Positioning method, apparatus, and computer-readable storage medium

Abstract

The application 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 determining the 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: eliminating a target non-initial positioning satellite in the current non-initial positioning satellite set, and determining a test result of W test of the signal quality index of each positioning satellite in the current target positioning satellite set; S3: in the case where the test result indicates that the test fails, determining a signal anomaly index of each positioning satellite and a contribution index of a geometric dilution of precision of each positioning satellite; and S4: in the case where the contribution index of a first positioning satellite in the current target positioning satellite set is the maximum value of the plurality of contribution indexes, eliminating a second positioning satellite in the current target positioning satellite set.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning satellites, and particularly relates to a positioning method, a device and a computer readable storage medium. BACKGROUND

[0002] The receiver can 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 can reduce the accuracy of the determined position of the receiver. Therefore, how to improve the accuracy of the determined position of the receiver becomes a problem to be solved. SUMMARY

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

[0005] To achieve the above object, the present 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 being a visible positioning satellite of a receiver; S2: eliminating a target non-initial positioning satellite in the 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 a current target positioning satellite set; the test result indicating that the test passes or the test fails, the target non-initial positioning satellite being any one of the non-initial positioning satellites in the current non-initial positioning satellite set; the target positioning satellite set comprising the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: in the case where the test result indicates that the test fails, determining 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 configuration of positioning satellites in the current non-initial positioning satellite set; the signal state index indicating an abnormality degree of the satellite signal of the positioning satellite; S4: in the case where a contribution index of a first positioning satellite in the current target positioning satellite set is a maximum value of a plurality of contribution indexes, eliminating a second positioning satellite in the current target positioning satellite set; the signal state index of the first positioning satellite being greater than a signal state threshold, and an abnormality degree of the satellite signal of the second positioning satellite being less than an abnormality degree of the satellite signal of the first positioning satellite; S5: determining a first quantity, in the case where the first quantity is not 0, performing S2, and in the case where the first quantity is 0, performing S6; the first quantity being a quantity of the positioning satellites in the current non-initial positioning satellite set; S6: determining the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0007] With reference to the first aspect, in some embodiments of the first aspect, after S3, the method further includes: S7: in the case that the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum of the plurality of contribution indexes, eliminating the first positioning satellite in the current target positioning satellite set, and performing S5.

[0008] With reference to the first aspect, in some embodiments of the first aspect, before S1, the method further includes: obtaining the elevation angle and the azimuth angle of the plurality of positioning satellites; the plurality of positioning satellites are visible positioning satellites of the receiver; determining the positioning satellites within each of a plurality of preset azimuth angle intervals based on the azimuth angle of the positioning satellites other than the zenith positioning satellite in the plurality of positioning satellites; for each of the plurality of preset azimuth angle intervals, in the case that there is a positioning satellite within the preset azimuth angle interval, taking the positioning satellite with the largest elevation angle within the preset azimuth angle interval as a raw positioning satellite; in the case that there is no positioning satellite within the preset azimuth angle interval, taking the positioning satellite with the largest elevation angle among the positioning satellites other than the raw positioning satellite and the zenith positioning satellite in the plurality of positioning satellites as the raw positioning satellite corresponding to the preset azimuth angle interval; determining the initial positioning satellites in the initial positioning satellite set based on the geometric dilution of precision; the initial positioning satellite set includes the raw positioning satellite corresponding to each preset azimuth angle interval and the zenith positioning satellite, and the second quantity is greater than or equal to the W threshold of the number of samples, the second quantity being the number of the initial positioning satellites in the initial positioning satellite set.

[0009] With reference to the first aspect, in some embodiments of the first aspect, determining the initial positioning satellites in the initial positioning satellite set based on the geometric dilution of precision includes: S8: for each non-raw positioning satellite in the current non-raw positioning satellite set, determining the geometric dilution of precision of the geometric configuration formed by the non-raw positioning satellite and the positioning satellites in the current raw positioning satellite set; the raw positioning satellite set includes the raw positioning satellite corresponding to each preset azimuth angle interval and the zenith positioning satellite; S9: adding a target non-raw positioning satellite to the current raw positioning satellite set, and eliminating the target non-raw positioning satellite from the current non-raw positioning satellite set; the target non-raw positioning satellite corresponds to the minimum value of the plurality of geometric dilutions of precision; S10: determining whether the number of the positioning satellites in the current raw positioning satellite set is less than the W threshold of the number of samples, if yes, performing S9, and if no, performing S11; S11: taking the positioning satellites in the current raw positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

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

[0011] With reference to the second aspect, in some embodiments of the second aspect, the apparatus comprises: an obtaining module and a processing module; S1: the obtaining module is configured to obtain 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 current non-initial positioning satellite set; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of the receiver; S2: the processing module is configured to eliminate a 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 passes or the test fails; the target non-initial positioning satellite is any one of the non-initial positioning satellites in the current non-initial positioning satellite set; the target positioning satellite set comprises the target non-initial positioning satellite and each initial positioning satellite in the initial positioning satellite set; S3: the processing module is further configured to, in a case where the test result indicates that the test fails, determine 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 configuration of positioning satellites in the current non-initial positioning satellite set; the signal anomaly index indicates an abnormality degree of a satellite signal of the positioning satellite; S4: the processing module is further configured to, in a case where the contribution index of a first positioning satellite in the current target positioning satellite set is a maximum value of the plurality of contribution indexes, eliminate a second positioning satellite in the current target positioning satellite set; the signal anomaly index of the first positioning satellite is greater than a signal anomaly threshold, and an abnormality degree of a satellite signal of the second positioning satellite is less than an abnormality degree of a satellite signal of the first positioning satellite; S5: the processing module is further configured to determine a first quantity, and in a case where the first quantity is not 0, perform S2, and in a case where the first quantity is 0, perform S6; the first quantity is a quantity of the positioning satellites in the current non-initial positioning satellite set; S6: the processing module is further configured to determine the position of the receiver based on the positioning satellites in the current target positioning satellite set.

[0012] With reference to the second aspect, in some embodiments of the second aspect, after S3, the apparatus further comprises: S7: in a case where the contribution index of a first positioning satellite in the current target positioning satellite set is not a maximum value of the plurality of contribution indexes, eliminating the first positioning satellite in the current target positioning satellite set, and performing S5.

[0013] In some embodiments of the second aspect, before S1, the processing module is further configured to: obtain the elevation angle and the azimuth angle of a plurality of positioning satellites; the plurality of positioning satellites are visible positioning satellites of the receiver; determine the positioning satellites in each of a plurality of preset azimuth angle intervals based on the azimuth angle of the positioning satellites in the plurality of positioning satellites except for the zenith positioning satellite; for each of the plurality of preset azimuth angle intervals, if there is a positioning satellite in the preset azimuth angle interval, take the positioning satellite with the largest elevation angle in the preset azimuth angle interval as the original positioning satellite; if there is no positioning satellite in the preset azimuth angle interval, take the positioning satellite with the largest elevation angle from the positioning satellites in the plurality of positioning satellites except for the original positioning satellite and the zenith positioning satellite as the original positioning satellite corresponding to the preset azimuth angle interval; determine the initial positioning satellites in the initial positioning satellite set based on the geometric dilution of precision; the initial positioning satellite set includes the original positioning satellite corresponding to each preset azimuth angle interval and the zenith positioning satellite, and the second number is greater than or equal to the W test sample number threshold, where the second number is the number of the initial positioning satellites in the initial positioning satellite set.

[0014] In some embodiments of the second aspect, the processing module is further configured to determine the initial positioning satellites in the initial positioning satellite set based on the geometric dilution of precision, including: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric dilution of precision of the 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 angle interval and the zenith positioning satellite; 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 target non-original positioning satellite corresponds to the minimum value of the plurality of geometric dilutions of precision; S10: determine whether the number of the positioning satellites in the current original positioning satellite set is less than the W test sample number threshold, if yes, perform S9, and if no, perform S11; S11: take the positioning satellites in the current original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

[0015] In a third aspect, a positioning apparatus is provided, including at least one processor, and a memory storing instructions executable by the processor; the processor is configured to execute the instructions to implement the method provided in the first aspect and any possible implementation 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 apparatus, the positioning apparatus is enabled to perform the method provided in the first aspect and any possible implementation thereof.

[0017] In a fifth aspect, a computer program product containing instructions which, when executed on a computer, enable the computer to carry out the method according to the first aspect and any possible implementation thereof.

[0018] According to 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, if the test result indicates that the test fails, it means 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 dilution of precision of the geometric configuration constituted by the positioning satellites in the current non-initial positioning satellite set, after determining that the first positioning satellite in the current target positioning satellite set has a signal state index greater than the signal state threshold, it is further determined whether the contribution index of the first positioning satellite to the geometric dilution of precision of the geometric configuration constituted 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 thus the first positioning satellite cannot be removed. By removing the second positioning satellite with a satellite signal abnormality degree less than that of the first positioning satellite in the current target positioning satellite set, the first positioning satellite with a larger contribution index can be retained, and the second positioning satellite with a satellite signal abnormality degree less than that of the first positioning satellite can be removed. 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] The technical effects brought by any of the embodiments of the second aspect to the fifth aspect can refer to the technical effects brought by the different embodiments of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 An architecture diagram of a positioning system provided by the present application;

[0021] Figure 2 A flowchart of a positioning method provided by the present 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 structure diagram of a positioning device provided by the present application;

[0025] Figure 6 FIG. 1 is a schematic diagram of another positioning device according to the present application. DETAILED DESCRIPTION

[0026] In the description of the present application, "a plurality of" means two or more than two, unless otherwise specified. "At least one of the following" or similar expressions means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0027] In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and role. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0028] Meanwhile, in the embodiments of the present application, "exemplary" or "for example" and the like are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, "exemplary" or "for example" and the like are used to present the relevant concept in a specific manner, for the purpose of understanding.

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

[0030] It can be understood that in the present application, "when", "if" and "if" all refer to the corresponding processing under certain objective circumstances, not limited to time, and do not require a judgment action when implemented, nor does it mean that there are other limitations.

[0031] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects, or can be combined with other features according to needs in some scenarios. Correspondingly, the apparatus given in the embodiments of the present application can also implement these features or functions, which will not be described here.

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

[0033] The receiver can 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 can reduce the accuracy of the determined position of the receiver. Therefore, how to improve the accuracy of the determined position of the receiver becomes a problem to be solved.

[0035] To solve the above problems, the present application provides a positioning method, which can be applied to Figure 1 a positioning system as shown in the accompanying drawings, Figure 1 For the architecture schematic diagram of a positioning system provided by the present application, as shown in the accompanying drawings, Figure 1 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 the connection relationship, a wired connection or a wireless connection can be used, and the embodiments of the present application do not limit this.

[0037] The positioning device 11 and the electronic device 12 can exchange data.

[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 the present application does not make specific limitations.

[0039] The positioning device 11 can be a device in a receiver or a receiver, and the present application does not make specific limitations.

[0040] When the positioning apparatus 11 and the electronic device 12 are integrated in the same device, the communication manner between the positioning apparatus 11 and the electronic device 12 is the communication between internal modules of the device. In this case, the communication flow between the two is the same as the communication flow between the positioning apparatus 11 and the electronic device 12 in the case that the two are independent of each other.

[0041] In the following embodiments provided by the present application, the positioning apparatus 11 and the electronic device 12 are taken as an example to be independent of each other.

[0042] In actual applications, the positioning method provided by the embodiments of the present application can be applied to the positioning apparatus 11, or to the apparatus included in the positioning apparatus 11.

[0043] The positioning method provided by the embodiments of the present application will be described below with reference to the accompanying drawings, taking the positioning method applied to the positioning apparatus 11 as an example.

[0044] Figure 2 A flowchart of a positioning method provided by the present application is shown in FIG. 1, which includes the following steps. Figure 2

[0045] S1: The positioning apparatus acquires 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.

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

[0047] It should be noted that the signal quality index can be the residual error, the bit error rate, or other parameters that can indicate the satellite signal quality of the positioning satellite, which is not limited in the present application.

[0048] For example, the initial positioning satellite set can include five initial positioning satellites, i.e., positioning satellite 1, positioning satellite 2, positioning satellite 3, positioning satellite 4, and positioning satellite 5, and the non-initial positioning satellite set can include five non-initial positioning satellites, i.e., 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 can also include other numbers of positioning satellites, which is not limited in the present application.

[0049] As a possible implementation manner, the positioning method provided by the embodiments of the present application can be applied to the positioning apparatus 11, or to the apparatus included in the positioning apparatus 11. Figure 1 ​The positioning device receives a message from an electronic device, which includes 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 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 satellites from the current non-initial positioning satellite set and determines the test result of the W test for the signal quality index of each positioning satellite in the current target positioning satellite set.

[0051] The test result indicates whether the test passed or failed. The target non-initial positioning satellite is any one of the non-initial positioning satellites in the current set of non-initial positioning satellites. 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 Shapiro-Wilk test is a method used to test whether sample data follows 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] If the test result indicates that the test passed, it means that the signal quality index of the positioning satellites in the current target positioning satellite set conforms to a normal distribution, and there are no positioning satellites with abnormal signals in the current target positioning satellite set.

[0054] If 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 one possible implementation, taking the example in S1, the positioning device takes positioning satellite 6 in the current non-initial positioning satellite set as the target non-initial positioning satellite, removes positioning satellite 6 from 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 indices of positioning satellite 1, positioning satellite 2, positioning satellite 3, positioning satellite 4, positioning satellite 5, and positioning satellite 6, and obtains the test results.

[0057] It should be noted that the specific description of the W test on the data can refer to the existing scheme, and the present application will not be repeated here.

[0058] The positioning device determines whether the test result is a test pass.

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

[0060] If no, the positioning device performs S3.

[0061] S3: 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 configuration of the positioning satellites in the current non-initial positioning satellite set in the case where the test result indicates a test fail.

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

[0063] The signal state index can be positively correlated with the abnormality degree of the satellite signal of the positioning satellite, that is, the larger the signal state index, the greater the abnormality degree of the satellite signal of the positioning satellite. Alternatively, the signal state index can also be negatively correlated with the abnormality degree of the satellite signal of the positioning satellite, that is, the smaller the signal state index, the greater the abnormality degree of the satellite signal of the positioning satellite, which is not limited by the present application.

[0064] It should be noted that in the case where the signal quality index is the residual error, the signal state index can be the normalized residual error.

[0065] The greater the contribution index of the geometric dilution of precision of the positioning satellite, the greater the influence of the positioning satellite on the geometric configuration of the multiple positioning satellites, and after excluding the positioning satellite, the geometric configuration of the multiple positioning satellites will be greatly deteriorated, and the accuracy of the determined position of the receiver will be greatly affected. The smaller the contribution index of the geometric dilution of precision of the positioning satellite, the smaller the influence of the positioning satellite on the geometric configuration of the multiple positioning satellites, and after excluding the positioning satellite, the geometric configuration of the multiple positioning satellites will not be greatly deteriorated, and the accuracy of the determined position of the receiver will be less affected.

[0066] It should be noted that in the case where the signal quality index is the residual error, the specific scheme of determining the signal anomaly index of the positioning satellite and determining the contribution index of the geometric dilution of precision of the geometric configuration of the positioning satellites can refer to the existing scheme, and the present application will not be repeated here.

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

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

[0069] The signal state threshold can be preset or determined based on the plurality of signal state indexes and a 3σ criterion, and the application does not make specific limitations thereto. If yes, the positioning device performs S4.

[0070] If no, the positioning device performs S7.

[0071] S4: The positioning device removes a second positioning satellite in the current target positioning satellite set in a case where the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of the plurality of contribution indexes.

[0072] 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.

[0073] Thereafter, the positioning device performs S5.

[0074] It should be noted that the second positioning satellite can be a positioning satellite whose abnormality degree of satellite signal is only second to the signal state of the first positioning satellite among the plurality of positioning satellites of the current target positioning satellite set. For example, if the signal state index is positively correlated with the abnormality degree of satellite signal of the positioning satellite, the second positioning satellite is a positioning satellite whose signal state index is the second largest among the plurality of positioning satellites of the current target positioning satellite set; if the signal state index is negatively correlated with the abnormality degree of satellite signal of the positioning satellite, the second positioning satellite is a positioning satellite whose signal state index is the second smallest among the plurality of positioning satellites of the current target positioning satellite set. In this way, the positioning satellite whose abnormality degree of satellite signal is the largest among the plurality of positioning satellites of the current target positioning satellite set except the first positioning satellite can be removed, and the accuracy of the determined position of the receiver can be improved.

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

[0076] It can be understood that, after the positioning apparatus determines that the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum value of the plurality of contribution indexes, it is indicated 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, and thus the accuracy of determining the position of the receiver is reduced, and thus the first positioning satellite cannot be eliminated. The positioning apparatus can eliminate a second positioning satellite in the current target positioning satellite set, the abnormality degree of the satellite signal of which is less than that of the first positioning satellite, so as to improve the accuracy of determining the position of the receiver.

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

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

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

[0080] The positioning apparatus determines whether the first quantity is 0.

[0081] If no, it is indicated that there is still a satellite that can be used for positioning the receiver in the current non-initial positioning satellite set, and the positioning apparatus performs S2.

[0082] If yes, it is indicated that there is no satellite that can be used for positioning the receiver in the current non-initial positioning satellite set, and the positioning apparatus performs S6.

[0083] S6: The positioning apparatus 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 scheme for determining the position of the receiver based on the positioning satellites can refer to the existing scheme, and details are not described herein.

[0085] S7: The positioning apparatus eliminates the first positioning satellite in the current target positioning satellite set, in a case where the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of the plurality of contribution indexes.

[0086] After that, the positioning apparatus performs S5.

[0087] It can be understood that after the first positioning satellite whose signal state index is greater than the signal state threshold in the current target positioning satellite set is determined, it is further judged whether the contribution index of the first positioning satellite to the geometric dilution of precision of the geometric configuration constituted by the positioning satellites in the current non-initial positioning satellite set is the largest. If not, it is indicated 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, and the first positioning satellite can be removed to improve the accuracy of determining the position of the receiver.

[0088] Based on the 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, in the case that the test result indicates that the test fails, it is indicated that there is an abnormal positioning satellite 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 dilution of precision of the positioning satellite, after the first positioning satellite whose signal state index is greater than the signal state threshold in the current target positioning satellite set is determined, it is further judged whether the contribution index of the first positioning satellite to the geometric dilution of precision of the geometric configuration constituted by the positioning satellites in the current non-initial positioning satellite set is the largest. If yes, it is indicated 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, and the accuracy of determining the position of the receiver will be reduced, and therefore the first positioning satellite cannot be removed. By removing the second positioning satellite whose satellite signal abnormality degree is less than that of the first positioning satellite in the current target positioning satellite set, the first positioning satellite with a larger contribution index can be retained, and the second positioning satellite whose satellite signal abnormality degree is less than that of the first positioning satellite can be removed. Thereafter, after each positioning satellite in the non-initial positioning satellite set is traversed, the position of the receiver is determined based on the positioning satellites in the current target positioning satellite set, so that the accuracy of determining the position of the receiver can be improved.

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

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

[0091] S301, the positioning device acquires the elevation angle and the azimuth angle of a plurality of positioning satellites.

[0092] The plurality of positioning satellites are visible positioning satellites of the receiver.

[0093] As a possible implementation manner, in combination with Figure 1 , the positioning device receives a message of the electronic device, the message comprising the elevation angles and the azimuth angles of the plurality of positioning satellites, and the positioning device determines the positioning satellites within each of the plurality of preset azimuth angle intervals based on the azimuth angles of the positioning satellites other than the zenith positioning satellite.

[0094] S302, the positioning device determines the positioning satellites within each of the plurality of preset azimuth angle intervals based on the azimuth angles of the positioning satellites other than the zenith positioning satellite.

[0095] It should be noted that the plurality of preset azimuth angle intervals can be [0°, 90°], [90°, 180°], [180°, 270°], [270°, 360°], of course, the plurality of preset azimuth angle intervals can also be intervals of other quantities or spans, and the present application does not make specific limitations thereto.

[0096] The zenith positioning satellite is the positioning satellite with the largest elevation angle among the plurality of positioning satellites.

[0097] As a possible implementation manner, taking the plurality of preset azimuth angle intervals as [0°, 90°], [90°, 180°], [180°, 270°], [270°, 360°] for example, for each of the positioning satellites other than the zenith positioning satellite, the positioning device determines the positioning satellite as the positioning satellite within the preset azimuth angle interval in which the azimuth angle of the positioning satellite falls.

[0098] S303, the positioning device determines whether there is a positioning satellite within each of the plurality of preset azimuth angle intervals.

[0099] In the case where there is a positioning satellite within the preset azimuth angle interval, the positioning device performs S304.

[0100] In the case where there is no positioning satellite within the preset azimuth angle interval, the positioning device performs S305.

[0101] S304, in the case where there is a positioning satellite within the preset azimuth angle interval, the positioning device determines the positioning satellite with the largest elevation angle within the preset azimuth angle interval as the original positioning satellite.

[0102] As a possible implementation manner, the positioning device determines the positioning satellite with the largest elevation angle within the preset azimuth angle interval by comparing the elevation angles of the positioning satellites within the preset azimuth angle interval, and then the positioning device performs S306.

[0103] Therefore, the larger the elevation angle, the better the observation effect of the receiver on the positioning satellite, and by taking the positioning satellite with the largest elevation angle in the preset azimuth angle interval as the original positioning satellite, the observability of the original positioning satellite in the preset azimuth angle interval can be improved.

[0104] In a case where the positioning device does not exist in the preset azimuth angle interval, the positioning device takes the positioning satellite with the largest elevation 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 angle interval.

[0105] As a possible implementation, taking the multiple preset azimuth angle intervals as [0°, 90°], [90°, 180°], [180°, 270°], and [270°, 360°] for example, for [0°, 90°], if there is no positioning satellite in [0°, 90°], since [0°, 90°] is the first azimuth angle preset interval for determining the original positioning satellite, at this time, there is no original positioning satellite in the multiple satellites, the positioning device takes the positioning satellite with the largest elevation angle among the positioning satellites other than the zenith positioning satellite as the original positioning satellite of [0°, 90°].

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

[0107] Thereafter, for [180°, 270°], if there is no positioning satellite in [180°, 270°], since there are two original positioning satellites at this time, i.e., the original positioning satellite of [0°, 90°] and the original positioning satellite of [90°, 180°], the positioning device takes the positioning satellite with the largest elevation angle among the positioning satellites other than the zenith positioning satellite, the original positioning satellite of [0°, 90°], and the original positioning satellite of [90°, 180°] as the original positioning satellite of [180°, 270°].

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

[0109] Thereafter, the positioning satellite performs S306.

[0110] S306, the positioning device determines the initial positioning satellite in the initial positioning satellite set based on a geometric dilution of precision.

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

[0112] For example, the W test sample quantity threshold can be 8 or 9. Of course, the W test sample quantity threshold can also be other values, which are not limited in the present application.

[0113] It should be noted that the specific description of S306 can refer to the related description in the subsequent part of the specific embodiment of the present application, which is not described herein.

[0114] Based on the scheme, the elevation angle and the azimuth angle of a plurality of positioning satellites are obtained, the plurality of positioning satellites are visible positioning satellites of the receiver, then the azimuth angle of the positioning satellites other than the zenith positioning satellite in the plurality of positioning satellites is used to determine the positioning satellites in each preset azimuth angle interval in the plurality of preset azimuth angle intervals, then for each preset azimuth angle interval in the plurality of preset azimuth angle intervals, if there is a positioning satellite in the preset azimuth angle interval, the positioning satellite with the maximum elevation angle in the preset azimuth angle interval is taken as the original positioning satellite; if there is no positioning satellite in the target preset azimuth angle interval; if there is no positioning satellite in the preset azimuth angle interval, the positioning satellite with the maximum elevation angle among the positioning satellites other than the original positioning satellite and the zenith positioning satellite in the plurality of positioning satellites is taken as the original positioning satellite corresponding to the preset azimuth angle interval. Since the original positioning satellite with the maximum elevation angle is determined for each preset azimuth angle interval, the geometric distribution uniformity and visibility of the original positioning satellite can be improved, and then the initial positioning satellite in the initial positioning satellite set is determined based on the geometric dilution of precision. Since the initial positioning satellite set includes the original positioning satellite corresponding to each preset azimuth angle interval and the zenith positioning satellite, 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 the present application is shown in FIG. 6. The S306 provided by the specific embodiment of the present application can specifically include the following steps: Figure 4

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

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

[0118] ​As a possible implementation, the positioning apparatus determines a geometric dilution of precision of a geometry configuration formed by each non-original positioning satellite and the positioning satellites in the original positioning satellite set, to obtain a geometric dilution of precision corresponding to each non-original positioning satellite.

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

[0120] The geometric dilution of precision corresponding to the target non-original positioning satellite is the minimum value in the plurality of geometric dilutions of precision.

[0121] As a possible implementation, the positioning apparatus compares the geometric dilution of precision corresponding to each non-original positioning satellite in the non-original positioning satellite set, determines the non-original positioning satellite with the minimum geometric dilution of precision as the target non-original positioning satellite, adds the target non-original positioning satellite to the original positioning satellite set, and removes the target non-original positioning satellite from the non-original positioning satellite set.

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

[0123] If yes, S9 is performed.

[0124] If no, S11 is performed.

[0125] S11: The positioning apparatus takes the positioning satellites in the original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

[0126] Thereafter, the positioning apparatus can perform S1.

[0127] Based on the scheme, for each non-original positioning satellite in the non-original positioning satellite set, a geometric dilution of precision of a geometry configuration formed by the non-original positioning satellite and the positioning satellites in the original positioning satellite set is determined, and thereafter, the target non-original positioning satellite is added to the original positioning satellite set, and the target non-original positioning satellite is removed from the non-original positioning satellite set. Since the geometric dilution of precision corresponding to the target non-original positioning satellite is the minimum value in the plurality of geometric dilutions of precision, the geometric dilution of precision of the positioning satellites in the original positioning satellite set can be improved, and thus the accuracy of determining the position of the receiver can be further improved.

[0128] The above describes the scheme provided by the embodiments of the present application from the perspective of the positioning device performing the positioning method. In order to implement the above functions, the positioning device comprises hardware structures and / or software modules corresponding to each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples 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 certain function is implemented in hardware or computer software driven hardware depends on the specific application of the technical solution and design constraints. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0129] The embodiments of the present application can divide the functional modules of the positioning device according to the above method examples. For example, each functional module can be divided according 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 software functional module. Optionally, the division of the modules in the embodiments of the present application is illustrative, and is only a logical functional division. In actual implementation, there can be another division manner. In addition, the "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing 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 adopting functional module division, Figure 5 A structural schematic diagram of a positioning device is shown. As Figure 5 shown, the positioning device 50 comprises an acquisition module 501 and a processing module 502.

[0131] In some embodiments, the positioning device 50 can further comprise a storage module (not shown in the figure) for storing program instructions and data. Figure 5

[0132] ​In the method, S1: 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 are acquired; the initial positioning satellite and the non-initial positioning satellite are visible positioning satellites of a receiver; S2: a target non-initial positioning satellite in the current non-initial positioning satellite set is eliminated, and a test result of a W test of the signal quality index of each positioning satellite in a current target positioning satellite set is determined; the test result indicates that the test passes or the test fails; 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: in a case where the test result indicates that the test 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 dilution of precision of a geometric configuration of positioning satellites in the current non-initial positioning satellite set are determined; the signal state index indicates an abnormality degree of a satellite signal of the positioning satellite; S4: in a case where the contribution index of a first positioning satellite in the current target positioning satellite set is a maximum value of the plurality of contribution indexes, a second positioning satellite in the current target positioning satellite set is eliminated; the signal state index of the first positioning satellite is greater than a signal state threshold, and an abnormality degree of a satellite signal of the second positioning satellite is less than an abnormality degree of a satellite signal of the first positioning satellite; S5: a first quantity is determined; in a case where the first quantity is not 0, S2 is performed; in a case where the first quantity is 0, S6 is performed; the first quantity is a quantity of positioning satellites in the current non-initial positioning satellite set; and S6: a position of the receiver is determined based on the positioning satellites in the current target positioning satellite set.

[0133] Optionally, after S3, the apparatus further includes: S7: in a case where the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum value of the plurality of contribution indexes, the first positioning satellite in the current target positioning satellite set is eliminated, and S5 is performed.

[0134] Optionally, before S1, the processing module 502 is further configured to: acquire the elevation angle and the azimuth angle of a plurality of positioning satellites; the plurality of positioning satellites are visible positioning satellites of the receiver; determine the positioning satellites in each of a plurality of preset azimuth angle intervals based on the azimuth angle of the positioning satellites other than the zenith positioning satellite in the plurality of positioning satellites; for each of the plurality of preset azimuth angle intervals, if there is a positioning satellite in the preset azimuth angle interval, take the positioning satellite with the largest elevation angle in the preset azimuth angle interval as the original positioning satellite; if there is no positioning satellite in the preset azimuth angle interval, take the positioning satellite with the largest elevation angle from the positioning satellites other than the original positioning satellite and the zenith positioning satellite in the plurality of 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 dilution of precision; the initial positioning satellite set includes the original positioning satellite corresponding to each preset azimuth angle interval and the zenith positioning satellite; the second quantity is greater than or equal to the W test sample quantity threshold, and the second quantity is the number of the initial positioning satellites in the initial positioning satellite set.

[0135] Optionally, the processing module 502 is further configured to determine the initial positioning satellite in the initial positioning satellite set based on the geometric dilution of precision, including: S8: for each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric dilution of precision of the 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 angle interval and the zenith positioning satellite; S9: add the target non-original positioning satellite to the current original positioning satellite set, and eliminate the target non-original positioning satellite from the current non-original positioning satellite set; the target non-original positioning satellite corresponds to the minimum value of the plurality of geometric dilutions of precision; S10: determine whether the number of the positioning satellites in the current original positioning satellite set is less than the W test sample quantity threshold, if yes, perform S9, and if no, perform S11; S11: take the positioning satellites in the current original positioning satellite set as the initial positioning satellites in the initial positioning satellite set.

[0136] All related contents of each step involved in the above method embodiments can be cited to the function description of the corresponding function module, which will not be repeated here.

[0137] In the case of realizing the functions of the above function modules in the form of hardware, Figure 6 The structure of another positioning device is shown. As Figure 6 shown, the positioning device 60 includes a processor 601, a memory 602 and a bus 603. The processor 601 and the memory 602 can be connected through the bus 603.

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

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

[0140] The memory 602 can 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 magnetic 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 that can be accessed by a computer, but is not limited thereto.

[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 through the bus 603, for storing instructions or program code. When the processor 601 invokes and executes the instructions or program code stored in the memory 602, the positioning method provided in the embodiments of the present application can be implemented.

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

[0143] The bus 603 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, 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 ease of representation, only one thick line is used in FIG. 6, but it does not mean that there is only one bus or only one type of bus. Figure 6

[0144] ​​It should be noted that Figure 6 The illustrated structure does not constitute a limitation on the positioning device 60. In addition to the components shown, the positioning device 60 can include more or fewer components than shown, or combine some components, or different component arrangements. Figure 6 The positioning device 60 can include more or fewer components than shown, or combine some components, or different component arrangements.

[0145] As an example, in combination with Figure 5 , the functions implemented by the acquisition module 501 and the processing module 502 in the positioning device 50 are the same as the functions of the processor 601 in Figure 6 .

[0146] Optionally, as shown in Figure 6 , the positioning device 60 provided by the embodiments of the present application can further include a communication interface 604.

[0147] The communication interface 604 is configured to connect with other devices through a communication network. The communication network can be an Ethernet, a wireless access network, a wireless local area network (WLAN), etc. The communication interface 604 can 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 by the embodiments of the present application, the communication interface 604 can also be integrated in the processor 601, which is not limited in the embodiments of the present application.

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

[0150] Through the description of the above embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units is exemplified. In actual application, the above-mentioned functions can be completed by different functional units according to needs, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. The specific working process of the above-mentioned system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0151] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions, when executed, cause a computer to perform each step in the method procedure shown in the above method embodiment.

[0152] The embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer, cause the computer to perform each step in the method procedure shown in the above method embodiment.

[0153] The embodiment of the present application provides a chip system, comprising: a processor and an interface circuit; the interface circuit is configured to receive a computer program or instructions and transmit to the processor; the processor is configured to execute the computer program or instructions, so that the chip system performs each step in the method procedure shown in the above method embodiment.

[0154] The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any other suitable combination of the above, or any other physical medium that can be used to carry or store desired computer program code in the form of instructions or data structures and that can be accessed by the computer. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a component of the processor. Suitable processors include, by way of example, both general and special purpose microprocessors. Suitable computer readable media include, by way of example, both volatile and non-volatile media, removable and non-removable media.

[0155] Since the positioning device, the computer readable storage medium and the computer program product provided by the embodiment can be applied to the positioning method provided by the embodiment, the technical effects they can obtain can be referred to the above method embodiment, and the embodiment of the present application will not be described here.

[0156] Although the application has been described in connection with the embodiments thereof with reference to the various drawings, it will be understood that other variations and modifications of the details, and specific examples can be resorted to by those skilled in the art without departing from the spirit and scope of the application. In its broadest form, the application is directed to all new and useful processes, machines, articles of manufacture, compositions of matter, and methods that fall within the scope of the claims. The specification and drawings are, accordingly, to be regarded as illustrative rather than restrictive. For a better understanding of the application, its operating advantages, and the specific objects attained by its uses, reference should be made to the drawings and to the implementation in the claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0157] Although the application has been described in connection with specific embodiments thereof, it will be understood that it is capable of modifications and alternative constructions and combinations of parts herein described, drawing upon the spirit and scope of the application as expressed in the claims. Accordingly, the description and drawings are to be regarded as illustrative in nature and not as restrictive. Obviously, modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A positioning method, characterized in that, The method includes: S1: Obtain 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 satellites and the non-initial positioning satellites are the visible positioning satellites of the receiver; S2: Remove the target non-initial positioning satellites from the current non-initial positioning satellite set, and determine the test result of the W test for the signal quality index of each positioning satellite in the current target positioning satellite set; the test result indicates whether the test passes or fails, 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 satellites and each initial positioning satellite in the initial positioning satellite set; S3: If the test result indicates that the test fails, determine 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 accuracy 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 anomaly of the satellite signal of the positioning satellite. S4: If the contribution index of the first positioning satellite in the current target positioning satellite set is the maximum of multiple contribution indices, remove the second positioning satellite from the current target positioning satellite set; the signal status index of the first positioning satellite is greater than the signal status threshold, and the abnormality of the satellite signal of the second positioning satellite is less than the abnormality of the satellite signal of the first positioning satellite. S5: Determine the first quantity. If the first quantity is not 0, execute S2. If the first quantity is 0, execute S6. The first quantity is the number of positioning satellites in the current non-initial positioning satellite set. S6: Determine the location 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, Following S3, the method further includes: S7: If the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum of multiple contribution indices, remove the first positioning satellite from the current target positioning satellite set and execute S5.

3. The method according to claim 1 or 2, characterized in that, Prior to S1, the method further includes: The elevation and azimuth angles of multiple positioning satellites are obtained; the multiple positioning satellites are the visible positioning satellites of the receiver. Based on the azimuth of multiple positioning satellites excluding the zenith positioning satellite, determine the positioning satellites within each of multiple preset azimuth intervals; For each of the multiple preset azimuth angle intervals, if a positioning satellite exists within the preset azimuth angle interval, the positioning satellite with the largest elevation angle within the preset azimuth angle interval is taken as the original positioning satellite. If there is no positioning satellite within the preset azimuth angle interval, the positioning satellite with the largest elevation angle among the multiple positioning satellites excluding the original positioning satellite and the zenith positioning satellite shall be taken as the original positioning satellite corresponding to the preset azimuth angle interval. The initial positioning satellites in the initial positioning satellite set are determined based on the geometric accuracy factor; the initial positioning satellite set includes the original positioning satellites corresponding to each preset azimuth interval and the zenith positioning satellites, and the second number is greater than or equal to the W test sample size threshold, the second number being the number of initial positioning satellites in the initial positioning satellite set.

4. The method according to claim 3, characterized in that, The process of determining the initial positioning satellites in the initial positioning satellite set based on the geometric precision factor includes: S8: For each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric accuracy factor of the 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 satellites corresponding to each preset azimuth interval and the zenith positioning satellites; S9: Add the target non-original positioning satellite to the current set of original positioning satellites, and remove 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 size threshold. If yes, proceed to S9; otherwise, proceed to S11. S11: Use 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 includes: an acquisition module and a processing module; S1: The acquisition module 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 satellites and the non-initial positioning satellites are the visible positioning satellites of the receiver; S2: The processing module is used to remove target non-initial positioning satellites from 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 passes or fails, 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 satellites and each initial positioning satellite in the initial positioning satellite set; S3: The processing module is further configured to, when the inspection result indicates that the inspection has failed, determine 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 accuracy 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 anomaly of the satellite signal of the positioning satellite. S4: The processing module is further configured to remove the second positioning satellite from 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 of multiple contribution indices; the signal status index of the first positioning satellite is greater than the signal status threshold, and the abnormality of the satellite signal of the second positioning satellite is less than the abnormality of the satellite signal of the first positioning satellite. S5: The processing module is further configured to determine a first quantity, and if the first quantity is not 0, execute S2; if the first quantity is 0, execute S6; the first quantity is the number of positioning satellites in the current non-initial positioning satellite set. S6: The processing module is further configured to determine the location of the receiver based on the positioning satellites in the current target positioning satellite set.

6. The apparatus according to claim 5, characterized in that, Following S3, the device further includes: S7: If the contribution index of the first positioning satellite in the current target positioning satellite set is not the maximum of multiple contribution indices, remove the first positioning satellite from the current target positioning satellite set and execute S5.

7. The apparatus according to claim 5 or 6, characterized in that, Prior to S1, the processing module is further configured to: The elevation and azimuth angles of multiple positioning satellites are obtained; the multiple positioning satellites are the visible positioning satellites of the receiver. Based on the azimuth of multiple positioning satellites excluding the zenith positioning satellite, determine the positioning satellites within each of multiple preset azimuth intervals; For each of the multiple preset azimuth angle intervals, if a positioning satellite exists within the preset azimuth angle interval, the positioning satellite with the largest elevation angle within the preset azimuth angle interval is taken as the original positioning satellite. If there is no positioning satellite within the preset azimuth angle interval, the positioning satellite with the largest elevation angle among the multiple positioning satellites excluding the original positioning satellite and the zenith positioning satellite shall be taken as the original positioning satellite corresponding to the preset azimuth angle interval. The initial positioning satellites in the initial positioning satellite set are determined based on the geometric accuracy factor; the initial positioning satellite set includes the original positioning satellites corresponding to each preset azimuth interval and the zenith positioning satellites, and the second number is greater than or equal to the W test sample size threshold, the second number being the number of initial positioning satellites in the initial positioning satellite set.

8. The apparatus according to claim 7, characterized in that, The processing module is further configured to determine the initial positioning satellites in the initial positioning satellite set based on the geometric accuracy factor, including: S8: For each non-original positioning satellite in the current non-original positioning satellite set, determine the geometric accuracy factor of the 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 satellites corresponding to each preset azimuth interval and the zenith positioning satellites; S9: Add the target non-original positioning satellite to the current set of original positioning satellites, and remove 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 size threshold. If yes, proceed to S9; otherwise, proceed to S11. S11: Use 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 includes: a processor coupled to a memory for storing programs or instructions, which, when executed by the processor, cause the device to perform the method as described in any one of claims 1 to 4.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 4.

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