Satellite positioning method and system and terminal equipment

Abstract

The invention discloses a satellite positioning method, a satellite positioning system and terminal equipment. The method comprises the steps that target correction data obtained by a ground station in an operator satellite communication system from a server of a global satellite navigation system is received, the ground station is a ground base station in communication connection with a satellite in the operator satellite communication system, and the global satellite navigation system comprises a plurality of calibration stations; the calibration station is used for providing correction data for the terminal equipment in the coverage area; and the target correction data is sent to the terminal equipment for positioning, the target correction data is used for correcting satellite signals received by the terminal equipment, and the terminal equipment comprises terminal equipment outside the coverage range of the multiple calibration stations. The technical problem that PPP-AR high-precision positioning cannot be realized due to the fact that the terminal cannot receive the correction data in an area without the coverage of a calibration station is solved.

Description

Technical Field

[0001] This application relates to the technical field of satellite positioning, and in particular, to a method, a system, and a terminal device for satellite positioning. Background Art

[0002] Precise Point Positioning (PPP) is a method for high-precision positioning using a single GNSS receiver. A key challenge in PPP is how to solve the problem of unknown integer ambiguities in carrier phase observations. The carrier phase measurement accuracy is very high, theoretically reaching the millimeter level. However, due to the change in the distance between the receiver and the satellite, there will be an integer multiple difference in the carrier wavelength, that is, the integer ambiguity, which makes the carrier phase observations unable to be directly used for positioning calculations. PPP-AR (Ambiguity Resolution) technology can convert the floating-point ambiguity into an integer ambiguity through an ambiguity fixing process by using mathematical methods and algorithms, so as to utilize the high-precision characteristics of carrier phase observations and significantly improve the speed and accuracy of PPP positioning.

[0003] The calibration station is an important part of the PPP-AR positioning system, which is used to collect GNSS data and generate accurate error correction data. These parameters are then sent to the terminal receiver so that the receiver can correct the errors in its position calculation and achieve higher-precision positioning. However, affected by various factors such as cost and terrain, the coverage area of the calibration station is limited. In areas without calibration station coverage, the terminal cannot receive correction data and thus cannot achieve high-precision PPP-AR positioning.

[0004] In view of the above problems, no effective solution has been proposed yet. Summary of the Invention

[0005] Embodiments of this application provide a method, a system, and a terminal device for satellite positioning, so as to at least solve the technical problem that in areas without calibration station coverage, the terminal cannot receive correction data, resulting in the inability to achieve high-precision PPP-AR positioning.

[0006] According to one aspect of the embodiments of this application, a method for satellite positioning is provided, including: receiving target correction data obtained by a ground station in an operator's satellite communication system from a server of a global satellite navigation system, where the ground station is a ground base station communicatively connected to a satellite in the operator's satellite communication system, and the global satellite navigation system includes multiple calibration stations for providing correction data for terminal devices within the coverage range; sending the target correction data to the terminal device for positioning, where the target correction data is used to correct the satellite signals received by the terminal device, and the terminal device includes terminal devices outside the coverage ranges of multiple calibration stations.

[0007] In some embodiments of the present application, it further includes: determining a target coverage area for defining the scope of correction data dissemination; dividing the target coverage area into a first coverage area and a second coverage area, where the first coverage area is the area covered by multiple calibration stations, and the second coverage area is the area in the target coverage area other than the first coverage area; determining the dissemination methods of the correction data for the first coverage area and the second coverage area according to the satellite-ground coverage strategy, and the satellite-ground coverage strategy is determined according to the signal coverage range of the satellite.

[0008] In some embodiments of the present application, the satellite-ground coverage strategy is determined by the following method: when multiple calibration stations cover the first coverage area with signals and the satellite covers the second coverage area with signals, determining that the satellite-ground coverage strategy is the first strategy; when multiple calibration stations cover the first coverage area with signals and the satellite covers the target coverage area with signals, determining that the satellite-ground coverage strategy is the second strategy; when multiple calibration stations do not cover the first coverage area with signals and the satellite covers the target coverage area with signals, determining that the satellite-ground coverage strategy is the third strategy.

[0009] In some embodiments of the present application, determining the dissemination methods of the correction data for the first coverage area and the second coverage area according to the satellite-ground coverage strategy includes: in the case of adopting the first strategy, using multiple calibration stations to send correction data to the terminal devices in the first coverage area, and using the satellite to send target correction data to the terminal devices in the second coverage area; in the case of adopting the second strategy, using multiple calibration stations and / or the satellite to send correction data to the terminal devices in the first coverage area, and using the satellite to send target correction data to the terminal devices in the second coverage area; in the case of adopting the third strategy, using the satellite to send target correction data to the terminal devices in the first coverage area and the second coverage area.

[0010] In some embodiments of the present application, the target correction data includes input parameters of the ambiguity fixing technology for precise point positioning, and the input parameters are at least used for ambiguity fixing of the carrier phase observations.

[0011] In some embodiments of the present application, the terminal device performs positioning in the following manner: the terminal device receives target correction data from the satellite; the terminal device uses the satellite signal and the target correction data to perform precise point positioning calculation to obtain an initial calculation result, and the initial calculation result is a floating-point ambiguity; the terminal device performs ambiguity fixing on the initial calculation result to obtain a target calculation result, and the target calculation result is an integer ambiguity; the terminal device uses the target calculation result to convert the carrier phase observations into pseudorange observations to obtain the coordinate solution of the terminal device.

[0012] In some embodiments of the present application, it further includes: multiple calibration stations respectively obtain calibration data from the server; the multiple calibration stations respectively determine target terminal devices within their coverage areas, and send the calibration data to the target terminal devices respectively, and the calibration data is used to calibrate the satellite signals received by the target terminal devices.

[0013] In some embodiments of the present application, the terminal device includes a satellite-based augmentation module, and the satellite-based augmentation module is used to receive target calibration data sent by the satellite in the coverage area of the satellite's spot beam signal.

[0014] In some embodiments of the present application, the satellite has multiple spot beams, and the satellite uses the multiple spot beams to broadcast calibration data to different geographical regions respectively.

[0015] According to another aspect of the embodiments of the present application, there is also provided a satellite positioning system, including: a satellite in the operator satellite communication system, a ground station in the operator satellite communication system, a server, and a terminal device. The server is respectively connected to the ground station in the operator satellite communication system and the global satellite navigation system, and is used to determine target calibration data, and the target calibration data is used to calibrate the satellite signals received by the terminal device; the ground station in the operator satellite communication system is respectively connected to the server and the satellite in the operator satellite communication system, and is used to receive the target calibration data from the server and send the target calibration data to the satellite; the satellite in the operator satellite communication system is respectively connected to the ground station and the terminal device, and is used to receive the target calibration data from the ground station and send the target calibration data to the terminal device; the terminal device is connected to the satellite and is used to perform positioning based on the target calibration data.

[0016] In some embodiments of the present application, the system further includes multiple calibration stations, and the calibration stations are respectively connected to the server and the terminal device, and are used to receive calibration data from the server and send the calibration data to the terminal devices within the coverage area of the calibration stations.

[0017] According to yet another aspect of the embodiments of the present application, there is also provided a satellite positioning device, including: a receiving module, which is used to receive the target calibration data obtained by the ground station in the operator satellite communication system from the server of the global satellite navigation system. Here, the ground station is a ground base station that communicates with the satellite in the operator satellite communication system, and the global satellite navigation system includes multiple calibration stations, and the calibration stations are used to provide calibration data for the terminal devices within their coverage areas; a sending module, which is used to send the target calibration data to the terminal device for positioning, where the target calibration data is used to calibrate the satellite signals received by the terminal device, and the terminal device includes terminal devices outside the coverage areas of the multiple calibration stations.

[0018] According to another aspect of the embodiments of the present application, a terminal device is further provided, including: a positioning module, a cellular module, and a satellite-based augmentation module. The positioning module is configured to receive positioning information sent by navigation satellites. The cellular module is configured to receive calibration data sent by a calibration station in an area covered by the calibration station signal. The satellite-based augmentation module is configured to receive calibration data sent by a satellite in an area covered by the satellite signal in the operator's satellite communication system.

[0019] According to another aspect of the embodiments of the present application, an electronic device is further provided, including: a memory and a processor. The memory is configured to store program instructions. The processor is connected to the memory and is configured to execute the method for satellite positioning described above.

[0020] According to another aspect of the embodiments of the present application, a non-volatile storage medium is further provided. The non-volatile storage medium includes a stored computer program. Wherein, the device where the non-volatile storage medium is located executes the method for satellite positioning described above by running the computer program.

[0021] According to another aspect of the embodiments of the present application, a computer program product is further provided, including computer instructions, and the computer program product implements the method for satellite positioning described above when the computer instructions are executed by a processor.

[0022] In the embodiments of the present application, based on the global navigation satellite system, by adding an operator's satellite communication system, using the satellites and ground stations of the operator's satellite communication system, in areas outside the coverage of the calibration station, satellite is used to broadcast calibration data, achieving the purpose of full-area coverage of calibration data, thereby achieving the technical effect of significantly improving the positioning accuracy of terminal devices in remote areas, and further solving the technical problem that in areas without calibration station coverage, the terminal cannot receive calibration data, resulting in the inability to achieve PPP-AR high-precision positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0024] Figure 1 is a hardware structure block diagram of a computer terminal for a method of satellite positioning according to an embodiment of the present application;

[0025] Figure 2 is a flowchart of a method of satellite positioning according to an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of the coverage area of calibration data broadcast for a method of satellite positioning according to an embodiment of the present application;

[0027] Figure 4 It is an architecture diagram of a satellite positioning system according to an embodiment of the present application;

[0028] Figure 5 It is an architecture diagram of a terminal device according to an embodiment of the present application;

[0029] Figure 6 It is a schematic structural diagram of a satellite positioning device according to an embodiment of the present application. Specific embodiments

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0032] In order to better understand the embodiments of the present application, the technical terms involved in the embodiments of the present application are explained as follows:

[0033] Precise Point Positioning (PPP for short): The precise point positioning technology refers to a method that uses a single GNSS receiver, without external assistance, by receiving the carrier phase and pseudorange information of the Global Navigation Satellite System (such as Beidou, GPS), and combining precise satellite orbit and clock error models to achieve positioning accuracy at the meter level or even sub-meter level.

[0034] Precise Point Positioning - Ambiguity Resolution (abbreviated as PPP - AR): The PPP - AR technology is an improved form of the PPP technology. By solving the integer ambiguity problem in carrier phase measurement, it achieves faster convergence time and higher positioning accuracy. In this application, PPP - AR allows improving positioning performance through correction data transmitted by Tiantong satellites without the assistance of traditional ground calibration stations.

[0035] Operator satellite communication system: A satellite network system operated by a communication operator for providing a wide range of communication services, including but not limited to telephone, data transmission, Internet access, etc. The system can consist of satellites (such as Tiantong satellites), ground stations, user terminals, and necessary network infrastructure. In this application, the ground station obtains correction data from the servers of the global satellite navigation system and sends these data to the user terminals through the satellites in the satellite communication system.

[0036] Tiantong satellite: Also known as Tiantong - 1, it is a satellite mobile communication system independently developed and constructed by a certain operator, consisting of a space segment, a ground segment, and user terminals. The space segment consists of multiple geosynchronous orbit mobile communication satellites such as Tiantong - 1 01 satellite (with 109 spot beams), 02 satellite, and 03 satellite. The ground segment includes gateway stations, satellite control centers, network control centers, and user information management systems. The gateway stations are interconnected with the operator to achieve functions such as user access and routing exchange. User terminals include handheld terminals, portable terminals, vehicle - mounted and ship - mounted terminals, etc.

[0037] Global satellite navigation system: In this application, it refers to a type of system that provides positioning, navigation, and timing services globally through multiple satellites. For example, GPS (Global Positioning System), BDS (BeiDou Navigation Satellite System), etc. It supports PPP positioning technology and can further optimize positioning performance through PPP - AR technology.

[0038] Calibration stations are components of the PPP - AR positioning system. They are located on the ground and cover specific areas, providing correction data for terminal devices to reduce positioning errors. Under complex terrain conditions, such as deep valleys, mountains, forests, and densely built - up urban areas, the signals of calibration stations may be blocked and unable to reach terminal devices. In addition, in remote areas such as the ocean, polar regions, and deserts, due to sparse population, lack of infrastructure, and cost considerations, it is difficult to deploy enough calibration stations, resulting in limited PPP - AR positioning services in these areas.

[0039] To solve the above technical problems, the embodiments of the present application provide corresponding solutions, which are described in detail below.

[0040] The method embodiments for satellite positioning provided by the embodiments of the present application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Figure 1 The following shows a hardware structure block diagram of a computer terminal for implementing a method for satellite positioning. As Figure 1 shown, the computer terminal 10 may include one or more processors (the processors may include, but are not limited to, processing devices such as a microprocessor MCU or a programmable logic device FPGA, shown as 102a, 102b,..., 102n in the figure), a memory 104 for storing data, and a transmission module 106 for communication functions connected by wired and / or wireless networks. In addition, it may further include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. Those of ordinary skill in the art can understand that Figure 1 the structure shown is only schematic and does not limit the structure of the above-mentioned electronic device. For example, the computer terminal 10 may further include more or fewer components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0041] It should be noted that the above one or more processors and / or other data processing circuits are generally referred to as "data processing circuits" in this article. The data processing circuit may be fully or partially embodied as software, hardware, firmware, or any other combination. In addition, the data processing circuit may be a single independent processing module, or fully or partially integrated into any one of the other elements in the computer terminal 10. As involved in the embodiments of the present application, the data processing circuit is a kind of processor control (such as the selection of a variable resistor terminal path connected to an interface).

[0042] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the satellite positioning method in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the above-mentioned satellite positioning method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some instances, the memory 104 may further include a memory remotely provided with respect to the processor, and these remote memories can be connected to the computer terminal 10 through a network. Examples of the above network include but are not limited to the Internet, enterprise intranets, local area networks, mobile communication networks, and combinations thereof.

[0043] The transmission module 106 is used to receive or send data via a network. Specific examples of the above network may include a wireless network provided by the communication provider of the computer terminal 10. In one instance, the transmission module 106 includes a network adapter (Network Interface Controller, NIC), which can be connected to other network devices through a base station and thus communicate with the Internet. In one instance, the transmission module 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0044] The display can be, for example, a touch-screen liquid crystal display (LCD), and the liquid crystal display enables a user to interact with the user interface of the computer terminal 10.

[0045] It should be noted here that in some alternative embodiments, the above Figure 1 shown computer terminal may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware elements and software elements. It should be pointed out that Figure 1 is only an example of a specific specific instance, and is intended to show the types of components that may exist in the above computer terminal.

[0046] Under the above operating environment, an embodiment of a satellite positioning method is provided in the embodiments of the present application. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0047] Figure 2 is a flowchart of a satellite positioning method according to an embodiment of the present application, as Figure 2As shown in the figure, the method includes the following steps:

[0048] Step S202: Receive the target correction data obtained by the ground station in the operator's satellite communication system from the server of the global satellite navigation system. Here, the ground station is a ground base station that communicates with the satellite in the operator's satellite communication system. The global satellite navigation system includes multiple calibration stations, and the calibration stations are used to provide correction data for the terminal devices within the coverage area.

[0049] In the above step S202, the server of the global satellite navigation system (such as GPS, BDS, GLONASS or Galileo) is responsible for collecting, processing and publishing key data such as satellite-related precise orbit parameters, clock correction data, and atmospheric delay correction information. These data can provide the necessary information for PPP (Precise Point Positioning) technology and PPP-AR technology to correct various errors in the positioning process.

[0050] The ground station is an integral part of the operator's satellite communication system and is used to establish two-way communication with the satellite. In some embodiments of the present application, the ground station receives the target correction data from the global satellite navigation system server and transmits it to the terminal device through the satellite communication network.

[0051] The calibration station (also known as the reference station or benchmark station) is a type of ground cellular base station device that provides correction data for the terminal to be located. It is a ground facility in the global satellite navigation system used to improve the positioning accuracy. They use precise measuring instruments to collect satellite signal data, calculate correction information for errors such as atmospheric delay and satellite orbit deviation, and then broadcast this information to the terminal devices within the coverage area through the ground communication network or directly through the satellite to improve the positioning accuracy.

[0052] Taking the Tiantong satellite as an example, the ground station of the Tiantong satellite system first connects to the global satellite navigation system server and downloads the target correction data through an encrypted secure communication link. The correction data includes, but is not limited to, the precise parameters of the satellite orbit, clock deviation, and atmospheric delay correction value. Subsequently, the ground station uploads the correction data to the satellite through the feeder link between it and the Tiantong satellite, so that the satellite can broadcast it to the terminal devices in the wide area. Through the efficient data interaction between the ground station of the Tiantong satellite system and the global satellite navigation system server, the problem of being unable to obtain the necessary correction data in areas without ground calibration station coverage can be solved, thus enabling high-precision positioning of PPP-AR in these areas.

[0053] When the terminal device receives a signal from a satellite, the carrier phase observation value contains the distance information from the satellite to the receiver. However, due to the influence of the carrier wavelength, there is an ambiguity in the observation value. In some embodiments of the present application, the target correction data includes the input parameters of the ambiguity fixing technology for precise point positioning, and the input parameters are at least used to fix the ambiguity of the carrier phase observation value.

[0054] Taking the Tiantong satellite as an example, after the terminal device receives the target correction data broadcast from the Tiantong satellite, it integrates these data into the PPP-AR calculation process. For example, the terminal device uses precise carrier phase observation values and the input parameters in the target correction data to solve the integer ambiguity through the ambiguity fixing technology, thereby eliminating the uncertainty in the positioning result and ensuring that the PPP-AR technology can be used for fast and high-precision positioning even in remote or ocean areas, improving the positioning experience of users in various environments.

[0055] In some embodiments of the present application, the satellites in the operator satellite communication system have multiple spot beams, and the satellites use the multiple spot beams to broadcast correction data to different geographical regions respectively.

[0056] A spot beam is a highly directive signal beam used in satellite communication technology for concentrating the transmission of energy to a specific geographical region. In a satellite communication system, a spot beam can improve the spectrum utilization rate, enhance the signal strength, and reduce interference. For example, for the Tiantong satellite system, the use of spot beams can achieve precise coverage of different geographical regions.

[0057] By the reasonable scheduling and use of multiple spot beams, the limitations of traditional terrestrial networks in terms of coverage and communication quality can be solved. Especially in areas with complex terrain or insufficient infrastructure, continuous and stable PPP-AR positioning services can be provided. Specifically, the satellite communication system can use multi-beam scheduling technology to dynamically adjust the direction and power of the spot beams according to the area to be located on the ground. Each spot beam covers a specific geographical region and broadcasts correction data containing the parameters required for the PPP-AR technology to this region through a high-gain antenna. To meet the continuously changing positioning needs on the ground, the direction and power of the spot beams can be dynamically adjusted through the following steps:

[0058] Obtain the ground communication requirements and environmental information within the signal coverage of the satellite communication system. For example, the ground stations in the satellite communication system collect terminal location and requirement data through the network, and at the same time use resources such as meteorological satellites and terrain databases to evaluate the environmental conditions. After summarizing this information, it is reported to the satellite through the uplink. The satellite determines the direction adjustment and power allocation of each spot beam based on the ground communication requirements and environmental information, and obtains the adjustment instructions for each spot beam. The adjustment instructions can include beam adjustment information such as the direction adjustment angle and / or power adjustment value (such as increase or decrease value). According to the current beam allocation information of the satellite and the adjustment instructions, perform beam adjustment. For example, control the high-gain antenna to reposition, adjust the beam direction, and / or adjust the transmission power. The satellite broadcasts correction data to a specific geographical area through the adjusted high-gain antenna.

[0059] It should be noted that to solve the positioning problem in the case of unstable received signals or in mobile scenarios, the terminal device can be built with multi-beam signal reception capabilities and can receive correction data from different spot beams simultaneously. When the terminal device is located in the overlapping area covered by multiple spot beams, it can select the beam with the best signal quality for data reception, or receive data from multiple beams simultaneously. By comparing and fusing, the accuracy and reliability of the correction data can be further improved.

[0060] In some embodiments of the present application, in addition to using satellites to broadcast correction data, calibration stations can also be used to broadcast correction data. Specifically: multiple calibration stations respectively obtain correction data from the server; multiple calibration stations respectively determine the target terminal devices within the coverage range and send the correction data to the target terminal devices respectively. The correction data is used to correct the satellite signals received by the target terminal devices.

[0061] Multiple calibration stations can obtain correction data from the server through the connection with the global satellite navigation system server. Through the pre-defined coverage range, the calibration stations confirm which terminal devices are within their service area. When a terminal device enters this area, the calibration station will automatically detect the presence of the device and send the correction data to the target terminal device through wireless communication (such as Bluetooth, Wi-Fi, 4G / 5G, etc.).

[0062] During the movement of the terminal device, it may frequently enter and exit the coverage areas of different calibration stations, resulting in unstable communication with the calibration stations, affecting the timeliness and integrity of the calibration data, and further affecting the positioning accuracy. To solve this problem, during the movement of the terminal device, multiple calibration stations can work together and share calibration data to ensure that the terminal device can receive the necessary calibration information regardless of which calibration station's coverage area it is in. By establishing a data interaction mechanism between calibration stations, the impact caused by the failure or communication interruption of a single calibration station can be reduced. When the terminal device moves from the coverage area of one calibration station to that of another calibration station, seamless handover technology can be adopted to automatically select the calibration station with the best signal quality for communication.

[0063] It should be noted that the coverage area of a calibration station is relatively small, usually limited to the range of dozens of kilometers to hundreds of kilometers. This enables the calibration station to provide more local and targeted signal calibration data. Especially in urban environments or areas with complex terrain, it can better handle environmental factors such as local atmospheric effects and multipath interference. The coverage area of a satellite is much larger than that of a calibration station. For example, it can include part or all of the coverage area of the calibration station. Considering the need for large-scale coverage, the calibration data can be appropriately adjusted and optimized to meet the positioning requirements under different geographical and climatic conditions.

[0064] Specifically, multiple calibration stations collect and upload the environmental parameters within their coverage areas to the server. For example, the calibration station collects detailed environmental parameters such as atmospheric delay (including ionospheric and tropospheric delays), multipath effects, and satellite signal line-of-sight obstacles at its location through a high-precision GNSS receiver; the server determines the calibration parameters in a wider geographical environment based on the environmental parameters of multiple calibration stations. For example, standardized calibration data applicable to a large range can be generated through statistical analysis, pattern recognition, or the construction of prediction models.

[0065] In addition, the operator's satellite communication system can also adjust the standardized calibration data. For example, according to the satellite position and the current ionospheric state, the atmospheric delay calibration data can be dynamically adjusted to reduce the impact caused by ionospheric activities. It should be noted that in order to minimize the modification to the operator's satellite communication system, the ground station and the satellite can also be unaware of the type and specific format of the calibration data and only serve as transmission channels. By adopting this method, the time for data processing and conversion can be reduced to ensure that the calibration data can be transmitted from the server to the user terminal in the shortest time.

[0066] To ensure that the necessary correction data can be received regardless of the location of the terminal device, thereby achieving high-precision positioning, the following steps can also be performed: Determine the target coverage area, which is used to define the scope of correction data broadcast; divide the target coverage area into a first coverage area and a second coverage area. The first coverage area is the area covered by multiple calibration stations, and the second coverage area is the area in the target coverage area except the first coverage area; determine the broadcast methods of the correction data for the first coverage area and the second coverage area according to the satellite-ground coverage strategy, and the satellite-ground coverage strategy is determined according to the signal coverage range of the satellite.

[0067] The target coverage area is a geographical area that requires high-precision positioning services, which can be a specific urban area, a marine channel, a mountain range, or any area that requires PPP-AR positioning technology coverage, such as Figure 3 the area jointly composed of green and orange in

[0068] The first coverage area is covered by multiple calibration stations. The calibration stations can provide high-precision environmental condition correction information, such as atmospheric delay, multipath effect, etc., so as to achieve the optimal PPP-AR positioning performance in this area, such as Figure 3 the orange area in

[0069] The second coverage area is the area in the target coverage area except the first coverage area, usually a remote or marine area that cannot be directly covered by calibration stations. In this area, the PPP-AR positioning service depends on the correction data provided by the satellite communication link, such as Figure 3 the green area in

[0070] In some embodiments of the present application, the satellite-ground coverage strategy is determined in the following manner: When multiple calibration stations cover the first coverage area and the satellite covers the second coverage area, determine that the satellite-ground coverage strategy is the first strategy; when multiple calibration stations cover the first coverage area and the satellite covers the target coverage area, determine that the satellite-ground coverage strategy is the second strategy; when multiple calibration stations do not cover the first coverage area and the satellite covers the target coverage area, determine that the satellite-ground coverage strategy is the third strategy.

[0071] In the case of adopting the first strategy, multiple calibration stations are used to send calibration data to the terminal devices within the first coverage area, and a satellite is used to send target calibration data to the terminal devices within the second coverage area; in the case of adopting the second strategy, multiple calibration stations and / or a satellite are used to send calibration data to the terminal devices within the first coverage area, and a satellite is used to send target calibration data to the terminal devices within the second coverage area; in the case of adopting the third strategy, a satellite is used to send target calibration data to the terminal devices within the first coverage area and the second coverage area.

[0072] Specifically, in the case of adopting the first strategy, the positioning service of the terminal device mainly depends on the collaborative work of ground calibration stations and satellites. The calibration stations provide high-precision calibration data for the terminals within the first coverage area, while the satellite covers the second area. The calibration stations and the satellite complement each other to ensure that positioning services can be provided even in areas not covered by the calibration stations; compared with the first strategy, the satellite has a wider coverage range in the second strategy, including the first and second coverage areas, that is, the terminal device can receive calibration data from the calibration stations and / or the satellite within the first coverage area, and in the second coverage area, the satellite becomes the sole provider of calibration data; the third strategy means that when the calibration stations no longer cover the first coverage area with signals, the satellite system takes on the responsibility of providing calibration data for the entire target coverage area (including the first and second areas), realizing a complete satellite-based augmentation positioning service.

[0073] Combined Figure 3 , there are at least the following three satellite-ground coverage strategies for the broadcast of calibration data in this application (illustrated with Tiantong satellites as an example):

[0074] (1) Method 1: The ground calibration station covers the orange area with signals and broadcasts PPP-AR calibration data; the Tiantong satellite covers the green area with signals, and uses multiple different spot beams of the Tiantong satellite to cover these known green position areas with signals, and the Tiantong satellite broadcasts PPP-AR calibration data to the green area.

[0075] (2) Method 2: The ground calibration station covers the orange area with signals and broadcasts PPP-AR calibration data; the Tiantong satellite covers all areas including the orange area and the green area and broadcasts PPP-AR calibration data to all areas.

[0076] (3) Method 3: The ground calibration station no longer covers any area such as the orange area with signals and no longer broadcasts PPP-AR calibration data; the Tiantong satellite covers all areas and broadcasts PPP-AR calibration data to all areas.

[0077] The comparison of the three satellite-ground coverage strategies is as follows:

[0078]

[0079] It should be noted that in the context of the second strategy, the coverage area of the satellite is not limited to the second coverage area, but also extends to the first coverage area covered by the calibration station. Therefore, the way for the terminal device to receive correction data becomes more flexible and intelligent. In some embodiments of the present application, the terminal device in the first coverage area can receive correction data from both the calibration station and the satellite simultaneously. During the data reception process, the terminal device can perform a treatment evaluation on the first correction data from the calibration station and the second correction data from the satellite, including but not limited to the evaluation of factors such as signal quality, data accuracy, and latency, to determine the correction data with better quality as the target correction data, or perform data fusion (such as smooth transition or weighted average) on the first correction data and the second correction data to obtain the target correction data, so as to improve the accuracy and stability of positioning.

[0080] For example, when the terminal device is within the first coverage area and the signal intensity of the calibration station is high, the latency is low, and the packet error rate is low, the terminal device can preferentially use the correction data of the calibration station because the calibration station is usually closer to the terminal and can provide near-real-time and high-precision environmental correction information; while when there is strong electromagnetic interference or obstacles near the calibration station resulting in a decline in signal quality, the terminal device can preferentially use the correction data of the satellite to avoid local interference and obtain stable and high-precision positioning services.

[0081] In addition, according to established rules or dynamic strategies, the first terminal device in the first coverage area can be designated to receive the correction data of the calibration station, and the second terminal device in the first coverage area can be designated to use the correction data broadcast by the satellite. The second terminal device is the terminal device in the first coverage area other than the first terminal device. The division method of the terminal device can be determined by factors in at least one of the aspects of terminal device type, signal quality evaluation, and user behavior prediction. Specifically:

[0082] (1) Terminal device type: The terminal devices are divided according to indicators such as the type, power consumption requirements, and data reception capabilities of the terminal devices. For example, terminals with lower power consumption or weaker signal reception capabilities are given priority to receive data from the calibration station, while high-performance terminal devices use satellite data to balance the resource consumption of the entire system.

[0083] (2) Signal quality evaluation: By real-time monitoring the signal quality of the calibration station and the satellite, and according to indicators such as the stability, latency, and packet error rate of the signal of the terminal device, the current data broadcast mode of the terminal device is determined. For example, if the signal of the calibration station shows abnormal fluctuations during a specific time period, the affected first terminal device can be switched to the satellite data reception mode (i.e., determined as the second terminal device) to ensure that the positioning service is not affected.

[0084] (3) User behavior prediction: By combining historical data analysis and machine learning techniques, predict the user's movement patterns and data usage habits, and set the data reception strategy in advance. For example, if it is predicted that a first terminal device is about to enter a second coverage area (satellite exclusive broadcast area), the data reception mode of the first terminal device can be set to preferentially receive satellite data in advance to reduce the latency and accuracy loss during handover.

[0085] In some embodiments of the present application, since the terminal devices in the first coverage area are divided into two categories: one is the first terminal device, which mainly locates based on the calibration data of the calibration station; the other is the second terminal device, which mainly receives the calibration data broadcast by the satellite. To ensure the continuity and reliability of the positioning service, when any data source fails, the terminal device needs to have the ability to flexibly switch the data reception mode.

[0086] Specifically, due to reasons such as the degradation of the calibration station signal quality, network failure, and intermittent disconnection of the device, when the first terminal device cannot normally receive the calibration data of the calibration station, the first terminal device can initiate a switching mechanism and switch to receiving the calibration data broadcast by the satellite. For example, the terminal continuously monitors the quality of the calibration station signal, including but not limited to indicators such as signal strength, delay time, and packet error rate. Once it detects that the signal quality is lower than the first preset threshold, it triggers the data source switching process. To avoid interruption of the positioning service during the switching process, the terminal device can also prefetch the calibration data broadcast by the satellite in the background while normally receiving the calibration station data to form a data buffer. When there is a problem with the calibration station data, the terminal device can immediately enable the satellite data to achieve seamless switching.

[0087] In the case of poor satellite signals or abnormal satellite links, the second terminal device can also quickly switch to the data reception mode of the ground calibration station. Specifically, the terminal device continuously monitors the status of the satellite link, including but not limited to signal strength, link delay, and communication quality. Once it detects a serious failure (such as the status of the satellite link meets the first preset condition), such as long-term data loss, extreme signal attenuation, etc., it initiates the switching process. In addition, while the second terminal device is normally receiving satellite data, it can also pre-receive the calibration data of the calibration station as a backup data source.

[0088] It should be noted that in order for the satellite communication system to timely adjust the satellite-ground coverage strategy when the calibration station fails and ensure that all third-terminal devices (terminal devices that only receive the calibration data of the calibration station) within the coverage area of the failed calibration station can receive the calibration data broadcast by the satellite in a timely manner, the following steps can also be executed: The third-terminal device compares the index reflecting the quality of the calibration data of the calibration station with a second preset threshold, and when the comparison result meets the second preset condition, it determines that the calibration station corresponding to the third-terminal device has failed; The third-terminal device sends a fault report through the communication link of the operator satellite communication system, and the fault report may include key information such as the current location of the third-terminal device, the calibration station ID, the fault type, and the fault duration; The operator satellite communication system transmits the fault report to the server, and when the server determines the calibration station fault based on the fault report, the server broadcasts an adjustment instruction to the operator satellite communication system, instructing the satellite to broadcast calibration data for the coverage area of the calibration station.

[0089] Step S204: Send the target calibration data to the terminal device for positioning, where the target calibration data is used to calibrate the satellite signal received by the terminal device, and the terminal device includes terminal devices outside the coverage ranges of multiple calibration stations.

[0090] In the above step S204, the terminal device may include a satellite-based augmentation module, and the satellite-based augmentation module is used to receive the target calibration data sent by the satellite within the coverage area of the satellite's spot beam signal.

[0091] The satellite-based augmentation module is a hardware component in the terminal device dedicated to receiving satellite-based augmentation signals, and its function is to ensure that the terminal device can efficiently and accurately obtain the target calibration data within the coverage area of the satellite's spot beam signal, thereby achieving high-precision positioning.

[0092] In some embodiments of the present application, the terminal device performs positioning in the following manner: The terminal device receives the target calibration data from the satellite; The terminal device uses the satellite signal and the target calibration data to perform precise point positioning solution to obtain an initial solution result, and the initial solution result is a floating-point ambiguity; The terminal device fixes the ambiguity of the initial solution result to obtain a target solution result, and the target solution result is an integer ambiguity; The terminal device uses the target solution result to convert the carrier phase observation value into a pseudorange observation value to obtain the coordinate solution of the terminal device.

[0093] Specifically, the terminal device is equipped with the receiving ability of multiple satellite systems (such as Beidou, GPS, Tiantong satellite, etc.), and can receive target correction data from multiple satellite sources to enhance the reliability and accuracy of the data; the terminal device simultaneously uses PPP and RTK (Real-Time Kinematic) technologies, obtains target correction data through PPP technology, and then combines the real-time dynamic characteristics of RTK technology to perform positioning solution; the terminal device adopts an ambiguity fixing algorithm, such as the Least Squares Ambiguity Decorrelation Adjustment (LAMBDA) algorithm, to convert floating-point ambiguity into integer ambiguity; the terminal device uses the integer ambiguity solution result to correct the carrier phase observation value, converts it into an equivalent pseudorange observation value, and applies a coordinate solution algorithm, such as the least squares method or the weighted average method, combines the pseudorange observation value and satellite position information, and calculates the three-dimensional coordinates (longitude, latitude, altitude) of the terminal device.

[0094] Through the above steps S202 to S204, on the basis of the global satellite navigation system, by adding an operator satellite communication system, using the satellites and ground stations of the operator satellite communication system, in the area outside the coverage of the calibration station, using satellites to broadcast correction data, the purpose of full-area coverage of correction data is achieved, thereby realizing the technical effect of significantly improving the positioning accuracy of terminal devices in remote areas, and further solving the technical problem that in the area without calibration station coverage, the terminal cannot receive correction data, resulting in the inability to achieve PPP-AR high-precision positioning.

[0095] The embodiment of the present application also provides a satellite positioning system, including satellites in the operator satellite communication system, ground stations in the operator satellite communication system, a server, and a terminal device. The server is respectively connected to the ground station in the operator satellite communication system and the global satellite navigation system, and is used to determine target correction data, and the target correction data is used to correct the satellite signals received by the terminal device; the ground station in the operator satellite communication system is respectively connected to the server and the satellites in the operator satellite communication system, and is used to receive target correction data from the server and send the target correction data to the satellites; the satellites in the operator satellite communication system are respectively connected to the ground station and the terminal device, and are used to receive target correction data from the ground station and send the target correction data to the terminal device; the terminal device is connected to the satellite and is used to perform positioning based on the target correction data.

[0096] In some embodiments of the present application, the system further includes multiple calibration stations, which are respectively connected to the server and the terminal device, and are used to receive correction data from the server and send the correction data to the terminal devices within the coverage area of the calibration station.

[0097] It should be noted that the satellite positioning system is used to execute Figure 2 the satellite positioning method shown in Figure 2 . Therefore, the relevant explanations in the satellite positioning method in

[0098] Figure 4 also apply to the satellite positioning system, and will not be elaborated here. Figure 4 FIG. is an architecture diagram of a satellite positioning system according to an embodiment of the present application. As

[0099] (1) In the Beidou PPP-AR high-precision positioning system architecture (including Beidou satellites, Beidou ground stations, servers, calibration stations, and terminal A), Tiantong satellites and Tiantong ground stations are added to form a Tiantong + Beidou PPP-AR high-precision positioning system architecture;

[0100] (2) The Tiantong ground station is connected to the Beidou PPP-AR positioning system server, receives PPP-AR correction data from the server, and sends it to the Tiantong satellite through a power supply link;

[0101] (3) The Tiantong satellite receives the PPP-AR correction data from the Tiantong ground station and sends it to the terminal device (terminal B) through a service link;

[0102] (4) The Tiantong ground station and the Tiantong satellite may not sense the type and specific format of the PPP-AR correction data, and only act as channels for timely forwarding, minimizing the modification to the Tiantong system;

[0103] (5) The current PPP-AR algorithm has requirements for the error packet rate of the correction data. Specifically, the error packet rate of a 576-bit size data packet is less than five per thousand, which can meet the requirements of the PPP-AR high-precision positioning algorithm; through satellite uplink test verification, under the new path of server → Tiantong ground station → Tiantong satellite → terminal added above, the PPP-AR correction data received by the terminal can meet this requirement;

[0104] (6) The path of server → calibration station → terminal for sending PPP-AR correction data still exists, and which path to use is determined by the specific satellite-ground coverage strategy and terminal satellite-ground handover strategy adopted.

[0105] Figure 5 FIG. is an architecture diagram of a terminal device according to an embodiment of the present application. As Figure 5 shown, the positioning module is taken as an example of a Beidou module, and the satellite-based augmentation module is taken as an example of a Tiantong module for illustration. In the architecture of the terminal device, it includes:

[0106] The cellular module 502 is connected to the Beidou module 504 and the terminal MCU 508, and is used to receive the PPP-AR correction data sent by the ground calibration station in the area covered by the ground calibration station signal.

[0107] The Beidou module 504 is connected to the cellular module 502, the Tiantong module 506 and the terminal MCU 508, and is used to receive the positioning information sent by the Beidou satellite.

[0108] The Tiantong module 506 is connected to the Beidou module 504 and the terminal MCU 508, and is used to receive the PPP-AR correction data relayed by the Tiantong satellite in the area covered by the Tiantong satellite spot beam signal.

[0109] The terminal MCU 508 is connected to the cellular module 502, the Beidou module 504 and the Tiantong module 506, and is used to integrate and process the data from different modules, execute the PPP-AR algorithm, and achieve high-precision positioning.

[0110] Figure 6 It is a structural diagram of a satellite positioning device according to an embodiment of the present application. As Figure 6 shown, the device includes:

[0111] The receiving module 602 is used to receive the target correction data obtained by the ground station in the operator's satellite communication system from the server of the global satellite navigation system. The ground station is a ground base station that communicates with the satellite in the operator's satellite communication system. The global satellite navigation system includes multiple calibration stations, and the calibration stations are used to provide correction data for the terminal devices within the coverage range.

[0112] The sending module 604 is used to send the target correction data to the terminal device for positioning. The target correction data is used to correct the satellite signals received by the terminal device. The terminal device includes terminal devices outside the coverage range of multiple calibration stations.

[0113] It should be noted that Figure 6 the shown satellite positioning device is used to execute Figure 2 the shown satellite positioning method. Therefore Figure 2 the relevant explanations in the satellite positioning method in Figure 6 also apply to the shown satellite positioning device, and will not be elaborated here.

[0114] An embodiment of the present application also provides an electronic device. The electronic device includes a memory and a processor. Among them, the memory is used to store program instructions; the processor is connected to the memory and is used to execute the steps of implementing the satellite positioning method in each embodiment of the present application.

[0115] For example, the processor performs the following functions by executing program instructions stored in the memory: receiving target correction data obtained by a ground station in an operator's satellite communication system from a server of a global satellite navigation system, where the ground station is a ground base station communicatively connected to a satellite in the operator's satellite communication system, and the global satellite navigation system includes multiple calibration stations for providing correction data to terminal devices within the coverage range; sending the target correction data to the terminal devices for positioning, where the target correction data is used to correct satellite signals received by the terminal devices, and the terminal devices include terminal devices outside the coverage ranges of the multiple calibration stations.

[0116] An embodiment of the present application also provides a non-volatile storage medium, which includes a stored computer program. The device where the non-volatile storage medium is located executes the steps of the satellite positioning method in each embodiment of the present application by running the computer program.

[0117] An embodiment of the present application also provides a computer program product, including computer instructions, which implement the steps of the satellite positioning method in each embodiment of the present application when executed by a processor.

[0118] An embodiment of the present application also provides a computer program, which implements the steps of the satellite positioning method in each embodiment of the present application when executed by a processor.

[0119] The serial numbers of the embodiments of the present application above are only for description and do not represent the superiority or inferiority of the embodiments.

[0120] In the above embodiments of the present application, the descriptions of the various embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0121] In the several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of units or modules can be in an electrical or other form.

[0122] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional unit in various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0124] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0125] The above description is only a preferred embodiment of the present application. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A method for satellite positioning, characterized in that, Including: Receiving target correction data obtained by a ground station in an operator's satellite communication system from a server of a global satellite navigation system, where the ground station is a ground base station communicatively connected to a satellite in the operator's satellite communication system, and the global satellite navigation system includes multiple calibration stations for providing correction data to terminal devices within the coverage area; Sending the target correction data to a terminal device for positioning, where the target correction data is used to correct satellite signals received by the terminal device, and the terminal device includes terminal devices outside the coverage area of the multiple calibration stations.

2. The method according to claim 1, wherein The method further includes: Determining a target coverage area, where the target coverage area is used to define the range of correction data dissemination; Dividing the target coverage area into a first coverage area and a second coverage area, where the first coverage area is the area covered by the multiple calibration stations, and the second coverage area is the area of the target coverage area other than the first coverage area; Determining the dissemination methods of the correction data for the first coverage area and the second coverage area according to a satellite-ground coverage strategy, where the satellite-ground coverage strategy is determined according to the signal coverage range of the satellite.

3. The method according to claim 2, wherein The satellite-ground coverage strategy is determined by the following method: When the multiple calibration stations cover the first coverage area with signals and the satellite covers the second coverage area with signals, determining that the satellite-ground coverage strategy is the first strategy; When the multiple calibration stations cover the first coverage area with signals and the satellite covers the target coverage area with signals, determining that the satellite-ground coverage strategy is the second strategy; When the multiple calibration stations do not cover the first coverage area with signals and the satellite covers the target coverage area with signals, determining that the satellite-ground coverage strategy is the third strategy.

4. The method according to claim 3, wherein Determining the dissemination methods of the correction data for the first coverage area and the second coverage area according to the satellite-ground coverage strategy includes: When adopting the first strategy, using the multiple calibration stations to send correction data to terminal devices in the first coverage area, and using the satellite to send the target correction data to terminal devices in the second coverage area; When adopting the second strategy, using the multiple calibration stations and / or the satellite to send correction data to terminal devices in the first coverage area, and using the satellite to send the target correction data to terminal devices in the second coverage area; When adopting the third strategy, using the satellite to send the target correction data to terminal devices in the first coverage area and the second coverage area.

5. The method according to claim 1, characterized in that, The target correction data includes input parameters of the ambiguity fixing technology for precise point positioning, and the input parameters are at least used to fix the ambiguity of the carrier phase observation value.

6. The method according to claim 5, wherein The terminal device performs positioning by the following method: The terminal device receives the target correction data from the satellite; The terminal device performs precise point positioning calculation by using the satellite signal and the target correction data to obtain an initial calculation result, where the initial calculation result is a floating-point ambiguity; The terminal device performs ambiguity fixing on the initial calculation result to obtain a target calculation result, where the target calculation result is an integer ambiguity; The terminal device uses the target calculation result to convert the carrier phase observation value into a pseudorange observation value to obtain the coordinate solution of the terminal device.

7. The method according to claim 1, characterized in that, The method further includes: The multiple calibration stations respectively obtain correction data from the server; The multiple calibration stations respectively determine target terminal devices within the coverage range and send the correction data to the target terminal devices respectively, where the correction data is used to correct the satellite signals received by the target terminal devices.

8. The method according to claim 1, wherein The terminal device includes a satellite-based augmentation module, and the satellite-based augmentation module is used to receive target correction data sent by the satellite in the coverage area of the satellite's spot beam signal.

9. The method according to claim 1, characterized in that, The satellite has multiple spot beams, and the satellite uses the multiple spot beams to broadcast correction data to different geographical regions respectively.

10. A satellite positioning system, characterized in that, It includes a satellite in the operator satellite communication system, a ground station in the operator satellite communication system, a server, and a terminal device, where The server is respectively connected to the ground station in the operator satellite communication system and the global satellite navigation system, and is used to determine target correction data, where the target correction data is used to correct the satellite signals received by the terminal device; The ground station in the operator satellite communication system is respectively connected to the server and the satellite in the operator satellite communication system, and is used to receive the target correction data from the server and send the target correction data to the satellite; The satellite in the operator satellite communication system is respectively connected to the ground station and the terminal device, and is used to receive the target correction data from the ground station and send the target correction data to the terminal device; The terminal device is connected to the satellite and is used to perform positioning based on the target correction data.

11. The system according to claim 10, wherein It further includes multiple calibration stations, where the calibration stations are respectively connected to the server and the terminal device, and are used to receive correction data from the server and send the correction data to the terminal devices within the coverage area of the calibration stations.

12. A satellite positioning device, characterized in that, It includes: A receiving module, configured to receive target correction data obtained by a ground station in the operator satellite communication system from a server of the global satellite navigation system, where the ground station is a ground base station communicatively connected to a satellite in the operator satellite communication system, and the global satellite navigation system includes multiple calibration stations, and the calibration stations are used to provide correction data for terminal devices within the coverage range; A sending module, configured to send the target correction data to a terminal device for positioning, where the target correction data is used to correct the satellite signals received by the terminal device, and the terminal device includes terminal devices outside the coverage range of the multiple calibration stations.

13. A terminal device, characterized in that, It includes: A positioning module, a cellular module, and a satellite-based augmentation module. The positioning module is used to receive positioning information sent by navigation satellites. The cellular module is used to receive calibration data sent by a calibration station in an area covered by the calibration station signal. The satellite-based augmentation module is used to receive calibration data sent by a satellite in an area covered by the satellite signal in a carrier satellite communication system.

14. An electronic device, characterized in that, Comprising: A memory and a processor. The memory is used to store program instructions. The processor is connected to the memory and is used to execute the method for satellite positioning described in any one of claims 1 to 7.

15. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored computer program. Wherein, the device where the non-volatile storage medium is located executes the method for satellite positioning described in any one of claims 1 to 9 by running the computer program.

16. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, the method for satellite positioning described in any one of claims 1 to 9 is implemented.

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