Satellite positioning method and device and storage medium

Abstract

The invention relates to a satellite positioning method and device and a storage medium, and relates to the technical field of positioning, and the method comprises the steps: carrying out the processing of a target positioning signal, obtaining the double-difference ambiguity corresponding to each positioning satellite, determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity corresponding to each positioning satellite and the positioning signal, and obtaining the atmospheric delay corresponding to each positioning satellite; and target position information of the target receiver is determined based on the double-difference ambiguity corresponding to a target satellite and a positioning signal sent by the target satellite, and the target satellite is a positioning satellite whose atmospheric delay satisfies a stability condition. Based on the double-difference ambiguity, the atmospheric delay of each positioning satellite is reversely deduced, and the positioning satellite with the atmospheric delay meeting the stability condition is used as the target satellite, so that data corresponding to the positioning satellite with the ambiguity fixing error can be deleted, and the positioning satellite with the ambiguity fixing correct is used; and the target receiver is positioned according to the data corresponding to the target satellite, so that the obtained target position information can be more accurate.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technologies, and in particular, to a satellite positioning method, apparatus, and storage medium. Background Art

[0002] RTK (Real Time Kinematic) carrier phase differential technology is a high-precision positioning technology. This positioning technology uses two or more receivers to measure satellite signals, and improves the positioning accuracy by eliminating the distance measurement errors from the satellites to the receivers.

[0003] However, due to the influence of environmental conditions and satellite signal quality, for example, the disturbances in the ionosphere and troposphere are large, or the satellite signal strength is weak, the positioning result will have a large error. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a satellite positioning method, apparatus, and storage medium. After obtaining the double-difference ambiguity of each positioning satellite, based on the double-difference ambiguity, the atmospheric delay of each positioning satellite is inversely deduced, and the positioning satellites whose atmospheric delay meets the stability condition are used as target satellites. Based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, the target position information of the target receiver is determined. Thus, the data corresponding to the positioning satellites with incorrect ambiguity fixing can be deleted, and the data corresponding to the positioning satellites with correct ambiguity fixing, that is, the target satellites, can be used for the positioning of the target receiver, so that the obtained target position information can be more accurate.

[0005] According to a first aspect of an embodiment of the present disclosure, a satellite positioning method is provided, including:

[0006] Processing the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite, where the target positioning signal includes positioning signals sent by at least two of the positioning satellites received by a positioning receiver, and the positioning receiver includes a reference receiver and a target receiver;

[0007] Based on the double-difference ambiguity corresponding to each positioning satellite and the positioning signal, determining the atmospheric delay corresponding to each positioning satellite;

[0008] Based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, determining the target position information of the target receiver, where the target satellite is the positioning satellite whose atmospheric delay meets the stability condition.

[0009] Optionally, the atmospheric delay includes ionospheric delay;

[0010] Determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and positioning signal corresponding to each positioning satellite includes:

[0011] For any positioning satellite, determining a first positioning parameter corresponding to the positioning satellite according to the positioning signal sent by the positioning satellite, where the first positioning parameter includes at least one of wavelength, frequency, and double-difference carrier phase;

[0012] Determining the ionospheric delay corresponding to the positioning satellite according to the first positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

[0013] Optionally, the atmospheric delay includes tropospheric delay;

[0014] Determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and positioning signal corresponding to each positioning satellite includes:

[0015] For any positioning satellite, determining a second positioning parameter corresponding to the positioning satellite according to the positioning signal sent by the positioning satellite, where the second positioning parameter includes at least one of wide-lane observation wavelength, narrow-lane observation wavelength, carrier-phase observable, observation noise, and ionosphere-free observable combination;

[0016] Determining the tropospheric delay corresponding to the positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

[0017] Optionally, determining the tropospheric delay corresponding to the positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite includes:

[0018] Determining a first delay corresponding to the positioning satellite with respect to the positioning receiver and a second delay corresponding to the target receiver according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite;

[0019] Determining the tropospheric delay corresponding to the positioning satellite according to the first delay and the second delay.

[0020] Optionally, the atmospheric delay includes ionospheric delay and tropospheric delay;

[0021] Before determining the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, the method further includes:

[0022] For any positioning satellite, when the ionospheric delay corresponding to the positioning satellite is less than a first preset value, and / or the tropospheric delay corresponding to the positioning satellite is less than a second preset value, it is determined that the atmospheric delay of the positioning satellite meets the stability condition, and the positioning satellite is determined as one of the target satellites.

[0023] Optionally, the processing of the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite includes:

[0024] Based on the target positioning signal, establish a double-difference observation equation for the at least two positioning satellites;

[0025] Filter the double-difference observation equation to obtain a floating-point solution of the ambiguity;

[0026] Search the floating-point solution to obtain a fixed solution of the ambiguity, and the fixed solution includes the double-difference ambiguity corresponding to each positioning satellite.

[0027] Optionally, the searching of the floating-point solution to obtain a fixed solution of the ambiguity includes:

[0028] Search the floating-point solution to obtain two integer ambiguity vectors with the smallest residuals;

[0029] Based on the two integer ambiguity vectors with the smallest residuals, determine a verification parameter;

[0030] When the verification parameter is greater than a verification threshold, determine the integer ambiguity vector with the smallest residual as the fixed solution of the ambiguity.

[0031] According to a second aspect of the embodiments of the present disclosure, there is provided a satellite positioning device, including:

[0032] An obtaining module, configured to process a target positioning signal to obtain a double-difference ambiguity corresponding to each positioning satellite, where the target positioning signal includes positioning signals sent by at least two of the positioning satellites received by a positioning receiver, and the positioning receiver includes a reference receiver and a target receiver;

[0033] A first determination module, configured to determine the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite;

[0034] A second determination module, configured to determine the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, where the target satellite is the positioning satellite whose atmospheric delay meets the stability condition.

[0035] According to a third aspect of the embodiments of the present disclosure, there is provided a satellite positioning device, including:

[0036] Processor;

[0037] A memory for storing processor-executable instructions;

[0038] Wherein, the processor is configured to implement the steps of the satellite positioning method provided in the first aspect of the present disclosure when executed.

[0039] According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, and when the program instructions are executed by a processor, the steps of the satellite positioning method provided in the first aspect of the present disclosure are implemented.

[0040] The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

[0041] Process the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite, and based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite, determine the atmospheric delay corresponding to each positioning satellite. Then, based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, determine the target position information of the target receiver, where the target satellite is a positioning satellite whose atmospheric delay satisfies the stability condition. After obtaining the double-difference ambiguity of each positioning satellite, based on the double-difference ambiguity, inversely deduce the atmospheric delay of each positioning satellite, and use the positioning satellite whose atmospheric delay satisfies the stability condition as the target satellite, so as to be able to delete the data corresponding to the positioning satellite with incorrect ambiguity fixing and use the data corresponding to the positioning satellite with correct ambiguity fixing, that is, the target satellite, for positioning the target receiver, so that the obtained target position information can be more accurate.

[0042] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0044] Figure 1 is a schematic diagram of a scenario of a satellite positioning method shown according to an exemplary embodiment.

[0045] Figure 2 is a flowchart of a satellite positioning method shown according to an exemplary embodiment.

[0046] Figure 3 is a flowchart of a method for determining ionospheric delay shown according to an exemplary embodiment.

[0047] Figure 4It is a flowchart of a method for determining tropospheric delay shown according to an exemplary embodiment.

[0048] Figure 5 It is a block diagram of a satellite positioning device shown according to an exemplary embodiment.

[0049] Figure 6 It is a block diagram of a device for satellite positioning shown according to an exemplary embodiment. Detailed implementation manners

[0050] Here, the exemplary embodiments will be described in detail, and the examples are shown in the drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0051] It should be noted that all actions of obtaining signals, information or data in the present disclosure are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where the location is located and obtaining the authorization given by the owner of the corresponding device.

[0052] RTK positioning technology is a high-precision positioning technology. This positioning technology uses two or more receivers to measure satellite signals, and improves the positioning accuracy by eliminating the distance measurement errors from the satellites to the receivers. One of the key technologies of RTK positioning technology is the ambiguity fixing technology. In the actual application process, due to the influence of environmental conditions and satellite signal quality, such as large disturbances in the ionosphere and troposphere, or weak satellite signal strength, the problem of false fixing of ambiguities will occur, that is, the ambiguity fixing algorithm wrongly determines the ambiguity, resulting in a decrease in positioning accuracy.

[0053] Based on the above technical problems, the present disclosure provides a satellite positioning method, device, storage medium and vehicle. After obtaining the double-difference ambiguity of each positioning satellite, based on the double-difference ambiguity, the atmospheric delay of each positioning satellite is inversely deduced, and the positioning satellites whose atmospheric delay meets the stability condition are used as target satellites. Based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, the target position information of the target receiver is determined. Thereby, the data corresponding to the positioning satellites with incorrect ambiguity fixing can be deleted, and the data corresponding to the positioning satellites with correct ambiguity fixing, that is, the target satellites, can be used for the positioning of the target receiver, so that the obtained target position information can be more accurate.

[0054] Figure 1 It is a schematic diagram of the scenario of a satellite positioning method shown according to an exemplary embodiment, as Figure 1As shown, positioning signals are sent by at least two positioning satellites, and the positioning signals sent by the positioning satellites are received by a reference receiver and a target receiver respectively. Then, the target receiver is positioned based on the positioning signals received by the reference receiver and the target receiver to determine the position of the target receiver. Among them, the target receiver can be placed inside the power device to complete the positioning of the power device. The power device can be devices such as mobile phones, computers, and vehicles.

[0055] Figure 2 is a flowchart of a satellite positioning method shown according to an exemplary embodiment. As Figure 2 shown, this method can be used in a terminal. The satellite positioning method can include the following steps:

[0056] In step S201, the target positioning signal is processed to obtain the double-difference ambiguity corresponding to each positioning satellite. The target positioning signal includes the positioning signals sent by at least two positioning satellites received by the positioning receiver. The positioning receiver includes a reference receiver and a target receiver.

[0057] In this embodiment, the target positioning signal is the positioning signals sent by at least two positioning satellites received by the positioning receiver. Among them, the positioning receiver can include a reference receiver and a target receiver. Specifically, positioning signals are sent by at least two positioning satellites, and the positioning signals sent by the positioning satellites are received by the reference receiver and the target receiver respectively to obtain the target positioning signal. Among them, the reference receiver is a fixed device, that is, the position of the reference receiver is fixed and known. The target receiver is the device to be positioned. The target receiver can be a fixed device or a mobile device. The target receiver can be placed inside the power device so that after the positioning of the target receiver is completed, the power device can be further positioned. The power device can be devices such as mobile phones, computers, and vehicles. The target positioning signal can be processed to fix the ambiguity to obtain the double-difference ambiguity corresponding to each positioning satellite.

[0058] In step S202, based on the double-difference ambiguity corresponding to each positioning satellite and the positioning signal, the atmospheric delay corresponding to each positioning satellite is determined.

[0059] In this embodiment, after obtaining the double-difference ambiguity corresponding to each positioning satellite, the preliminary fixing of the ambiguity of each positioning satellite is completed. Based on the double-difference ambiguity corresponding to each positioning satellite, combined with the positioning signal corresponding to each positioning satellite, the atmospheric delay corresponding to each positioning satellite can be deduced inversely.

[0060] In step S203, based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, the target position information of the target receiver is determined. The target satellite is a positioning satellite whose atmospheric delay satisfies the stability condition.

[0061] In this embodiment, all positioning satellites corresponding to the target positioning signal can be traversed to determine whether the atmospheric delay corresponding to each positioning satellite meets the stability condition. Among them, the atmospheric delay is caused by the influence of atmospheric refraction during the propagation of satellite signals. Generally, the atmospheric delay is relatively stable. Therefore, if the ambiguity is fixed correctly, the inversely calculated atmospheric delay will also be relatively stable. On the contrary, if the ambiguity is fixed incorrectly, the inversely calculated atmospheric delay may undergo a large jump. This stability condition can be used to determine whether the atmospheric delay is stable, and further determine whether the ambiguity fixation of the corresponding positioning satellite is correct. When the atmospheric delay of the positioning satellite meets the stability condition, it can be determined that the ambiguity fixation of this positioning satellite is correct, and thus this positioning satellite is determined as one of the target satellites. After traversing all positioning satellites corresponding to the target positioning signal, the target satellites with correct ambiguity fixation can be determined from at least two positioning satellites corresponding to the target positioning signal. Furthermore, based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, the target position information of the target receiver can be determined. The influence of incorrect ambiguity fixation of the positioning satellite on positioning can be avoided, so as to improve the accuracy of the target position information of the target receiver.

[0062] Figure 3 is a flowchart of a method for determining ionospheric delay shown according to an exemplary embodiment, as Figure 3 shown. In a possible implementation manner, the atmospheric delay includes ionospheric delay; determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite may include the following steps:

[0063] In step S301, for any positioning satellite, according to the positioning signal sent by this positioning satellite, determine the first positioning parameter corresponding to this positioning satellite, where the first positioning parameter includes at least one of wavelength, frequency, and double-difference carrier phase.

[0064] In this embodiment, the ionospheric delay can be calculated for each of at least two positioning satellites corresponding to the target positioning signal. Specifically, for any one of at least two positioning satellites corresponding to the target positioning signal, according to the positioning signal sent by this positioning satellite, which can also be understood as the positioning signal sent by this positioning satellite received by the reference receiver and the target receiver, determine the first positioning parameter corresponding to this positioning satellite, where the first positioning parameter includes at least one of wavelength, frequency, and double-difference carrier phase.

[0065] In step S302, according to the first positioning parameter and the double-difference ambiguity corresponding to this any positioning satellite, determine the ionospheric delay corresponding to this positioning satellite.

[0066] In this embodiment, the positioning satellite can transmit positioning signals through two target frequency points. The double-difference ambiguity corresponding to the positioning satellite is the double-difference ambiguity corresponding to the two target frequency points, the wavelength is the wavelength corresponding to the two target frequency points, the frequency is the frequency corresponding to the two target frequency points, and the double-difference carrier phase is the double-difference carrier phase corresponding to the two target frequency points. Based on the first positioning parameter and the double-difference ambiguity corresponding to the positioning satellite, the ionospheric delay corresponding to the positioning satellite can be determined. The ionospheric delay can be the double-difference ionospheric residual.

[0067] Specifically, the calculation formula for the ionospheric delay can be:

[0068]

[0069] where λ1 and λ2 are the wavelengths corresponding to the two target frequency points, f1 and f2 respectively represent the frequencies corresponding to the two target frequency points, and represent the double-difference carrier phases corresponding to the two target frequency points, and represent the double-difference ambiguities corresponding to the two target frequency points, represents the ionospheric delay.

[0070] Figure 4 is a flowchart of a method for determining tropospheric delay shown according to an exemplary embodiment. As Figure 4 shown, in a possible implementation, the atmospheric delay includes the tropospheric delay; based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite, determining the atmospheric delay corresponding to each positioning satellite may include the following steps:

[0071] In step S401, for any positioning satellite, according to the positioning signal transmitted by the positioning satellite, determine the second positioning parameter corresponding to the positioning satellite. The second positioning parameter includes at least one of a wide-lane observation wavelength, a narrow-lane observation wavelength, a carrier phase observation, an observation noise, and a combination of ionosphere-free observation quantities.

[0072] In this embodiment, the tropospheric delay can be calculated for each of at least two positioning satellites corresponding to the target positioning signal. Specifically, for any one of at least two positioning satellites corresponding to the target positioning signal, according to the positioning signal transmitted by the positioning satellite, which can also be understood as the positioning signal transmitted by the positioning satellite received by the reference receiver and the target receiver, determine the second positioning parameter corresponding to the positioning satellite, where the second positioning parameter may include at least one of a wide-lane observation wavelength, a narrow-lane observation wavelength, a carrier phase observation, an observation noise, and a combination of ionosphere-free observation quantities.

[0073] In step S402, according to the second positioning parameter and the double-difference ambiguity corresponding to any positioning satellite, determine the tropospheric delay corresponding to the positioning satellite.

[0074] In this embodiment, according to the double-difference ambiguity corresponding to any positioning satellite, combined with the second positioning parameter, determine the tropospheric delay corresponding to the positioning satellite.

[0075] In a possible implementation, determining the tropospheric delay corresponding to a positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to any positioning satellite may include the following steps:

[0076] According to the second positioning parameter and the double-difference ambiguity corresponding to any positioning satellite, determine the first delay corresponding to the positioning satellite with respect to the positioning receiver and the second delay corresponding to the target receiver; according to the first delay and the second delay, determine the tropospheric delay corresponding to the positioning satellite.

[0077] In this embodiment, both the first delay and the second delay may be single-difference tropospheric delays, where the first delay and the second delay can be obtained by solving the following formula:

[0078]

[0079] Wherein, is the wide-lane ambiguity, is the wide-lane wavelength, the value of which can be 86.2 cm, Δ and respectively represent single-difference and double-difference operators; ρ and ∈ respectively represent carrier-phase observables and observation noise, is the ionosphere-free observable combination, is the narrow-lane observation wavelength, MF(θ p ) is the mapping function when the elevation angle of the p reference receiver position is θ, ZD is the tropospheric zenith delay, that is, the single-difference tropospheric delay, ZTD p is the single-difference tropospheric delay corresponding to the positioning satellite with respect to the positioning receiver, ZTD q is the single-difference tropospheric delay corresponding to the positioning satellite with respect to the target receiver, Δ 2 N1 is the double-difference first target frequency point ambiguity.

[0080] After obtaining the first delay and the second delay, assume that the relative tropospheric delay is:

[0081] RZTD ab = ZTD p - ZTD q

[0082] The calculation formula for the tropospheric delay corresponding to the positioning satellite, that is, the double-difference tropospheric delay, can be:

[0083]

[0084] Among them, p is the reference receiver, q is the target receiver, and i and k are the satellite numbers of positioning satellites. is the double-difference tropospheric delay.

[0085] In a possible implementation manner, the atmospheric delay includes the ionospheric delay and the tropospheric delay;

[0086] Before determining the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, at least one of the ionospheric delay and the tropospheric delay can be used to determine the target satellite. The specific method can be:

[0087] For any positioning satellite, when the ionospheric delay corresponding to the positioning satellite is less than a first preset value, and / or the tropospheric delay corresponding to the positioning satellite is less than a second preset value, it is determined that the atmospheric delay of the positioning satellite meets the stability condition, and the positioning satellite is determined as one of the target satellites.

[0088] In this implementation manner, according to the method of the above embodiment, the ionospheric delay and the tropospheric delay corresponding to each positioning satellite can be calculated, and the stability of the ionospheric delay and the tropospheric delay can be judged. When the ionospheric delay corresponding to the positioning satellite is less than the first preset value, or the tropospheric delay corresponding to the positioning satellite is less than the second preset value, or the ionospheric delay corresponding to the positioning satellite is less than the first preset value and the tropospheric delay corresponding to the positioning satellite is less than the second preset value, it is determined that the atmospheric delay of the positioning satellite meets the stability condition, so as to determine that the atmospheric delay of the positioning satellite is relatively stable, determine that the ambiguity corresponding to the positioning satellite is fixed correctly, and the positioning satellite can be determined as one of the target satellites.

[0089] In a possible implementation manner, processing the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite may include the following steps:

[0090] According to the target positioning signal, establish a double-difference observation equation for at least two positioning satellites; filter the double-difference observation equation to obtain a floating-point solution of the ambiguity; search the floating-point solution to obtain a fixed solution of the ambiguity, and the fixed solution includes the double-difference ambiguity corresponding to each positioning satellite.

[0091] In this implementation manner, without considering the ambiguity, based on the target positioning signal, single-point positioning is performed to obtain the initial position of the target receiver. According to the positioning signal received by the target receiver, the pseudo-range is calculated, and then the initial position of the target receiver is calculated using the pseudo-range. The receiver clock offset of the target receiver can also be determined.

[0092] Furthermore, based on the initial position of the target receiver, a double-difference observation equation can be established. Among them, for the same positioning satellite, the satellite clock error at the satellite end can be eliminated through the single-difference between stations, and most of the atmospheric delay errors can be eliminated. The inter-satellite double-difference can eliminate the receiver clock error and the remaining atmospheric delay. At the same time, the integer-week characteristic of the ambiguity is restored. The formula of the double-difference observation equation is as follows:

[0093]

[0094]

[0095] Among them, represents the carrier-related correction term, represents the double-difference carrier phase observation, q represents the target receiver, p represents the reference receiver, i and k are the satellite numbers of the positioning satellites, and j represents the frequency number; represents the double-difference pseudorange phase observation, represents the double-difference satellite-to-ground distance, λ represents the wavelength, and respectively represent the single-difference ambiguity between stations of the i-th positioning satellite and the k-th positioning satellite, ε Φ represents the carrier phase random noise, ε P represents the pseudorange random noise.

[0096] After establishing the double-difference observation equation, the double-difference observation equation can be filtered. Specifically, the Kalman filtering algorithm can be used for filtering to obtain the floating-point solution of the ambiguity. The obtained floating-point solution of the ambiguity is as follows:

[0097] x = (r q T , v q T , B1 T , B2 T ) T

[0098] y = (Φ1, T , Φ2, T , P1 T , P2 T ) T

[0099]

[0100]

[0101] Wherein, r represents the position, v represents the velocity, B1 and B2 respectively represent the single-difference ambiguities of the L1 and L2 frequency points. Φ represents the carrier-phase observation, P represents the pseudorange observation, T represents the transpose. The positioning satellites include a reference satellite and rover satellites. 1 represents the satellite number of the reference satellite, and 2, 3, 4, m represent the satellite numbers of the rover satellites.

[0102] After obtaining the floating-point solution of the ambiguity, the floating-point solution can be searched to obtain the fixed solution of the ambiguity.

[0103] In a possible implementation, searching the floating-point solution to obtain the fixed solution of the ambiguity may include the following steps:

[0104] Search the floating-point solution to obtain two integer ambiguity vectors with the smallest residuals; based on the two integer ambiguity vectors with the smallest residuals, determine the verification parameter; in the case where the verification parameter is greater than the verification threshold, determine the integer ambiguity vector with the smallest residual as the fixed solution of the ambiguity.

[0105] In this implementation, the LAMBDA search algorithm can be used to search the floating-point solution to find the fixed solution of the ambiguity. The most suitable integer cycle ambiguity vector can be solved through the following integer least squares formula. The integer least squares formula is:

[0106]

[0107] Then verify through the verification formula. The verification formula can be:

[0108]

[0109] Wherein, N represents the floating-point ambiguity, represents the integer ambiguity vector with the smallest residual, represents the integer ambiguity vector with the second smallest residual, is the integer ambiguity, Q N is the covariance matrix corresponding to the floating-point ambiguity, Z is a positive integer, R thres is the verification threshold.

[0110] Through the above method, the fixed solution of the ambiguity can be obtained, that is, the double-difference ambiguity corresponding to each positioning satellite is obtained.

[0111] Figure 5 is a block diagram of a satellite positioning device shown according to an exemplary embodiment. Referring to Figure 5 , the satellite positioning device 500 includes an obtaining module 501, a first determination module 502, and a second determination module 503.

[0112] The acquisition module 501 is configured to process the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite. The target positioning signal includes the positioning signals sent by at least two of the positioning satellites received by the positioning receiver, and the positioning receiver includes a reference receiver and a target receiver.

[0113] The first determination module 502 is configured to determine the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite.

[0114] The second determination module 503 is configured to determine the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal sent by the target satellite, where the target satellite is the positioning satellite whose atmospheric delay satisfies the stability condition.

[0115] Optionally, the atmospheric delay includes ionospheric delay.

[0116] The first determination module 502 includes:

[0117] The first determination sub-module is configured to, for any positioning satellite, determine the first positioning parameter corresponding to the positioning satellite according to the positioning signal sent by the positioning satellite, where the first positioning parameter includes at least one of wavelength, frequency, and double-difference carrier phase.

[0118] The second determination sub-module is configured to determine the ionospheric delay corresponding to the positioning satellite according to the first positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

[0119] Optionally, the atmospheric delay includes tropospheric delay.

[0120] The first determination module 502 includes:

[0121] The third determination sub-module is configured to, for any positioning satellite, determine the second positioning parameter corresponding to the positioning satellite according to the positioning signal sent by the positioning satellite, where the second positioning parameter includes at least one of wide-lane observation wavelength, narrow-lane observation wavelength, carrier-phase observation, observation noise, and combination of ionosphere-free observation.

[0122] The fourth determination sub-module is configured to determine the tropospheric delay corresponding to the positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

[0123] Optionally, the fourth determination sub-module includes:

[0124] A first determination unit, configured to determine a first delay corresponding to the positioning satellite with respect to the positioning receiver and a second delay corresponding to the target receiver according to the second positioning parameter and the double-difference ambiguity corresponding to any positioning satellite;

[0125] A second determination unit, configured to determine the tropospheric delay corresponding to the positioning satellite according to the first delay and the second delay.

[0126] Optionally, the atmospheric delay includes an ionospheric delay and a tropospheric delay;

[0127] The satellite positioning device 500 further includes:

[0128] A third determination module, configured to, for any positioning satellite, determine that the atmospheric delay of the positioning satellite satisfies the stability condition and determine the positioning satellite as one of the target satellites when the ionospheric delay corresponding to the positioning satellite is less than a first preset value, and / or the tropospheric delay corresponding to the positioning satellite is less than a second preset value.

[0129] Optionally, the obtaining module 501 includes:

[0130] A establishing sub-module, configured to establish a double-difference observation equation for the at least two positioning satellites according to the target positioning signal;

[0131] A filtering sub-module, configured to filter the double-difference observation equation to obtain a floating-point solution of the ambiguity;

[0132] A searching sub-module, configured to search the floating-point solution to obtain a fixed solution of the ambiguity, where the fixed solution includes the double-difference ambiguity corresponding to each positioning satellite.

[0133] Optionally, the searching sub-module includes:

[0134] An obtaining unit, configured to search the floating-point solution to obtain two integer ambiguity vectors with the smallest residuals;

[0135] A third determination unit, configured to determine a verification parameter based on the two integer ambiguity vectors with the smallest residuals;

[0136] A fourth determination unit, configured to determine the integer ambiguity vector with the smallest residual as the fixed solution of the ambiguity when the verification parameter is greater than a verification threshold.

[0137] Regarding the satellite positioning device 500 in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0138] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the satellite positioning method provided by the present disclosure are implemented.

[0139] Figure 6 FIG. 4 is a block diagram of an apparatus for satellite positioning according to an exemplary embodiment. For example, the apparatus 600 may be a mobile phone, a vehicle, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0140] Referring to Figure 6 FIG. 4, the apparatus 600 may include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output interface 612, a sensor component 614, and a communication component 616.

[0141] The processing component 602 generally controls the overall operation of the apparatus 600, such as operations associated with display, telephone calls, data communication, camera operations, and recording operations. The processing component 602 may include one or more processors 620 to execute instructions to complete all or part of the steps of the above-mentioned satellite positioning method. In addition, the processing component 602 may include one or more modules to facilitate the interaction between the processing component 602 and other components. For example, the processing component 602 may include a multimedia module to facilitate the interaction between the multimedia component 608 and the processing component 602.

[0142] The memory 604 is configured to store various types of data to support the operation of the apparatus 600. Examples of these data include instructions for any application or method operating on the apparatus 600, contact data, phone book data, messages, pictures, videos, etc. The memory 604 may be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0143] The power supply component 606 provides power to various components of the apparatus 600. The power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 600.

[0144] The multimedia component 608 includes a screen that provides an output interface between the device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 608 includes a front camera and / or a rear camera. When the device 600 is in an operation mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0145] The audio component 610 is configured to output and / or input audio signals. For example, the audio component 610 includes a microphone (MIC) that is configured to receive external audio signals when the device 600 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 604 or transmitted via the communication component 616. In some embodiments, the audio component 610 further includes a speaker for outputting audio signals.

[0146] The input / output interface 612 provides an interface between the processing component 602 and a peripheral interface module, which can be a keyboard, a click wheel, buttons, etc. These buttons can include but are not limited to: a home button, a volume button, a power button, and a lock button.

[0147] The sensor component 614 includes one or more sensors for providing an assessment of the state of the device 600 in various aspects. For example, the sensor component 614 can detect the on / off state of the device 600, the relative positioning of components, such as the display and the keypad of the device 600. The sensor component 614 can also detect a change in the position of the device 600 or a component of the device 600, the presence or absence of user contact with the device 600, the orientation or acceleration / deceleration of the device 600, and the temperature change of the device 600. The sensor component 614 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 614 can also include a light sensor, such as a CMOS or a CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 614 can further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0148] The communication component 616 is configured to facilitate communication, in a wired or wireless manner, between the device 600 and other devices. The device 600 may access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 616 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 616 further includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0149] In an exemplary embodiment, the device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above satellite positioning method.

[0150] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, and the above instructions may be executed by a processor 620 of the device 600 to complete the above satellite positioning method. For example, the non-transitory computer-readable storage medium may be a ROM, Random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0151] In another exemplary embodiment, a computer program product is also provided, and the computer program product includes a computer program capable of being executed by a programmable device, and the computer program has a code portion for performing the above satellite positioning method when executed by the programmable device.

[0152] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0153] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A satellite positioning method, characterized in that, Including: Processing the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite, where the target positioning signal includes positioning signals transmitted by at least two of the positioning satellites received by the positioning receiver, and the positioning receiver includes a reference receiver and a target receiver; Determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite; Determining the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal transmitted by the target satellite, where the target satellite is the positioning satellite for which the atmospheric delay satisfies the stability condition.

2. The satellite positioning method according to claim 1, wherein, The atmospheric delay includes ionospheric delay; The determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite includes: For any positioning satellite, determining a first positioning parameter corresponding to the positioning satellite according to the positioning signal transmitted by the positioning satellite, where the first positioning parameter includes at least one of wavelength, frequency, and double-difference carrier phase; Determining the ionospheric delay corresponding to the positioning satellite according to the first positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

3. The satellite positioning method according to claim 1, wherein The atmospheric delay includes tropospheric delay; The determining the atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite includes: For any positioning satellite, determining a second positioning parameter corresponding to the positioning satellite according to the positioning signal transmitted by the positioning satellite, where the second positioning parameter includes at least one of wide-lane observation wavelength, narrow-lane observation wavelength, carrier-phase observation, observation noise, and ionosphere-free observation combination; Determining the tropospheric delay corresponding to the positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite.

4. The satellite positioning method according to claim 3, wherein The determining the tropospheric delay corresponding to the positioning satellite according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite includes: Determining a first delay corresponding to the positioning satellite with respect to the positioning receiver and a second delay corresponding to the target receiver according to the second positioning parameter and the double-difference ambiguity corresponding to the positioning satellite; Determining the tropospheric delay corresponding to the positioning satellite according to the first delay and the second delay.

5. The satellite positioning method according to claim 1, characterized in that, The atmospheric delay includes ionospheric delay and tropospheric delay; Before determining the target position information of the target receiver based on the double-difference ambiguity corresponding to the target satellite and the positioning signal transmitted by the target satellite, the method further includes: For any positioning satellite, in the case where the ionospheric delay corresponding to the positioning satellite is less than a first preset value, and / or the tropospheric delay corresponding to the positioning satellite is less than a second preset value, determining that the atmospheric delay of the positioning satellite satisfies the stability condition, and determining the positioning satellite as one of the target satellites.

6. The satellite positioning method according to claim 1, wherein The processing the target positioning signal to obtain the double-difference ambiguity corresponding to each positioning satellite includes: Based on the target positioning signal, establish a double-difference observation equation for the at least two positioning satellites; Filter the double-difference observation equation to obtain a floating-point solution of the ambiguity; Search the floating-point solution to obtain a fixed solution of the ambiguity, where the fixed solution includes the double-difference ambiguity corresponding to each positioning satellite.

7. The satellite positioning method according to claim 6, wherein the searching the floating-point solution to obtain a fixed solution of the ambiguity includes: searching the floating-point solution to obtain two integer ambiguity vectors with the minimum residuals; determining a verification parameter based on the two integer ambiguity vectors with the minimum residuals; when the verification parameter is greater than a verification threshold, determining the integer ambiguity vector with the minimum residual as the fixed solution of the ambiguity.

8. A satellite positioning device, characterized in that, including: an obtaining module configured to process a target positioning signal to obtain a double-difference ambiguity corresponding to each positioning satellite, where the target positioning signal includes positioning signals sent by at least two of the positioning satellites received by a positioning receiver, and the positioning receiver includes a reference receiver and a target receiver; a first determining module configured to determine an atmospheric delay corresponding to each positioning satellite based on the double-difference ambiguity and the positioning signal corresponding to each positioning satellite; a second determining module configured to determine target position information of the target receiver based on the double-difference ambiguity corresponding to a target satellite and the positioning signal sent by the target satellite, where the target satellite is the positioning satellite whose atmospheric delay satisfies a stability condition.

9. A satellite positioning device, characterized in that, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to implement the steps of the satellite positioning method according to any one of claims 1 to 7 when executed.

10. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, the steps of the satellite positioning method according to any one of claims 1 to 7 are implemented.

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