A positioning method, device, equipment and storage medium based on Beidou satellite

Abstract

The embodiment of the present application discloses a positioning method, device, equipment and storage medium based on Beidou satellite, including: obtaining the signal to be processed and parsing it into a single-frequency or dual-frequency signal: in single-frequency, obtaining the puncture point and the corresponding valid grid point, and calculating the ionospheric vertical delay of the puncture point; in dual-frequency, obtaining the first and second pilot components to calculate the ionospheric-free combined pseudorange; obtaining the satellite coordinates and the enhanced correction amount to correct the coordinates, and obtaining the clock error correction amount to correct the satellite clock error; using the single-frequency ionospheric vertical delay or the dual-frequency ionospheric-free combined pseudorange, combined with the corrected coordinates and clock error, respectively correct the target signal, and then locate and solve the target signal to obtain the positioning result. By integrating the single-frequency and dual-frequency signal processing mechanism, combining the ionospheric vertical delay of the puncture point with the ionospheric-free combined pseudorange algorithm, high-precision dynamic compensation of satellite orbit, clock error and ionospheric error is achieved, significantly improving the real-time performance and reliability of positioning.

Description

Technical Field

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

[0002] Current Beidou satellite navigation and positioning technology primarily uses traditional single-frequency and dual-frequency positioning techniques for positioning corrections. However, the calculation of ionospheric delay in single-frequency scenarios, satellite orbit error in dual-frequency scenarios, and the time-varying characteristics of clock errors in both frequency scenarios present accuracy bottlenecks, making it difficult to meet high-precision positioning requirements. Furthermore, the calculation of corrections in both scenarios fails to fully consider the timeliness of the parameters, resulting in lags or deviations in error corrections.

[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, the embodiments of the present application provide a BeiDou satellite-based positioning method, apparatus, device, and storage medium that can reduce calculation errors and improve the real-time performance and accuracy of positioning. The embodiments of the present application provide a BeiDou satellite-based positioning method, apparatus, device, and storage medium that are implemented as follows:

[0005] The embodiments of the present application provide a BeiDou satellite-based positioning method, apparatus, device, and storage medium, including:

[0006] Acquire a signal to be processed, and perform analysis 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;

[0007] In the case where the first signal is a single-frequency signal, obtaining a puncture point in the first signal and a valid grid point corresponding to the puncture point, and calculating according to formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal;

[0008] (1)

[0009] in, 、 are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of the valid 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;

[0010] When the first signal is a dual-frequency signal, obtaining a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal;

[0011] Acquiring the coordinates of a satellite that transmits a signal to be processed and an augmented correction value of the satellite, and performing correction processing on the coordinates according to the augmented correction value to obtain corrected coordinates of the satellite;

[0012] Obtaining a clock error correction value of the satellite, and correcting the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error;

[0013] When the first signal is a single-frequency signal, the first signal is corrected based on the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, the first signal is corrected based on the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a second target signal;

[0014] Perform positioning and solving on the first target signal or the second target signal to obtain a positioning result.

[0015] In some embodiments, when the first signal is a dual-frequency signal, acquiring a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal includes:

[0016] When the first signal is a dual-frequency signal, a first pilot component and a second pilot component of the first signal are obtained, and a pseudorange calculation is performed on the first pilot component and the second pilot component according to formula (2) to obtain an ionospheric-free combined pseudorange of the first signal;

[0017] (2)

[0018] in, 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, and are the time delay differences of the first pilot component and the second pilot component respectively.

[0019] In some embodiments, obtaining the coordinates of a satellite transmitting a signal to be processed and an enhanced correction value of the satellite, and correcting the coordinates according to the enhanced correction value to obtain the corrected coordinates of the satellite includes:

[0020] Obtaining the coordinates, slow correction parameters, slow correction parameter change rate, and slow correction parameter sending time of the satellite, and calculating according to formula (3) to obtain the enhanced correction amount of the satellite;

[0021] (3)

[0022] Among them, (x, y, z) are the coordinates of the satellite, 、 、 To slowly correct the parameters, 、 、 is the slow correction parameter change rate, 、 、 is the satellite enhancement correction, To slow down the sending time of the correction parameters, is the current time;

[0023] The coordinates of the satellite are corrected according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.

[0024] In some embodiments, obtaining the satellite clock error correction value, and correcting the satellite clock error according to the clock error correction value to obtain the corrected satellite clock error, includes:

[0025] When the first signal is a single-frequency signal, obtaining the initial clock error correction parameter, the clock error correction change rate, and the enhanced correction parameter of the satellite, and calculating the clock error correction amount of the satellite at the current time according to formula (4);

[0026] (4)

[0027] in, is the satellite clock correction at the current time, is the initial clock error correction parameter of the satellite, is the rate of change of the satellite's clock error correction, is the satellite's augmentation correction parameter, is the sending time of the enhanced correction parameter, is the current time;

[0028] The satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

[0029] In some embodiments, obtaining the satellite clock error correction value, and correcting the satellite clock error according to the clock error correction value to obtain the corrected satellite clock error further includes:

[0030] 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 according to formula (5);

[0031] (5)

[0032] in, is the satellite clock correction at the current time, is the initial clock error correction parameter of the satellite, is the rate of change of the satellite's clock error correction, is the sending time of the clock error correction rate of change, is the current time, is the speed of light;

[0033] The satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

[0034] In some embodiments, the number of valid grid points corresponding to the puncture point is 4.

[0035] 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.

[0036] The embodiment of the present application provides a BeiDou satellite-based positioning device, comprising:

[0037] an acquisition module, configured to acquire a signal to be processed, and perform analysis 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;

[0038] a calculation module, configured to obtain, when the first signal is a single-frequency signal, a puncture point in the first signal and a valid grid point corresponding to the puncture point, and calculate according to formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal;

[0039] (1)

[0040] in, 、 are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of the valid 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;

[0041] The calculation module 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, perform pseudorange calculation on the first pilot component and the second pilot component, and obtain an ionospheric-free combined pseudorange of the first signal;

[0042] a processing module, configured to obtain the coordinates of a satellite transmitting a signal to be processed and an enhanced correction value of the satellite, and perform correction processing on the coordinates according to the enhanced correction value to obtain corrected coordinates of the satellite;

[0043] The processing module is further configured to obtain a clock error correction value of the satellite, and correct the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error;

[0044] The processing module is further configured to, when the first signal is a single-frequency signal, perform correction processing on the first signal based on the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a first target signal; and when the first signal is a dual-frequency signal, perform correction processing on the first signal based on the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a second target signal;

[0045] The calculation module is further used to perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0046] The computer device provided in an embodiment of the present application includes a memory and a processor, wherein 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.

[0047] The computer-readable storage medium provided in the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the method provided in the embodiment of the present application is implemented.

[0048] The embodiments of the present application provide a positioning method, device, equipment and storage medium based on Beidou satellites, which obtains the signal to be processed and parses it into a single-frequency or dual-frequency signal: in single-frequency, obtains the puncture point and the corresponding valid grid point, and calculates the ionospheric vertical delay of the puncture point; in dual-frequency, obtains the first and second pilot components to calculate the ionospheric-free combined pseudorange; obtains the satellite coordinates and the enhanced correction amount to correct the coordinates, and obtains the clock error correction amount to correct the satellite clock error; uses the single-frequency ionospheric vertical delay or the dual-frequency ionospheric-free combined pseudorange, combined with the corrected coordinates and clock error, respectively corrects to obtain the target signal, and then locates and solves the target signal to obtain the positioning result. In this way, by integrating the single-frequency and dual-frequency signal processing mechanism, combining the ionospheric vertical delay of the puncture point with the ionospheric-free combined pseudorange algorithm, high-precision dynamic compensation of satellite orbit, clock error and ionospheric error is achieved, significantly improving the real-time and reliability of positioning, and solving the technical problems raised in the background technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0050] Figure 1 A schematic diagram of an implementation flow of a BeiDou satellite-based positioning method provided in an embodiment of the present application;

[0051] Figure 2 A schematic diagram of the implementation process of correcting satellite coordinates in a Beidou satellite-based positioning method provided in an embodiment of the present application;

[0052] Figure 3 A positioning device based on Beidou satellites is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0054] The following description of some of the technologies involved in the embodiments of this application is provided to facilitate understanding and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted from the following description.

[0055] Figure 1 This is a schematic diagram of the implementation flow of a Beidou satellite-based positioning method provided in an embodiment of the present application, including steps 101 to 107. Figure 1 This 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. If the final result can be achieved, Figure 1 The steps shown may be performed in parallel or reversed.

[0056] Step 101: Acquire a signal to be processed, analyze and process the signal to be processed, and obtain a first signal.

[0057] In the embodiments of the present application, a receiver acquires a signal to be processed, transmitted by a Beidou satellite. In this application, the receiver can be a BDSBAS monitoring receiver platform. After preprocessing the signal through frequency conversion, amplification, and analog-to-digital conversion, the signal is analyzed and separated into a single-frequency signal or a dual-frequency signal, which is recorded as the first signal. A single-frequency signal is a navigation signal with a single frequency (such as the Beidou B1C signal), while a dual-frequency signal is a combination of navigation signals with two different frequencies (such as the Beidou B1C and B2a signals).

[0058] Step 102: When the first signal is a single-frequency signal, obtain the puncture point in the first signal and the valid grid point corresponding to the puncture point, and calculate to obtain the ionospheric vertical delay of the puncture point in the first signal.

[0059] If the first signal is a single-frequency signal, the virtual intersection point where the signal enters the Earth's ionosphere from space is calculated based on the propagation path of the single-frequency signal. The projected position of this intersection point on the Earth's surface is the puncture point, expressed in longitude and latitude. With the puncture point as the center, the ionospheric grid model is screened for discrete grid points that significantly contribute to the calculation of the ionospheric delay at the puncture point. The number of valid grid points is typically 3 or 4. In this application, the number of valid grid points is 4.

[0060] Using the puncture point coordinates, the coordinates of the valid grid points, the weight coefficients of each grid point, and the ionospheric vertical delay values ​​corresponding to the grid points, the ionospheric vertical delay value at the puncture point is obtained by formula (1) for subsequent error correction.

[0061] (1)

[0062] in, 、 are the latitude and longitude of the puncture point, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of 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 effective grid point, is the ionospheric vertical delay of the puncture point in the first signal.

[0063] Step 103: When the first signal is a dual-frequency signal, obtain 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, and obtain an ionospheric-free combined pseudorange of the first signal.

[0064] In the embodiment of the present application, if the first signal is a dual-frequency signal, 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) are respectively extracted from the dual-frequency signal.

[0065] Pseudorange measurements are performed on the two pilot components respectively to obtain the corresponding observed pseudorange values; the two pseudoranges are combined through a specific weighting algorithm to construct an ionospheric-free combined pseudorange to eliminate the influence of ionospheric delay on the signal.

[0066] Step 104 : Acquire the coordinates of the satellite that transmits the signal to be processed and the enhanced correction value of the satellite, and perform correction processing on the coordinates according to the enhanced correction value to obtain the corrected coordinates of the satellite.

[0067] In this embodiment of the present application, the current position coordinates of the satellite transmitting the signal to be processed are calculated based on the GNSS broadcast ephemeris. The satellite position augmentation correction parameters broadcast by the satellite-based augmentation system are obtained, including the basic correction value and the correction value change rate. The dynamic correction value is calculated based on the time difference between the parameter broadcast time and the current time, and the original satellite coordinates are corrected in real time to obtain more accurate satellite position coordinates.

[0068] Step 105: Obtain the satellite clock error correction value, and correct the satellite clock error according to the clock error correction value to obtain the corrected satellite clock error.

[0069] In this embodiment, the satellite clock error at the current moment is calculated based on the GNSS broadcast ephemeris. This clock error includes the desynchronization error between the satellite clock and the receiver clock. Clock correction parameters broadcast by the satellite-based augmentation system are obtained, including the basic clock correction value, the clock error change rate, and system-specific correction parameters (such as those for the GLONASS system). Combined with the time difference, a comprehensive clock correction is calculated and the original clock error is corrected to obtain a high-precision satellite clock error.

[0070] Step 106: When the first signal is a single-frequency signal, the first signal is corrected according to the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, the first signal is corrected according to the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a second target signal.

[0071] In this embodiment of the present application, the ionospheric vertical delay value at the puncture point of the single-frequency signal, the corrected satellite position coordinates, and the clock error are substituted into the positioning model, and the original signal is error-compensated to obtain a corrected first target signal. The ionospheric-free combined pseudorange of the dual-frequency signal, the corrected satellite position coordinates, and the clock error are substituted into the positioning model, and the original signal is error-compensated to obtain a corrected second target signal.

[0072] Step 107: Perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0073] In the embodiment of the present application, based on the corrected target signal, a positioning algorithm such as the least squares method is used to perform a solution and finally obtain a positioning result.

[0074] The embodiments of the present application improve positioning compatibility and efficiency by differentially processing single-frequency and dual-frequency signals. For single-frequency signals, the ionospheric vertical delay at the puncture point is accurately obtained through an ionospheric grid model and a weighted calculation method, effectively compensating for the defect that single-frequency signals cannot eliminate ionospheric errors through frequency differentiation, thereby improving the positioning accuracy of single-frequency users. For dual-frequency signals, the dual-frequency pilot components are used to construct an ionospheric-free combined pseudorange, directly eliminating the first-order ionospheric term error. Through multi-dimensional error correction and signal differentiation processing, it breaks through the technical bottlenecks of limited accuracy of traditional single-frequency positioning and high complexity of dual-frequency algorithms, achieving high precision, high reliability and high compatibility of Beidou satellite positioning.

[0075] In some embodiments, when the first signal is a dual-frequency signal, obtaining a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal includes: when the first signal is a dual-frequency signal, obtaining a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal.

[0076] Specifically, when the received first signal is a dual-frequency signal, two pilot components of different frequencies (for example, a pilot component of the Beidou B1C frequency point and a pilot component of the B2a frequency point) are separated from the signal.

[0077] Pseudorange measurements are performed on each pilot component to obtain observed pseudorange values ​​corresponding to the two pilot components.

[0078] Using signal processing techniques, the delay difference between the two pilot components within the receiver is calculated. The frequency ratio of the two pilot components is also calculated. In this 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 a reference parameter for the distance-to-time conversion.

[0079] Based on the above frequency ratio, light speed parameter, observed pseudorange value and time delay difference, the ionosphere-free combined pseudorange is constructed using formula (2). Through mathematical transformation, the influence of ionospheric delay on signal propagation time is eliminated, and the first-order term of ionospheric error is eliminated.

[0080] (2)

[0081] in, 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, and are the time delay differences of the first pilot component and the second pilot component respectively.

[0082] The embodiment of the present application achieves accurate calculation of ionosphere-free combined pseudorange by finely processing the frequency characteristics and delay differences of the dual-frequency pilot components, further improving the positioning reliability and accuracy of the dual-frequency signal in an active ionosphere environment.

[0083] In the above Figure 1 Based on the above, the embodiment of the present application also provides a schematic diagram of a process for correcting satellite coordinates in a positioning method based on Beidou satellites, as shown in FIG. Figure 2 As shown, it includes steps 201 to 202:

[0084] Step 201: Obtain the satellite's coordinates, slow correction parameters, slow correction parameter change rate, and slow correction parameter sending time, and calculate to obtain the satellite's enhanced correction value.

[0085] In an embodiment 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. Satellite position correction parameters, including slow correction parameters for the satellite coordinates in the three coordinate axes, are received from a satellite-based augmentation system or a ground-based augmentation system. The rate of change parameters of the slow correction parameters in the three coordinate axes over time are obtained. The time at which the slow correction parameters are sent (i.e., the time at which the parameters are broadcast) is recorded as a time reference for subsequent calculations. The time difference between the current positioning moment and the time at which the slow correction parameters are sent is calculated.

[0086] Based on the above time difference, combined with the slow correction parameters and their change rates, the dynamic enhancement correction of the satellite in the three coordinate axis directions is calculated using formula (3).

[0087] (3)

[0088] Among them, (x, y, z) are the coordinates of the satellite, 、 、 To slowly correct the parameters, 、 、 is the slow correction parameter change rate, 、 、 is the satellite enhancement correction, To slow down the sending time of the correction parameters, is the current time.

[0089] Step 202: Correct the satellite coordinates according to the satellite enhancement correction value to obtain the corrected satellite coordinates.

[0090] In this embodiment, the calculated enhanced corrections for the three coordinate axes are applied to the initial satellite coordinates, calibrating the satellite position in real time to obtain corrected satellite coordinates. These corrected coordinates are closer to the satellite's true position, effectively compensating for the impact of satellite orbit errors on positioning accuracy.

[0091] The embodiment of the present application achieves real-time tracking and compensation of satellite orbit errors by introducing a dynamic correction mechanism for satellite positions, combined with slow correction parameters and their change rates, significantly improving the positioning accuracy and reliability of the positioning system in high-dynamic scenarios.

[0092] In some embodiments, a satellite clock error correction is obtained, and the satellite clock error is corrected according to the clock error correction to obtain a corrected satellite clock error, including: when the first signal is a single-frequency signal, obtaining the satellite's initial clock error correction parameters, clock error correction change rate, and enhanced correction parameters, and calculating the satellite's clock error correction at the current time.

[0093] Specifically, the system extracts the satellite's initial clock correction parameters (used to compensate for the basic deviation between the satellite clock and the receiver clock) from the Beidou satellite broadcast ephemeris or navigation message. It also obtains the satellite clock error rate of change over time (used to describe the dynamic trend of the satellite clock error). It also receives the satellite clock error enhancement correction parameters (supplementary parameters used to further improve the accuracy of clock error correction) broadcast by the satellite-based augmentation system. It records the transmission time of these enhancement correction parameters as a time reference for subsequent calculations. It also calculates the time difference between the current positioning moment and the time the enhancement correction parameters were transmitted.

[0094] Based on the above time difference, combined with the initial clock correction parameter, the clock correction change rate and the enhanced correction parameter, the clock correction amount of the satellite at the current moment is calculated using formula (4).

[0095] (4)

[0096] in, is the satellite clock correction at the current time, is the satellite’s initial clock error correction parameter, is the satellite clock error correction rate, is the satellite enhancement correction parameter, To enhance the sending time of the correction parameters, is the current time.

[0097] Furthermore, the satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

[0098] Specifically, the calculated clock error correction is applied to the satellite's original clock error, calibrating the satellite clock error in real time to obtain a corrected satellite clock error. This corrected clock error is closer to the satellite's true clock state, effectively compensating for the impact of the satellite clock error on positioning accuracy.

[0099] The embodiment of the present application introduces a dynamic correction mechanism for satellite clock errors and combines them with multi-source correction parameters to 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.

[0100] In some embodiments, obtaining the satellite's clock error correction, correcting the satellite's clock error based on the clock error correction, and obtaining the corrected satellite clock error also includes: when the first signal is a dual-frequency signal, obtaining the satellite's initial clock error correction parameters and the clock error correction change rate, and calculating the satellite's clock error correction at the current time.

[0101] Specifically, extract the satellite's initial clock correction parameters (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 satellite clock correction rate over time parameter (used to describe the dynamic trend of the satellite clock correction). Record the time when the clock correction rate of change parameter is sent, which serves as the time reference for subsequent calculations. Calculate the time difference between the current positioning time and the time when the clock correction rate of change parameter is sent.

[0102] Based on the above time difference, combined with the initial clock correction parameters and the clock correction rate, the satellite clock correction at the current moment is calculated using formula (5). The speed of light constant is introduced in the calculation process to convert the clock correction in time units into distance units.

[0103] (5)

[0104] in, is the satellite clock correction at the current time, is the satellite’s initial clock error correction parameter, is the satellite clock error correction rate, is the sending time of the clock error correction rate of change, is the current time, The speed of light.

[0105] Furthermore, the satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

[0106] Specifically, the calculated clock error correction is applied to the satellite's original clock error, calibrating the satellite clock error in real time to obtain a corrected satellite clock error. This corrected clock error is closer to the satellite's true clock state, effectively compensating for the impact of the satellite clock error on positioning accuracy.

[0107] The embodiment of the present application introduces a dynamic correction mechanism for satellite clock errors and combines it with the clock error change rate parameter to achieve real-time tracking and compensation of satellite clock errors, significantly improving the accuracy and reliability of dual-frequency signal positioning in high dynamic scenarios.

[0108] Although this application provides method operation steps such as embodiments or flowcharts, more or fewer operation steps may be included based on routine or non-creative work. The order of steps listed in this embodiment is only one way of executing the steps among many, and does not represent the only execution order. When an actual device or client product executes, the method can be executed sequentially according to the embodiment or the accompanying drawings, or in parallel (for example, in a parallel processor or multi-threaded processing environment).

[0109] like Figure 3As shown, the embodiment of the present application further provides a positioning device 300 based on Beidou satellites. The device includes:

[0110] An acquisition module 301 is configured to acquire a signal to be processed, analyze the signal to be processed, and obtain a first signal, where the first signal includes a single-frequency signal or a dual-frequency signal;

[0111] The calculation module 302 is used to obtain the puncture point in the first signal and the valid grid point corresponding to the puncture point when the first signal is a single-frequency signal, and calculate according to formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal;

[0112] (1)

[0113] in, 、 are the latitude and longitude of the puncture point, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of 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 effective grid point, is the ionospheric vertical delay at the puncture point in the first signal;

[0114] 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, perform pseudorange calculation on the first pilot component and the second pilot component, and obtain an ionospheric-free combined pseudorange of the first signal;

[0115] The processing module 303 is used to obtain the coordinates of the satellite that transmits the signal to be processed and the enhanced correction value of the satellite, and correct the coordinates according to the enhanced correction value to obtain the corrected coordinates of the satellite;

[0116] The processing module 303 is further configured to obtain a satellite clock error correction value, and correct the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error;

[0117] The processing module 303 is further configured to, when the first signal is a single-frequency signal, perform correction processing on the first signal based on the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a first target signal; and, when the first signal is a dual-frequency signal, perform correction processing on the first signal based on the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a second target signal.

[0118] The calculation module 302 is further configured to perform positioning calculation on the first target signal or the second target signal to obtain a positioning result.

[0119] 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, perform pseudorange calculation on the first pilot component and the second pilot component according to formula (2), and obtain an ionospheric-free combined pseudorange of the first signal;

[0120] (2)

[0121] in, 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, and are the time delay differences of the first pilot component and the second pilot component respectively.

[0122] In some embodiments, the calculation module 302 is further used to obtain the coordinates of the satellite, the slow correction parameter, the rate of change of the slow correction parameter, and the sending time of the slow correction parameter, and calculate according to formula (3) to obtain the enhanced correction amount of the satellite;

[0123] (3)

[0124] Among them, (x, y, z) are the coordinates of the satellite, 、 、 To slowly correct the parameters, 、 、 is the slow correction parameter change rate, 、 、 is the satellite enhancement correction, To slow down the sending time of the correction parameters, is the current time;

[0125] The processing module 303 is further configured to correct the coordinates of the satellite according to the enhanced correction value of the satellite to obtain the corrected coordinates of the satellite.

[0126] In some embodiments, the calculation module 302 is further configured to obtain the satellite's initial clock error correction parameter, the clock error correction change rate, and the enhanced correction parameter when the first signal is a single-frequency signal, and calculate the satellite's clock error correction value at the current time according to formula (4);

[0127] (4)

[0128] in, is the satellite clock correction at the current time, is the satellite’s initial clock error correction parameter, is the satellite clock error correction rate, is the satellite enhancement correction parameter, To enhance the sending time of the correction parameters, is the current time;

[0129] The processing module 303 is further configured to correct the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error.

[0130] In some embodiments, the calculation module 302 is further configured to obtain the satellite's initial clock error correction parameters and the clock error correction change rate when the first signal is a dual-frequency signal, and calculate the satellite's clock error correction value at the current time according to formula (5);

[0131] (5)

[0132] in, is the satellite clock correction at the current time, is the satellite’s initial clock error correction parameter, is the satellite clock error correction rate, is the sending time of the clock error correction rate of change, is the current time, is the speed of light;

[0133] The processing module 303 is further configured to correct the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error.

[0134] Some modules in the apparatus described herein may be described in the general context of computer-executable instructions executed 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 distributed computing environments where tasks are performed by remote processing devices connected via a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0135] The devices or modules described in the above application embodiments can be implemented by computer chips or physical devices, or by products with certain functions. For ease of description, the above devices are described separately by function in various modules. When implementing the embodiments of this application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, a module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0136] The methods, devices, or modules described herein can be implemented in the form of computer-readable program code. The controller can be implemented in any suitable manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. 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 memory control logic. Those skilled in the art will also appreciate that, in addition to implementing the controller in pure computer-readable program code, the controller can also be implemented in the form of logic gates, switches, an application-specific integrated circuit, a programmable logic controller, an embedded microcontroller, etc. by logically programming the method steps. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component. Or even, the means for implementing various functions may be considered to be both a software module for implementing the method and a structure within a hardware component.

[0137] An embodiment of the present application further provides a device comprising: a processor; a memory for storing processor-executable instructions; and when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0138] The embodiments of the present application also provide a non-volatile computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0139] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0140] The above-mentioned storage media include, but are not limited to, random access memory (RAM), read-only memory (ROM), cache, hard disk drive (HDD), or memory card. Such memory can be used to store computer program instructions.

[0141] Through the description of the above implementation methods, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, or can be embodied through the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application or certain parts of the embodiments.

[0142] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices 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, etc.

[0143] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A positioning method based on Beidou satellite, characterized in that: include: Acquire a signal to be processed, and perform analysis 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; In the case where the first signal is a single-frequency signal, obtaining a puncture point in the first signal and a valid grid point corresponding to the puncture point, and calculating according to formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal; （1） in, 、 are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of the valid 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; When the first signal is a dual-frequency signal, obtaining a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal; Acquiring the coordinates of a satellite that transmits a signal to be processed and an augmented correction value of the satellite, and performing correction processing on the coordinates according to the augmented correction value to obtain corrected coordinates of the satellite; Obtaining a clock error correction value of the satellite, and correcting the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error; When the first signal is a single-frequency signal, the first signal is corrected based on the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a first target signal; when the first signal is a dual-frequency signal, the first signal is corrected based on the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error to obtain a second target signal; Perform positioning and solving 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 acquiring, when the first signal is a dual-frequency signal, a first pilot component and a second pilot component of the first signal, performing pseudorange calculation on the first pilot component and the second pilot component, and obtaining an ionospheric-free combined pseudorange of the first signal includes: When the first signal is a dual-frequency signal, a first pilot component and a second pilot component of the first signal are obtained, and a pseudorange calculation is performed on the first pilot component and the second pilot component according to formula (2) to obtain an ionospheric-free combined pseudorange of the first signal; （2） in, 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, and are the time delay differences of the first pilot component and the second pilot component respectively.

3. The method according to claim 1, characterized in that The acquiring the coordinates of the satellite transmitting the signal to be processed and the enhanced correction value of the satellite, and correcting the coordinates according to the enhanced correction value to obtain the corrected coordinates of the satellite, includes: Obtaining the coordinates, slow correction parameters, slow correction parameter change rate, and slow correction parameter sending time of the satellite, and calculating according to formula (3) to obtain the enhanced correction amount of the satellite; （3） Among them, (x, y, z) are the coordinates of the satellite, 、 、 To slowly correct the parameters, 、 、 is the slow correction parameter change rate, 、 、 is the satellite enhancement correction, To slow down the sending time of the correction parameters, is the current time; The coordinates of the satellite are corrected according to the enhanced correction amount of the satellite to obtain the corrected coordinates of the satellite.

4. The method according to claim 1, wherein The obtaining of the satellite clock error correction value, and correcting the satellite clock error according to the clock error correction value to obtain a corrected satellite clock error, includes: When the first signal is a single-frequency signal, obtaining the initial clock error correction parameter, the clock error correction change rate, and the enhanced correction parameter of the satellite, and calculating the clock error correction amount of the satellite at the current time according to formula (4); （4） in, is the satellite clock correction at the current time, is the initial clock error correction parameter of the satellite, is the rate of change of the satellite's clock error correction, is the satellite's augmentation correction parameter, is the sending time of the enhanced correction parameter, is the current time; The satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

5. The method according to claim 1, characterized in that The step of obtaining a clock error correction value of the satellite and correcting the satellite clock error according to the clock error correction value to obtain a 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 according to formula (5); （5） in, is the satellite clock correction at the current time, is the initial clock error correction parameter of the satellite, is the rate of change of the satellite's clock error correction, is the sending time of the clock error correction rate of change, is the current time, is the speed of light; The satellite clock error is corrected according to the clock error correction amount to obtain a corrected satellite clock error.

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

7. The method according to claim 1, characterized in that 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 satellite, characterized in that: include: an acquisition module, configured to acquire a signal to be processed, and perform analysis 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 obtain, when the first signal is a single-frequency signal, a puncture point in the first signal and a valid grid point corresponding to the puncture point, and calculate according to formula (1) to obtain the ionospheric vertical delay of the puncture point in the first signal; （1） in, 、 are the latitude and longitude of the puncture point respectively, is the number of valid grid points corresponding to the puncture point, 、 are the coordinates of the valid 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; The calculation module 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, perform pseudorange calculation on the first pilot component and the second pilot component, and obtain an ionospheric-free combined pseudorange of the first signal; a processing module, configured to obtain the coordinates of a satellite transmitting a signal to be processed and an enhanced correction value of the satellite, and perform correction processing on the coordinates according to the enhanced correction value to obtain corrected coordinates of the satellite; The processing module is further configured to obtain a clock error correction value of the satellite, and correct the satellite clock error according to the clock error correction value to obtain a 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 based on the ionospheric vertical delay of the puncture point in the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a first target signal; and when the first signal is a dual-frequency signal, perform correction processing on the first signal based on the ionospheric-free combined pseudorange of the first signal, the corrected satellite coordinates, and the corrected satellite clock error, to obtain a second target signal; The calculation module is further used 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, wherein the memory stores a computer program that can be 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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