Terminal positioning method and device based on low earth orbit satellite, terminal and storage medium

Abstract

The invention provides a terminal positioning method and device based on a low-earth-orbit satellite, a terminal and a storage medium, relates to the technical field of satellite navigation, and can obtain a plurality of low-earth-orbit satellite signals in a preset search area, and obtain a plurality of low-earth-orbit satellite signals according to the low-earth-orbit satellite signals corresponding to a plurality of sub-search areas. The position information of at least one low-earth-orbit satellite in the multiple low-earth-orbit satellites is obtained, the satellite positioning signal emitted by the at least one low-earth-orbit satellite can be obtained according to the position information, and the terminal positioning information can be determined according to the satellite positioning signal. Signals transmitted by a low-orbit satellite suitable for the method have the advantages of being large in bandwidth, narrow in wave beam and high in power, and therefore interference signals in a communication environment can be restrained, and positioning accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of satellite navigation technology, and particularly relates to a terminal positioning method, device, terminal, and storage medium based on low-earth orbit satellites. Background Art

[0002] Currently, in the field of high-precision positioning, satellite navigation positioning technology is usually relied on, that is, the L-band signals transmitted by medium and high-earth orbit satellites are used to accurately position the object to be located.

[0003] However, since the satellites used in satellite navigation positioning technology have a relatively high orbit, the L-band signals have a narrow bandwidth and a wide beamwidth. Therefore, the landing power of the L-band signals used for positioning is very low and is easily affected by interference signals, resulting in inaccurate positioning results. Summary of the Invention

[0004] This application proposes a terminal positioning method, device, terminal, and storage medium based on low-earth orbit satellites to improve the accuracy of satellite navigation positioning.

[0005] In a first aspect, this application proposes a terminal positioning method based on low-earth orbit satellites, including:

[0006] Obtain multiple low-earth orbit satellite signals in a preset search area; the preset search area includes multiple sub-search areas;

[0007] According to the low-earth orbit satellite signals corresponding to the multiple sub-search areas, obtain the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites;

[0008] According to the position information, obtain the satellite positioning signals transmitted by the at least one low-earth orbit satellite;

[0009] Determine the terminal positioning information according to the satellite positioning signals.

[0010] In a possible implementation manner, the obtaining of multiple low-earth orbit satellite signals in the preset search area includes:

[0011] Adjust the direction of the receiving beam and obtain the multiple low-earth orbit satellite signals based on different directions.

[0012] In a possible implementation manner, the obtaining of the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to the multiple sub-search areas includes:

[0013] Determine the first signal strength and the second signal strength of the low-earth orbit satellite signal corresponding to any sub-search area; the first signal strength is the signal strength at the end moment of the low-earth orbit satellite signal within a preset time period; the second signal strength is the signal strength at the start moment of the low-earth orbit satellite signal within the preset time period;

[0014] If the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in the any sub-search area.

[0015] In a possible implementation manner, the obtaining the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to the multiple sub-search areas includes:

[0016] Determine the first signal strength and the second signal strength of the low-earth orbit satellite signal corresponding to any sub-search area; the first signal strength is the signal strength at the end moment of the low-earth orbit satellite signal within a preset time period; the second signal strength is the signal strength at the start moment of the low-earth orbit satellite signal within the preset time period;

[0017] If the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in the any sub-search area.

[0018] In a possible implementation manner, the first navigation information includes the first terminal position and the first terminal speed, the second navigation information includes the second terminal position and the second terminal speed, and the performing positioning calculation on the first navigation information and the second navigation information according to the loose integration calculation mode to obtain the terminal positioning information includes:

[0019] Take the difference between the first terminal position and the second terminal position, and the difference between the first terminal speed and the second terminal speed as observation quantities and input them into a filter to determine the calculation error of the inertial navigation system;

[0020] Correct the positioning result of the inertial navigation system according to the calculation error to obtain the terminal positioning information.

[0021] In a possible implementation manner, the first navigation information includes the first pseudorange and the first pseudorange rate, the second navigation information includes the second pseudorange and the second pseudorange rate, and the performing positioning calculation on the first navigation information and the second navigation information according to the tight integration calculation mode to obtain the terminal positioning information includes:

[0022] Take the difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate as observation quantities and input them into a filter to determine the calculation error of the inertial navigation system;

[0023] The positioning result of the inertial navigation system is corrected according to the calculated error to obtain the terminal positioning information.

[0024] In a possible implementation manner, after determining the terminal positioning information, the method further includes:

[0025] Obtain the ephemeris of the multiple low-earth orbit satellites;

[0026] According to the terminal positioning information and the ephemeris of the multiple low-earth orbit satellites, adjust the direction of the receiving beam to continuously receive the satellite positioning signal.

[0027] In a second aspect, an embodiment of the present application provides a terminal positioning device for implementing the method in the first aspect. The device includes an acquisition unit and a positioning unit;

[0028] The acquisition unit is configured to acquire multiple low-earth orbit satellite signals in a preset search area; the preset search area includes multiple sub-search areas;

[0029] According to the low-earth orbit satellite signals corresponding to the multiple sub-search areas, obtain the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites;

[0030] According to the position information, obtain the satellite positioning signal transmitted by the at least one low-earth orbit satellite;

[0031] The positioning unit is configured to determine terminal positioning information according to the satellite positioning signal.

[0032] In a possible implementation manner, the device further includes a control unit, and the control unit includes a beam controller for receiving and sending beam adjustment instructions.

[0033] In a possible implementation manner, the acquisition unit includes a phased array antenna surface, and the phased array antenna surface includes multiple sub-arrays for receiving low-earth orbit satellite signals and satellite positioning signals, and adjusting the direction of the receiving beam according to a first beam adjustment instruction and a second beam adjustment instruction.

[0034] In a possible implementation manner, the phased array antenna surface is specifically configured to:

[0035] Determine a first signal strength and a second signal strength of the low-earth orbit satellite signal corresponding to any sub-search area; the first signal strength is the signal strength at the termination moment of the low-earth orbit satellite signal within a preset time period; the second signal strength is the signal strength at the start moment of the low-earth orbit satellite signal within the preset time period;

[0036] If the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in any one of the sub-search regions.

[0037] In a possible implementation manner, the device further includes a frequency conversion unit, and the frequency conversion unit includes a Ka down-converter and a C down-converter;

[0038] The Ka down-converter and the C down-converter are used to perform down-conversion processing on the low-earth orbit satellite signal and the satellite positioning signal.

[0039] In a possible implementation manner, the positioning unit includes an inertial navigation system; the inertial navigation system includes a magnetic compass and an inertial sensor;

[0040] The magnetic compass is used to measure the heading angle information;

[0041] The inertial sensor is used to measure the angular velocity information and the acceleration information.

[0042] In a possible implementation manner, the acquisition unit includes an A / D sampling chip, and the A / D sampling chip is used to sample the low-earth orbit satellite signal and the satellite positioning signal that have undergone down-conversion processing.

[0043] In a possible implementation manner, the positioning unit includes a baseband signal processor and a navigation information processor;

[0044] The baseband signal processor is used to perform signal acquisition and tracking on the sampled low-earth orbit satellite signal and satellite positioning signal;

[0045] The navigation information processor is used to generate and send a first beam adjustment instruction according to the low-earth orbit satellite signal sent by the baseband signal processor, determine the terminal positioning information according to the satellite positioning signal sent by the baseband signal processor, and generate and send a second beam adjustment instruction according to the terminal positioning information and the ephemeris of multiple low-earth orbit satellites.

[0046] In a possible implementation manner, the navigation information processor is specifically used for:

[0047] Determine the first navigation information according to the satellite positioning signal;

[0048] Determine the second navigation information according to the terminal state information collected by the inertial navigation system; the inertial navigation system includes a magnetic compass and an inertial sensor;

[0049] Perform positioning calculation on the first navigation information and the second navigation information according to the loose integration solution mode or the tight integration solution mode to obtain the terminal positioning information.

[0050] In a possible implementation manner, the navigation information processor is specifically configured to:

[0051] Take the difference between the first terminal position and the second terminal position, and the difference between the first terminal speed and the second terminal speed as observation quantities and input them into a filter to determine the solution error of the inertial navigation system;

[0052] Correct the positioning result of the inertial navigation system according to the solution error to obtain the terminal positioning information.

[0053] In a possible implementation manner, the navigation information processor is specifically configured to:

[0054] Take the difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate as observation quantities and input them into a filter to determine the solution error of the inertial navigation system;

[0055] Correct the positioning result of the inertial navigation system according to the solution error to obtain the terminal positioning information.

[0056] In a possible implementation manner, the device further includes a clock unit, and the clock unit includes a clock, and the clock is used to provide a reference clock signal for the Ka down-converter, the C down-converter, and the A / D sampling chip.

[0057] In a third aspect, an embodiment of the present application provides a terminal, including a memory and a processor, and a computer program that can run on the processor is stored on the memory. When the computer program is executed by the processor, the method described in any one of the methods for terminal positioning based on low-earth orbit satellites in the first aspect is implemented.

[0058] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, and a computer program is stored in the computer-readable storage medium. When the computer program is executed by a processor, the method described in any one of the methods for terminal positioning based on low-earth orbit satellites in the first aspect is implemented.

[0059] The technical solutions provided by the embodiments of the present application at least bring the following beneficial effects:

[0060] A terminal positioning method, device, terminal, and storage medium based on low-earth orbit satellites provided by an embodiment of the present application can acquire multiple low-earth orbit satellite signals in a preset search area, and obtain the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to multiple sub-search areas. According to the position information, the satellite positioning signals transmitted by at least one low-earth orbit satellite can be acquired, and the terminal positioning information can be determined according to the satellite positioning signals. The signals transmitted by low-earth orbit satellites have the characteristics of large bandwidth, narrow beam, and high power. Therefore, interference signals in the communication environment can be suppressed, thereby improving the positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to these drawings.

[0062] Figure 1 It is a schematic structural diagram of a terminal provided by an embodiment of the present application;

[0063] Figure 2 It is a flowchart of a terminal positioning method based on low-earth orbit satellites provided by an embodiment of the present application;

[0064] Figure 3 It is a schematic structural diagram of a terminal positioning device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0065] In order to make the objectives, technical solutions, and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0066] It should be noted that the terms "including" and "having" and their variations involved in the documents of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily have to be limited to those clearly listed steps or units, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0067] Currently, in the field of high-precision positioning, satellite navigation and positioning technology is usually relied on. Traditional satellite navigation operates in the L band. The signal bandwidth of the L band is generally within 30 MHz, and positioning satellites are in medium and high Earth orbits. Due to the relatively high orbits of the positioning satellites, the landing power of the positioning signals transmitted by the positioning satellites is very low. Moreover, the L-band signal has a narrow bandwidth and a wide beamwidth, and the communication environment where the terminal is located is complex, and it is easily affected by interference signals, resulting in unsatisfactory positioning effects.

[0068] To reduce the influence of interference signals, terminals usually need to use the following anti-interference methods:

[0069] 1. Time-domain filtering method.

[0070] It is mainly used to filter out narrowband interference signals with large differences in correlation with satellite signals. Narrowband interference signals are usually non-Gaussian, and there is a large correlation between adjacent sampled values. The current sampled value can be estimated using the sampled values at past moments, while the correlation between noise and navigation signals is small. Time-domain filtering technology utilizes this characteristic of narrowband interference, estimates the narrowband interference through a certain optimal criterion, and then subtracts the estimated interference signal from the satellite signal to achieve the purpose of interference filtering in the time domain. In engineering, IIR / FIR filters and correlators are usually used for time-domain filtering. Time-domain filtering technology can handle multiple narrowband interferences, but usually has poor effects on broadband interferences.

[0071] 2. Frequency-domain filtering method.

[0072] It is mainly used to filter out in-band interference within a bounded narrowband continuous waveband and strong out-of-band interference. Its principle is to generate notches at the interference positions in the frequency domain to suppress interference. The implementation process includes two parts: interference frequency search and generation of interference notches. Generally speaking, frequency-domain filtering can suppress narrowband interference by more than 35 dB, but it is ineffective against broadband noise interference and swept-frequency interference.

[0073] 3. Time-frequency domain filtering method.

[0074] It simultaneously has the advantages of time-domain filtering and frequency-domain filtering and can be used to filter out narrowband interference and several special broadband interferences (such as AM-FM and LFM interferences, etc.). Its principle is to use time-frequency analysis technology to transform the received signal into the time-frequency domain, distinguish useful satellite signals from interference signals, and then filter out the interference signals.

[0075] 4. Spatial-domain filtering method.

[0076] This method uses an antenna array and adopts an adaptive nulling algorithm to weight the signals received by multiple array elements with weights whose gains and phases are adjustable, thereby generating nulls in the antenna pattern towards the interference direction to achieve the effect of interference suppression. In theory, it can filter out interference signals with a number equal to the number of antennas minus one. Ideally, the spatial filtering method can enhance the anti-interference ability of the terminal by 40 - 50 dB.

[0077] Generally speaking, traditional anti-interference methods achieve interference suppression either through digital signal processing technology or through means such as antenna arrays, without fundamentally changing the characteristics of satellite signals, such as narrow bandwidth, low power, and wide beamwidth, and are relatively complex to implement.

[0078] Based on this, the embodiments of this application provide a terminal positioning method, device, terminal, and storage medium based on low-earth orbit satellites, which can accurately locate an object to be located using the signals transmitted by low-earth orbit satellites. The signals transmitted by low-earth orbit satellites operate in the Ka band and have the characteristics of large bandwidth, high power, and narrow beamwidth. Specifically, first, the bandwidth of Ka-band signals can reach 200 MHz, and it is difficult for interference signals to reach such a large bandwidth. Second, both the transmitting and receiving antennas of Ka-band signals are phased array antennas, and the beam formed by the antennas is very narrow, and the antenna gain in the area outside the beam direction is very small. Third, the low-earth orbit satellite is very close to the ground, so the signal transmitted by the low-earth orbit satellite has a high ground power. Therefore, it can effectively suppress interference signals from other directions, thereby improving the accuracy of positioning.

[0079] The terminal of this application is briefly introduced below. The terminal is an object to be located, also known as a Mobile Station (MS), Mobile Terminal (MT), etc. It is a device that provides voice and / or data connectivity to users. For example, it is a handheld device or in-vehicle device with wireless connection capabilities. Currently, some examples of terminals are: mobile phones, tablet computers, laptop computers, palmtop computers, Mobile Internet Devices (MIDs), wearable devices, Virtual Reality (VR) devices, Augmented Reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grid, wireless terminals in transportation safety, wireless terminals in smart city, wireless terminals in smart home, etc.

[0080] See Figure 1 , which is a schematic structural diagram of a terminal provided by an embodiment of the present application. As Figure 1 shown, the terminal 100 may include an antenna part and a host part. Among them, the antenna part includes a beam controller 101, a phased array antenna array 102, a Ka downconverter 103, a magnetic compass 104, and an IMU (inertial measurement unit, inertial sensor) 105. The host part includes a C downconverter 106, an A / D sampling chip 107, a baseband signal processor 108, a navigation information processor 109, and a clock 110.

[0081] The beam controller 101 is configured to receive a beam adjustment instruction sent by the navigation information processor 109, and send the beam adjustment instruction to each sub-array in the phased array antenna array 102, so as to control the direction of the receiving beam. The beam adjustment instruction may include the beam azimuth angle and the off-axis angle pointing to the low-earth orbit satellite.

[0082] The phased array antenna array 102 includes sub-array 1, sub-array 2, sub-array 3, and sub-array 4. Among them, each sub-array may generate a directionally controllable receiving beam, which is used to receive low-earth orbit satellite signals and satellite positioning signals transmitted by low-earth orbit satellites, and is also used to send the low-earth orbit satellite signals and satellite positioning signals to the Ka downconverter 103 through a radio frequency cable.

[0083] The Ka downconverter 103 is configured to receive the low-earth orbit satellite signals and satellite positioning signals sent by sub-array 1, sub-array 2, sub-array 3, and sub-array 4 in the phased array antenna array 102, down-convert the low-earth orbit satellite signals and satellite positioning signals to the C band, and then send the low-earth orbit satellite signals and satellite positioning signals down-converted to the C band to the C downconverter 106.

[0084] The measurement axis of the magnetic compass 104 is parallel to the axis of the sub-array, and is configured to output heading angle information, and send the heading angle information to the navigation information processor 109 through a serial port.

[0085] The measurement axis of the IMU 105 is parallel to the axis of the sub-array. The IMU 105 internally includes a three-axis gyroscope and a three-axis accelerometer, and is configured to output angular velocity information and acceleration information, and send the angular velocity information and acceleration information to the navigation information processor 109 through a serial port.

[0086] The C downconverter 106 is configured to receive the low-earth orbit satellite signals and satellite positioning signals sent by the Ka downconverter 103, down-convert the low-earth orbit satellite signals and satellite positioning signals to a band with a lower carrier frequency, and then send the low-earth orbit satellite signals and satellite positioning signals to the A / D sampling chip 107.

[0087] The A / D sampling chip 107 is used to sample the low-earth orbit satellite signals and satellite positioning signals sent by the C down-converter 106, and send the sampled low-earth orbit satellite signals and satellite positioning signals to the baseband signal processor 108. Among them, the A / D sampling chip 107 needs to have a relatively high sampling rate to cover the bandwidth range of the low-earth orbit satellite signals.

[0088] The baseband signal processor 108 is used to receive the low-earth orbit satellite signals and satellite positioning signals sent by the A / D sampling chip 107, perform signal acquisition and tracking through the internal logic circuit, and then send the low-earth orbit satellite signals and satellite positioning signals to the navigation information processor 109.

[0089] The navigation information processor 109 is used to receive the low-earth orbit satellite signals sent by the baseband signal processor 108, generate and send the first beam adjustment instruction, and determine the terminal positioning information according to the satellite positioning signals sent by the baseband signal processor, and generate and send the second beam adjustment instruction according to the terminal positioning information and the ephemeris of multiple low-earth orbit satellites. Among them, the step of the navigation information processor 109 determining the terminal positioning information according to the satellite positioning signals will be described in detail below.

[0090] The clock 110 is used to provide a 10 MHz reference clock signal for the Ka down-converter 103, the C down-converter 106, and the A / D sampling chip 107 to ensure clock homology at all stages of the signal propagation link.

[0091] Next, based on Figure 1 the terminal shown, the terminal positioning method based on low-earth orbit satellites proposed in this application will be introduced. Refer to Figure 2 , which is a flowchart of a terminal positioning method based on low-earth orbit satellites provided by an embodiment of this application. In one or more embodiments, Figure 2 the method flow shown can be executed by Figure 1 the terminal included in

[0092] Step S201, obtain multiple low-earth orbit satellite signals in a preset search area.

[0093] In order for the terminal to work properly, it is necessary to ensure that the terminal is in the working area of at least 4 positioning satellites. This area is the preset search area for the terminal to receive low-earth orbit satellite signals. Among them, the preset search area includes multiple sub-search areas.

[0094] Next, an example will be given with the terminal in the preset search area where 4 low-earth orbit satellites are working.

[0095] The antenna part of the terminal includes a phased array antenna surface, which includes 4 sub-arrays, namely sub-array 1, sub-array 2, sub-array 3, and sub-array 4. Among them, each sub-array can generate a reception beam with a controllable direction for receiving signals transmitted by 4 low-earth orbit satellites.

[0096] In some embodiments, in order to acquire multiple low-earth orbit satellite signals in a preset search area, the direction of the reception beam of the sub-array can be adjusted, and multiple low-earth orbit satellite signals can be acquired based on different directions.

[0097] It should be noted that the number of low-earth orbit satellites is not limited in the embodiments of the present application. For example, the number of low-earth orbit satellites can also be 5 or 6. Correspondingly, the corresponding number of sub-arrays can be set to receive low-earth orbit satellite signals. For another example, when the number of low-earth orbit satellites is 5, 5 sub-arrays can be correspondingly set, and when the number of low-earth orbit satellites is 6, 6 sub-arrays can be correspondingly set.

[0098] Step S202: Acquire the position information of at least one low-earth orbit satellite among multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to multiple sub-search areas.

[0099] After acquiring multiple low-earth orbit satellite signals in the preset search area, the sub-search area where the low-earth orbit satellite is located can be determined according to the change amount of the signal intensity of each sub-search area within a preset time period.

[0100] Specifically, the first signal intensity at the end moment of the sub-search area within the preset time period and the second signal intensity at the start moment of the sub-search area within the preset time period can be determined first. If the difference between the first signal intensity and the second signal intensity is greater than the signal intensity threshold, it can be determined that the low-earth orbit satellite is in this sub-search area. For example, the above-mentioned preset time period can be 2 milliseconds, and the above-mentioned signal intensity threshold can be 6 db.

[0101] For example, assume that the reception beam generated by sub-array 1 is receiving the low-earth orbit satellite signal in sub-search area 1. If the difference between the signal intensity in sub-search area 1 at the end moment within the preset time period and the signal intensity in sub-search area 1 at the start moment within the preset time period is 2 db, it can be determined that the low-earth orbit satellite is not in sub-search area 1.

[0102] Then, the direction of the reception beam generated by sub-array 1 can be adjusted, and the low-earth orbit satellite signal in sub-search area 2 can be received through the reception beam generated by sub-array 1. If the difference between the signal intensity in sub-search area 2 at the end moment within the preset time period and the signal intensity in sub-search area 2 at the start moment within the preset time period is 10 db, it can be determined that the low-earth orbit satellite is in sub-search area 2.

[0103] So far, Sub-array 1 has detected the low-orbit satellite signal transmitted by one of the four low-orbit satellites. Similarly, for Sub-array 2, Sub-array 3, and Sub-array 4, the sub-search areas in the preset search area can be searched in the same way until Sub-array 2, Sub-array 3, and Sub-array 4 obtain the low-orbit satellite signals transmitted by the remaining three low-orbit satellites, which will not be elaborated here.

[0104] However, it should be noted that the above-mentioned preset duration and signal strength threshold are only used for illustration, and the embodiments of the present application do not make any limitations on the values of the preset duration and signal strength threshold. For example, the preset duration can also be 1 millisecond or 3 milliseconds, and the signal strength threshold can also be 4 dB or 8 dB.

[0105] Step S203: Obtain the satellite positioning signals transmitted by at least one low-orbit satellite according to the position information.

[0106] After obtaining the position information of at least one low-orbit satellite among multiple low-orbit satellites, the satellite positioning signals transmitted by at least one low-orbit satellite can be obtained according to this position information.

[0107] Continue to take the example where the terminal is in the preset search area where four positioning satellites are working.

[0108] Exemplarily, assume that it is obtained that Low-orbit Satellite 1 is in Sub-search Area 2, Low-orbit Satellite 2 is in Sub-search Area 3, Low-orbit Satellite 3 is in Sub-search Area 4, and Low-orbit Satellite 4 is in Sub-search Area 5. Then, it is possible to control Sub-array 1 to obtain the satellite positioning signal transmitted by Low-orbit Satellite 1 within Sub-search Area 2, control Sub-array 2 to obtain the satellite positioning signal transmitted by Low-orbit Satellite 2 within Sub-search Area 3, control Sub-array 3 to obtain the satellite positioning signal transmitted by Low-orbit Satellite 3 within Sub-search Area 4, and control Sub-array 4 to obtain the satellite positioning signal transmitted by Low-orbit Satellite 4 within Sub-search Area 5.

[0109] Step S204: Determine the terminal positioning information according to the satellite positioning signal.

[0110] After obtaining the satellite positioning signals transmitted by at least one low-orbit satellite, the first navigation information of the terminal can be determined according to this satellite signal, where the first navigation information is the first terminal speed, the first terminal position, the first pseudorange, and the first pseudorange rate of the terminal determined by the satellite navigation system.

[0111] Then, the second navigation information of the terminal can be determined according to the terminal state information collected by the inertial navigation system.

[0112] Among them, the inertial navigation system of the terminal may include a magnetic compass and an IMU. The magnetic compass can output the heading angle of the terminal, and the IMU can output the angular velocity information and acceleration information of the terminal. By using the heading angle output by the magnetic compass, the angular velocity information and acceleration information output by the IMU, the second navigation information of the terminal can be determined, where the second navigation information is the second terminal velocity, second terminal position, second pseudorange, and second pseudorange rate determined by the inertial navigation system.

[0113] After obtaining the first navigation information and the second navigation information, the first navigation information and the second navigation information can be subjected to positioning calculation according to different positioning calculation modes to obtain the terminal positioning information.

[0114] Among them, the positioning calculation modes include a loose integration calculation mode and a tight integration calculation mode. The loose integration calculation mode uses the position difference and velocity difference of the terminal as the observation quantities of the filter, and the tight integration calculation mode uses the pseudorange difference and pseudorange rate difference as the observation quantities of the filter.

[0115] In an alternative embodiment, after obtaining the first navigation information and the second navigation information of the terminal, the first navigation information and the second navigation information of the terminal can be subjected to positioning calculation according to the loose integration calculation mode to obtain the terminal positioning information.

[0116] Specifically, the difference between the first terminal position and the second terminal position, and the difference between the first terminal velocity and the second terminal velocity can be used as the observation quantities and input into the filter to determine the calculation error of the inertial navigation system. Then, according to the calculation error, the positioning result of the inertial navigation system is corrected to obtain the high-precision terminal positioning information including the terminal position, terminal velocity, and terminal attitude information.

[0117] In another alternative embodiment, after obtaining the first navigation information and the second navigation information of the terminal, the first navigation information and the second navigation information of the terminal can be subjected to positioning calculation according to the tight integration calculation mode to obtain the terminal positioning information.

[0118] Specifically, the difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate can be used as the observation quantities and input into the filter to determine the calculation error of the inertial navigation system. Then, according to the calculation error, the positioning result of the inertial navigation system is corrected to obtain the high-precision terminal positioning information including the terminal position, terminal velocity, and terminal attitude information.

[0119] Using the tight integration calculation mode to perform positioning calculation on the navigation information of the terminal has better robustness and can resist the situation of short-term interruption of satellite positioning signals.

[0120] After obtaining the terminal positioning information, the direction of the receiving beam of each sub-array can be adjusted in real time according to the terminal positioning information and the ephemeris sent by multiple low-earth orbit satellites, so that each sub-array continuously receives the satellite positioning signals transmitted by the low-earth orbit satellites, further improving the real-time performance and accuracy of satellite positioning.

[0121] Based on the same inventive concept, an embodiment of the present invention further provides a structural schematic diagram of a terminal positioning device, as Figure 3 shown, the terminal positioning device includes:

[0122] An acquisition unit 301, configured to acquire multiple low-earth orbit satellite signals in a preset search area; the preset search area includes multiple sub-search areas;

[0123] According to the low-earth orbit satellite signals corresponding to multiple sub-search areas, obtain the position information of at least one low-earth orbit satellite among multiple low-earth orbit satellites;

[0124] According to the position information, obtain the satellite positioning signals transmitted by at least one low-earth orbit satellite;

[0125] A positioning unit 302, configured to determine terminal positioning information according to the satellite positioning signals.

[0126] In a possible implementation manner, the terminal positioning device further includes a control unit, and the control unit includes a beam controller, and the beam controller is configured to receive and send beam adjustment instructions.

[0127] In a possible implementation manner, the acquisition unit 301 includes a phased array antenna surface, the phased array antenna surface includes multiple sub-arrays, and the multiple sub-arrays are configured to receive low-earth orbit satellite signals and satellite positioning signals, and adjust the direction of the receiving beam according to the first beam adjustment instruction and the second beam adjustment instruction.

[0128] In a possible implementation manner, the phased array antenna surface is specifically configured to:

[0129] Determine the first signal strength and the second signal strength of the low-earth orbit satellite signal corresponding to any sub-search area; the first signal strength is the signal strength at the end moment of the preset time period of the low-earth orbit satellite signal; the second signal strength is the signal strength at the start moment of the preset time period of the low-earth orbit satellite signal;

[0130] If the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in any sub-search area.

[0131] In a possible implementation manner, the terminal positioning device further includes a frequency conversion unit, and the frequency conversion unit includes a Ka down-converter and a C down-converter;

[0132] Ka downconverter and C downconverter are used for downconverting low-earth orbit satellite signals and satellite positioning signals.

[0133] In a possible implementation, the positioning unit 302 includes an inertial navigation system, and the inertial navigation system includes a magnetic compass and inertial sensors;

[0134] The magnetic compass is used to measure heading angle information;

[0135] The inertial sensors are used to measure angular velocity information and acceleration information.

[0136] In a possible implementation, the acquisition unit 301 includes an A / D sampling chip, and the A / D sampling chip is used to sample the low-earth orbit satellite signals and satellite positioning signals that have undergone downconversion processing.

[0137] In a possible implementation, the positioning unit 302 includes a baseband signal processor and a navigation information processor;

[0138] The baseband signal processor is used to perform signal acquisition and tracking on the sampled low-earth orbit satellite signals and satellite positioning signals;

[0139] The navigation information processor is used to generate and send a first beam adjustment instruction according to the low-earth orbit satellite signals sent by the baseband signal processor, determine the terminal positioning information according to the satellite positioning signals sent by the baseband signal processor, and generate and send a second beam adjustment instruction according to the terminal positioning information and the ephemeris of multiple low-earth orbit satellites.

[0140] In a possible implementation, the navigation information processor is specifically used for:

[0141] Determine the first navigation information according to the satellite positioning signals;

[0142] Determine the second navigation information according to the terminal status information collected by the inertial navigation system, and the inertial navigation system includes a magnetic compass and inertial sensors;

[0143] Perform positioning calculation on the first navigation information and the second navigation information according to the loose integration solution mode or the tight integration solution mode to obtain the terminal positioning information.

[0144] In a possible implementation, the navigation information processor is specifically used for:

[0145] Take the difference between the first terminal position and the second terminal position, and the difference between the first terminal speed and the second terminal speed as observation quantities and input them into the filter to determine the calculation error of the inertial navigation system;

[0146] Correct the positioning result of the inertial navigation system according to the calculation error to obtain the terminal positioning information.

[0147] In a possible implementation, the navigation information processor is specifically configured to:

[0148] Take the difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate as observation quantities and input them into a filter to determine the solution error of the inertial navigation system;

[0149] Correct the positioning result of the inertial navigation system according to the solution error to obtain the terminal positioning information.

[0150] In a possible implementation, the terminal positioning device further includes a clock unit, and the clock unit includes a clock, and the clock is used to provide a reference clock signal for the Ka downconverter, the C downconverter, and the A / D sampling chip.

[0151] The embodiments of the present application further provide a computer-readable storage medium, and computer-executable instructions are stored in the computer storage medium. When the computer program is executed by a processor, it can be used to implement the terminal positioning method based on low-earth orbit satellites described in any embodiment of the present application.

[0152] In some possible implementations, each aspect of the terminal positioning method based on low-earth orbit satellites provided by the present application can also be implemented in the form of a program product, which includes program code. When the program product runs on a computer device, the program code is used to cause the computer device to execute the steps of the terminal positioning method based on low-earth orbit satellites according to various exemplary embodiments of the present application described above in this specification. For example, the computer device can execute the process of the terminal positioning method based on low-earth orbit satellites as Figure 2 shown.

[0153] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0154] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0155] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufactured article including instruction means that implement the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0156] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flow Figure 1 one flow or multiple flows and / or blocks Figure 1 or means for implementing the functions specified in multiple blocks.

[0157] Obviously, those skilled in the art can make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these changes and modifications.

Claims

1. A terminal positioning method based on low-earth orbit satellites, characterized in that, the method includes: Obtaining multiple low-earth orbit satellite signals in a preset search area; the preset search area includes multiple sub-search areas; According to the low-earth orbit satellite signals corresponding to the multiple sub-search areas, obtaining the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites; According to the position information, obtaining the satellite positioning signals transmitted by the at least one low-earth orbit satellite; According to the satellite positioning signals, determining the terminal positioning information.

2. The method according to claim 1, characterized in that, the obtaining of multiple low-earth orbit satellite signals in the preset search area includes: Adjusting the direction of the receiving beam and obtaining the multiple low-earth orbit satellite signals based on different directions.

3. The method according to claim 1, characterized in that, the obtaining of the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to the multiple sub-search areas includes: Determining the first signal strength and the second signal strength of the low-earth orbit satellite signal corresponding to any one of the sub-search areas; the first signal strength is the signal strength at the end moment of the low-earth orbit satellite signal within a preset time period; the second signal strength is the signal strength at the start moment of the low-earth orbit satellite signal within the preset time period; If the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in any one of the sub-search areas.

4. The method according to claim 1, characterized in that, the determining of the terminal positioning information according to the satellite positioning signals includes: Determining the first navigation information according to the satellite positioning signals; Determining the second navigation information according to the terminal state information collected by the inertial navigation system; the inertial navigation system includes a magnetic compass and an inertial sensor; Performing positioning calculation on the first navigation information and the second navigation information according to the loose integration calculation mode or the tight integration calculation mode to obtain the terminal positioning information.

5. The method according to claim 4, characterized in that, the first navigation information includes the first terminal position and the first terminal speed, the second navigation information includes the second terminal position and the second terminal speed, and the performing of positioning calculation on the first navigation information and the second navigation information according to the loose integration calculation mode to obtain the terminal positioning information includes: Taking the difference between the first terminal position and the second terminal position, and the difference between the first terminal speed and the second terminal speed as observation quantities and inputting them into a filter to determine the calculation error of the inertial navigation system; Correcting the positioning result of the inertial navigation system according to the calculation error to obtain the terminal positioning information.

6. The method according to claim 4, characterized in that, the first navigation information includes the first pseudorange and the first pseudorange rate, the second navigation information includes the second pseudorange and the second pseudorange rate, and the performing of positioning calculation on the first navigation information and the second navigation information according to the tight integration calculation mode to obtain the terminal positioning information includes: The difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate are used as observation quantities and input into a filter to determine the solution error of the inertial navigation system; The positioning result of the inertial navigation system is corrected according to the solution error to obtain the terminal positioning information.

7. The method according to claim 1, wherein, after determining the terminal positioning information, the method further includes: acquiring the ephemeris of the multiple low-earth orbit satellites; adjusting the direction of the receiving beam according to the terminal positioning information and the ephemeris of the multiple low-earth orbit satellites to continuously receive the satellite positioning signal.

8. A terminal positioning device, wherein, for implementing the method according to claim 1, the device includes an acquisition unit and a positioning unit; the acquisition unit is used to acquire multiple low-earth orbit satellite signals in a preset search area; the preset search area includes multiple sub-search areas; acquiring the position information of at least one low-earth orbit satellite among the multiple low-earth orbit satellites according to the low-earth orbit satellite signals corresponding to the multiple sub-search areas; acquiring the satellite positioning signal transmitted by the at least one low-earth orbit satellite according to the position information; the positioning unit is used to determine the terminal positioning information according to the satellite positioning signal.

9. The terminal positioning device according to claim 8, wherein, the device further includes a control unit, and the control unit includes a beam controller, and the beam controller is used to receive and send beam adjustment instructions.

10. The terminal positioning device according to claim 8, wherein, the acquisition unit includes a phased array antenna surface, and the phased array antenna surface includes multiple sub-arrays, and the multiple sub-arrays are used to receive low-earth orbit satellite signals and satellite positioning signals, and adjust the direction of the receiving beam according to the first beam adjustment instruction and the second beam adjustment instruction.

11. The terminal positioning device according to claim 10, wherein, the phased array antenna surface is specifically used for: determining the first signal strength and the second signal strength of the low-earth orbit satellite signal corresponding to any sub-search area; the first signal strength is the signal strength at the termination moment of the low-earth orbit satellite signal within a preset time period; the second signal strength is the signal strength at the starting moment of the low-earth orbit satellite signal within the preset time period; if the difference between the first signal strength and the second signal strength is greater than the signal strength threshold, it is determined that the low-earth orbit satellite is in the any sub-search area.

12. The terminal positioning device according to claim 8, wherein, the device further includes a frequency conversion unit, and the frequency conversion unit includes a Ka down-converter and a C down-converter; the Ka down-converter and the C down-converter are used to perform down-conversion processing on the low-earth orbit satellite signal and the satellite positioning signal.

13. The terminal positioning device according to claim 8, wherein, the positioning unit includes an inertial navigation system; the inertial navigation system includes a magnetic compass and inertial sensors; the magnetic compass is used to measure the heading angle information; the inertial sensors are used to measure the angular velocity information and the acceleration information.

14. The terminal positioning device according to claim 8, characterized in that, the acquisition unit includes an A / D sampling chip, and the A / D sampling chip is used to sample the down-converted low-earth orbit satellite signal and satellite positioning signal.

15. The terminal positioning device according to claim 8, characterized in that, the positioning unit includes a baseband signal processor and a navigation information processor; the baseband signal processor is used to perform signal acquisition and tracking on the sampled low-earth orbit satellite signal and satellite positioning signal; the navigation information processor is used to generate and send a first beam adjustment instruction according to the low-earth orbit satellite signal sent by the baseband signal processor, determine the terminal positioning information according to the satellite positioning signal sent by the baseband signal processor, and generate and send a second beam adjustment instruction according to the terminal positioning information and the ephemeris of multiple low-earth orbit satellites.

16. The terminal positioning device according to claim 15, characterized in that, the navigation information processor is specifically used for: determining first navigation information according to the satellite positioning signal; determining second navigation information according to the terminal state information collected by the inertial navigation system; the inertial navigation system includes a magnetic compass and an inertial sensor; performing positioning calculation on the first navigation information and the second navigation information according to the loose integration calculation mode or tight integration calculation mode to obtain the terminal positioning information.

17. The terminal positioning device according to claim 16, characterized in that, the navigation information processor is specifically used for: taking the difference between the first terminal position and the second terminal position, and the difference between the first terminal speed and the second terminal speed as observation quantities and inputting them into a filter to determine the calculation error of the inertial navigation system; correcting the positioning result of the inertial navigation system according to the calculation error to obtain the terminal positioning information.

18. The terminal positioning device according to claim 16, characterized in that, the navigation information processor is specifically used for: taking the difference between the first pseudorange and the second pseudorange, and the difference between the first pseudorange rate and the second pseudorange rate as observation quantities and inputting them into a filter to determine the calculation error of the inertial navigation system; correcting the positioning result of the inertial navigation system according to the calculation error to obtain the terminal positioning information.

19. The terminal positioning device according to claim 8, characterized in that, the device further includes a clock unit, and the clock unit includes a clock, and the clock is used to provide a reference clock signal for the Ka down-converter, C down-converter and A / D sampling chip.

20. A terminal, characterized in that, it includes a memory and a processor, and a computer program that can run on the processor is stored on the memory. When the computer program is executed by the processor, the method described in any one of claims 1-7 is implemented.

21. A computer-readable storage medium, and a computer program is stored in the computer-readable storage medium, characterized in that: when the computer program is executed by a processor, the method described in any one of claims 1 to 7 is implemented.

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