidate satellites; Obtaining the number of receiver channels, and determining the number of groups of the candidate satellites based on the number of receiver channels; Dividing the plurality of candidate satellites into multiple groups according to the azimuth angles and elevation angles of the candidate satellites and the number of groups, to obtain multiple groups of candidate satellite groups; Selecting target satellites from each of the groups of candidate satellite groups respectively.

[0007] In an optional implementation manner, the obtaining a plurality of candidate satellites includes: Obtaining a plurality of first satellites for which the receiver receives satellite signals; Respectively obtaining the elevation angles of the first satellites; Screening out the first satellites with elevation angles greater than or equal to a preset cut-off angle as the candidate satellites.

[0008] In an optional implementation manner, the number of groups is equal to the product of the number of elevation angle partitions and the number of azimuth angle partitions, and the number of elevation angle partitions and the number of azimuth angle partitions are determined based on the number of receiver channels; Dividing the multiple candidate satellites into multiple groups according to the azimuth angle and elevation angle of the candidate satellites and the number of groups to obtain multiple candidate satellite groups includes: Obtaining the maximum elevation angle, minimum elevation angle, maximum azimuth angle, and minimum azimuth angle of the multiple candidate satellites; Based on the maximum elevation angle, minimum elevation angle, maximum azimuth angle, minimum azimuth angle, the number of elevation angle partitions, and the number of azimuth angle partitions, determining the elevation angle range within each elevation angle partition and the azimuth angle range within each azimuth angle partition; Dividing the candidate satellites into the corresponding candidate satellite groups according to the azimuth angle and elevation angle of the candidate satellites and the elevation angle range within each elevation angle partition and the azimuth angle range within each azimuth angle partition.

[0009] In an alternative embodiment, the obtaining the number of receiver channels and determining the number of groups of the candidate satellites based on the number of receiver channels includes: Obtaining the set number of azimuth angle partitions, where the number of azimuth angle partitions is greater than or equal to a preset value; Based on the number of receiver channels and the number of azimuth angle partitions, determining the number of elevation angle partitions; the number of groups is less than or equal to the number of receiver channels.

[0010] In an alternative embodiment, the respectively selecting target satellites from each of the candidate satellite groups includes: Selecting one of the candidate satellites from each of the candidate satellite groups as the target satellite; If the number of target satellites is less than the number of receiver channels, selecting one or more of the candidate satellites that have not been selected as the target satellites so that the number of target satellites is equal to the number of receiver channels.

[0011] In an alternative embodiment, after respectively selecting target satellites from each of the candidate satellite groups, it further includes: Calculating one or more of a geometric matrix, a weight coefficient matrix, and a geometric dilution of precision based on the target satellites.

[0012] In a second aspect, the present invention provides a satellite positioning method, and the method includes: Selecting positioning satellites according to the satellite selection method of the first aspect above or any corresponding embodiment thereof; Performing positioning using the selected positioning satellites.

[0013] In a third aspect, the present invention provides a satellite selection device, and the device includes: A candidate satellite acquisition module, configured to acquire a plurality of candidate satellites; A grouping number determination module, configured to acquire the number of receiver channels, and determine the grouping number of the candidate satellites based on the number of receiver channels; A grouping module, configured to divide the plurality of candidate satellites into multiple groups according to the azimuth and elevation angles of the candidate satellites and the grouping number, to obtain multiple candidate satellite groups; A satellite selection module, configured to select a target satellite from each of the candidate satellite groups respectively.

[0014] In a fourth aspect, the present invention provides a satellite communication terminal, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the satellite selection method of the first aspect or any corresponding embodiment thereof, or execute the satellite positioning method of the second aspect or any corresponding embodiment thereof.

[0015] In a fifth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the satellite selection method of the first aspect or any corresponding embodiment thereof, or execute the satellite positioning method of the second aspect or any corresponding embodiment thereof.

[0016] In a sixth aspect, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the satellite selection method of the first aspect or any corresponding embodiment thereof, or execute the satellite positioning method of the second aspect or any corresponding embodiment thereof.

[0017] The satellite selection method, positioning method, device, satellite communication terminal and medium provided in this embodiment utilize the elevation and azimuth angles of the satellites relative to the receiver to perform spatial partitioning, thereby grouping the satellites, and selecting satellites based on the satellite groups. Without increasing the additional operations of the receiver, the satellite selection process is optimized, avoiding complex and resource-consuming operations such as matrix inversion, reducing the calculation process and calculation amount of the receiver when facing a large-scale navigation constellation, and facilitating the receiver to perform fast and accurate positioning and calculation. It can be applicable to the rapid selection of satellites in a large-scale navigation constellation, such as the rapid selection of satellites by a receiver in the case of a hybrid large-scale constellation such as multiple GNSS systems and low-Earth orbit navigation constellations. Description of the Drawings

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the related art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 is a schematic flowchart of a satellite selection method according to an embodiment of the present invention; Figure 2 is a schematic diagram of grouping candidate satellites according to an embodiment of the present invention; Figure 3 is a schematic flowchart of another satellite selection method according to an embodiment of the present invention; Figure 4 is a schematic flowchart of yet another satellite selection method according to an embodiment of the present invention; Figure 5 is a schematic flowchart of still another satellite selection method according to an embodiment of the present invention; Figure 6 is a structural block diagram of a satellite selection device according to an embodiment of the present invention; Figure 7 is a schematic diagram of the hardware structure of a satellite communication terminal according to an embodiment of the present invention. Specific Embodiments

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] The positioning accuracy of a satellite receiver is almost positively correlated with the Geometric Dilution of Precision (GDOP). A better GDOP often means better positioning accuracy. The goal of satellite selection is to minimize GDOP. However, solving GDOP involves operations such as matrix transpose, matrix multiplication, and matrix inversion, with high complexity. The method of calculating and comparing GDOP values is obviously not suitable for receivers with limited computing resources. In the related art, algorithms for quickly selecting satellites, such as the method of the maximum tetrahedron volume, reduce some matrix operations by traversing the volume of the polyhedron formed by the tetrahedrons composed of any four satellites. However, the number of satellites that can be selected under the existing hardware conditions is far greater than 4, and the satellite selection results obtained by this method are not accurate.

[0022] In order to enable the receiver to achieve high-precision positioning and solution under limited conditions, an embodiment of the present invention proposes a method for quickly selecting satellites for future large-scale constellations with complex configurations.

[0023] According to an embodiment of the present invention, an embodiment of a satellite selection method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of executable computer instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0024] In this embodiment, a satellite selection method is provided, which can be used for a satellite communication terminal having a satellite signal receiver. Figure 1 is a flowchart of the satellite selection method according to an embodiment of the present invention, as Figure 1 shown, this process includes the following steps: Step S101, obtain multiple candidate satellites.

[0025] Specifically, the multiple candidate satellites can be satellites whose signals can currently be received by the receiver of the satellite communication terminal. The multiple candidate satellites can include satellites of various orbital types, such as satellites in low Earth orbit (LEO), satellites in medium Earth orbit (MEO), satellites in geostationary Earth orbit (GEO), and satellites in inclined geosynchronous satellite orbit (IGSO). For example, they can be satellites that integrate the global navigation satellite system (GNSS) and the navigation constellation of the low Earth orbit system.

[0026] In some optional specific implementation manners, step S101, that is, the obtaining of multiple candidate satellites, includes: Step S1011, obtain multiple first satellites whose signals are received by the receiver; Step S1012, respectively obtain the elevation angles of the first satellites; Step S1013, screen out the first satellites whose elevation angles are greater than or equal to a preset cut-off angle as the candidate satellites. That is, eliminate the first satellites whose elevation angles are less than the preset cut-off angle. The preset cut-off angle can be specifically determined according to the situation of the first satellites (i.e., visible satellites). If the number of first satellites is less than the number of receiver channels, 5 degrees can be set as the preset cut-off angle. If the number of first satellites is more than the number of receiver channels, 10 degrees or even 15 degrees can be set as the preset cut-off angle.

[0027] Specifically, the elevation angle and azimuth angle of the satellite can be determined using the observation vector of the satellite at the position of the satellite communication terminal. The elevation angle of the satellite and the azimuth angle are calculated as follows:

[0028]

[0029] where is the coordinate difference of the satellite position relative to the satellite communication terminal position in the east direction in the local tangent plane coordinate system, is the coordinate difference of the satellite position relative to the satellite communication terminal position in the north direction in the local tangent plane coordinate system, is the coordinate difference of the satellite position relative to the satellite communication terminal position in the vertical direction in the local tangent plane coordinate system.

[0030] Step S102: Obtain the number of receiver channels, and determine the number of groups of the candidate satellites based on the number of receiver channels.

[0031] Specifically, the number of groups can be equal to the number of receiver channels or not equal to the number of receiver channels.

[0032] Step S103: Divide the multiple candidate satellites into multiple groups according to the azimuth angle and elevation angle of the candidate satellites and the number of groups, to obtain multiple groups of candidate satellites. For example, Figure 2 in, the candidate satellite 202 within a dashed box belongs to the same group of candidate satellites. Among them, the azimuth angle Az of the candidate satellite refers to the horizontal angle on the ground 203, starting from the north-pointing direction line of the satellite communication terminal (receiver), and clockwise to the target direction line (the target direction line is the positive projection line on the ground 203 of the line of sight from the satellite communication terminal (receiver) to the satellite). The elevation angle El of the candidate satellite is the angle between the candidate satellite and the horizon at the location of the satellite communication terminal (receiver) on the ground 203.

[0033] Specifically, the azimuth angles of the candidate satellites in different groups are all within the azimuth angle range corresponding to the group, and the elevation angles of the candidate satellites in different groups are also all within the elevation angle range corresponding to the group. The azimuth angle ranges corresponding to different groups do not cross each other, and the elevation angle ranges corresponding to different groups do not cross each other either. The spans of the azimuth angle ranges corresponding to different groups can be the same or different, and the spans of the elevation angle ranges corresponding to different groups can be the same or different.

[0034] In some optional specific embodiments, the number of groups is equal to the product of the number of elevation angle partitions and the number of azimuth angle partitions, and the number of elevation angle partitions and the number of azimuth angle partitions are determined based on the number of receiver channels; As shown in Figure 3 step S103, that is, dividing multiple candidate satellites into multiple groups according to the azimuth angle and elevation angle of the candidate satellites and the number of groups to obtain multiple candidate satellite groups, includes: Step S1031, obtaining the maximum elevation angle ElMax, the minimum elevation angle ElMin, the maximum azimuth angle AzMax, and the minimum azimuth angle AzMin of multiple candidate satellites.

[0035] Step S1032, based on the maximum elevation angle ElMax, the minimum elevation angle ElMin, the maximum azimuth angle AzMax, the minimum azimuth angle AzMin, the number of elevation angle partitions ne, and the number of azimuth angle partitions na, determining the elevation angle range within each elevation angle partition and the azimuth angle range within each azimuth angle partition.

[0036] Specifically, the elevation angle interval can be determined first based on the maximum elevation angle ElMax, the minimum elevation angle ElMin, and the number of elevation angle partitions ne, and the azimuth angle interval can be determined based on the maximum azimuth angle AzMax, the minimum azimuth angle AzMin, and the number of azimuth angle partitions na. Then, based on the maximum elevation angle ElMax, the minimum elevation angle ElMin, and the elevation angle interval es, the elevation angle range within each elevation angle partition is determined, and based on the maximum azimuth angle AzMax, the minimum azimuth angle AzMin, and the azimuth angle interval as, the azimuth angle range within each azimuth angle partition is determined.

[0037] The azimuth angle interval as and the elevation angle interval es can be expressed as: Since the azimuth angles of the satellites are connected end to end, ; Since the elevation angles are not connected end to end, 。

[0038] The elevation angle range within each elevation angle partition is:

[0039] where is the elevation angle range within the th elevation angle partition, 。

[0040] The azimuth angle range within each azimuth angle partition is:

[0041] where is the elevation angle range within the th elevation angle partition, 。

[0042] Step S1033: Divide the candidate satellites into corresponding candidate satellite groups according to the azimuth and elevation angles of the candidate satellites, as well as the elevation angle ranges within each elevation angle zone and the azimuth angle ranges within each azimuth angle zone.

[0043] Specifically, compare the elevation angle and azimuth angle of each candidate satellite with the boundary values of the corresponding zone ranges respectively. For example, if the elevation angle of a certain satellite belongs to the i-th elevation angle zone and the azimuth angle belongs to the j-th azimuth angle zone, then the satellite is classified into the k-th candidate satellite group. k increases by 1 through two-dimensional traversal according to the elevation angle and azimuth angle zones. For example, when i = 0 and j = 0, k = 1; when i = 0 and j = 1, k = 2. As i and j are traversed, k increases sequentially.

[0044] Among them, the number of candidate satellite groups is equal to the product of the number of elevation angle zones ne and the number of azimuth angle zones na, corresponding to ne×na intervals in three-dimensional space, that is, ne×na spatial zones.

[0045] In some optional specific embodiments, the number of groups is equal to the product of the number of elevation angle zones and the number of azimuth angle zones. The number of elevation angle zones and the number of azimuth angle zones can be determined in the following ways: Step 1: Obtain the set number of azimuth angle zones, and the number of azimuth angle zones is greater than or equal to 4; Step 2: Determine the number of elevation angle zones based on the number of receiver channels and the number of azimuth angle zones; the number of groups is less than or equal to the number of receiver channels.

[0046] In the embodiments of the present invention, the zoning principle of the elevation angle and azimuth angle is to give priority to ensuring the azimuth angle dimension, and secondly the elevation angle dimension, and at least ensure that the number of azimuth angle zones is greater than or equal to 4. Assume that the number of elevation angle zones is i, the number of azimuth angle zones is j, and the number of receiver channels is N. The number of elevation angle zones ne and the number of azimuth angle zones na can be expressed as follows: , ne is the integer obtained by rounding down N divided by 4. Thus, after azimuth angle zoning, the increase in the number of receiver channels can be distinguished by elevation angle zoning. Among them, 4 can be replaced by integers greater than 4 such as 5, 6, etc.

[0047] , na is the integer obtained by rounding down N divided by ne.

[0048] In other optional specific embodiments, the number of azimuth angle zones can also be greater than the first preset value n (n = 5, 6, 7...). The number of elevation angle zones can also be greater than the second preset value m (m = 4, 5, 6...).

[0049] Step S104: Select target satellites from each of the candidate satellite groups respectively.

[0050] In some optional specific embodiments, such as Figure 4 shown, step S104, that is, selecting target satellites from each of the candidate satellite groups respectively, specifically includes: Step S1041, selecting one of the candidate satellites from each of the candidate satellite groups as the target satellite.

[0051] Specifically, if there are multiple candidate satellites in a candidate satellite group, the candidate satellite with the highest elevation angle can be selected.

[0052] Step S1042, if the number of the target satellites is less than the number of receiver channels, selecting one or more of the candidate satellites that have not been selected as the target satellites, so that the number of the target satellites is equal to the number of receiver channels.

[0053] Specifically, after selecting one from each of the ne×na candidate satellite groups as the target satellite, if the number of the selected target satellites (ne×na) is less than the number of receiver channels N, then continue to select (N - ne×na) candidate satellites from the remaining candidate satellites that have not been selected as the target satellites as the target satellites. For example, (N - ne×na) candidate satellites can be selected as the target satellites in the order of decreasing elevation angle.

[0054] Based on the method of optimal GDOP for satellite selection, a large number of satellite combinations need to be traversed and calculated. The accuracy of satellite selection is high, but the algorithm is complex and the calculation efficiency is low. It is difficult to achieve fast satellite selection under the condition of a large-scale constellation. Moreover, with the increase of hardware resources, the number of satellites allowed to be selected increases greatly, and the optimization space of GDOP is often not large. There is no need to increase additional computing resources to repeatedly compare GDOP. Therefore, under such conditions, only ensuring a better geometric configuration can achieve a better GDOP and higher positioning accuracy.

[0055] The satellite selection method provided in this embodiment uses the elevation angle and azimuth angle of the satellite relative to the receiver to perform spatial partitioning, thereby grouping the satellites, and selects satellites based on the satellite grouping. Without increasing the additional operation of the receiver, it optimizes the satellite selection process, avoids complex and resource-consuming operations such as matrix inversion, reduces the calculation process and calculation amount of the receiver facing a large-scale navigation constellation, and is conducive to the receiver to perform fast and accurate positioning and solution. It can be applied to the fast satellite selection of a large-scale navigation constellation, such as the fast satellite selection of the receiver in the case of a hybrid large-scale constellation such as multiple GNSS systems and low-earth orbit navigation constellations.

[0056] The satellite selection method provided by the embodiment of the present invention includes elevation and azimuth angle calculation, grouping satellites according to the number of receiver channels, and quickly selecting satellites according to the grouping. The principle of this method is to select satellites with a relatively dispersed spatial distribution as much as possible through spatial partitioning, avoiding selecting satellites in one place or on a straight line, which will result in a better geometric distribution of satellites in positioning.

[0057] The number of satellite groups (corresponding to the number of spatial partitions) of the satellite selection method provided by the embodiment of the present invention is determined according to the number of receiver channels, which avoids waste of channels and reduces accuracy loss as much as possible.

[0058] The satellite selection method provided by the embodiment of the present invention partitions according to the existing elevation and azimuth angles in the existing receiver processing process, avoiding additional calculation amounts, minimizing the receiver's computational resource overhead, and facilitating the receiver to quickly select satellites and perform positioning solution when facing a large-scale navigation constellation.

[0059] In some optional specific embodiments, such as Figure 5 shown, after selecting target satellites from each of the candidate satellite groups respectively, it further includes: Step S105, calculating a geometric matrix , a weight coefficient matrix and one or more of the geometric dilution of precision (GDOP).

[0060] Among them, the geometric matrix is calculated in the topocentric coordinate system as follows:

[0061] The weight coefficient matrix is calculated as follows:

[0062] The GDOP value is calculated as the square root of the sum of the diagonal elements of the weight coefficient matrix:

[0063] Among them, , … respectively represent the elevation angles of target satellite 1, target satellite 2... target satellite N , , … respectively represent the azimuth angles of target satellite 1, target satellite 2... target satellite N . is the diagonal element of the weight coefficient matrix .

[0064] An embodiment of the present invention further provides a satellite positioning method, including: First, select positioning satellites according to any one of the methods provided in the above embodiments; Then, perform positioning using the selected positioning satellites.

[0065] In this embodiment, a satellite selection device is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" may be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0066] This embodiment provides a satellite selection device, as Figure 6 shown, including: A to-be-selected satellite acquisition module 601, configured to acquire a plurality of to-be-selected satellites; A grouping number determination module 602, configured to acquire the number of receiver channels, and determine the grouping number of the to-be-selected satellites based on the number of receiver channels; A grouping module 603, configured to divide the plurality of to-be-selected satellites into multiple groups according to the azimuth angles and elevation angles of the to-be-selected satellites and the grouping number, to obtain multiple to-be-selected satellite groups; A satellite selection module 604, configured to respectively select target satellites from each of the to-be-selected satellite groups.

[0067] In some alternative implementation manners, the to-be-selected satellite acquisition module 601 includes: A first satellite acquisition unit, configured to acquire a plurality of first satellites for which the receiver receives satellite signals; An elevation angle acquisition unit, configured to respectively acquire the elevation angles of the first satellites; A screening unit, configured to screen out the first satellites with elevation angles greater than or equal to a preset cut-off angle as the to-be-selected satellites.

[0068] In some alternative implementation manners, the grouping number is equal to the product of the elevation angle partition number and the azimuth angle partition number, and the elevation angle partition number and the azimuth angle partition number are determined based on the number of receiver channels; The grouping module 603 includes: An extreme value acquisition unit, configured to acquire the maximum elevation angle, minimum elevation angle, maximum azimuth angle, and minimum azimuth angle of the plurality of to-be-selected satellites; A partition range determination unit, configured to determine the elevation range within each elevation partition and the azimuth range within each azimuth partition based on the maximum elevation angle, the minimum elevation angle, the maximum azimuth angle, the minimum azimuth angle, the number of elevation partitions, and the number of azimuth partitions; A grouping division unit, configured to divide the candidate satellites into corresponding candidate satellite groups according to the azimuth and elevation angles of the candidate satellites, and the elevation ranges within each elevation partition and the azimuth ranges within each azimuth partition;

[0069] In some alternative embodiments, the grouping number determination module 602 includes: An azimuth partition number acquisition unit, configured to acquire the set number of azimuth partitions, where the number of azimuth partitions is greater than or equal to a preset value; An elevation partition number determination unit, configured to determine the number of elevation partitions based on the number of receiver channels and the number of azimuth partitions; the number of groups is less than or equal to the number of receiver channels.

[0070] In some alternative embodiments, the satellite selection module 604 includes: A first selection unit, configured to select one candidate satellite from each candidate satellite group as the target satellite; A second selection unit, configured to, if the number of target satellites is less than the number of receiver channels, select one or more candidate satellites from the unselected candidate satellites as the target satellites, so that the number of target satellites is equal to the number of receiver channels.

[0071] In some alternative embodiments, the satellite selection device further includes: A calculation module, configured to calculate one or more of a geometric matrix, a weight coefficient matrix, and a geometric dilution of precision based on the target satellite.

[0072] The further function descriptions of the above-mentioned modules and units are the same as those in the corresponding foregoing embodiments, and will not be elaborated herein.

[0073] The satellite selection device in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0074] An embodiment of the present invention further provides a satellite communication terminal, which may be a user navigation terminal and has the above-mentioned Figure 6 shown satellite selection device.

[0075] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of a satellite communication terminal provided by an alternative embodiment of the present invention. As Figure 7 shown, the satellite communication terminal includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the satellite communication terminal, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Figure 7 In

[0076]

[0077] which, the memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiments.

[0078] The memory 20 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the satellite communication terminal, etc. In addition, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely set relative to the processor 10, and these remote memories can be connected to the satellite communication terminal through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0079] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, a hard disk, or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0080] ​The satellite communication terminal further includes a communication interface 30 for the satellite communication terminal to communicate with other devices or communication networks. The communication interface 30 includes a satellite communication interface for communicating with a satellite.

[0081] The satellite communication terminal further includes an input device and an output device. The processor, the memory, the input device, and the output device can be connected through a bus or other means.

[0082] The input device can receive input digital or character information and generate key signal inputs related to user settings and function controls of the satellite communication terminal, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device can include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above display device includes, but is not limited to, a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device can be a touch screen.

[0083] The embodiments of the present invention further provide a computer-readable storage medium. The method according to the embodiments of the present invention can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored as such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code, and when the software or computer code is accessed and executed by the computer, the processor, or the hardware, the method shown in the above embodiments is implemented.

[0084] A part of the present invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the present invention through the operations of the computer. Those skilled in the art should understand that the forms of existence of computer program instructions in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways for a computer to execute computer program instructions include, but are not limited to: the computer directly executes the instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible by the computer.

[0085] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A satellite selection method, characterized in that: Applied to a satellite communication terminal, the method comprises: Acquire multiple satellites to be selected; Acquire the number of receiver channels, and determine the number of groups of the to-be-selected satellites based on the number of receiver channels; According to the azimuth angle and elevation angle of the satellite to be selected and the number of groups, the plurality of satellites to be selected are divided into a plurality of groups to obtain a plurality of satellite groups to be selected; A target satellite is selected from each of the candidate satellite groups respectively.

2. The method according to claim 1, characterized in that The step of acquiring a plurality of satellites to be selected comprises: Acquire a plurality of first satellites whose satellite signals are received by the receiver; respectively obtaining the elevation angles of the first satellites; The first satellites whose elevation angles are greater than or equal to a preset cutoff angle are selected as the candidate satellites.

3. The method according to claim 1, characterized in that The number of groups is equal to the product of the number of elevation divisions and the number of azimuth divisions, and the number of elevation divisions and the number of azimuth divisions are determined based on the number of receiver channels; The step of dividing the plurality of satellites to be selected into a plurality of groups according to the azimuth angle and the elevation angle of the satellites to be selected and the number of groups to obtain a plurality of satellite groups to be selected comprises: Obtaining the maximum elevation angle, the minimum elevation angle, the maximum azimuth angle, and the minimum azimuth angle of the plurality of satellites to be selected; Determine the elevation range in each elevation partition and the azimuth range in each azimuth partition based on the maximum elevation angle, the minimum elevation angle, the maximum azimuth angle, the minimum azimuth angle, the number of elevation partitions, and the number of azimuth partitions; The satellites to be selected are divided into corresponding satellite groups to be selected according to the azimuth and elevation of the satellites to be selected, and the elevation range in each elevation partition and the azimuth range in each azimuth partition.

4. The method according to claim 3, characterized in that The acquiring the number of receiver channels and determining the number of groups of the to-be-selected satellites based on the number of receiver channels comprises: Obtaining the set azimuth partition number, the azimuth partition number is greater than or equal to a preset value; The number of elevation partitions is determined based on the number of receiver channels and the number of azimuth partitions; the number of groups is less than or equal to the number of receiver channels.

5. The method according to claim 1 or 4, characterized in that: The selecting of the target satellite from each of the groups of satellites to be selected comprises: Selecting one of the candidate satellites from each of the candidate satellite groups as the target satellite; If the number of the target satellites is less than the number of the receiver channels, one or more of the candidate satellites that have not been selected are selected as the target satellites, so that the number of the target satellites is equal to the number of the receiver channels.

6. The method according to claim 1, characterized in that After selecting the target satellite from each of the candidate satellite groups, the method further includes: Based on the target satellite, one or more of a geometry matrix, a weight matrix, and a geometric dilution of precision factor are calculated.

7. A satellite positioning method, characterized in that: include: Selecting a positioning satellite according to the satellite selection method according to any one of claims 1 to 6; Positioning is performed using the selected positioning satellite.

8. A satellite selection device, characterized in that: The device comprises: A candidate satellite acquisition module is used to acquire multiple candidate satellites; A grouping number determination module, used to obtain the number of receiver channels, and determine the number of groups of the to-be-selected satellites based on the number of receiver channels; A grouping module, used for dividing the plurality of satellites to be selected into a plurality of groups according to the azimuth angle and elevation angle of the satellites to be selected and the grouping number, so as to obtain a plurality of satellite groups to be selected; The satellite selection module is used to select a target satellite from each of the candidate satellite groups.

9. A satellite communication terminal, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the satellite selection method according to any one of claims 1 to 6 or the satellite positioning method according to claim 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the satellite selection method according to any one of claims 1 to 6 or the satellite positioning method according to claim 7.

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