Positioning method, device and equipment based on Beidou satellite and storage medium

Abstract

The embodiment of the invention discloses a positioning method, device and equipment based on a Beidou satellite and a storage medium, and the method comprises the steps: obtaining a to-be-processed signal, and analyzing the to-be-processed signal into a single-frequency or double-frequency signal: obtaining a puncture point and a corresponding effective grid point at a single frequency, and calculating the ionospheric vertical delay of the puncture point; in a dual-frequency state, obtaining a first pilot frequency component and a second pilot frequency component to calculate an ionosphere-free combined pseudo-range; acquiring satellite coordinates and enhancing the correction to correct the coordinates, and acquiring the clock correction to correct the satellite clock correction; and a single-frequency ionosphere vertical delay or a double-frequency ionosphere-free combined pseudo-range is combined with the corrected coordinates and clock correction, target signals are obtained through correction, then the target signals are subjected to positioning calculation, and a positioning result is obtained. By fusing a single-frequency and double-frequency signal processing mechanism and combining a puncture point ionosphere vertical delay and non-ionosphere combined pseudo-range algorithm, high-precision dynamic compensation of satellite orbits, clock errors and ionosphere errors is realized, and the real-time performance and reliability of positioning are remarkably improved.

Description

Technical Field

[0001] This application relates to the technical field of navigation and positioning, and particularly to a positioning method, device, equipment and storage medium based on Beidou satellites. Background Art

[0002] In the current Beidou satellite navigation and positioning technology, traditional single-frequency and dual-frequency positioning technologies are mainly used for correction positioning. However, there are accuracy bottlenecks in the calculation of ionospheric delay in the single-frequency scenario, satellite orbit error in the dual-frequency scenario, and clock error time-varying characteristics in both frequency scenarios, making it difficult to meet the high-precision positioning requirements. Moreover, the calculation of correction amounts in both scenarios does not fully consider the timeliness of parameters, resulting in lag or deviation in error correction.

[0003] Therefore, how to reduce calculation errors and improve the real-time performance and accuracy of positioning is an urgent problem to be solved. Summary of the Invention

[0004] In view of this, a positioning method, device, equipment and storage medium based on Beidou satellites provided by embodiments of this application can reduce calculation errors and improve the real-time performance and accuracy of positioning. The positioning method, device, equipment and storage medium based on Beidou satellites provided by embodiments of this application are implemented as follows: A positioning method, device, equipment and storage medium based on Beidou satellites provided by embodiments of this application include: Obtain a signal to be processed, perform parsing processing on the signal to be processed to obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal; When the first signal is a single-frequency signal, obtain the piercing point in the first signal and the valid grid points corresponding to the piercing point, and calculate according to formula (1) to obtain the ionospheric vertical delay of the piercing point in the first signal; (1) Wherein, 、 are the latitude and longitude of the piercing point respectively, is the number of valid grid points corresponding to the piercing point, 、 are the coordinates of the valid grid points, is the weight coefficient of the valid grid point, where i is the current valid grid point, is the ionospheric vertical delay of the valid grid point, is the ionospheric vertical delay of the piercing point in the first signal; When the first signal is a dual-frequency signal, obtain the first pilot component and the second pilot component of the first signal, perform pseudorange calculation on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal; Obtain the coordinates of the satellite transmitting the signal to be processed and the augmentation correction amount of the satellite, and perform correction processing on the coordinates according to the augmentation correction amount to obtain the corrected coordinates of the satellite; Obtain the clock error correction amount of the satellite, and correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error; When the first signal is a single-frequency signal, perform correction processing on the first signal according to the vertical ionospheric delay at the piercing point in the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, perform correction processing on the first signal according to the ionosphere-free combined pseudorange of the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a second target signal; Perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0005] In some embodiments, the step of, when the first signal is a dual-frequency signal, obtaining the first pilot component and the second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal, includes: When the first signal is a dual-frequency signal, obtain the first pilot component and the second pilot component of the first signal, and perform pseudorange calculation on the first pilot component and the second pilot component according to formula (2) to obtain the ionosphere-free combined pseudorange of the first signal; (2) where is the ratio of the frequency of the first pilot component to the frequency of the second pilot component, is the speed of light, and are the observed pseudoranges of the first pilot component and the second pilot component respectively, and are the time delay differences of the first pilot component and the second pilot component respectively.

[0006] In some embodiments, the step of obtaining the coordinates of the satellite transmitting the signal to be processed and the augmentation correction amount of the satellite, and performing correction processing on the coordinates according to the augmentation correction amount to obtain the corrected coordinates of the satellite, includes: Obtain the coordinates, slow correction parameters, slow correction parameter change rates, and transmission times of the slow correction parameters of the satellite, and perform calculations according to formula (3) to obtain the enhanced correction amount of the satellite; (3) where (x, y, z) are the coordinates of the satellite, 、 、 are the slow correction parameters, 、 、 are the slow correction parameter change rates, 、 、 are the enhanced correction amounts of the satellite, is the transmission time of the slow correction parameter, is the current time; Correct the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.

[0007] In some embodiments, obtaining the clock error correction amount of the satellite, and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error includes: In the case where the first signal is a single-frequency signal, obtain the initial clock error correction parameter, clock error correction change rate, and enhanced correction parameter of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (4); (4) where, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the enhanced correction parameter of the satellite, is the transmission time of the enhanced correction parameter, is the current time; Correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

[0008] In some embodiments, obtaining the clock error correction amount of the satellite, and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error further includes: In the case where the first signal is a dual-frequency signal, obtain the initial clock error correction parameter and clock error correction change rate of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (5); (5) where, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the transmission time of the clock error correction change rate, is the current time, is the speed of light; The clock error of the satellite is corrected according to the clock error correction amount to obtain the corrected satellite clock error.

[0009] In some embodiments, the number of effective grid points corresponding to the puncture point is 4.

[0010] In some embodiments, the frequency of the first pilot component is 1575.42 MHz, and the frequency of the second pilot component is 1176.45 MHz.

[0011] A positioning device based on Beidou satellite provided by an embodiment of the present application includes: An acquisition module, configured to acquire a signal to be processed, perform parsing processing on the signal to be processed, and obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal; A calculation module, configured to, when the first signal is a single-frequency signal, acquire the puncture point in the first signal and the effective grid points corresponding to the puncture point, and calculate according to formula (1) to obtain the vertical ionospheric delay of the puncture point in the first signal; (1) where , are the latitude and longitude of the puncture point respectively, is the number of effective grid points corresponding to the puncture point, , are the coordinates of the effective grid points, is the weight coefficient of the effective grid point, where i is the current effective grid point, is the vertical ionospheric delay of the effective grid point, is the vertical ionospheric delay of the puncture point in the first signal; The calculation module is further configured to, when the first signal is a dual-frequency signal, acquire the first pilot component and the second pilot component of the first signal, perform pseudorange calculation on the first pilot component and the second pilot component, and obtain the ionosphere-free combined pseudorange of the first signal; A processing module, configured to acquire the coordinates of the satellite transmitting the signal to be processed and the enhanced correction amount of the satellite, and perform correction processing on the coordinates according to the enhanced correction amount to obtain the corrected coordinates of the satellite; The processing module is further configured to obtain a clock error correction amount of the satellite, and correct the clock error of the satellite according to the clock error correction amount to obtain a corrected satellite clock error; The processing module is further configured to, when the first signal is a single-frequency signal, correct the first signal according to the vertical ionospheric delay of the piercing point in the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, correct the first signal according to the ionosphere-free combined pseudorange of the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a second target signal; The calculation module is further configured to perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0012] The computer device provided by the embodiment of the present application includes a memory and a processor. The memory stores a computer program that can be run on the processor, and when the processor executes the program, the method described in the embodiment of the present application is implemented.

[0013] The computer-readable storage medium provided by the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided by the embodiment of the present application is implemented.

[0014] A positioning method, device, equipment and storage medium based on Beidou satellites provided by the embodiments of the present application, by acquiring a signal to be processed and parsing it into a single-frequency or dual-frequency signal: when it is single-frequency, acquire the piercing point and the corresponding effective grid points, and calculate the vertical ionospheric delay of the piercing point; when it is dual-frequency, acquire the first and second pilot components to calculate the ionosphere-free combined pseudorange; acquire the satellite coordinates and enhancement correction amounts to correct the coordinates, acquire the clock error correction amount to correct the satellite clock error; use the vertical ionospheric delay of the single-frequency or the ionosphere-free combined pseudorange of the dual-frequency, combined with the corrected coordinates and clock error, to correct and obtain the target signal respectively, and then perform positioning calculation on the target signal to obtain the positioning result. In this way, by integrating the single-frequency and dual-frequency signal processing mechanisms, combining the vertical ionospheric delay of the piercing point and the ionosphere-free combined pseudorange algorithm, high-precision dynamic compensation of satellite orbit, clock error and ionospheric error is realized, the positioning real-time performance and reliability are significantly improved, and the technical problems proposed in the background art are solved. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application or the description of the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 Schematic diagram of the implementation process of a positioning method based on Beidou satellites provided by an embodiment of the present application; Figure 2 Schematic diagram of the implementation process of correcting satellite coordinates in a positioning method based on Beidou satellites provided by an embodiment of the present application; Figure 3 A positioning device based on Beidou satellites provided by an embodiment of the present application. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] The following explanations are made for some technologies involved in the embodiments of the present application to facilitate understanding. It should be considered that they are merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, the descriptions of some well-known functions and structures are omitted below.

[0019] Figure 1 It is a schematic diagram of the implementation process of a positioning method based on Beidou satellites provided by an embodiment of the present application, including steps 101 to 107. Among them, Figure 1 It is only an execution order shown in the embodiment of the present application and does not represent the only execution order of a positioning method based on Beidou satellites. Under the condition that the final result can be achieved, Figure 1 the steps shown can be executed in parallel or reversed.

[0020] Step 101: Obtain a signal to be processed, perform parsing processing on the signal to be processed, and obtain a first signal.

[0021] In the embodiment of the present application, the signal to be processed transmitted by Beidou satellites is obtained through a receiver. In the present application, the receiver can be a BDS BAS monitoring receiver platform. After preprocessing such as frequency conversion, amplification, and analog-to-digital conversion of the signal, a single-frequency signal or a dual-frequency signal is parsed and separated, denoted as the first signal. Among them, the single-frequency signal is a navigation signal of a single frequency (such as the Beidou B1C signal), and the dual-frequency signal is a combination of two different-frequency navigation signals (such as the Beidou B1C and B2a signals).

[0022] Step 102, in the case where the first signal is a single-frequency signal, obtain the puncture point in the first signal and the effective grid points corresponding to the puncture point, and perform calculations to obtain the ionospheric vertical delay of the puncture point in the first signal.

[0023] If the first signal is a single-frequency signal, according to the propagation path of the single-frequency signal, calculate the virtual intersection point when the signal enters the Earth's ionosphere from space. The projection position of this intersection point on the Earth's surface is the puncture point, expressed in longitude and latitude. Taking the puncture point as the center, screen out the discrete grid points in the ionospheric grid model that have a significant contribution to the calculation of the ionospheric delay at the puncture point. The number of effective grid points is usually 3 or 4. In this application, the number of effective grid points is 4.

[0024] Using the coordinates of the puncture point, the coordinates of the effective grid points, the weight coefficients of each grid point, and the ionospheric vertical delay values corresponding to the grid points, through formula (1), obtain the ionospheric vertical delay value at the puncture point for subsequent error correction.

[0025] (1) Wherein, 、 are the latitude and longitude of the puncture point respectively, is the number of effective grid points corresponding to the puncture point, 、 are the coordinates of the effective grid points, is the weight coefficient of the effective grid point, where i is the current effective grid point, is the ionospheric vertical delay of the effective grid point, is the ionospheric vertical delay of the puncture point in the first signal.

[0026] Step 103, in the case where the first signal is a dual-frequency signal, obtain the first pilot component and the second pilot component of the first signal, perform pseudorange calculations on the first pilot component and the second pilot component, and obtain the ionosphere-free combined pseudorange of the first signal.

[0027] In the embodiments of this application, if the first signal is a dual-frequency signal, then extract the pilot component of the first-frequency signal (such as the B1C pilot component) and the pilot component of the second-frequency signal (such as the B2a pilot component) from the dual-frequency signal respectively.

[0028] Perform pseudorange measurements on the two pilot components respectively to obtain the corresponding observed pseudorange values; combine the two pseudoranges through a specific weighting algorithm to construct an ionosphere-free combined pseudorange to eliminate the influence of ionospheric delay on the signal.

[0029] Step 104, obtain the coordinates of the satellite transmitting the signal to be processed and the satellite's augmentation correction amount, and perform correction processing on the coordinates according to the augmentation correction amount to obtain the corrected coordinates of the satellite.

[0030] In the embodiment of the present application, the position coordinates of the satellite that emits the signal to be processed at the current moment are calculated according to the GNSS broadcast ephemeris. The satellite position enhancement correction parameters broadcast by the satellite-based augmentation system are obtained, including the basic correction amount and the correction amount change rate; combining the time difference between the parameter broadcast time and the current moment, the dynamic correction amount is calculated, and the original satellite coordinates are corrected in real time to obtain more accurate satellite position coordinates.

[0031] Step 105: Obtain the clock error correction amount of the satellite, and correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

[0032] In the embodiment of the present application, the clock error of the satellite at the current moment is calculated according to the GNSS broadcast ephemeris, and this clock error includes the asynchronization error between the satellite clock and the receiver clock. The clock error correction parameters broadcast by the satellite-based augmentation system are obtained, including the basic clock error correction value, the clock error change rate, and the specific system-specific correction parameters (such as the specific parameters of the GLONASS system); combining the time difference to calculate the comprehensive clock error correction amount, and correcting the original clock error to obtain a high-precision satellite clock error.

[0033] Step 106: When the first signal is a single-frequency signal, correct the first signal according to the ionospheric vertical delay at the piercing point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain the first target signal; when the first signal is a dual-frequency signal, correct the first signal according to the ionosphere-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain the second target signal.

[0034] In the embodiment of the present application, the ionospheric vertical delay value at the piercing point of the single-frequency signal, the corrected satellite position coordinates, and the clock error are substituted into the positioning model to perform error compensation on the original signal to obtain the corrected first target signal. The ionosphere-free combined pseudorange of the dual-frequency signal, the corrected satellite position coordinates, and the clock error are substituted into the positioning model to perform error compensation on the original signal to obtain the corrected second target signal.

[0035] Step 107: Perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0036] In the embodiment of the present application, based on the corrected target signal, positioning algorithms such as the least squares method are used for calculation, and finally a positioning result is obtained.

[0037] In the embodiments of the present application, by differentially processing single-frequency and dual-frequency signals, the positioning compatibility and efficiency are improved. For single-frequency signals, through the ionospheric grid model and weighted calculation method, the vertical ionospheric delay of the piercing point is accurately obtained, effectively compensating for the defect that the ionospheric error cannot be eliminated by frequency difference in single-frequency signals, and improving the positioning accuracy of single-frequency users. For dual-frequency signals, an ionosphere-free combined pseudorange is constructed using dual-frequency pilot components to directly eliminate the first-order ionospheric term error. Through multi-dimensional error correction and signal differential processing, the technical bottlenecks of limited positioning accuracy in traditional single-frequency positioning and high algorithm complexity in dual-frequency are broken through, achieving high precision, high reliability, and high compatibility in Beidou satellite positioning.

[0038] In some embodiments, when the first signal is a dual-frequency signal, the first pilot component and the second pilot component of the first signal are obtained, and pseudorange calculation is performed on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal, including: when the first signal is a dual-frequency signal, the first pilot component and the second pilot component of the first signal are obtained, and pseudorange calculation is performed on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal.

[0039] Specifically, when the received first signal is a dual-frequency signal, two pilot components with different frequencies are separated from the signal (for example, the pilot component of Beidou B1C frequency point and the pilot component of B2a frequency point).

[0040] Pseudorange measurement is performed on each pilot component respectively to obtain the observed pseudorange values corresponding to the two pilot components.

[0041] Through signal processing technology, the time delay difference between the two pilot components in the receiver is calculated. The frequency ratio of the two pilot components is calculated. In the present application, the frequency of the first pilot component is 1575.42 MHz, and the frequency of the second pilot component is 1176.45 MHz. The speed of light constant is introduced as the reference parameter for distance-time conversion.

[0042] Based on the above frequency ratio, light speed parameter, observed pseudorange values, and time delay difference, an ionosphere-free combined pseudorange is constructed through formula (2). Through mathematical transformation, the influence of ionospheric delay on the signal propagation time is eliminated, achieving the elimination of the first-order ionospheric error.

[0043] (2) Wherein, is the ratio of the frequency of the first pilot component to the frequency of the second pilot component, is the speed of light, and are the observed pseudoranges of the first pilot component and the second pilot component respectively, and The time delay differences of the first pilot component and the second pilot component respectively.

[0044] In the embodiments of the present application, by finely processing the frequency characteristics and time delay differences of the dual-frequency pilot components, the accurate calculation of the ionosphere-free combined pseudorange is realized, and the positioning reliability and accuracy of the dual-frequency signal in the ionosphere-active environment are further improved.

[0045] Based on the above Figure 1 On this basis, the embodiments of the present application also provide a schematic flow chart for implementing the correction of satellite coordinates in a positioning method based on Beidou satellites, as shown in Figure 2 As shown, it includes steps 201 to 202: Step 201: Obtain the coordinates of the satellite, the slow correction parameters, the change rate of the slow correction parameters, and the transmission time of the slow correction parameters, and calculate to obtain the enhanced correction amount of the satellite.

[0046] In the embodiments of the present application, the initial coordinates of the satellite corresponding to the signal to be processed at the current moment are obtained through the Beidou satellite broadcast ephemeris or other navigation messages. The satellite position correction parameters are received from the space-based augmentation system or the ground-based augmentation system, including the slow correction parameters of the satellite coordinates in the three coordinate axes. The change rate parameters of the above slow correction parameters in the three coordinate axes over time are obtained. The transmission time of the above slow correction parameters (i.e., the parameter broadcast moment) is recorded as the time reference for subsequent calculations. Calculate the time difference between the current positioning moment and the transmission time of the slow correction parameters.

[0047] Based on the above time difference, combined with the slow correction parameters and their change rates, the dynamic enhanced correction amounts of the satellite in the three coordinate axes are calculated through formula (3).

[0048] (3) Among them, (x, y, z) are the coordinates of the satellite, , , are the slow correction parameters, , , are the change rates of the slow correction parameters, , , are the enhanced correction amounts of the satellite, is the transmission time of the slow correction parameters, is the current time.

[0049] Step 202: Correct the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.

[0050] In the embodiments of the present application, the calculated enhancement correction amounts in the three coordinate axis directions are respectively applied to the initial satellite coordinates to perform real-time calibration of the satellite position, and the corrected satellite coordinates are obtained. The corrected coordinates are closer to the true position of the satellite, effectively compensating for the influence of satellite orbit errors on the positioning accuracy.

[0051] The embodiments of the present application introduce a dynamic correction mechanism for satellite positions, combine the slow correction parameters and their rates of change, and achieve real-time tracking and compensation of satellite orbit errors, significantly improving the positioning accuracy and reliability of the positioning system in high-dynamic scenarios.

[0052] In some embodiments, obtaining the clock error correction amount of the satellite, and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error, includes: in the case where the first signal is a single-frequency signal, obtaining the initial clock error correction parameter, the clock error correction rate of change, and the enhancement correction parameter of the satellite, and calculating the clock error correction amount of the satellite at the current time.

[0053] Specifically, extract the initial clock error correction parameter of the satellite (used to compensate for the basic deviation between the satellite clock and the receiver clock) from the BDS broadcast ephemeris or navigation message. Obtain the rate-of-change parameter of the satellite clock error over time (used to describe the dynamic change trend of the satellite clock error). Receive the satellite clock error enhancement correction parameter broadcast by the satellite-based augmentation system (a supplementary parameter used to further improve the clock error correction accuracy). Record the transmission time of the above enhancement correction parameter as the time reference for subsequent calculations. Calculate the time difference between the current positioning moment and the transmission time of the enhancement correction parameter.

[0054] Based on the above time difference, combine the initial clock error correction parameter, the clock error correction rate of change, and the enhancement correction parameter, and calculate the clock error correction amount of the satellite at the current moment through formula (4).

[0055] (4) Among them, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction rate of change of the satellite, is the enhancement correction parameter of the satellite, is the transmission time of the enhancement correction parameter, is the current time.

[0056] Furthermore, correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

[0057] Specifically, apply the calculated clock error correction amount to the original clock error of the satellite to perform real-time calibration on the satellite clock error, and obtain the corrected satellite clock error. This corrected clock error is closer to the true clock state of the satellite, effectively compensating for the impact of the satellite clock error on the positioning accuracy.

[0058] By introducing a dynamic correction mechanism for satellite clock errors and combining multi-source correction parameters, the embodiments of the present application achieve real-time tracking and compensation of satellite clock errors, significantly improving the accuracy and reliability of single-frequency signal positioning in high-dynamic scenarios.

[0059] In some embodiments, obtaining the clock error correction amount of the satellite and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error further includes: when the first signal is a dual-frequency signal, obtaining the initial clock error correction parameter and the clock error correction change rate of the satellite, and calculating the clock error correction amount of the satellite at the current time.

[0060] Specifically, extract the initial clock error correction parameter of the satellite (used to compensate for the basic deviation between the satellite clock and the receiver clock) from the Beidou satellite broadcast ephemeris or navigation message. Obtain the change rate parameter of the satellite clock error over time (used to describe the dynamic change trend of the satellite clock error). Record the transmission time of the above clock error correction change rate parameter as the time reference for subsequent calculations. Calculate the time difference between the current positioning moment and the transmission time of the clock error correction change rate parameter.

[0061] Based on the above time difference, combine the initial clock error correction parameter and the clock error correction change rate, and calculate the clock error correction amount of the satellite at the current moment through formula (5). Introduce the speed of light constant in the calculation process to convert the clock error correction amount in time units into distance units.

[0062] (5) Among them, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the transmission time of the clock error correction change rate, is the current time, is the speed of light.

[0063] Furthermore, correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

[0064] Specifically, apply the calculated clock error correction amount to the original clock error of the satellite to perform real-time calibration on the satellite clock error, and obtain the corrected satellite clock error. This corrected clock error is closer to the true clock state of the satellite, effectively compensating for the impact of the satellite clock error on the positioning accuracy.

[0065] The embodiment of the present application realizes real-time tracking and compensation of satellite clock errors by introducing a dynamic correction mechanism for satellite clock errors and combining the clock error change rate parameter, significantly improving the accuracy and reliability of dual-frequency signal positioning in high-dynamic scenarios.

[0066] Although the present application provides method operation steps such as in the embodiments or flowcharts, more or fewer operation steps may be included based on routine or non-creative labor. The step order listed in this embodiment is only one way among many step execution orders and does not represent the only execution order. When the actual device or client product executes, it can be executed in the method order shown in this embodiment or in parallel (such as in an environment with parallel processors or multi-threaded processing).

[0067] As Figure 3 shown, the embodiment of the present application also provides a positioning device 300 based on Beidou satellites. The device includes: An acquisition module 301, configured to acquire a signal to be processed, parse and process the signal to be processed to obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal; A calculation module 302, configured to, when the first signal is a single-frequency signal, acquire the piercing point in the first signal and the effective grid points corresponding to the piercing point, and calculate according to formula (1) to obtain the vertical ionospheric delay of the piercing point in the first signal; (1) Wherein, 、 are the latitude and longitude of the piercing point respectively, is the number of effective grid points corresponding to the piercing point, 、 are the coordinates of the effective grid points, is the weight coefficient of the effective grid point, where i is the current effective grid point, is the vertical ionospheric delay of the effective grid point, is the vertical ionospheric delay of the piercing point in the first signal; The calculation module 302 is further configured to, when the first signal is a dual-frequency signal, acquire the first pilot component and the second pilot component of the first signal, perform pseudorange calculation on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal; A processing module 303, configured to acquire the coordinates of the satellite transmitting the signal to be processed and the enhancement correction amount of the satellite, and perform correction processing on the coordinates according to the enhancement correction amount to obtain the corrected coordinates of the satellite; The processing module 303 is further configured to acquire the clock error correction amount of the satellite, and perform correction on the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error; The processing module 303 is further configured to, when the first signal is a single-frequency signal, correct the first signal according to the ionospheric vertical delay of the puncture point in the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, correct the first signal according to the ionospheric-free combined pseudorange of the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a second target signal. The calculation module 302 is further configured to perform positioning and solution on the first target signal or the second target signal to obtain a positioning result.

[0068] In some embodiments, the calculation module 302 is further configured to, when the first signal is a dual-frequency signal, obtain a first pilot component and a second pilot component of the first signal, and calculate the ionospheric-free combined pseudorange of the first signal according to formula (2) for the first pilot component and the second pilot component. (2) Wherein, is the ratio of the frequency of the first pilot component to the frequency of the second pilot component, is the speed of light, and are the observed pseudoranges of the first pilot component and the second pilot component respectively, and are the time delay differences of the first pilot component and the second pilot component respectively.

[0069] In some embodiments, the calculation module 302 is further configured to obtain the coordinates of the satellite, the slow correction parameter, the slow correction parameter change rate, and the transmission time of the slow correction parameter, and perform calculations according to formula (3) to obtain the enhanced correction amount of the satellite. (3) Wherein, (x, y, z) are the coordinates of the satellite, , , are the slow correction parameters, , , are the slow correction parameter change rates, , , are the enhanced correction amounts of the satellite, is the transmission time of the slow correction parameter, is the current time; The processing module 303 is further configured to correct the coordinates of the satellite according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.

[0070] In some embodiments, the computing module 302 is further configured to, when the first signal is a single-frequency signal, obtain the initial clock error correction parameter, the clock error correction change rate, and the enhancement correction parameter of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (4); (4) wherein, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the enhancement correction parameter of the satellite, is the transmission time of the enhancement correction parameter, is the current time; The processing module 303 is further configured to correct the clock error of the satellite according to the clock error correction amount to obtain the corrected clock error of the satellite.

[0071] In some embodiments, the computing module 302 is further configured to, when the first signal is a dual-frequency signal, obtain the initial clock error correction parameter and the clock error correction change rate of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (5); (5) wherein, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the transmission time of the clock error correction change rate, is the current time, is the speed of light; The processing module 303 is further configured to correct the clock error of the satellite according to the clock error correction amount to obtain the corrected clock error of the satellite.

[0072] Some modules in the device of the present application may be described in the general context of computer-executable instructions executable by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application may also be practiced in a distributed computing environment where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media including storage devices.

[0073] The devices or modules described in the above application embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, when describing the above devices, they are divided into various modules according to functions and described separately. When implementing the application embodiments, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0074] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of, for example, a microprocessor or a processor, and a computer-readable medium that stores computer-readable program codes (such as software or firmware) executable by the (micro)processor, logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the method steps can be logically programmed to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0075] The embodiments of this application also provide a device, which includes: a processor; a memory for storing executable instructions of the processor; when the processor executes the executable instructions, the method described in the embodiments of this application is implemented.

[0076] The embodiments of this application also provide a non-volatile computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of this application is implemented.

[0077] In addition, in each embodiment of the present invention, the functional modules can be integrated into one processing module, or each module can exist separately, or two or more modules can be integrated into one module.

[0078] The above storage medium includes, but is not limited to, random access memory (English: Random Access Memory; abbreviation: RAM), read-only memory (English: Read-Only Memory; abbreviation: ROM), cache (English: Cache), hard disk drive (English: Hard Disk Drive; abbreviation: HDD), or memory card (English: Memory Card). The memory can be used to store computer program instructions.

[0079] From the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of this application, in essence, or the part that makes a contribution to the prior art, can be embodied in the form of a software product, or can also be reflected in the implementation process of data migration. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, mobile terminal, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0080] The various embodiments in this specification are described in a progressive manner. For the same or similar parts between the various embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general-purpose or special-purpose computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, and so on.

[0081] The above embodiments are only used to illustrate the technical solutions of this application, rather than limiting this application; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of this application.

Claims

1. A positioning method based on Beidou satellites, characterized in that, Including: Obtain a signal to be processed, perform parsing processing on the signal to be processed to obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal; When the first signal is a single-frequency signal, obtain the puncture point in the first signal and the effective grid points corresponding to the puncture point, and calculate according to formula (1) to obtain the vertical ionospheric delay of the puncture point in the first signal; （1） wherein, and are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, and are the coordinates of the valid grid point, is the weight coefficient of the valid grid point, wherein i is the current valid grid point, is the vertical ionospheric delay of the valid grid point, is the vertical ionospheric delay of the puncture point in the first signal; When the first signal is a dual-frequency signal, obtain the first pilot component and the second pilot component of the first signal, perform pseudorange calculation on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal; Obtain the coordinates of the satellite that emits the signal to be processed and the augmentation correction amount of the satellite, and perform correction processing on the coordinates according to the augmentation correction amount to obtain the corrected coordinates of the satellite; Obtain the clock error correction amount of the satellite, and correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error; When the first signal is a single-frequency signal, perform correction processing on the first signal according to the vertical ionospheric delay of the puncture point in the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, perform correction processing on the first signal according to the ionosphere-free combined pseudorange of the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a second target signal; Perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

2. The method according to claim 1, characterized in that The step of, when the first signal is a dual-frequency signal, obtaining the first pilot component and the second pilot component of the first signal, and performing pseudorange calculation on the first pilot component and the second pilot component to obtain the ionosphere-free combined pseudorange of the first signal includes: When the first signal is a dual-frequency signal, obtain the first pilot component and the second pilot component of the first signal, and perform pseudorange calculation on the first pilot component and the second pilot component according to formula (2) to obtain the ionosphere-free combined pseudorange of the first signal; （2） wherein, is the ratio of the frequency of the first pilot component to the frequency of the second pilot component, is the speed of light, and are the observed pseudoranges of the first pilot component and the second pilot component respectively, and are the time delay differences of the first pilot component and the second pilot component respectively.

3. The method according to claim 1, wherein The step of obtaining the coordinates of the satellite that emits the signal to be processed and the augmentation correction amount of the satellite, and performing correction processing on the coordinates according to the augmentation correction amount to obtain the corrected coordinates of the satellite includes: Obtain the coordinates of the satellite, the slow correction parameter, the change rate of the slow correction parameter, and the transmission time of the slow correction parameter, and calculate according to formula (3) to obtain the augmentation correction amount of the satellite; （3） where (x, y, z) are the coordinates of the satellite, and and are slow correction parameters, and and are the rates of change of the slow correction parameters, and and are the enhanced correction amounts of the satellite, is the transmission time of the slow correction parameter, is the current time; Perform correction on the coordinates of the satellite according to the augmentation correction amount of the satellite to obtain the corrected coordinates of the satellite.

4. The method according to claim 1, wherein The step of obtaining the clock error correction amount of the satellite, and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error includes: When the first signal is a single-frequency signal, obtain the initial clock error correction parameter, the change rate of the clock error correction, and the augmentation correction parameter of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (4); （4） wherein, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the enhancement correction parameter of the satellite, is the transmission time of the enhancement correction parameter, is the current time; Correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

5. The method according to claim 1, characterized in that, The obtaining the clock error correction amount of the satellite and correcting the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error further includes: When the first signal is a dual-frequency signal, obtain the initial clock error correction parameter and the clock error correction rate of change of the satellite, and calculate the clock error correction amount of the satellite at the current time according to formula (5); （5） Among them, is the clock error correction amount of the satellite at the current time, is the initial clock error correction parameter of the satellite, is the clock error correction change rate of the satellite, is the transmission time of the clock error correction change rate, is the current time, is the speed of light; Correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error.

6. The method according to claim 1, characterized in that, The number of effective grid points corresponding to the puncture point is 4.

7. The method according to claim 1, wherein The frequency of the first pilot component is 1575.42 MHz, and the frequency of the second pilot component is 1176.45 MHz.

8. A positioning device based on Beidou satellites, characterized in that, It includes: An acquisition module, configured to acquire a signal to be processed, perform parsing processing on the signal to be processed to obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal; A calculation module, configured to, when the first signal is a single-frequency signal, acquire a puncture point in the first signal and the effective grid points corresponding to the puncture point, and perform calculation according to formula (1) to obtain the vertical ionospheric delay of the puncture point in the first signal; （1） Among them, and are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, and are the coordinates of the valid grid point, is the weight coefficient of the valid grid point, where i is the current valid grid point, is the vertical ionospheric delay of the valid grid point, is the vertical ionospheric delay of the puncture point in the first signal; The calculation module is further configured to, when the first signal is a dual-frequency signal, acquire a first pilot component and a second pilot component of the first signal, perform pseudorange calculation on the first pilot component and the second pilot component to obtain a non-ionospheric combined pseudorange of the first signal; A processing module, configured to acquire the coordinates of the satellite transmitting the signal to be processed and the enhancement correction amount of the satellite, and perform correction processing on the coordinates according to the enhancement correction amount to obtain the corrected coordinates of the satellite; The processing module is further configured to acquire the clock error correction amount of the satellite, and correct the clock error of the satellite according to the clock error correction amount to obtain the corrected satellite clock error; The processing module is further configured to, when the first signal is a single-frequency signal, perform correction processing on the first signal according to the vertical ionospheric delay of the puncture point in the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, perform correction processing on the first signal according to the non-ionospheric combined pseudorange of the first signal, the corrected coordinates of the satellite, and the corrected satellite clock error to obtain a second target signal; The calculation module is further configured to perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

9. A computer device, comprising a memory and a processor, the memory storing a computer program that can run on the processor, characterized in that, When the processor executes the program, the steps of the method according to any one of claims 1 to 7 are implemented.

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

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