Positioning method and device and computer readable storage medium

Abstract

The invention provides a positioning method and device and a computer readable storage medium, relates to the technical field of positioning satellites, and can improve the accuracy of the determined position of a receiver. The method comprises the following steps: S1, acquiring a signal quality index of each initial positioning satellite in an initial positioning satellite set and a signal quality index of each non-initial positioning satellite in a non-initial positioning satellite set; s2, target non-initial positioning satellites in the current non-initial positioning satellite set are removed, and the inspection result of W inspection of the signal quality index of each positioning satellite in the current target positioning satellite set is determined; s3, determining a signal anomaly index of each positioning satellite and a contribution index of the geometric accuracy factor of each positioning satellite under the condition that the inspection result indicates that the inspection is not passed; and S4, when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of a plurality of contribution indexes, rejecting a second positioning satellite in the current target positioning satellite set.

Description

Technical Field

[0001] The present application relates to the field of positioning satellite technology, and in particular to a positioning method, device and computer-readable storage medium. Background Art

[0002] The receiver may determine the position of the receiver based on the received satellite signals of the plurality of positioning satellites.

[0003] In some cases, some satellite signals may reduce the accuracy of the determined position of the receiver. Therefore, how to improve the accuracy of determining the position of the receiver becomes an urgent problem to be solved. Summary of the invention

[0004] The present application provides a positioning method, an apparatus, and a computer-readable storage medium, which can improve the accuracy of the determined position of a receiver.

[0005] In order to achieve the above purpose, this application adopts the following technical solutions:

[0006] In a first aspect, a positioning method is provided, the method comprising: S1: obtaining a signal quality index of each initial positioning satellite in an initial positioning satellite set and a signal quality index of each non-initial positioning satellite in a non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of a receiver; S2: eliminating a target non-initial positioning satellite in a current non-initial positioning satellite set, and determining a test result of a W test of the signal quality index of each positioning satellite in the current target positioning satellite set; the test result indicates that the test is passed or failed, and the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: when the test result indicates that the test is failed, determining that each positioning satellite in the current target positioning satellite set The signal anomaly index of the star and the contribution index of each positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set; the signal state index indicates the degree of abnormality of the satellite signal of the positioning satellite; S4: when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes, the second positioning satellite in the current target positioning satellite set is eliminated; the signal state index of the first positioning satellite is greater than the signal state threshold, and the degree of abnormality of the satellite signal of the second positioning satellite is less than the degree of abnormality of the satellite signal of the first positioning satellite; S5: determine the first number, and when the first number is not 0, execute S2, and when the first number is 0, execute S6; the first number is the number of positioning satellites in the current non-initial positioning satellite set; S6: determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0007] In combination with the first aspect, in certain embodiments of the first aspect, after S3, the method also includes: S7: when the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, eliminate the first positioning satellite in the current target positioning satellite set and execute S5.

[0008] In combination with the first aspect, in certain embodiments of the first aspect, before S1, the method also includes: acquiring altitude angles and azimuth angles of multiple positioning satellites; multiple positioning satellites are visible positioning satellites of the receiver; determining positioning satellites in each preset azimuth interval in multiple preset azimuth intervals based on the azimuth angles of positioning satellites other than the zenith positioning satellite among the multiple positioning satellites; for each preset azimuth interval in the multiple preset azimuth intervals, when there is a positioning satellite in the preset azimuth interval, taking the positioning satellite with the largest altitude angle in the preset azimuth interval as the original positioning satellite; when there is no positioning satellite in the preset azimuth interval, taking the positioning satellite with the largest altitude angle among the positioning satellites other than the original positioning satellite and the zenith positioning satellite among the multiple positioning satellites as the original positioning satellite corresponding to the preset azimuth interval; determining the initial positioning satellite in the initial positioning satellite set based on the geometric precision factor; the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval, the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

[0009] In combination with the first aspect, in certain embodiments of the first aspect, determining an initial positioning satellite in an initial positioning satellite set based on a geometric precision factor includes: S8: for each non-original positioning satellite in a current non-original positioning satellite set, determining a geometric precision factor of a geometric configuration formed by the non-original positioning satellite and a positioning satellite in the current original positioning satellite set; the original positioning satellite set includes an original positioning satellite and a zenith positioning satellite corresponding to each preset azimuth interval; S9: adding a target non-original positioning satellite to the current original positioning satellite set, and removing the target non-original positioning satellite from the current non-original positioning satellite set; the geometric precision factor corresponding to the target non-original positioning satellite is a minimum value among multiple geometric precision factors; S10: determining whether the number of positioning satellites in the current original positioning satellite set is less than a W test sample number threshold, if so, executing S9, if not, executing S11; S11: using the positioning satellite in the current original positioning satellite set as the initial positioning satellite in the initial positioning satellite set.

[0010] In a second aspect, a positioning device is provided for implementing the positioning method of the first aspect. The positioning device includes a module, unit, or means corresponding to the above method, and the module, unit, or means can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0011] In combination with the second aspect, in certain embodiments of the second aspect, the device includes: an acquisition module and a processing module; S1: an acquisition module, used to acquire a signal quality index of each initial positioning satellite in the initial positioning satellite set and a signal quality index of each non-initial positioning satellite in the non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of the receiver; S2: a processing module, used to eliminate the target non-initial positioning satellite in the current non-initial positioning satellite set, and determine a test result of a W test of the signal quality index of each positioning satellite in the current target positioning satellite set; the test result indicates that the test is passed or failed, and the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: the processing module is also used to determine the current target positioning satellite set when the test result indicates that the test fails The signal anomaly index of each positioning satellite in the set and the contribution index of each positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set; the signal state index indicates the degree of abnormality of the satellite signal of the positioning satellite; S4: a processing module, which is also used to eliminate the second positioning satellite in the current target positioning satellite set when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes; the signal state index of the first positioning satellite is greater than the signal state threshold, and the degree of abnormality of the satellite signal of the second positioning satellite is less than the degree of abnormality of the satellite signal of the first positioning satellite; S5: a processing module, which is also used to determine a first number, and when the first number is not 0, execute S2, and when the first number is 0, execute S6; the first number is the number of positioning satellites in the current non-initial positioning satellite set; S6: a processing module, which is also used to determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0012] In combination with the second aspect, in certain embodiments of the second aspect, after S3, the device also includes: S7: when the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, the first positioning satellite in the current target positioning satellite set is eliminated and S5 is executed.

[0013] In combination with the second aspect, in certain embodiments of the second aspect, before S1, the processing module is further used to: obtain the altitude angles and azimuth angles of multiple positioning satellites; the multiple positioning satellites are visible positioning satellites of the receiver; determine the positioning satellites in each preset azimuth interval in multiple preset azimuth intervals based on the azimuth angles of the positioning satellites other than the zenith positioning satellite among the multiple positioning satellites; for each preset azimuth interval in the multiple preset azimuth intervals, when there is a positioning satellite in the preset azimuth interval, use the positioning satellite with the largest altitude angle in the preset azimuth interval as the original positioning satellite; when there is no positioning satellite in the preset azimuth interval, use the positioning satellite with the largest altitude angle among the positioning satellites other than the original positioning satellite and the zenith positioning satellite as the original positioning satellite corresponding to the preset azimuth interval; determine the initial positioning satellite in the initial positioning satellite set based on the geometric precision factor; the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval, the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

[0014] In combination with the second aspect, in certain embodiments of the second aspect, the processing module is further used to determine the initial positioning satellite in the initial positioning satellite set based on the geometric precision factor, including: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric precision factor of the geometric configuration formed by the non-original positioning satellite and the positioning satellite in the current original positioning satellite set; the original positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval; S9: add the target non-original positioning satellite to the current original positioning satellite set, and remove the target non-original positioning satellite from the current non-original positioning satellite set; the geometric precision factor corresponding to the target non-original positioning satellite is the minimum value of multiple geometric precision factors; S10: determine whether the number of positioning satellites in the current original positioning satellite set is less than the W test sample number threshold, if so, execute S9, if not, execute S11; S11: use the positioning satellite in the current original positioning satellite set as the initial positioning satellite in the initial positioning satellite set.

[0015] According to a third aspect, a positioning device is provided, comprising: at least one processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method provided in the first aspect and any possible implementation manner thereof.

[0016] In a fourth aspect, a computer-readable storage medium is provided. When instructions in the computer-readable storage medium are executed by a processor of a positioning device, the positioning device is enabled to perform the method provided in the first aspect and any possible implementation manner thereof.

[0017] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method provided in the first aspect and any possible implementation manner thereof.

[0018] Based on the scheme of the present application, by determining the test result of the W test of the signal quality index of each positioning satellite in the current target positioning satellite set, when the test result indicates that the test fails, it indicates that there is a positioning satellite with abnormal signal in the current target positioning satellite set. Since the accuracy of determining the position of the receiver is not only related to whether the signal of the positioning satellite is abnormal, but also related to the geometric precision factor of the positioning satellite, after determining the first positioning satellite whose signal state index is greater than the signal state threshold in the current target positioning satellite set, it is determined whether the contribution index of the first positioning satellite to the geometric precision factor of the geometric configuration of the positioning satellites in the current non-initial positioning satellite set is the largest. If so, it means that if the first positioning satellite is removed from the current non-initial positioning satellite set, the geometric distribution of the positioning satellites of the receiver will be greatly deteriorated, thereby reducing the accuracy of determining the position of the receiver, and therefore the first positioning satellite cannot be removed. By removing the second positioning satellite whose satellite signal abnormality is less than the satellite signal abnormality of the first positioning satellite in the current target positioning satellite set, the first positioning satellite with a larger contribution index can be retained while removing the second positioning satellite whose satellite signal abnormality is less than the satellite signal abnormality of the first positioning satellite. Thereafter, after traversing each positioning satellite in the non-initial positioning satellite set, the position of the receiver is determined based on the positioning satellites in the current target positioning satellite set, thereby improving the accuracy of determining the position of the receiver.

[0019] Among them, the technical effects brought about by any implementation of the second to fifth aspects can refer to the technical effects brought about by different implementations of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of the architecture of a positioning system provided for this application;

[0021] Figure 2 A flowchart of a positioning method provided by this application;

[0022] Figure 3 A flowchart of another positioning method provided by the present application;

[0023] Figure 4 A flowchart of another positioning method provided by the present application;

[0024] Figure 5 A schematic diagram of the structure of a positioning device provided in this application;

[0025] Figure 6 A schematic structural diagram of another positioning device provided in the present application. DETAILED DESCRIPTION

[0026] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0027] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0028] Meanwhile, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0029] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0030] It can be understood that in the present application, "when", "if" and "if" all mean that corresponding processing will be carried out under certain objective circumstances, but do not limit the time, nor do they require judgment actions when implementing them, nor do they mean the existence of other limitations.

[0031] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0032] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments in this application, and the various implementation methods in each embodiment, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The following implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0033] The receiver may determine the position of the receiver based on the received satellite signals of the plurality of positioning satellites.

[0034] In some cases, some satellite signals may reduce the accuracy of the determined position of the receiver. Therefore, how to improve the accuracy of determining the position of the receiver becomes an urgent problem to be solved.

[0035] To solve the above problems, the present application provides a positioning method, which can be applied to Figure 1 The positioning system shown, Figure 1 A schematic diagram of the architecture of a positioning system provided in this application, such as Figure 1 As shown, the positioning system 10 includes a positioning device 11 and an electronic device 12 .

[0036] The positioning device 11 is directly or indirectly connected to the electronic device 12 . In this connection relationship, a wired connection or a wireless connection may be adopted, which is not limited in the embodiment of the present application.

[0037] Data exchange can be performed between the positioning device 11 and the electronic device 12 .

[0038] It should be noted that the positioning device 11 and the electronic device 12 can be independent devices or integrated into the same device, and this application does not make any specific limitation on this.

[0039] The positioning device 11 may be a device in a receiver or a receiver, and this application does not impose any specific limitation on this.

[0040] When the positioning device 11 and the electronic device 12 are integrated into the same device, the communication between the positioning device 11 and the electronic device 12 is the communication between the internal modules of the device. In this case, the communication process between the two is the same as the communication process between the positioning device 11 and the electronic device 12 when they are independent of each other.

[0041] In the following embodiments provided in the present application, the present application is described by taking the positioning device 11 and the electronic device 12 as being independently configured.

[0042] In practical applications, the positioning method provided in the embodiment of the present application can be applied to the positioning device 11, and can also be applied to the device included in the positioning device 11.

[0043] The positioning method provided in the embodiment of the present application is described below with reference to the accompanying drawings, taking the positioning method applied to the positioning device 11 as an example.

[0044] Figure 2 A flow chart of a positioning method provided in this application, such as Figure 2 As shown, the method comprises the following steps:

[0045] S1: The positioning device obtains a signal quality index of each initial positioning satellite in the initial positioning satellite set and a signal quality index of each non-initial positioning satellite in the non-initial positioning satellite set.

[0046] Among them, the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of the receiver.

[0047] It should be noted that the signal quality index may be a residual error or a bit error rate. Of course, the signal quality index may also be other parameters that may indicate the satellite signal quality of the positioning satellite, and this application does not impose any specific restrictions on this.

[0048] Exemplarily, the initial positioning satellite set may include 5 initial positioning satellites, namely positioning satellite 1, positioning satellite 2, positioning satellite 3, positioning satellite 4, and positioning satellite 5; the non-initial positioning satellite set may include 5 non-initial positioning satellites, namely positioning satellite 6, positioning satellite 7, positioning satellite 8, positioning satellite 9, and positioning satellite 10. Of course, the initial positioning satellite set and the non-initial positioning satellite set may also include other numbers of positioning satellites, and the present application does not impose any specific restrictions on this.

[0049] As a possible implementation, combining Figure 1The positioning device receives a message from an electronic device, the message including a signal quality index of each initial positioning satellite in the initial positioning satellite set and a signal quality index of each non-initial positioning satellite in the non-initial positioning satellite set, and the positioning device obtains the signal quality index of each initial positioning satellite in the initial positioning satellite set and the signal quality index of each non-initial positioning satellite in the non-initial positioning satellite set from the message.

[0050] S2: The positioning device removes the target non-initial positioning satellite in the current non-initial positioning satellite set, and determines a test result of a W test of a signal quality index of each positioning satellite in the current target positioning satellite set.

[0051] The inspection result indicates whether the inspection is passed or not, the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set.

[0052] It should be noted that the W test (Shapiro-Wilk test) is a method used to test whether sample data obeys a normal distribution. It determines whether the data is normally distributed by comparing the difference between the sample data and the ideal normal distribution.

[0053] When the test result indicates that the test is passed, it means that the signal quality index of the positioning satellites in the current target positioning satellite set conforms to the normal distribution, and there is no positioning satellite with abnormal signal in the current target positioning satellite set.

[0054] When the test result indicates that the test fails, it means that the signal quality index of the positioning satellites in the current target positioning satellite set does not conform to the normal distribution, and there are positioning satellites with abnormal signals in the current target positioning satellite set.

[0055] As a possible implementation method, taking the example in S1 as an example, the positioning device takes positioning satellite 6 in the current non-initial positioning satellite set as the target non-initial positioning satellite, eliminates positioning satellite 6 in the current non-initial positioning satellite set, and determines that the current target positioning satellite set includes positioning satellite 1, positioning satellite 2, positioning satellite 3, positioning satellite 4, positioning satellite 5, and positioning satellite 6.

[0056] The positioning device performs a W test on the signal quality index of positioning satellite 1, the signal quality index of positioning satellite 2, the signal quality index of positioning satellite 3, the signal quality index of positioning satellite 4, the signal quality index of positioning satellite 5, and the signal quality index of positioning satellite 6 to obtain a test result.

[0057] It should be noted that the specific instructions for performing W test on data can refer to the existing scheme, and this application will not go into details here.

[0058] The positioning device determines whether the inspection result is inspection passed.

[0059] If yes, the positioning device executes S5.

[0060] If not, the positioning device executes S3.

[0061] S3: When the inspection result indicates that the inspection has failed, the positioning device determines the signal anomaly index of each positioning satellite in the current target positioning satellite set and the contribution index of each positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set.

[0062] The signal status index indicates the abnormality degree of the satellite signal of the positioning satellite.

[0063] The signal state index may be positively correlated with the abnormality of the satellite signal of the positioning satellite, that is, the larger the signal state index is, the greater the abnormality of the satellite signal of the positioning satellite is. Alternatively, the signal state index may be negatively correlated with the abnormality of the satellite signal of the positioning satellite, that is, the smaller the signal state index is, the greater the abnormality of the satellite signal of the positioning satellite is. This application does not impose any specific restrictions on this.

[0064] It should be noted that, when the signal quality index is a residual, the signal state index may be a normalized residual.

[0065] The larger the contribution index of the geometric precision factor of the positioning satellite, the greater the influence of the positioning satellite on the geometric configuration of multiple positioning satellites. After the positioning satellite is eliminated, the geometric configuration of multiple positioning satellites will be greatly deteriorated, which has a greater impact on the accuracy of the determined receiver position; the smaller the contribution index of the geometric precision factor of the positioning satellite, the smaller the influence of the positioning satellite on the geometric configuration of multiple positioning satellites. After the positioning satellite is eliminated, the geometric configuration of multiple positioning satellites will not be greatly deteriorated, which has a smaller impact on the accuracy of the determined receiver position.

[0066] It should be noted that when the signal quality index is a residual, the specific scheme for the positioning device to determine the signal anomaly index of the positioning satellite and the contribution index of the geometric precision factor of the geometric configuration formed by the positioning satellite can refer to the existing scheme, and this application will not go into details here.

[0067] The positioning device determines whether the contribution index of the first positioning satellite in the current target positioning satellite set is a maximum value of multiple contribution indexes.

[0068] The signal state index of the first positioning satellite is greater than the signal state threshold.

[0069] The signal state threshold may be preset or determined based on multiple signal state indexes and the 3σ criterion, and this application does not impose any specific limitation on this. If yes, the positioning device executes S4.

[0070] If not, the positioning device executes S7.

[0071] S4: When the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes, the positioning device removes the second positioning satellite in the current target positioning satellite set.

[0072] The abnormality degree of the satellite signal of the second positioning satellite is smaller than the abnormality degree of the satellite signal of the first positioning satellite.

[0073] Thereafter, the positioning device executes S5.

[0074] It should be noted that the second positioning satellite can be a positioning satellite whose satellite signal abnormality is second only to the signal state of the first positioning satellite among multiple positioning satellites in the current target positioning satellite set. For example, if the signal state index is positively correlated with the abnormality of the satellite signal of the positioning satellite, the second positioning satellite is the positioning satellite with the second largest signal state index among multiple positioning satellites in the current target positioning satellite set; if the signal state index is negatively correlated with the abnormality of the satellite signal of the positioning satellite, the second positioning satellite is the positioning satellite with the second smallest signal state index among multiple positioning satellites in the current target positioning satellite set. In this way, the positioning satellite with the largest abnormality of the satellite signal other than the first positioning satellite in the current target positioning satellite set can be eliminated, thereby improving the accuracy of the determined position of the receiver.

[0075] Alternatively, the second positioning satellite may also be a positioning satellite whose satellite signal abnormality is not second only to the signal state of the first positioning satellite among the multiple positioning satellites in the current target positioning satellite set. For example, if the signal state index is positively correlated with the abnormality of the satellite signal of the positioning satellite, the second positioning satellite may be a positioning satellite with the third largest signal state index among the multiple positioning satellites in the current target positioning satellite set; if the signal state index is negatively correlated with the abnormality of the satellite signal of the positioning satellite, the second positioning satellite may be a positioning satellite with the third smallest signal state index among the multiple positioning satellites in the current target positioning satellite set.

[0076] It can be understood that after the positioning device determines that the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indices, it means that if the first positioning satellite is eliminated from the current non-initial positioning satellite set, the geometric distribution of the positioning satellites of the receiver will be greatly deteriorated, thereby reducing the accuracy of determining the position of the receiver. Therefore, the first positioning satellite cannot be eliminated. The positioning device can eliminate the second positioning satellite in the current target positioning satellite set whose satellite signal abnormality degree is less than the satellite signal abnormality degree of the first positioning satellite, so as to improve the accuracy of determining the position of the receiver.

[0077] S5: The positioning device determines a first quantity.

[0078] The first number is the number of positioning satellites in the current non-initial positioning satellite set.

[0079] As a possible implementation manner, the positioning device counts the number of positioning satellites in the current non-initial positioning satellite set to obtain a first number.

[0080] The positioning device determines whether the first number is zero.

[0081] If not, it means that there are still satellites in the current non-initial positioning satellite set that can position the receiver, and the positioning device executes S2.

[0082] If so, it means that there is no satellite in the current non-initial positioning satellite set that can position the receiver, and the positioning device executes S6.

[0083] S6: The positioning device determines the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0084] It should be noted that the specific solution for determining the position of the receiver based on the positioning satellite can refer to the existing solution, and this application will not go into details here.

[0085] S7: When the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, the positioning device removes the first positioning satellite in the current target positioning satellite set.

[0086] Thereafter, the positioning device executes S5.

[0087] It can be understood that after determining the first positioning satellite whose signal state index is greater than the signal state threshold in the current target positioning satellite set, it is determined whether the contribution index of the first positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set is the largest. If not, it means that if the first positioning satellite is removed from the current non-initial positioning satellite set, the geometric distribution of the positioning satellites of the receiver will not be greatly deteriorated, and the accuracy of determining the position of the receiver is small. Removing the first positioning satellite can improve the accuracy of determining the position of the receiver.

[0088] Based on this scheme, by determining the test result of the W test of the signal quality index of each positioning satellite in the current target positioning satellite set, if the test result indicates that the test fails, it indicates that there is a positioning satellite with abnormal signal in the current target positioning satellite set. Since the accuracy of determining the position of the receiver is not only related to whether the signal of the positioning satellite is abnormal, but also related to the geometric precision factor of the positioning satellite, after determining the first positioning satellite in the current target positioning satellite set whose signal state index is greater than the signal state threshold, it is determined whether the contribution index of the first positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set is the largest. If so, it means that if the first positioning satellite is removed from the current non-initial positioning satellite set, the geometric distribution of the positioning satellites of the receiver will be greatly deteriorated, thereby reducing the accuracy of determining the position of the receiver, and therefore the first positioning satellite cannot be removed. By removing the second positioning satellite whose satellite signal abnormality is less than the satellite signal abnormality of the first positioning satellite in the current target positioning satellite set, the first positioning satellite with a larger contribution index can be retained while removing the second positioning satellite whose satellite signal abnormality is less than the satellite signal abnormality of the first positioning satellite. Thereafter, after traversing each positioning satellite in the non-initial positioning satellite set, the position of the receiver is determined based on the positioning satellites in the current target positioning satellite set, thereby improving the accuracy of determining the position of the receiver.

[0089] The above is a general description of the positioning method provided by the present application. The positioning method provided by the present application will be further described below in conjunction with the accompanying drawings.

[0090] In one design, Figure 3 A flowchart of another positioning method provided by this application is shown in FIG. Figure 3 As shown, before S1, the positioning method provided by the present application may also include the following steps:

[0091] S301. A positioning device obtains altitude angles and azimuth angles of multiple positioning satellites.

[0092] Among them, multiple positioning satellites are visible positioning satellites of the receiver.

[0093] As a possible implementation, combining Figure 1 The positioning device receives a message from an electronic device, the message including the altitude angles and azimuth angles of multiple positioning satellites, and the positioning device obtains the altitude angles and azimuth angles of multiple positioning satellites from the message.

[0094] S302: The positioning device determines a positioning satellite in each preset azimuth interval of a plurality of preset azimuth intervals based on the azimuths of the positioning satellites other than the zenith positioning satellite among the plurality of positioning satellites.

[0095] It should be noted that the multiple preset azimuth angle intervals can be [0°, 90°], [90°, 180°], [180°, 270°], [270°, 360°]. Of course, the multiple preset azimuth angle intervals can also be intervals of other numbers or spans, and this application does not impose any specific restrictions on this.

[0096] The zenith positioning satellite is the positioning satellite with the largest altitude angle among all positioning satellites.

[0097] As a possible implementation method, taking multiple preset azimuth intervals of [0°, 90°], [90°, 180°], [180°, 270°], and [270°, 360°] as an example, the positioning device determines, for each positioning satellite among the multiple positioning satellites except the zenith positioning satellite, the preset azimuth interval in which the azimuth of the positioning satellite lies, and determines the positioning satellite as a positioning satellite within the preset azimuth interval.

[0098] S303: The positioning device determines, for each preset azimuth interval of a plurality of preset azimuth intervals, whether there is a positioning satellite in the preset azimuth interval.

[0099] When there is a positioning satellite within the preset azimuth interval, the positioning device executes S304.

[0100] When there is no positioning satellite within the preset azimuth interval, the positioning device executes S305.

[0101] S304: When there is a positioning satellite within the preset azimuth interval, the positioning device uses the positioning satellite with the largest elevation angle within the preset azimuth interval as the original positioning satellite.

[0102] As a possible implementation manner, the positioning device compares the altitude angles of the positioning satellites within a preset azimuth angle interval, and uses the positioning satellite with the largest altitude angle as the original positioning satellite. Thereafter, the positioning satellite executes S306.

[0103] In this way, since the larger the elevation angle, the better the receiver's observation effect on the positioning satellite, by using the positioning satellite with the largest elevation angle in the preset azimuth angle range as the original positioning satellite, the observability of the original positioning satellite in the preset azimuth angle zone can be improved.

[0104] S305. When there is no positioning satellite within the preset azimuth interval, the positioning device uses the positioning satellite with the largest altitude angle among the multiple positioning satellites except the original positioning satellite and the zenith positioning satellite as the original positioning satellite corresponding to the preset azimuth interval.

[0105] As a possible implementation method, taking multiple preset azimuth intervals of [0°, 90°], [90°, 180°], [180°, 270°], and [270°, 360°] as examples, for [0°, 90°], if there is no positioning satellite within [0°, 90°], since [0°, 90°] is the first azimuth preset interval for determining the original positioning satellite, at this time there is no original positioning satellite among the multiple satellites, the positioning device uses the positioning satellite with the largest altitude angle among the multiple satellites except the zenith positioning satellite as the original positioning satellite of [0°, 90°].

[0106] Thereafter, for [90°, 180°], if there is a positioning satellite within [90°, 180°], the positioning device determines the positioning satellite with the largest elevation angle within [90°, 180°] as the original positioning satellite of [90°, 180°].

[0107] Afterwards, for [180°, 270°], if there is no positioning satellite within [180°, 270°], since there are already two original positioning satellites, namely the original positioning satellite at [0°, 90°] and the original positioning satellite at [90°, 180°], the positioning device uses the positioning satellite with the largest altitude angle among the multiple positioning satellites except the zenith positioning satellite, the original positioning satellite at [0°, 90°] and the original positioning satellite at [90°, 180°] as the original positioning satellite for [180°, 270°].

[0108] Thereafter, for [270°, 360°], if there is a positioning satellite within [270°, 360°], the positioning device determines the positioning satellite with the largest elevation angle within [270°, 360°] as the original positioning satellite of [270°, 360°].

[0109] Thereafter, the positioning satellite executes S306.

[0110] S306: The positioning device determines an initial positioning satellite in an initial positioning satellite set based on a geometric dilution of precision.

[0111] The initial positioning satellite set includes the original positioning satellites and zenith positioning satellites corresponding to each preset azimuth interval, the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

[0112] Exemplarily, the W test sample quantity threshold can be 8 or 9. Of course, the W test sample quantity threshold can also be other values, and this application does not impose any specific limitation on this.

[0113] It should be noted that the specific description of S306 can refer to the relevant description in the subsequent part of the specific implementation method of this application, and this application will not explain it here.

[0114] Based on the scheme, the altitude angles and azimuth angles of multiple positioning satellites are obtained; the multiple positioning satellites are visible positioning satellites of the receiver, and then, based on the azimuth angles of the positioning satellites except the zenith positioning satellite among the multiple positioning satellites, the positioning satellites in each preset azimuth angle interval in the multiple preset azimuth angle intervals are determined, and then, for each preset azimuth angle interval in the multiple preset azimuth angle intervals, if there is a positioning satellite in the preset azimuth angle interval, the positioning satellite with the largest altitude angle in the preset azimuth angle interval is used as the original positioning satellite; there is no positioning satellite in the target preset azimuth angle interval; there is no positioning satellite in the preset azimuth angle interval In the case of a plurality of positioning satellites, the positioning satellite with the largest altitude angle among the positioning satellites other than the original positioning satellite and the zenith positioning satellite is used as the original positioning satellite corresponding to the preset azimuth interval; since the original positioning satellite with the largest altitude angle is determined for each preset azimuth interval, the geometric distribution uniformity and visibility of the original positioning satellites can be improved, and the initial positioning satellite in the initial positioning satellite set is subsequently determined based on the geometric precision factor. Since the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval, the accuracy of determining the position of the receiver can be further improved.

[0115] In one design, Figure 4 A flowchart of another positioning method provided by this application is shown in FIG. Figure 4 As shown, S306 provided in the specific implementation of the present application may specifically include the following multiple steps:

[0116] S8: The positioning device determines, for each non-original positioning satellite in the current non-original positioning satellite set, a geometric precision factor of a geometric configuration formed by the non-original positioning satellite and the positioning satellites in the current original positioning satellite set.

[0117] The original positioning satellite set includes the original positioning satellites and zenith positioning satellites corresponding to each preset azimuth interval.

[0118] As a possible implementation manner, the positioning device determines the geometric precision factor of the geometric configuration formed by the positioning satellites in the original positioning satellite set and each non-original positioning satellite, and obtains the geometric precision factor corresponding to each non-original positioning satellite.

[0119] S9: The positioning device adds the target non-original positioning satellite to the current set of original positioning satellites, and removes the target non-original positioning satellite from the current set of non-original positioning satellites.

[0120] The geometric precision factor corresponding to the target non-original positioning satellite is the minimum value among multiple geometric precision factors.

[0121] As a possible implementation method, the positioning device compares the geometric precision factors corresponding to the non-original positioning satellites in the current non-original positioning satellites, determines the non-original positioning satellite with the smallest geometric precision factor as the target non-original positioning satellite, adds the target non-original positioning satellite to the current original positioning satellite set, and eliminates the target non-original positioning satellite from the current non-original positioning satellite set.

[0122] S10: The positioning device determines whether the number of positioning satellites in the current original positioning satellite set is less than W verification sample number threshold.

[0123] If yes, execute S9.

[0124] If not, execute S11.

[0125] S11: The positioning device uses the positioning satellites in the current original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

[0126] Thereafter, the positioning device may execute S1.

[0127] Based on this scheme, for each non-original positioning satellite in the current non-original positioning satellite set, the geometric precision factor of the geometric configuration formed by the non-original positioning satellite and the positioning satellites in the current original positioning satellite set is determined, and then the target non-original positioning satellite is added to the current original positioning satellite set, and the target non-original positioning satellite is removed from the current non-original positioning satellite set. Since the geometric precision factor corresponding to the target non-original positioning satellite is the minimum value among multiple geometric precision factors, the geometric precision factor of the positioning satellite in the current original positioning satellite set can be improved, thereby further improving the accuracy of determining the position of the receiver.

[0128] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the positioning device executing the positioning method. In order to achieve the above functions, the positioning device includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0129] The embodiment of the present application can divide the functional modules of the positioning device according to the above method example. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation. In addition, the "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0130] In the case of functional module division, Figure 5 FIG. 1 shows a schematic diagram of the structure of a positioning device. Figure 5 As shown, the positioning device 50 includes an acquisition module 501 and a processing module 502 .

[0131] In some embodiments, the positioning device 50 may also include a storage module ( Figure 5 ), for storing program instructions and data.

[0132] Among them, S1: an acquisition module 501 is used to acquire the signal quality index of each initial positioning satellite in the initial positioning satellite set and the signal quality index of each non-initial positioning satellite in the non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of the receiver; S2: a processing module 502 is used to eliminate the target non-initial positioning satellite in the current non-initial positioning satellite set, and determine the inspection result of the W inspection of the signal quality index of each positioning satellite in the current target positioning satellite set; the inspection result indicates that the inspection is passed or failed, and the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: the processing module 502 is also used to determine the signal abnormality index and of each positioning satellite in the current target positioning satellite set when the inspection result indicates that the inspection is failed. a contribution index of each positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set; a signal status index indicating the degree of abnormality of the satellite signal of the positioning satellite; S4: the processing module 502 is also used to eliminate the second positioning satellite in the current target positioning satellite set when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes; the signal status index of the first positioning satellite is greater than the signal status threshold, and the degree of abnormality of the satellite signal of the second positioning satellite is less than the degree of abnormality of the satellite signal of the first positioning satellite; S5: the processing module 502 is also used to determine the first number, and when the first number is not 0, execute S2, and when the first number is 0, execute S6; the first number is the number of positioning satellites in the current non-initial positioning satellite set; S6: the processing module 502 is also used to determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0133] Optionally, after S3, the device also includes: S7: when the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, remove the first positioning satellite in the current target positioning satellite set and execute S5.

[0134] Optionally, before S1, the processing module 502 is further used to: obtain the altitude angles and azimuth angles of multiple positioning satellites; multiple positioning satellites are visible positioning satellites of the receiver; determine the positioning satellites in each preset azimuth angle interval in multiple preset azimuth angle intervals based on the azimuth angles of the positioning satellites other than the zenith positioning satellite among the multiple positioning satellites; for each preset azimuth angle interval in the multiple preset azimuth angle intervals, when there is a positioning satellite in the preset azimuth angle interval, use the positioning satellite with the largest altitude angle in the preset azimuth angle interval as the original positioning satellite; when there is no positioning satellite in the preset azimuth angle interval, use the positioning satellite with the largest altitude angle among the positioning satellites other than the original positioning satellite and the zenith positioning satellite among the multiple positioning satellites as the original positioning satellite corresponding to the preset azimuth angle interval; determine the initial positioning satellite in the initial positioning satellite set based on the geometric precision factor; the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth angle interval, the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

[0135] Optionally, the processing module 502 is also used to determine the initial positioning satellite in the initial positioning satellite set based on the geometric precision factor, including: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric precision factor of the geometric configuration formed by the non-original positioning satellite and the positioning satellite in the current original positioning satellite set; the original positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval; S9: add the target non-original positioning satellite to the current original positioning satellite set, and remove the target non-original positioning satellite from the current non-original positioning satellite set; the geometric precision factor corresponding to the target non-original positioning satellite is the minimum value of multiple geometric precision factors; S10: determine whether the number of positioning satellites in the current original positioning satellite set is less than the W test sample number threshold, if so, execute S9, if not, execute S11; S11: use the positioning satellite in the current original positioning satellite set as the initial positioning satellite in the initial positioning satellite set.

[0136] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0137] When the functions of the above functional modules are implemented in the form of hardware, Figure 6 FIG. 2 shows a schematic diagram of the structure of another positioning device. Figure 6 As shown, the positioning device 60 includes a processor 601, a memory 602 and a bus 603. The processor 601 and the memory 602 may be connected via the bus 603.

[0138] The processor 601 is the control center of the positioning device 60, which can be a processor or a general term for multiple processing elements. For example, the processor 601 can be a general-purpose central processing unit (CPU) or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor.

[0139] As an embodiment, the processor 601 may include one or more CPUs, such as Figure 6 CPU0 and CPU1 are shown in the figure.

[0140] The memory 602 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0141] As a possible implementation, the memory 602 can exist independently of the processor 601, and the memory 602 can be connected to the processor 601 via a bus 603 to store instructions or program codes. When the processor 601 calls and executes the instructions or program codes stored in the memory 602, the positioning method provided in the embodiment of the present application can be implemented.

[0142] In another possible implementation, the memory 602 may also be integrated with the processor 601 .

[0143] The bus 603 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0144] It should be pointed out that Figure 6 The structure shown does not constitute a limitation on the positioning device 60. Figure 6 In addition to the components shown, the positioning device 60 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0145] As an example, combining Figure 5 The functions implemented by the acquisition module 501 and the processing module 502 in the positioning device 50 are similar to those Figure 6 The function of processor 601 in is the same.

[0146] Optional, such as Figure 6 As shown, the positioning device 60 provided in the embodiment of the present application may further include a communication interface 604 .

[0147] The communication interface 604 is used to connect with other devices through a communication network. The communication network may be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 604 may include a receiving unit for receiving data and a sending unit for sending data.

[0148] In a possible implementation, in the positioning device 60 provided in the embodiment of the present application, the communication interface 604 may also be integrated in the processor 601, which is not specifically limited in the embodiment of the present application.

[0149] As a possible product form, the positioning device of the embodiment of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout the present application.

[0150] Through the description of the above implementation methods, those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0151] An embodiment of the present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the computer executes each step in the method flow shown in the above method embodiment.

[0152] An embodiment of the present application provides a computer program product including instructions. When the instructions are executed on a computer, the computer is caused to execute each step in the method flow shown in the above method embodiment.

[0153] An embodiment of the present application provides a chip system, including: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the chip system executes each step in the method flow shown in the above method embodiment.

[0154] Among them, the computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage media in a suitable combination of the above, or numerical values ​​in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in a specific-purpose ASIC. In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0155] Since the positioning device, computer-readable storage medium, and computer program product provided in this embodiment can be applied to the positioning method provided by this embodiment, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of this application will not be repeated here.

[0156] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0157] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A positioning method, characterized in that: The method comprises: S1: Acquire a signal quality index of each initial positioning satellite in an initial positioning satellite set and a signal quality index of each non-initial positioning satellite in a non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of a receiver; S2: Eliminate the target non-initial positioning satellite in the current non-initial positioning satellite set, and determine the test result of the W test of the signal quality index of each positioning satellite in the current target positioning satellite set; the test result indicates whether the test is passed or not, and the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: when the inspection result indicates that the inspection fails, determining the signal anomaly index of each positioning satellite in the current target positioning satellite set and the contribution index of each positioning satellite to the geometric precision factor of the geometric configuration formed by the positioning satellites in the current non-initial positioning satellite set; the signal status index indicates the degree of abnormality of the satellite signal of the positioning satellite; S4: when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes, the second positioning satellite in the current target positioning satellite set is eliminated; the signal state index of the first positioning satellite is greater than the signal state threshold, and the abnormality degree of the satellite signal of the second positioning satellite is less than the abnormality degree of the satellite signal of the first positioning satellite; S5: Determine a first number. If the first number is not 0, execute S2. If the first number is 0, execute S6. The first number is the number of positioning satellites in the current non-initial positioning satellite set. S6: Determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

2. The method according to claim 1, characterized in that After S3, the method further includes: S7: When the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, the first positioning satellite in the current target positioning satellite set is removed, and S5 is executed.

3. The method according to claim 1 or 2, characterized in that: Before S1, the method further includes: Acquire the altitude angles and azimuth angles of a plurality of positioning satellites; the plurality of positioning satellites are visible positioning satellites of the receiver; Determine a positioning satellite within each preset azimuth interval of a plurality of preset azimuth intervals based on the azimuths of the positioning satellites other than the zenith positioning satellite among the plurality of positioning satellites; For each preset azimuth interval in a plurality of preset azimuth intervals, if there is a positioning satellite in the preset azimuth interval, taking the positioning satellite with the largest elevation angle in the preset azimuth interval as the original positioning satellite; In the case where there is no positioning satellite within the preset azimuth interval, taking the positioning satellite with the largest elevation angle among the multiple positioning satellites except the original positioning satellite and the zenith positioning satellite as the original positioning satellite corresponding to the preset azimuth interval; The initial positioning satellite in the initial positioning satellite set is determined based on the geometric precision factor; the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval, and the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

4. The method according to claim 3, characterized in that The determining of the initial positioning satellite in the initial positioning satellite set based on the geometric precision dilution comprises: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determining a geometric precision factor of a geometric configuration formed by the non-original positioning satellite and the positioning satellites in the current original positioning satellite set; the original positioning satellite set includes the original positioning satellite corresponding to each preset azimuth interval and the zenith positioning satellite; S9: adding the target non-original positioning satellite to the current set of original positioning satellites, and removing the target non-original positioning satellite from the current set of non-original positioning satellites; the geometric precision factor corresponding to the target non-original positioning satellite is the minimum value among multiple geometric precision factors; S10: Determine whether the number of positioning satellites in the current original positioning satellite set is less than the W test sample number threshold, if so, execute S9, if not, execute S11; S11: Using the positioning satellites in the current original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

5. A positioning device, characterized in that: The device comprises: an acquisition module and a processing module; S1: The acquisition module is used to acquire a signal quality index of each initial positioning satellite in an initial positioning satellite set and a signal quality index of each non-initial positioning satellite in a non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of a receiver; S2: the processing module is used to eliminate the target non-initial positioning satellite in the current non-initial positioning satellite set, and determine the test result of the W test of the signal quality index of each positioning satellite in the current target positioning satellite set; the test result indicates that the test is passed or failed, and the target non-initial positioning satellite is any non-initial positioning satellite in the current non-initial positioning satellite set; the target positioning satellite set includes the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: The processing module is further used to determine, when the inspection result indicates that the inspection fails, a signal anomaly index of each positioning satellite in the current target positioning satellite set and a contribution index of each positioning satellite to a geometric precision factor of a geometric configuration formed by positioning satellites in the current non-initial positioning satellite set; the signal status index indicates the degree of abnormality of the satellite signal of the positioning satellite; S4: The processing module is further configured to, when the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of multiple contribution indexes, remove the second positioning satellite in the current target positioning satellite set; the signal state index of the first positioning satellite is greater than the signal state threshold, and the abnormality degree of the satellite signal of the second positioning satellite is less than the abnormality degree of the satellite signal of the first positioning satellite; S5: the processing module is further used to determine a first number, and when the first number is not 0, execute S2, and when the first number is 0, execute S6; the first number is the number of positioning satellites in the current non-initial positioning satellite set; S6: The processing module is further used to determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

6. The device according to claim 5, characterized in that After S3, the device further includes: S7: When the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of multiple contribution indexes, the first positioning satellite in the current target positioning satellite set is removed, and S5 is executed.

7. The device according to claim 5 or 6, characterized in that Before S1, the processing module is further used for: Acquire the altitude angles and azimuth angles of a plurality of positioning satellites; the plurality of positioning satellites are visible positioning satellites of the receiver; Determine a positioning satellite within each preset azimuth interval of a plurality of preset azimuth intervals based on the azimuths of the positioning satellites other than the zenith positioning satellite among the plurality of positioning satellites; For each preset azimuth interval in a plurality of preset azimuth intervals, if there is a positioning satellite in the preset azimuth interval, taking the positioning satellite with the largest elevation angle in the preset azimuth interval as the original positioning satellite; In the case where there is no positioning satellite within the preset azimuth interval, taking the positioning satellite with the largest elevation angle among the multiple positioning satellites except the original positioning satellite and the zenith positioning satellite as the original positioning satellite corresponding to the preset azimuth interval; The initial positioning satellite in the initial positioning satellite set is determined based on the geometric precision factor; the initial positioning satellite set includes the original positioning satellite and the zenith positioning satellite corresponding to each preset azimuth interval, and the second number is greater than or equal to the W test sample number threshold, and the second number is the number of initial positioning satellites in the initial positioning satellite set.

8. The device according to claim 7, characterized in that The processing module is further used to determine an initial positioning satellite in the initial positioning satellite set based on a geometric precision factor, including: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determining a geometric precision factor of a geometric configuration formed by the non-original positioning satellite and the positioning satellites in the current original positioning satellite set; the original positioning satellite set includes the original positioning satellite corresponding to each preset azimuth interval and the zenith positioning satellite; S9: adding the target non-original positioning satellite to the current set of original positioning satellites, and removing the target non-original positioning satellite from the current set of non-original positioning satellites; the geometric precision factor corresponding to the target non-original positioning satellite is the minimum value among multiple geometric precision factors; S10: Determine whether the number of positioning satellites in the current original positioning satellite set is less than the W test sample number threshold, if so, execute S9, if not, execute S11; S11: Using the positioning satellites in the current original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

9. A positioning device, characterized in that: The positioning device comprises: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the program or instructions are executed by the processor, the device executes the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instructions are executed, the computer is caused to perform the method according to any one of claims 1 to 4.

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