Navigation device positioning method, navigation device and electronic equipment

Abstract

The invention provides a navigation device positioning method, a navigation device and electronic equipment, and the method comprises the steps: determining a first position where the navigation device is located at a first moment according to a first signal of a first satellite received at the first moment and the moving speed and moving direction of the navigation device; determining the real-time position of the navigation device between the first moment and the second moment according to the first position and the moving speed and the moving direction of the navigation device; the second moment is a moment when the first signal sent by the first satellite is received again after the first moment; according to the invention, the method can achieve the precise positioning of a ground target moving at a high speed, can achieve the positioning of the target under the condition that the navigation signals of medium and high orbit satellites are completely unavailable, improves the positioning adaptability in a complex electromagnetic environment, and achieves the continuous positioning in the complex electromagnetic environment.

Description

Technical Field

[0001] This application relates to the technical field of signal navigation, and particularly to a positioning method for a navigation device, a navigation device, and an electronic device. Background Art

[0002] Global Navigation Satellite System (GNSS) navigation positioning features wide constellation coverage and high positioning accuracy. In theory, four or more medium and high Earth orbit satellites are required to complete positioning. However, the navigation signals sent by medium and high Earth orbit satellites are vulnerable to interference, and the inability to position will occur as long as one navigation signal is interfered; Inertial Navigation System (INS) navigation positioning has the characteristics of being passive and stealthy, and has relatively high navigation accuracy in a short period. However, due to the inherent properties of inertial devices in the system, the accumulation of navigation errors over a long time will lead to excessive positioning errors; The low Earth orbit satellite system has a certain anti-interference ability for complex electromagnetic environments. According to the Doppler positioning of the low Earth orbit satellite system, independent positioning without relying on GNSS can be achieved. However, the Doppler positioning of the low Earth orbit satellite system cannot perform continuous real-time navigation, and the time interval between two positionings is too long, resulting in large measurement errors when positioning high-speed moving objects, and it is not suitable for high-precision positioning of dynamic ground targets.

[0003] Therefore, how to accurately position high-speed moving ground targets and improve the reliability and continuity of positioning in complex electromagnetic environments is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a positioning method for a navigation device, a navigation device, and an electronic device, which can accurately position high-speed moving ground targets, and can position the target in a scenario where the navigation signals of GNSS medium and high Earth orbit satellites are completely unavailable, improve the positioning adaptability in complex electromagnetic environments, and achieve continuous positioning in complex electromagnetic environments.

[0005] In a first aspect, this application provides a positioning method for a navigation device, and the method includes:

[0006] Determine the first position where the navigation device is located at the first moment according to the first signal of the first satellite received at the first moment, the moving speed, and the moving direction of the navigation device; wherein, the first satellite is a low Earth orbit satellite, and the first signal is a low Earth orbit satellite signal;

[0007] Between the first moment and the second moment, determine the real-time position of the navigation device according to the first position, the moving speed and the moving direction of the navigation device; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

[0008] In one or more possible embodiments, before determining the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, and the moving speed and the moving direction of the navigation device, further include:

[0009] When it is determined that the navigation device receives the second signal sent by the second satellite, obtain the observation data according to the pseudorange and Doppler shift corresponding to the second signal, the predicted pseudorange and the predicted Doppler shift; wherein, the second satellite is a medium-high orbit satellite, and the second signal is a medium-high orbit satellite navigation signal;

[0010] Filter the observation data to obtain a data correction value;

[0011] Determine the position of the navigation device according to the data correction value.

[0012] In one or more possible embodiments, the following method is adopted to determine whether the navigation device receives the second signal sent by the second satellite:

[0013] Judge whether the received second signal is a plurality of second signals sent by second satellites that meet a preset quantity;

[0014] If so, determine that the second signal sent by the second satellite can be received, otherwise, determine that the second signal sent by the second satellite cannot be received.

[0015] In one or more possible embodiments, determining the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, and the moving speed and the moving direction of the navigation device, includes:

[0016] Process the first signal of the first satellite received at the first moment according to the Doppler effect, and determine the first position of the navigation device at the first moment according to the moving speed and the moving direction of the navigation device.

[0017] In one or more possible embodiments, the following method is adopted to receive the first signal sent by the first satellite:

[0018] Search for the first signal at a preset frequency;

[0019] When a candidate signal that meets a preset frequency is searched, if it is determined that the candidate signal is a first signal according to a specific header added based on the data of the candidate signal, then receive the first signal.

[0020] In a second aspect, the present application also provides a navigation device, and the device includes:

[0021] A satellite positioning module, configured to determine a first position of the navigation device at the first moment according to a first signal of a first satellite received at the first moment, as well as the moving speed and moving direction of the navigation device; wherein, the first satellite is a low-earth orbit satellite, and the first signal is a low-earth orbit satellite signal;

[0022] A real-time positioning module, configured to determine a real-time position of the navigation device between the first moment and the second moment according to the first position, as well as the moving speed and moving direction of the navigation device; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

[0023] In one or more possible embodiments, the device further includes:

[0024] A combined positioning module, configured to, when determining that the navigation device receives a second signal sent by a second satellite, obtain observation data according to the pseudorange and Doppler shift corresponding to the second signal, the predicted pseudorange and the predicted Doppler shift; wherein, the second satellite is a medium-high earth orbit satellite, and the second signal is a medium-high earth orbit satellite navigation signal;

[0025] Filter the observation data to obtain a data correction value;

[0026] Determine the position of the navigation device according to the data correction value.

[0027] In one or more possible embodiments, the device further includes a judgment module;

[0028] The judgment module is configured to judge whether the received second signal is a plurality of second signals sent by a second satellite that meets a preset quantity;

[0029] If so, determine that the second signal sent by the second satellite can be received, otherwise, determine that the second signal sent by the second satellite cannot be received.

[0030] In one or more possible embodiments, the satellite positioning module is specifically configured to process the first signal of the first satellite received at the first moment according to the Doppler effect, and determine the first position of the navigation device at the first moment according to the moving speed and moving direction of the navigation device.

[0031] In one or more possible embodiments, the device further includes a signal receiving module;

[0032] The signal receiving module is configured to search for the first signal at a preset frequency;

[0033] When a candidate signal that meets the preset frequency is searched, if it is determined that the candidate signal is the first signal according to a specific frame header added to the data of the candidate signal, then the first signal is received.

[0034] According to a positioning method, a navigation device, and an electronic device provided by the present application, precise positioning can be performed on a ground target moving at high speed, and the target can be positioned in a scenario where GNSS medium / high-earth orbit satellite navigation signals are completely unavailable, improving the positioning adaptability in a complex electromagnetic environment and achieving continuous positioning in a complex electromagnetic environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application and, together with the specification, are used to explain the principles of the present application and do not constitute an improper limitation to the present application.

[0036] Figure 1 FIG. 1 is a schematic diagram of an application environment provided according to an embodiment;

[0037] Figure 2 FIG. 2 is a flowchart of a positioning method of a navigation device provided according to an embodiment;

[0038] Figure 3 FIG. 3 is a schematic diagram of modules of a navigation device provided according to an embodiment;

[0039] Figure 4 FIG. 4 is a schematic diagram of an entity device of a navigation device provided according to an embodiment;

[0040] Figure 5 FIG. 5 is a schematic diagram of an electronic device provided according to an embodiment;

[0041] Figure 6 FIG. 6 is a schematic diagram of a computer storage medium provided according to an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of the present disclosure are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0044] The following is an introduction to the professional terms involved in this application:

[0045] The Global Navigation Satellite System (GNSS), also known as the Global Satellite Navigation System, is a space-based radio navigation and positioning system that can provide users with all-weather 3D coordinates, speed, and time information at any location on the Earth's surface or near-Earth space. It includes one or more satellite constellations and the augmentation systems required to support specific operations. Navigation and positioning have the characteristics of wide constellation coverage and high positioning accuracy. In theory, four or more medium and high Earth orbit satellites are required to complete positioning. However, the navigation signals sent by medium and high Earth orbit satellites are easily interfered with, and as long as one navigation signal is interfered with, positioning cannot be achieved.

[0046] The Inertial Navigation System (INS) has the characteristics of passive and stealthy navigation and positioning, and has relatively high navigation accuracy in a short period of time. However, due to the inherent properties of the inertial devices in the system, the accumulation of navigation errors over a long period of time will lead to excessive positioning errors.

[0047] The low Earth orbit satellite system has a certain resistance to interference in a complex electromagnetic environment. According to the Doppler positioning of the low Earth orbit satellite system, independent positioning without relying on GNSS can be achieved. However, the Doppler positioning of the low Earth orbit satellite system cannot perform continuous real-time navigation, and the time interval between two positionings is too long. When positioning and navigating high-speed moving objects, there will be a problem of large measurement errors, which is not suitable for high-precision positioning of dynamic ground targets.

[0048] Doppler velocity measurement and positioning refers to a positioning method that utilizes the Doppler effect. Doppler velocity measurement and positioning is a method of positioning that uses the Doppler effect of electromagnetic wave propagation between two relatively moving objects. The user measures the Doppler frequency shift between the actually received electromagnetic wave signal frequency and the nominal frequency transmitted by the satellite, and can calculate their own location based on the satellite's orbital parameters and the current time. In satellite Doppler frequency shift velocity measurement and positioning, a dual-frequency measurement system is adopted to correct the ionospheric delay. The Doppler frequency shift causes an increase or decrease in the number of phase cycles per second of the received signal carrier frequency at the receiver. The number of phase cycles increased or decreased within a certain time interval is accumulated by a counter, which is called Doppler counting or Doppler integration. Based on the Doppler integration value, the distance difference from the signal source to the target at the starting moment of this time interval can be obtained. The locus of points with a certain fixed distance difference between the two points to the signal source is a rotating hyperboloid with these two points as the foci. The curve where the hyperboloid intersects the Earth's surface is the position line passing through the target. The intersection of any two of these position lines is the location of the target. The signal source can be installed on satellites such as Transit satellites and Global Positioning System (GPS) satellites, etc. If the target is stationary, the signal source must be in motion. If the target accurately estimates its own speed, it can also be positioned while in motion.

[0049] In the existing related technologies, in complex environments such as occlusion and signal interference, the reliability of GNSS positioning is greatly reduced or even unavailable. Moreover, the Doppler positioning of the low-earth orbit satellite system cannot provide continuous real-time navigation, and the time interval between two positionings is too long, resulting in relatively large measurement errors when positioning high-speed moving objects. It is not suitable for high-precision positioning of dynamic ground targets. Additionally, due to the inherent properties of the inertial devices in the inertial orientation and positioning navigation system, the accumulation of long-term navigation errors will lead to excessive positioning errors. Therefore, how to accurately position high-speed moving ground targets and improve the reliability and continuity of positioning in complex electromagnetic environments is an urgent problem to be solved.

[0050] See Figure 1 , which is a schematic diagram of an application environment according to an embodiment of the present application. This application environment includes multiple satellites located on the orbital plane in a satellite communication system and a navigation device communicating with the satellites. Exemplarily, it includes satellites 102_1, 102_2,..., 102_N in the figure, where N is a positive integer, and the size of N is determined according to specific requirements and scenarios in practice.

[0051] As Figure 2 shown, a positioning method for a navigation device provided by an embodiment of the present application includes:

[0052] Step 201: Determine the first position of the navigation device at the first moment based on the first signal of the first satellite received at the first moment, the moving speed, and the moving direction of the navigation device; wherein, the first satellite is a low-earth orbit satellite, and the first signal is a low-earth orbit satellite signal.

[0053] In one or more possible embodiments, the first satellite is a low-earth orbit satellite, which refers to a satellite with an orbital altitude between 500 and 2000 kilometers. Such satellites are usually used for tasks such as earth observation, communication, and navigation. The coverage area of low-earth orbit satellites is small. Therefore, in order to achieve global coverage, a large number of low-earth orbit satellites usually need to be deployed. The first signal is the low-earth orbit satellite signal sent by the low-earth orbit satellite, and the low-earth orbit satellite is a satellite included in the low-earth orbit satellite system. The signal sent by the low-earth orbit satellite is not easily interfered with and has a certain anti-interference ability for complex electromagnetic environments. The moving speed and moving direction of the navigation device are the results measured by inertial devices in the navigation device.

[0054] Step 202: Determine the real-time position of the navigation device between the first moment and the second moment based on the first position, the moving speed, and the moving direction of the navigation device; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

[0055] In one or more possible embodiments, the first moment and the second moment refer to the moments of two consecutive low-earth orbit satellite signals sent by the first satellite, that is, the low-earth orbit satellite. Based on the first position of the navigation device determined at the first moment, and the moving speed and moving direction of the navigation device determined by the inertial device, the position of the navigation device can be determined in real time. The inertial device can determine the real-time position of the navigation device based on the initial position of the navigation device, the moving speed, and the moving direction of the navigation device. However, as time goes by, the error of the determined navigation device will become larger and larger. Therefore, when the first position of the navigation device is determined at the first moment, the initial position is updated with the first position, and the real-time position of the navigation device before receiving the first signal is predicted using the first position and the moving speed and moving direction of the navigation device. After receiving the first signal of the first satellite at the second moment, determine the second position of the navigation device at the second moment based on the moving speed and moving direction of the navigation device, and predict the real-time position of the navigation device before receiving the next signal based on the moving speed and moving direction of the navigation device.

[0056] A positioning method for a navigation device provided by the present application can accurately position a ground target moving at high speed, and can position the target in a scenario where the navigation signals of high-orbit satellites in GNSS are completely unavailable, improving the positioning adaptability in a complex electromagnetic environment and achieving continuous positioning in a complex electromagnetic environment; the above navigation device can be installed as a vehicle navigation or a ship navigation, etc., and can be installed as long as a high-speed moving item needs navigation and positioning.

[0057] In one or more possible embodiments, before determining the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, as well as the moving speed and moving direction of the navigation device, it further includes: when determining that the navigation device receives the second signal, obtaining observation data according to the pseudorange and Doppler shift corresponding to the second signal, the predicted pseudorange and the predicted Doppler shift; filtering the observation data to obtain a data correction value; determining the position of the navigation device according to the data correction value; wherein, the second satellite is a medium-high orbit satellite, and the medium-high orbit satellite refers to a medium-orbit satellite and a high-orbit satellite. The orbit height of the medium-orbit satellite is between 2000 and 35786 kilometers. Such satellites are mainly used in global satellite communication and navigation systems, such as GPS, GLONASS, Beidou, and Galileo positioning systems, etc. The orbit period of the medium-orbit satellite is usually 3 hours and can achieve global coverage; the orbit height of the high-orbit satellite is between 2000 and 35786 kilometers. Similar to the medium-orbit satellite, the high-orbit satellite is also mainly used in global satellite communication and navigation systems. However, different from the medium-orbit satellite, the orbit period of the high-orbit satellite is longer, usually about 12 hours, so the requirements for ground stations are higher. The second signal is a medium-high orbit satellite navigation signal and is easily interfered with; when receiving the second signal, that is, the medium-high orbit satellite navigation signal, it indicates that the medium-high orbit satellite navigation signal is not interfered with. According to the second signal, the corresponding pseudorange and Doppler shift are determined. The inertial device can estimate the pseudorange and Doppler shift, obtain the predicted pseudorange and the predicted Doppler shift, and use the difference between the pseudorange and Doppler shift corresponding to the second signal and the predicted pseudorange and the predicted Doppler shift as the observation data. The observation data is processed through a Kalman filter to obtain a data correction value. The data correction value includes the corrected speed, attitude, angular velocity, acceleration of the navigation device, as well as the device clock error and drift. According to the data correction value, the position of the navigation device can be determined; at the same time, through the inertial data corresponding to the inertial device, such as acceleration, angular velocity, etc., relatively accurate pseudorange and carrier Doppler shift estimation information of the medium-high orbit satellite navigation signal can be obtained within a short period of time. As part of the GNSS solution, it can assist signal tracking, improve the estimation accuracy of Doppler in harsh environments, thereby improving the accuracy and continuity of observables such as carrier phase and pseudorange, reducing the problems of observable interruption and jump, and effectively improving the combined navigation accuracy and reliability; the combined positioning module is an INS and GNSS deep-coupled combined navigation positioning module; the combined positioning module can also be a loosely coupled or tightly coupled combined navigation positioning module. However, based on the above application environment of the present application, which is applied in a high-speed motion environment, the combined positioning module in the present application preferably uses an INS and GNSS deep-coupled combined navigation positioning module.

[0058] In one or more possible embodiments, the determination of whether the second signal sent by the second satellite is received is performed as follows: Determine whether the received second signal is a plurality of second signals sent by a second satellite that meets a preset quantity; if so, determine that the second signal sent by the second satellite can be received, otherwise, determine that the second signal sent by the second satellite cannot be received. Theoretically, GNSS requires four or more medium and high orbit satellites to complete positioning. That is to say, the navigation device needs to receive second signals sent by at least four satellites to perform positioning on the navigation device. For example, the navigation device needs to receive four medium and high orbit satellite navigation signals sent by four medium and high orbit satellites to perform positioning. However, due to external environmental factors, the navigation device only receives three medium and high orbit satellite navigation signals, which will result in the inability to perform positioning. At this time, it is determined that the navigation device cannot receive the second signal sent by the second satellite; that is to say, as long as it is determined that the navigation device has not received the medium and high orbit satellite navigation signals sent by a preset quantity of medium and high orbit satellites, it is directly determined that the navigation device cannot receive the second signal sent by the second satellite.

[0059] In one or more possible embodiments, the determination of the first position of the navigation device at the first moment based on the first signal of the first satellite received at the first moment, as well as the moving speed and moving direction of the navigation device, includes: Processing the first signal of the first satellite received at the first moment according to the Doppler effect, and determining the first position of the navigation device at the first moment according to the moving speed and moving direction of the navigation device. For the specific process of processing the first signal according to the Doppler effect, please refer to the above embodiments, and this application will not elaborate here; and using the inertial navigation system, that is, the angular velocity and acceleration information (the moving speed and moving direction of the navigation device) obtained by the inertial device, to estimate the position and speed changes of the navigation device between two adjacent low orbit satellite signals, assisting the above low orbit satellite positioning module, shortening the time required for the navigation position positioning result to converge, and finally determining the first position of the navigation device at the first moment.

[0060] In one or more possible embodiments, the first signal sent by the first satellite is received in the following manner:

[0061] Search for the above first signal at a preset frequency; when a candidate signal that meets the preset frequency is found, if it is determined that the candidate signal is the first signal according to the specific frame header added to the data of the candidate signal, then receive the first signal. The signal receiving module in the navigation device is used to receive the first signal sent by the second satellite and the first signal sent by the first satellite. The signal receiving module consists of a GNSS antenna and related hardware. The above first signal, that is, the data of the low-earth orbit satellite signal, has a specific frame header added. Only when a candidate signal that meets the preset frequency is found and the candidate signal has a specific frame header added to its data, will the candidate signal, that is, the low-earth orbit satellite signal, be received.

[0062] As Figure 3 shown, a navigation device provided according to an embodiment of the present application includes:

[0063] A satellite positioning module 301, configured to determine the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, as well as the moving speed and moving direction of the navigation device; wherein, the first satellite is a low-earth orbit satellite, and the first signal is a low-earth orbit satellite signal;

[0064] A real-time positioning module 302, configured to determine the real-time position of the navigation device between the first moment and the second moment according to the first position, as well as the moving speed and moving direction of the navigation device; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

[0065] A combined positioning module 303, configured to determine that when the navigation device receives the second signal sent by the second satellite, obtain observation data according to the pseudorange and Doppler shift frequency corresponding to the second signal, the predicted pseudorange and the predicted Doppler frequency shift; filter the observation data to obtain a data correction value; determine the position of the navigation device according to the data correction value; wherein, the second satellite is a medium-high orbit satellite, and the second signal is a medium-high orbit satellite navigation signal.

[0066] In one or more possible embodiments, the moving speed and moving direction of the navigation device are obtained according to the inertial measurement unit module 304, and the inertial measurement unit module is a unit in the INS system.

[0067] In one or more possible embodiments,

[0068] A judgment module 305 is configured to judge whether the received medium-high orbit satellite navigation signal is a plurality of medium-high orbit satellite navigation signals sent by medium-high orbit satellites that meet a preset quantity;

[0069] If so, it is determined that the medium and high orbit satellite navigation signal sent by the medium and high orbit satellite can be received; otherwise, it is determined that the medium and high orbit satellite navigation signal sent by the medium and high orbit satellite cannot be received.

[0070] In one or more possible embodiments, the satellite positioning module 301 is specifically configured to process the low orbit satellite signal received at the first moment according to the Doppler effect, and determine the first position of the navigation device at the first moment according to the moving speed and moving direction of the navigation device.

[0071] In one or more possible embodiments, the device further includes a signal receiving module 306;

[0072] The signal receiving module 306 is configured to search for the low orbit satellite signal at a preset frequency;

[0073] When a candidate signal that meets the preset frequency is searched, if it is determined that the candidate signal is a low orbit satellite signal according to the specific frame header added to the data of the candidate signal, the low orbit satellite signal is received.

[0074] As Figure 4 shown, the present application further provides an entity device of a navigation device, including: a signal receiver 401, an inertial device 402, a combined locator 403, and a satellite locator 404;

[0075] The signal receiver 401 is configured to search and capture the medium and high orbit satellite navigation signal and the low orbit satellite signal, and can also determine whether the medium and high orbit satellite navigation signal and the low orbit satellite signal are received;

[0076] The inertial device 402 is configured to obtain the moving speed and moving direction of the navigation device;

[0077] The combined locator 403 is configured to obtain observation data according to the pseudorange and Doppler shift frequency corresponding to the second signal, the predicted pseudorange and the predicted Doppler frequency shift; filter the observation data to obtain a data correction value; and determine the position of the navigation device according to the data correction value.

[0078] The satellite locator 404 is used to determine the first position of the navigation device at the first moment according to the low-orbit satellite signal of the low-earth orbit satellite received at the first moment, as well as the moving speed and moving direction of the navigation device when the medium-high orbit satellite navigation signal sent by the medium-high orbit satellite cannot be received; the radius of the operating orbit of the medium-high orbit satellite is greater than the radius of the operating orbit of the low-earth orbit satellite; between the first moment and the second moment, determine the real-time position of the navigation device according to the first position and the moving speed and moving direction of the navigation device; the second moment is the moment when the low-orbit satellite signal sent by the low-earth orbit satellite is received again after the first moment.

[0079] This application also provides an electronic device, including at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the navigation device positioning method described above.

[0080] As Figure 5 shown, the device includes a processor 501, a memory 502, a communication interface 503, and a bus 504. Among them, the processor 501, the memory 502, and the communication interface 503 are interconnected through the bus 504.

[0081] The processor 501 is configured to read and execute the instructions in the memory 502 to enable at least one processor to execute the navigation device positioning method provided in the above embodiment.

[0082] The memory 502 is used to store various instructions and programs of the navigation device positioning method provided in the above embodiment.

[0083] The bus 504 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 5 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0084] The processor 501 may be a central processing unit (CPU), a network processor (NP), a graphic processing unit (GPU), or any combination of a CPU, an NP, and a GPU. It may also be a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0085] This application also provides a computer-readable storage medium, such as Figure 6 shown, the computer storage medium stores a computer program, and the computer program is used to cause a computer to execute any one of the methods in the above embodiments.

[0086] The memory may include a readable medium in the form of volatile memory, such as a random access memory (RAM) 601 and / or a cache memory 602, and may further include a read-only memory (ROM) 603.

[0087] The memory may also include a program / utilities 605 having a set (at least one) of program modules 604. Such program modules 604 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include the implementation of a network environment.

[0088] Those skilled in the art should understand that the embodiments of the present application may be provided as a method, a system, or a computer program product. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application may take 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.

[0089] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as 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 processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0090] 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 generate a manufactured article including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0091] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are executed on the computer or other programmable device to generate 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 Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0092] Obviously, those skilled in the art can make various modifications and variations 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 modifications and variations.

Claims

1. A positioning method for a navigation device, characterized in that, it includes: Determine the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, the moving speed and moving direction of the navigation device; wherein, the first satellite is a low-earth orbit satellite, and the first signal is a low-earth orbit satellite signal; Between the first moment and the second moment, determine the real-time position of the navigation device according to the first position, the moving speed and moving direction of the navigation device; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

2. The method according to claim 1, characterized in that, Before determining the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, the moving speed and moving direction of the navigation device, it further includes: When it is determined that the navigation device receives the second signal sent by the second satellite, obtain the observation data according to the pseudorange and Doppler frequency shift corresponding to the second signal, the predicted pseudorange and the predicted Doppler frequency shift; wherein, the second satellite is a medium-high earth orbit satellite, and the second signal is a medium-high earth orbit satellite navigation signal; Filter the observation data to obtain a data correction value; Determine the position of the navigation device according to the data correction value.

3. The method according to claim 2, characterized in that, The following method is used to determine whether the navigation device receives the second signal sent by the second satellite: Judge whether the received second signal is a plurality of second signals sent by a second satellite that meets a preset quantity; If so, determine that the second signal sent by the second satellite can be received, otherwise, determine that the second signal sent by the second satellite cannot be received.

4. The method according to claim 1, characterized in that, Determining the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, the moving speed and moving direction of the navigation device includes: Process the first signal of the first satellite received at the first moment according to the Doppler effect, and determine the first position of the navigation device at the first moment according to the moving speed and moving direction of the navigation device.

5. The method according to claim 1, characterized in that, The following method is used to receive the first signal sent by the first satellite: Search for the first signal at a preset frequency; When a candidate signal that meets the preset frequency is searched, if it is determined that the candidate signal is the first signal according to the specific frame header added to the data of the candidate signal, receive the first signal.

6. A navigation device, characterized in that, The device includes: A satellite positioning module, configured to determine the first position of the navigation device at the first moment according to the first signal of the first satellite received at the first moment, the moving speed and moving direction of the navigation device; wherein, the first satellite is a low-earth orbit satellite, and the first signal is a low-earth orbit satellite signal; A real-time positioning module, configured to determine the real-time position of the navigation device according to the first position, the moving speed, and the moving direction of the navigation device between the first moment and the second moment; the second moment is the moment when the first signal sent by the first satellite is received again after the first moment.

7. The apparatus according to claim 6, wherein, the apparatus further comprises: A combined positioning module, configured to obtain observation data according to the pseudorange and Doppler shift frequency corresponding to the second signal, the predicted pseudorange, and the predicted Doppler shift frequency when the navigation device receives the second signal sent by the second satellite; wherein, the second satellite is a medium-high orbit satellite, and the second signal is a medium-high orbit satellite navigation signal; Filter the observation data to obtain a data correction value; Determine the position of the navigation device according to the data correction value.

8. The apparatus according to claim 7, wherein, the apparatus further comprises a judgment module; The judgment module is configured to judge whether the received second signal is a plurality of second signals sent by a second satellite that meets a preset quantity; If so, it is determined that the second signal sent by the second satellite can be received, otherwise, it is determined that the second signal sent by the second satellite cannot be received.

9. The apparatus according to claim 6, wherein, The satellite positioning module is specifically configured to process the first signal of the first satellite received at the first moment according to the Doppler effect, and determine the first position of the navigation device at the first moment according to the moving speed and the moving direction of the navigation device.

10. The apparatus according to claim 6, wherein, the apparatus further comprises a signal receiving module; The signal receiving module is configured to search for the first signal at a preset frequency; When a candidate signal that meets the preset frequency is searched, if it is determined that the candidate signal is the first signal according to the specific frame header added to the data of the candidate signal, then receive the first signal.

11. An electronic device, wherein, the electronic device comprises: At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method according to any one of claims 1-5.

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