Positioning method, positioning device and readable storage medium

Abstract

The invention relates to a positioning method, a positioning device and a readable storage medium, and relates to the technical field of satellite navigation. The positioning method is applied to a receiver, and comprises the following steps: receiving a pseudo satellite signal for simulating each target satellite in a plurality of target satellites; wherein the target satellite is a satellite which is invisible at the position of the receiver; determining a pseudo satellite base station corresponding to each target satellite according to the pseudo satellite signal; for each pseudo-satellite base station, determining whether a target pseudo-satellite signal corresponding to the pseudo-satellite base station is credible; and under the condition that the target pseudo-satellite signal is credible, determining the position of the receiver according to the target pseudo-satellite signal.

Description

Technical Field

[0001] The present disclosure relates to the field of satellite navigation technology, and more specifically, to a positioning method, a positioning device, and a readable storage medium. Background Art

[0002] Satellite navigation systems are widely used in modern society, covering almost all areas that require precise location, time, and navigation information. However, due to the openness and fragility of satellite signals, they are susceptible to interference from spoofing signals, which affects the accuracy and security of satellite navigation positioning. Summary of the Invention

[0003] An objective of the embodiments of the present disclosure is to provide a positioning method, a positioning device, and a readable storage medium, which can improve the accuracy and security of positioning results.

[0004] According to a first aspect of the present disclosure, a positioning method is provided, which is applied to a receiver. The method includes:

[0005] receiving a pseudolite signal for simulating each target satellite among a plurality of target satellites, wherein the target satellite is a satellite that is not visible from the position of the receiver;

[0006] determining a pseudolite base station corresponding to each target satellite according to the pseudolite signal;

[0007] For each pseudolite base station, determining whether a target pseudolite signal corresponding to the pseudolite base station is credible;

[0008] If the target pseudolite signal is credible, the position of the receiver is determined based on the target pseudolite signal.

[0009] Optionally, determining, for each pseudolite base station, whether a target pseudolite signal corresponding to the pseudolite base station is credible includes:

[0010] For each pseudolite base station, determining whether there are at least four target pseudolite signals;

[0011] In the case that there are at least four target pseudolite signals, it is determined whether the target pseudolite signals are credible.

[0012] Optionally, when there are at least four target pseudolite signals, determining whether the target pseudolite signal is credible includes:

[0013] When there are at least four target pseudolite signals, determining, for each target pseudolite signal, a satellite position of a target satellite corresponding to the target pseudolite signal and a first pseudorange between the target satellite and the pseudolite base station based on the target pseudolite signal;

[0014] Determining a base station position and a clock deviation of the pseudo-satellite base station based on the satellite position and the first pseudo-range; wherein the clock deviation is a deviation between a clock of the pseudo-satellite base station and a local clock of the receiver;

[0015] determining a second pseudorange between the target satellite and the pseudo-satellite base station according to the base station position, the clock bias, and the satellite position;

[0016] The target pseudolite signal is determined to be credible based on a difference between the first pseudorange and the second pseudorange.

[0017] Optionally, when there are at least four target pseudolite signals, determining whether the target pseudolite signal is credible includes:

[0018] Obtaining the signal strength of each target pseudolite signal;

[0019] If the relationship between the signal strengths of the target pseudolite signals complies with a preset rule, it is determined that the target pseudolite signal is credible.

[0020] Optionally, determining a pseudolite base station corresponding to each target satellite according to the pseudolite signal includes:

[0021] determining a satellite identifier of each of the target satellites according to the pseudolite signal;

[0022] Determine a pseudo-satellite base station corresponding to the satellite identifier of the target satellite according to a pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier preset by the receiver, or a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier obtained by the receiver from a preset server.

[0023] Optionally, before determining the pseudolite base station corresponding to the target satellite identifier according to the pseudolite group mapping relationship, the method further includes:

[0024] For any one of the plurality of target satellites, a target satellite is set, and at least one target satellite set is obtained from the remaining target satellites that are not grouped among the plurality of target satellites; wherein the target satellite set includes at least three of the target satellites;

[0025] respectively obtaining the dilution of precision factors of the set target satellite and each group of the target satellite sets;

[0026] The pseudolite grouping mapping relationship is determined according to the dilution of precision factor.

[0027] Optionally, the method further includes:

[0028] receiving real satellite signals transmitted by satellites visible from the location of the receiver;

[0029] The step of determining the position of the receiver according to the target pseudolite signal when the target pseudolite signal is credible includes:

[0030] determining whether the real satellite signal is credible;

[0031] In a case where both the real satellite signal and the target pseudo-satellite signal are credible, the position of the receiver is determined based on the real satellite signal and the target pseudo-satellite signal.

[0032] Optionally, determining whether the real satellite signal is credible includes:

[0033] If the target pseudolite signal is credible, acquiring a first message format of the target pseudolite signal and a second message format of the real satellite signal;

[0034] When the first message format is consistent with the second message format, it is determined that the real satellite signal is credible.

[0035] According to a second aspect of the present disclosure, a positioning device is further provided, comprising a memory and a processor, wherein the memory is used to store a computer program; and the processor is used to execute the computer program to implement the method according to the first aspect of the present disclosure.

[0036] According to a third aspect of the present disclosure, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0037] One beneficial effect of the disclosed embodiment is that a receiver receives a pseudo-satellite signal for simulating each of a plurality of target satellites and, based on the pseudo-satellite signal, determines the pseudo-satellite base station corresponding to each target satellite. This ensures that all received pseudo-satellite signals are transmitted by trustworthy pseudo-satellite base stations. Then, for each pseudo-satellite base station, a determination is made as to whether the target pseudo-satellite signal corresponding to the pseudo-satellite base station is trustworthy; if the target pseudo-satellite signal is trustworthy, the position of the receiver is determined based on the target pseudo-satellite signal. Using the method of this embodiment, a credibility check is performed on the received pseudo-satellite signal before positioning to ensure that the pseudo-satellite signal on which positioning is based is trustworthy. This not only improves the security of the positioning result, but also protects the accuracy of the positioning result from interference from spoofing signals.

[0038] Other features and advantages of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0040] Figure 1 is a schematic diagram of the structure of a positioning system to which an embodiment of the present disclosure can be applied;

[0041] Figure 2 is applied to Figure 1 A flowchart of a positioning method for a receiver in FIG.

[0042] Figure 3 is applied to Figure 1 Flow chart of pseudo-satellite base station positioning method;

[0043] Figure 4 FIG. 4 is a schematic diagram of the hardware structure of a positioning device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure.

[0045] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0046] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0047] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0048] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0049] Figure 1 FIG2 shows a schematic architecture diagram of a positioning system applicable to an embodiment of the present disclosure. Figure 1 The positioning system may include satellites 110, pseudo-satellite base stations 130, and receivers 140. Satellites 110 may be classified into two types: visible satellites 111 and invisible satellites 112, depending on the location of the receiver. Signals transmitted by visible satellites 111 may be directly received by receiver 140 and used to generate real satellite observation data. Invisible satellites 112 are invisible to receiver 140, meaning that the receiver cannot receive signals from these invisible satellites or deems them invalid and does not use them for positioning.

[0050] For example, for a receiver located anywhere on Earth, there are theoretically both visible and invisible satellites. For example, GPS has 32 satellites, but theoretically, a receiver located anywhere near the Earth's surface can only see 8-12 satellites. These 8 to 12 visible satellites are considered visible satellites at the receiver's location. The remaining 20 or more satellites are invisible to the receiver and are considered invisible satellites at the receiver's location.

[0051] In some examples, after the receiver is first positioned, it calculates the relative relationship between each satellite in the sky and the receiver to obtain the elevation angle of each satellite. If the elevation angle of a satellite is lower than 0 (that is, the position of the satellite is below the horizon at the receiver's location), it can be determined that the satellite is invisible. In this case, even if the receiver receives the signal of the invisible satellite, it will not use it. This is because the receiver determines that the signal of the invisible satellite may be affected by multipath effects or other interference, and there is a high probability that there is a problem. Therefore, the signal of the invisible satellite is regarded as invalid and not used.

[0052] In an embodiment of the present disclosure, a novel positioning system can be provided, wherein the pseudolite base station 130 in the positioning system can simulate an invisible satellite and emit a pseudolite signal; the receiver 140 can receive and use the pseudolite signal for positioning, thereby enhancing the positioning accuracy of the receiver in complex environments.

[0053] Pseudo-satellite base station 130: This can be used to enhance satellite signal coverage or provide additional satellite signal processing capabilities. This pseudo-satellite base station can also be referred to as a pseudo-base station, ground base station, etc. This pseudo-satellite base station can be used to simulate signals from real satellites. In some examples, pseudo-satellite base station 130 can simulate signals from invisible satellites 112 and transmit these pseudo-satellite signals to receiver 140. Pseudo-satellite base station 130 can determine the simulated target satellite based on the pseudo-satellite group mapping relationship and transmit the corresponding pseudo-satellite signal. This pseudo-satellite signal can be used to determine auxiliary positioning information for the pseudo-satellite base station, which can include information such as the base station's position and clock bias.

[0054] Receiver 140: This can be a mobile device, a fixed device, or a specialized receiving device, and can be used to receive satellite signals and perform positioning based on them. In some examples, receiver 140 can receive at least one of pseudolite signals from pseudolite base station 130 and real satellite signals from visible satellites 111. Receiver 140 can also determine the satellite coordinates and measure pseudoranges of target satellites based on the pseudolite signals, determine auxiliary positioning information for pseudolite base station 130 based on this information, and determine the receiver's own position based on the auxiliary positioning information.

[0055] In some examples, there may be multiple pseudolite base stations 130, each of which can simulate a different target satellite, which may be a satellite that is not visible from the receiver's location. After acquiring auxiliary positioning information from at least four pseudolite base stations, receiver 140 can calculate its own position. Furthermore, receiver 140 can generate virtual satellite observation data based on the auxiliary positioning information from pseudolite base stations 130 to determine its own position. Alternatively, receiver 140 can combine the auxiliary positioning information from pseudolite base stations 130 with satellite observation data from visible satellites 111 to determine its own position.

[0056] Due to the openness and fragility of satellite signals, they are susceptible to interference from spoofing signals, thus affecting the accuracy and security of satellite navigation positioning. Based on this, embodiments of the present disclosure provide a positioning method that performs a credibility check on received pseudolite signals before positioning to ensure that the pseudolite signals used for positioning are credible. This not only improves the security of positioning results, but also protects the accuracy of positioning results from interference from spoofing signals.

[0057] Figure 2 This is a flow chart of a positioning method provided by an embodiment of the present disclosure. Figure 1 The receiver 140 in the positioning system shown performs, for example Figure 2 As shown, the method may include the following steps S210 to S240.

[0058] Step S210: Receive a pseudolite signal for simulating each target satellite among a plurality of target satellites.

[0059] In this embodiment, the target satellite is a satellite that is invisible from the receiver's location. The receiver can be a receiver capable of receiving pseudolite signals transmitted by a pseudolite base station. For example, the receiver can be located at a location capable of receiving pseudolite signals transmitted by the pseudolite base station, that is, within the coverage area of the pseudolite signals transmitted by the pseudolite base station. For example, according to design and planning, the pseudolite signals transmitted by the pseudolite base station can cover a coverage area with a radius of 500 meters centered on the pseudolite base station's transmitting antenna. In this case, the receiver can be located within this coverage area.

[0060] In this embodiment, the pseudo-satellite signal of the target satellite is simulated by a pseudo-satellite base station through carrier phase reconstruction, navigation message remapping and other technical means to simulate and generate a pseudo-satellite signal with the same frequency, modulation mode and data structure as the target satellite, and a time synchronization system is used to ensure that each base station signal is strictly synchronized with the Global Navigation Satellite System (GNSS) time scale. The pseudo-satellite signal simulated and generated by the pseudo-satellite base station can contain information such as the ephemeris, almanac, and pseudo-range observation data of the target satellite, but its transmission source is a pseudo-satellite base station on the ground rather than a real satellite in the sky. Pseudo-satellite signals can be used to supplement the shortcomings of real satellite signals, especially in environments where satellite signals are blocked or weakened (such as indoors, in tunnels or urban canyons).

[0061] In this embodiment, the receiver receives multiple satellite signals simultaneously. After receiving the multiple satellite signals, the receiver determines whether the satellite signal is a pseudo-satellite signal or a real satellite signal of a visible satellite based on whether the satellite corresponding to each satellite signal is an invisible satellite or a visible satellite.

[0062] In this embodiment, the receiver receives multiple pseudolite signals, each of which simulates a target satellite. In some examples, if the receiver receives fewer than four pseudolite signals, it can be directly determined that the currently received pseudolite signals are all unreliable satellite signals, without the need for subsequent credibility determination.

[0063] Step S220: Determine the pseudolite base station corresponding to each target satellite based on the pseudolite signal.

[0064] In this embodiment, the pseudolite signal can be analyzed to determine the target satellite corresponding to the pseudolite signal, and then the pseudolite base station corresponding to the target satellite can be determined based on the pseudolite group mapping relationship. The pseudolite base station is a pre-known and trustworthy pseudolite base station.

[0065] In some examples, if the pseudolite base station corresponding to the target satellite cannot be found according to the pseudolite group mapping relationship, the pseudolite signal is considered unreliable. If the pseudolite base station can be found, the pseudolite base station is recorded so that the credibility of the pseudolite signal can be further determined for each pseudolite base station after all received pseudolite signals are traversed.

[0066] In this embodiment, the pseudolite group mapping relationship may be a mapping relationship between target satellite identifiers and pseudolite base station identifiers pre-set by the receiver, or may be a mapping relationship between target satellite identifiers and pseudolite base station identifiers obtained by the receiver from a pre-set server. In some examples, the pseudolite group mapping relationship may be stored in the pre-set server, allowing the receiver to obtain the pseudolite group mapping relationship through communication with the pre-set server. In other examples, the pseudolite group mapping relationship may be stored in the receiver, allowing the receiver to automatically load the pre-stored pseudolite group mapping relationship upon startup.

[0067] The satellite identifier is a number or code used to identify each target satellite. For example, the satellite identifier can be a unique number of the satellite, such as a PRN.

[0068] Step S230: For each pseudolite base station, determine whether the target pseudolite signal corresponding to the pseudolite base station is credible.

[0069] In some examples, target pseudolite signals corresponding to the same pseudolite base station may be grouped into the same group, and credibility judgment may be performed on the target pseudolite signals in the same group.

[0070] In some examples, step S230 may include steps S231 to S232.

[0071] Step S231: For each pseudolite base station, determine whether there are at least four target pseudolite signals.

[0072] Step S232: When there are at least four target pseudolite signals, determine whether the target pseudolite signals are credible.

[0073] For example, when there are at least four target pseudolite signals, it is determined whether the target pseudolite signal group formed by the at least four target pseudolite signals is credible.

[0074] In this embodiment, each pseudolite base station may correspond to one or more target pseudolite signals. In some examples, for each pseudolite base station, if at least four target pseudolite signals are not present, the target pseudolite signal may be determined to be unreliable. For example, if at least four target pseudolite signals are not present, all target pseudolite signals corresponding to the pseudolite base station are determined to be unreliable.

[0075] Step S240: If the target pseudolite signal is credible, the position of the receiver is determined based on the target pseudolite signal.

[0076] In this embodiment, the target pseudolite signal being credible means that there are at least four target pseudolite signals under the pseudolite base station corresponding to the target pseudolite signal, and the at least four target pseudolite signals are all credible.

[0077] In some examples, step S240 may include steps S241 to S242.

[0078] Step S241: For each pseudolite base station, determine the auxiliary positioning information of the pseudolite base station according to the target pseudolite signal corresponding to the pseudolite base station.

[0079] The auxiliary positioning information may include the base station position and clock deviation of the pseudolite base station. The clock deviation may be the deviation between the clock of the pseudolite base station and the local clock of the receiver.

[0080] For example, the receiver measures the chip phase difference between the locally generated pseudorandom code and the received target pseudosatellite signal through code phase measurement technology (such as a delay locked loop), multiplies the chip phase difference by the chip period, and obtains the signal propagation time difference. Then, using the pseudorange formula, the time difference is multiplied by the speed of light to obtain the measured pseudorange. The calculated measured pseudorange is combined to calculate the base station position (such as the base station position expressed in three-dimensional coordinates) and clock deviation (i.e., the deviation between the base station clock and the receiver's local clock) of the pseudosatellite base station.

[0081] In one implementation, when the receiver determines the auxiliary positioning information of the pseudo-satellite base station based on the target pseudo-satellite signal corresponding to the pseudo-satellite base station, the receiver periodically determines the instantaneous auxiliary positioning information of the pseudo-satellite base station based on the target pseudo-satellite signal corresponding to the pseudo-satellite base station; and determines the auxiliary positioning information based on the instantaneous auxiliary positioning information obtained in multiple periods.

[0082] For example, assuming that the receiver continuously receives and processes target pseudolite signals at fixed time intervals (e.g., 100 milliseconds), and analyzes the target pseudolite signal received for the first time from pseudolite base station PS1, the three-dimensional coordinates of the positions of the target satellites PRN 1, PRN 2, PRN 3, and PRN 4 are obtained as (13781420.9694423, 20696670.6267762, 9774370.10648700), (-20530320.1364527, 1273275.22546253, 16500162.1430309), (-4813765.60347510, 26022907.49517 72,975567.615595937), (19159875.2814023, 18472463.4352690, -1078083.47089222), and the measured pseudo-ranges from PS1 are 23356193.0598480, 23375500.7851457, 20823955.5997667, and 25370636.6714942 respectively. The pseudo-base station positioning equations are constructed based on the calculated measured pseudo-ranges:

[0083]

[0084] Among them, (x r1 ,y r1 , z r1 )、(x r2 ,y r2 , z r2 )、(x r3 ,y r3 , z r3 )、(x r4 ,y r4 , z r4 ) are the three-dimensional coordinates of the target satellite positions of PRN 1, PRN 2, PRN 3, and PRN 4, (x1, y1, z1) are the three-dimensional coordinates of the PS1 base station position, c is the speed of light, Δt PS1 is the clock deviation. PS1.1 ,ρ PS1.2 ,ρ PS1.3 ,ρ PS1.4 are the measured pseudoranges of target satellite PRN 1, target satellite PRN 2, target satellite PRN 3, target satellite PRN 4 and pseudo-satellite base station PS1. Optionally, c can be 3×10 8 m / s, or other approximate values as agreed upon.

[0085] In one example, if the base station position (x1, y1, z1) of PS1 obtained by solving the equation group is (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters, the clock deviation Δt PS1 is 5.610034475599967μs, according to the calculated (x1, y1, z1) and Δt PS1 The measured pseudorange between PS1 and the receiver is calculated to be 1683.01034267999. According to the periodic processing mechanism, the receiver repeats the instantaneous measurement of pseudorange and clock deviation every 100 milliseconds, and fuses multi-cycle data through a filtering algorithm to optimize accuracy. If the base station coordinates obtained by five consecutive calculations are (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters, (-2294200.70000000, 5408154.000000010, 2475823.19999997) meters, (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters, (-2294200.70000000, 5408154.000000010, 2475823.19999999) meters, 000000, 2475823.19999999) meters, (-2294200.70000030, 5408154.00000000, 2475823.19999999) meters, the clock deviations are 5.610034475599967μs, 5.610034475599963μs, 5.610 The filtered values are (-2294200.70000000, 5408154.00000000, 2475823.19999999) meters and 5.610034475599967 meters. The same solution is used to obtain the base station positions and clock deviations corresponding to PS2, PS3, and PS4, respectively. The base station coordinates and calibrated clock deviations are then stored as auxiliary positioning information.

[0086] In another example, a receiver periodically receives target pseudolite signals and calculates instantaneous assisted positioning information for each period. This information is stored in a buffer (e.g., the buffer stores data from the most recent five periods). At the end of each period, the receiver extracts all stored instantaneous assisted positioning information from the buffer and calculates its average, using this average as the current assisted positioning information. This method improves the accuracy of assisted positioning information by utilizing data from multiple periods.

[0087] Step S242: Determine the position of the receiver according to the auxiliary positioning information of the pseudolite base station.

[0088] Specifically, the receiver constructs a set of positioning equations and solves them to determine its own position by integrating the auxiliary positioning information from multiple pseudolite base stations. The auxiliary positioning information for each pseudolite base station includes its known base station position and calibrated clock offset.

[0089] In one implementation, the position of the receiver may be determined based solely on the target pseudolite signal corresponding to the pseudolite base station.

[0090] For example, when auxiliary positioning information of multiple pseudo-satellite base stations is obtained, the position of the receiver is calculated based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations; wherein the multiple pseudo-satellite base stations are at least four pseudo-satellite base stations.

[0091] Combined with the above example, when the receiver obtains the auxiliary positioning information of multiple pseudo-satellite base stations, it calculates the position of the receiver based on the auxiliary positioning information of at least four pseudo-satellite base stations among the multiple pseudo-satellite base stations. For example, the receiver captures the pseudo-satellite signals from four pseudo-satellite base stations (PS1, PS2, PS3, PS4) and parses the auxiliary positioning information of each base station: the base station position of PS1 is (-2294200.70000000, 5408154.00000000, 2475823.1999999) meters, and the clock deviation is 5.610034475599967 microseconds; the base station position of PS2 is (-2296200.70000000, 5408154.00000000, 2475743.2000000 The base station position of PS3 is (-2294200.70000000, 5406154.00000001, 2475763.20000000) meters, and the clock deviation is 5.087998564491667 microseconds; the base station position of PS4 is (-2296200.70000000, 5406154.00000000, 2475723.20000000) meters, and the clock deviation is 4.600778590142733 microseconds. At the same time, the receiver calculates the measurement by multiplying the clock bias by the speed of light, which is 5.610034475599967 × c, resulting in a pseudorange of 1683.01034267999 meters. The receiver corrects the pseudorange equation for each pseudo base station to include the clock bias. For PS1, the corrected pseudorange equation is:

[0092]

[0093] Among them, ρ PS1 is the measured pseudorange between the pseudo-satellite base station PS1 and the receiver, c is the speed of light, (x PS1 ,y PS1 , z PS1 ) is the three-dimensional coordinate of the PS1 base station location, (x r ,y r , z r ) is the receiver position, Δy r is the local clock difference of the receiver. By combining the correction equations of the four pseudo base stations, a system containing four unknowns (x r ,y r , z r , Δt r ) and solve the equations to get the receiver position (-2295319.03694756, 5407011.65663090, 2476349.41090117) meters.

[0094] In this way, the receiver can perform positioning based only on the target pseudo-satellite signal corresponding to the pseudo-satellite base station, which can improve the reliability of positioning in scenes such as tunnels and underground where visible satellite signals cannot be received.

[0095] In other examples, the multiple pseudo-satellite base stations are not in the same plane.

[0096] In this example, the pseudo-satellite base stations cannot all be located on the same plane, that is, at least one base station is not on the plane where the other base stations are located. For example, the four pseudo-satellite base stations can have different spatial locations, so that they are not on the same plane. Specifically:

[0097] The spatial position of PS1 can be (x1, y1, z1), the spatial position of PS2 can be (x2, y2, z2), the spatial position of PS3 can be (x3, y3, z3), and the spatial position of PS4 can be (x4, y4, z4), where PS1 is not on the plane formed by PS2, PS3, and PS4.

[0098] In another implementation, the position of the receiver may also be determined based on the target pseudolite signal corresponding to the pseudolite base station and the real satellite signal sent by the visible satellite.

[0099] For example, the receiver can also receive real satellite signals transmitted by visible satellites, which can be satellites visible from the receiver's location; generate real satellite observation data based on the real satellite signals. Furthermore, the receiver can generate virtual satellite observation data based on auxiliary positioning information from pseudolite base stations; and determine the receiver's position based on the virtual satellite observation data and the real satellite observation data.

[0100] Real satellite signals can be signals emitted by actual visible satellites and received by the receiver. Real satellite observation data is used to provide raw measurement values such as pseudorange, carrier phase, and Doppler shift between the receiver and the visible satellites. For example, real satellite observation data includes satellite identifier (PRN30), pseudorange measurement value (ρ GPS ), signal transmission time and ephemeris parameters and other data.

[0101] The receiver needs at least four equations to solve its own three-dimensional position (x r ,y r , z r ) and clock deviation (Δt r ), so at least four signal sources (real satellites or pseudo-satellite base stations) are required. When the receiver receives different numbers of real satellite signals, the number of pseudo-satellite base stations required will change accordingly. For example, if the receiver receives 1 real satellite signal, at least 3 pseudo-satellite signals simulated by pseudo-satellite base stations are required to provide enough equations to solve the position; if the receiver receives 2 real satellite signals, at least 2 pseudo-satellite signals simulated by pseudo-satellite base stations are required. If the receiver receives 4 or more real satellite signals, theoretically, pseudo-satellite signals simulated by pseudo-satellite base stations are not needed, but if more real satellite signals or pseudo-satellite signals simulated by pseudo-satellite base stations are available, the positioning accuracy can be further improved. If the pseudo-satellite base station is located below the receiver, using pseudo-satellite signals simulated by pseudo-satellite base stations can also significantly improve the receiver's accuracy in the altitude direction.

[0102] In the above example, the receiver simultaneously captures the signals of the visible satellite PRN30 and pseudo-satellite base stations PS2 to PS4. Based on the ephemeris parameters of PRN30 (such as orbit semi-major axis a = 26559710 meters, eccentricity e = 0.0012) and the signal transmission time, the three-dimensional coordinates (x GPS30 =-10600007 meters, y GPS30 =20964519.13 m, z GPS30 =-11964071.61 meters), and the measured pseudorange is 22793192.9387712 meters.

[0103]

[0104] Among them, (x r ,y r , z r ) is the three-dimensional coordinate of the receiver position, (x PS2 ,y Ps2 , z PS2 ),ρ PS2are the three-dimensional coordinates and measured pseudo-range of the PS2 base station, (x PS3 ,y PS3 , z PS3 ) and ρ PS3 are the three-dimensional coordinates and measured pseudo-range of the PS3 base station, (x PS4 ,y PS4 , z PS4 ) and ρ PS4 are the three-dimensional coordinates and measured pseudo-range of the PS4 base station, c is the speed of light, Δt r is the receiver's local clock difference.

[0105] By combining the three-dimensional coordinates of a real satellite position and the three-dimensional coordinates of the three pseudo-satellite base station positions, a correction equation containing four unknowns (x r ,y r , z r , Δt r ) and solve the equations to get the receiver position (-2295319.03694756, 5407011.65663090, 2476349.41090117) meters.

[0106] In this way, the receiver performs positioning based on the target pseudolite signal corresponding to the pseudolite base station and the real satellite signal sent by the visible satellite, which can improve the reliability of positioning when the number of visible satellites is small.

[0107] It should be understood that the above numerical values are exemplary descriptions and are not intended to be limiting.

[0108] The receiver of the disclosed embodiment receives a pseudo-satellite signal for simulating each of a plurality of target satellites and, based on the pseudo-satellite signal, determines the pseudo-satellite base station corresponding to each target satellite. This ensures that all received pseudo-satellite signals are transmitted by trustworthy pseudo-satellite base stations. Then, for each pseudo-satellite base station, a determination is made as to whether the target pseudo-satellite signal corresponding to the pseudo-satellite base station is trustworthy; if the target pseudo-satellite signal is trustworthy, the position of the receiver is determined based on the target pseudo-satellite signal. Using the method of this embodiment, the received pseudo-satellite signal is first tested for credibility before positioning to ensure that the pseudo-satellite signal on which positioning is based is trustworthy. This not only improves the security of the positioning results, but also protects the accuracy of the positioning results from interference from spoofing signals.

[0109] In some embodiments, step S220 may include: determining a satellite identifier of each target satellite based on the pseudolite signal; and determining a pseudolite base station corresponding to the satellite identifier of the target satellite based on a pseudolite group mapping relationship. The pseudolite group mapping relationship may be a mapping relationship between target satellite identifiers and pseudolite base station identifiers preset by the receiver, or a mapping relationship between target satellite identifiers and pseudolite base station identifiers obtained by the receiver from a preset server.

[0110] The pseudo-satellite group mapping relationship can be determined in a variety of ways. In some examples, grouping can be performed based on the target position, and the pseudo-satellite group mapping relationship can be determined. For example, the target position can be obtained (for example, regional information obtained or pre-configured through a mobile communication network, or the coverage area of a pseudo-satellite base station, or the approximate location of a receiver), and based on the target position, the set of satellites visible to the target position is determined (for example, calculated by a satellite orbit model), and the visible satellites are excluded from all satellites to obtain an invisible satellite set, and the invisible satellite set is grouped according to satellite identification or other rules, each group containing at least four satellites, and each group of satellites is assigned to a pseudo-satellite base station to form a pseudo-satellite group mapping relationship.

[0111] In other examples, satellite visibility predictions can be used to group satellites and determine a pseudolite group mapping. For example, the set of invisible satellites at different receiver locations can be predicted based on historical data and satellite orbit models. For each predicted location, a corresponding set of invisible satellites is generated. The invisible satellites are then grouped according to a specific rule (e.g., minimizing the geometric dilution of precision), and the grouping results are stored as a pseudolite group mapping.

[0112] In other examples, grouping can also be performed based on satellite identifiers, and the pseudolite group mapping relationship can be determined. The satellite identifier is a number or code used to identify each target satellite. For example, the satellite identifier can be a unique satellite number, such as a pseudo-random noise (PRN). For example, all invisible satellites can be sorted by satellite identifier, and the invisible satellite with the smallest satellite identifier is selected as the starting point for grouping. Subsequent invisible satellites are selected according to a certain step size or rule to ensure that each group has at least four invisible satellites, thereby generating a pseudolite group mapping relationship.

[0113] Taking the construction of pseudolite group mapping relationships based on satellite identifiers as an example, if the positioning system covering a target area includes five pseudolite base stations, and the base station identifiers are base station PS1, base station PS2, base station PS3, base station PS4, and base station PS5, respectively, and the invisible satellites in the target area are 20 target satellites, taking PRN as the satellite identifier as an example, the satellite identifiers of the 20 target satellites can be PRN1 to PRN20, respectively. The method of constructing the pseudolite group mapping relationship based on satellite identifiers can be: sort all invisible satellites according to satellite identifiers, select the invisible satellite with the smallest satellite identifier as the starting point of the group, and select subsequent invisible satellites according to a certain step size to ensure that each group has at least four invisible satellites. For example, PS1 simulates satellite identifiers PRN 1, PRN 2, PRN 3, and PRN 4; PS2 simulates satellite identifiers PRN 5, PRN 6, PRN 7, and PRN 8; PS3 simulates satellite identifiers PRN 9, PRN 10, PRN 11, and PRN 12; PS4 simulates satellite identifiers PRN 13, PRN 14, PRN 15, and PRN 16; and PS5 simulates satellite identifiers PRN 17, PRN 18, PRN 19, and PRN 20. In this way, each pseudolite base station has a clear target satellite group and can be used to simulate any target satellite in each target satellite group and transmit pseudolite signals.

[0114] In other examples, target satellites can be grouped based on their DOPs, and the pseudolite group mapping relationships can be determined. For example, a target satellite can be selected from multiple target satellites that are not visible within the target area as the set target satellite. For any set target satellite, at least one set of target satellites is obtained from the remaining target satellites in the multiple target satellites that are not included in the group. The DOPs of the set target satellite and each set of target satellites are obtained, and the pseudolite group mapping relationships are determined based on the DOPs.

[0115] In this example, the method for selecting the target satellites is not specifically limited. For example, the target satellites can be selected based on their satellite IDs. For example, if there are 20 target satellites within the receiver's target area, the target satellites within the receiver's target area can be arranged in ascending order of satellite IDs, and the five satellites with the smallest satellite IDs can be selected as the target satellites. This target satellite can serve as the leader of a target satellite group.

[0116] In this example, after a set of mapping relationships between target satellites and pseudolite base stations is determined based on the target satellites' DOPs, the target satellites included in this set of mapping relationships are considered grouped target satellites. When determining the mapping relationship for the next set of target satellites, these grouped target satellites are no longer considered. In other words, the mapping relationship for the next set of target satellites is determined only for the remaining target satellites not yet grouped.

[0117] Because each pseudolite base station in the pseudolite group mapping relationship corresponds to at least four target satellites, at least three target satellites must be determined for any set target satellite. In other words, the set of target satellites includes at least three target satellites. This set of target satellites can be understood as a set of candidate target satellites. In this example, the DOPs are calculated for the set target satellite and at least one set of candidate target satellites. The calculated multiple DOPs are then used to determine the set of target satellites that are grouped together with the set target satellite.

[0118] In this example, the group mapping relationships corresponding to multiple set target satellites can be determined sequentially. Multiple set target satellites can be obtained from the multiple target satellites, and the following steps are performed sequentially for each set target satellite: at least one set of target satellites is obtained from the remaining target satellites that are not included in the grouping; a dilution of precision factor is obtained for each set of target satellites; and a pseudolite group mapping relationship is determined based on the dilution of precision factor.

[0119] For example, assuming that the target satellites are PRN 1 and PRN 5, and the remaining target satellites not participating in the group are PRN 2, PRN 3, PRN 4, PRN 6, PRN 7, and PRN 8, multiple target satellite sets are first obtained from the remaining target satellites not participating in the group for PRN 1. The DOP factor is then calculated for PRN 1 and each target satellite set. Based on the calculated DOP factors, a pseudolite group mapping relationship is determined. In one example, the target satellite set corresponding to the minimum DOP and PRN 1 can be grouped together, and this group of target satellites is then combined to form the members of PRN 1. Assuming that PRN 1, PRN 2, PRN 3, and PRN 4 are grouped together based on the DOP factor, then for target satellite PRN 5, the remaining target satellites not participating in the group are PRN 6, PRN 7, and PRN 8.

[0120] In one example, the position information of the set target satellite and each target satellite in a set of candidate target satellites can be obtained based on known almanac data, and the geometric relationship matrix can be calculated based on the above position information. The elements of the geometric relationship matrix are determined by the distance and angle between the target satellite and the receiver. Specifically, each row of the matrix represents a target satellite, and each column represents a coordinate component (longitude, latitude, altitude and time). The DOP value of the set target satellite and each target satellite in the set of candidate target satellites is the square root of the sum of the squares of the diagonal elements of the inverse matrix of the geometric relationship matrix. The smaller the DOP value, the better the geometric distribution of the satellite and the higher the positioning accuracy.

[0121] Of course, the mapping relationships for multiple target satellites can be determined in parallel. However, when determining the mapping relationships for pseudolite groups based on the DOP, care must be taken to determine whether there are duplicate target satellites in the target satellite sets corresponding to the multiple target satellites. The basic principle to be followed is that the same target satellite can only be selected by one group leader.

[0122] The position of the receiver is determined based on the group mapping relationship determined by the precision reduction factor of the target satellite, which can further improve the positioning accuracy.

[0123] In some embodiments, step S232 may include steps S233 to S236.

[0124] Step S233 : When there are at least four target pseudolite signals, for each target pseudolite signal, determine the satellite position of the target satellite corresponding to the target pseudolite signal and the first pseudorange between the target satellite and the pseudolite base station.

[0125] In some examples, the position of the target satellite may be calculated based on a navigation message in the target pseudolite signal.

[0126] In this embodiment, the first pseudorange is a measured pseudorange. The first pseudorange is at least four. In some examples, it can be obtained based on the method of measuring the pseudorange in step S241, that is, ρ PS1.1 ,ρ PS1.2 ,ρ PS1.3 , ρPS1 . 4.

[0127] Step S234: Determine the base station position and clock bias of the pseudolite base station according to the satellite position and the first pseudorange.

[0128] The clock deviation in this embodiment is the deviation between the clock of the pseudolite base station and the local clock of the receiver.

[0129] The base station position and clock offset of the pseudolite base station in this embodiment constitute the auxiliary positioning information of the pseudolite base station in step S241. For example, the specific method for determining the auxiliary positioning information of the pseudolite base station can refer to the method for determining the auxiliary positioning information of the pseudolite base station in step S241. In one example, the auxiliary positioning information of the pseudolite base station can be calculated using the least squares method on the pseudolite base station positioning equations in step S241.

[0130] Step S235 : determining a second pseudorange between the target satellite and the pseudolite base station according to the base station position, the clock bias, and the satellite position of the target satellite.

[0131] In this embodiment, the second pseudorange is a theoretical pseudorange between the target satellite and the pseudo-satellite base station.

[0132] In some examples, the satellite position of the target satellite and the base station position and clock bias of the pseudolite base station obtained in step S234 are brought back into the following pseudo base station positioning equation group to calculate the second pseudorange between each target satellite and the pseudolite base station.

[0133]

[0134] Among them, (x r1 ,y r1 , z r1 )、(x r2 ,y r2 , z r2 )、(x r3 ,y r3 , z r3 )、(x r4 ,y r4 , z r4 ) are the three-dimensional coordinates of the target satellite positions of PRN 1, PRN 2, PRN 3, and PRN 4, (x1, y1, z1) are the three-dimensional coordinates of the PS1 base station position, c is the speed of light, Δt PS1 is the clock deviation. ρ' PS1.1 ,ρ' PS1.2 ,ρ' PS1.3 ,ρ' PS1.4 They are the second pseudoranges between the target satellite PRN 1, the target satellite PRN 2, the target satellite PRN 3, the target satellite PRN 4 and the pseudosatellite base station PS1.

[0135] Step S236: Determine whether the target pseudolite signal is credible based on the difference between the first pseudorange and the second pseudorange.

[0136] In some examples, the target pseudolite signal is determined to be credible if the difference between the first pseudorange and the second pseudorange is less than a threshold. For example, if there are four first pseudoranges and four second pseudoranges, the difference between the first pseudorange and the second pseudorange can be calculated for each target satellite. If all four differences are less than the threshold, the target pseudolite signal is determined to be credible. Alternatively, the variance of the four differences can be calculated, and if the variance is less than the threshold, the target pseudolite signal is determined to be credible.

[0137] The specific value of the threshold can be determined according to actual needs. In some examples, the threshold can be 50 meters.

[0138] This embodiment compares the measured pseudorange with the theoretical pseudorange and determines the reliability of the target pseudolite signal based on the difference between the two, so that the accuracy of the receiver position obtained based on the target pseudolite signal can be guaranteed.

[0139] In some embodiments, the same pseudolite base station uses the same power when transmitting different target pseudolite signals. These different target pseudolite signals travel along the same path to the receiver, and while they may attenuate, their signal strengths remain substantially consistent or have an error less than or equal to a threshold (e.g., an error less than 1 dB). However, pseudolite signals transmitted by different pseudolite base stations travel along different paths to the receiver, and may experience different attenuation and significantly different signal strengths. Based on this, step S232 may include steps S237 through S238.

[0140] Step S237: Acquire the signal strength of each target pseudolite signal.

[0141] For example, the signal strength may be reflected by the power of the target pseudolite signal received by the receiver or the carrier-to-noise density ratio (CN0).

[0142] Step S238 : If the relationship between the signal strengths of the target pseudolite signals meets a preset rule, it is determined that the target pseudolite signal is credible.

[0143] The preset rule can be set based on actual needs. In some examples, the preset rule can be set such that the absolute value of the difference in signal strength of each target pseudo-satellite signal is less than or equal to a first preset threshold. In other examples, the preset rule can be set such that the absolute value of the difference in signal strength of each target pseudo-satellite signal decreases sequentially by a second preset threshold. When the absolute value of the difference in signal strength of each target pseudo-satellite signal meets the preset rule, each target pseudo-satellite signal can be determined to be credible. The first preset threshold can be a smaller value, such as 3 dB. The second preset threshold can be a value smaller than the first preset threshold, such as 0.5 dB.

[0144] In this way, the receiver can simply determine whether each target pseudolite signal is credible based on the consistency between the signal strengths (eg, CN0) of the received pseudolite signals in most cases, thereby improving the positioning efficiency of the receiver.

[0145] In some embodiments, the receiver may also receive real satellite signals sent by satellites visible from the receiver's location. To further improve positioning accuracy and security, the positioning method may further include step S250: receiving real satellite signals sent by satellites visible from the receiver's location.

[0146] In this embodiment, step S240 may include steps S243 and S244.

[0147] Step S243: Determine whether the real satellite signal is credible.

[0148] In some examples, whether the currently received real satellite signal is credible may be determined based on a message format of the real satellite signal preset by the receiver.

[0149] In other examples, the authenticity of a real satellite signal can also be determined based on a pseudo-satellite signal message format preset by the receiver. For example, step S243 may include: if the target pseudo-satellite signal is authentic, obtaining a first message format of the target pseudo-satellite signal and a second message format of the real satellite signal; and if the first message format and the second message format are consistent, determining that the real satellite signal is authentic. In this example, if the first message format and the second message format are inconsistent, it can be determined that the currently received real satellite signal is untrustworthy, that is, the currently received real satellite signal is credible as a spoofed signal. When the message formats are consistent, the receiver can seamlessly receive and process the real satellite signal and the pseudo-satellite signal, thereby improving positioning efficiency.

[0150] For example, step S243 may further include: if the target pseudolite signal is credible, acquiring a first message format of the target pseudolite signal and a second message format of the real satellite signal; and if the consistency between the first message format and the second message format is greater than a threshold, determining that the real satellite signal is credible.

[0151] Optionally, the above-mentioned message format may include data structure, encoding method, data update frequency, data content format, etc. Among them, the consistency of data structure means that the message of the target pseudo-satellite signal and the message of the real satellite signal have the same fields and data types. Such fields may include, for example, satellite identification, time information (such as satellite clock error), ephemeris data, satellite health status, etc. The consistency of encoding method means that the target pseudo-satellite signal and the real satellite signal use the same modulation method (such as binary phase shift keying), encoding format (such as encoding using pseudo-random noise code), and data rate, etc. The consistency of data update frequency means that the message data update frequency of the target pseudo-satellite signal is consistent with the message data update frequency of the real satellite signal. The consistency of data content means that the receiver can use the same algorithm and protocol to decode and process the target pseudo-satellite signal and the real satellite signal.

[0152] Step S244 : When both the real satellite signal and the target pseudolite signal are credible, the position of the receiver is determined based on the real satellite signal and the target pseudolite signal.

[0153] Step S244 of this embodiment may be implemented by referring to the method of determining the position of the receiver according to the target pseudolite signal corresponding to the pseudolite base station and the real satellite signal sent by the visible satellite in step S242.

[0154] In this embodiment, after determining that both the real satellite signal and the target pseudo-satellite signal are credible, the position of the receiver is determined, which can further improve the accuracy and security of positioning.

[0155] Figure 3 This is a flow chart of another positioning method provided by an embodiment of the present disclosure. Figure 1 The pseudo-satellite base station 130 in the positioning system shown in FIG. Figure 3 As shown, the method may include the following steps S310 to S340.

[0156] Step S310: Determine multiple target satellites simulated by the pseudolite base station.

[0157] The multiple target satellites are at least four target satellites, and the target satellites are satellites that are not visible at the receiver position.

[0158] In some examples, the pseudo-satellite base station can determine the target satellite simulated by the pseudo-satellite base station based on the pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between the target satellite and the pseudo-satellite base station preset by the pseudo-satellite base station, or a mapping relationship between the target satellite and the pseudo-satellite base station obtained by the pseudo-satellite base station from a preset server.

[0159] In this way, the compatibility of pseudo-satellites with real satellites is ensured, interference with ordinary receivers is avoided, positioning accuracy and reliability are improved, the receiver adapts to dynamic environmental changes, and the signal is guaranteed to be stable and continuous.

[0160] The optional implementation of determining the pseudolite group mapping relationship in this step may refer to the embodiment of the pseudolite group mapping relationship in the aforementioned step S220, which will not be described in detail here.

[0161] Step S320: Send a pseudolite signal simulating each target satellite among the multiple target satellites.

[0162] When received by a receiver, the pseudolite signal is used to determine the pseudolite base station corresponding to each target satellite, and for each pseudolite base station, it is determined whether the target pseudolite signal corresponding to the pseudolite base station is credible. If the target pseudolite signal is credible, the position of the receiver is determined based on the target pseudolite signal.

[0163] The pseudo-satellite signal sent by the pseudo-satellite base station may include the same carrier frequency, pseudo-random code, navigation message and other information.

[0164] In some examples, the same pseudolite base station needs to simulate at least four target satellites simultaneously. That is, different pseudolite base stations each simulate a different target satellite.

[0165] Specifically, each of the multiple pseudolite base stations is used to simulate a group of specific target satellites, and these target satellites are invisible at the location of the receiver.

[0166] For example, there are multiple pseudo-satellite base stations in the positioning system, such as PS1, PS2, PS3, PS4, etc., and each pseudo-satellite base station is responsible for simulating a specific group of target satellites, where PS1 simulates satellites PRN 1, PRN 2, PRN 3, PRN 4, PS2 simulates satellites PRN 5, PRN 6, PRN 7, PRN 8, PS3 simulates satellites PRN 9, PRN 10, PRN 11, PRN 12, and PS4 simulates satellites PRN 13, PRN 14, PRN 15, PRN 16.

[0167] For example, the multiple pseudolite base stations in the above-mentioned positioning system may include PS1, PS2, PS3, and PS4. The pseudolite group mapping relationship pre-stored by the receiver or obtained from the server is: PS1 simulates satellites PRN 1, PRN 2, PRN 3, and PRN 4; PS2 simulates satellites PRN 5, PRN 6, PRN 7, and PRN 8; PS3 simulates satellites PRN 9, PRN 10, PRN 11, and PRN 12; and PS4 simulates satellites PRN 13, PRN 14, PRN 15, and PRN 16. When the receiver receives multiple pseudolite signals at the same location, it parses out the target satellite identifiers as PRN 5, PRN 9, and PRN 13. According to the pseudolite group mapping relationship, it can be determined that PRN 5 is sent by PS2, PRN 9 is sent by PS3, and PRN 13 is sent by PS4.

[0168] In some examples, the relationship between the signal strengths of pseudolite signals from multiple target satellites simulated by a single pseudolite base station may conform to a preset rule, allowing the receiver to determine whether the pseudolite signal received in real time is credible based on the signal strength relationship of the pseudolite signals. Alternatively, the implementation of this example may refer to the embodiment described above in step S236 and will not be further described here.

[0169] In some examples, when a pseudolite base station simulates a target satellite to generate a pseudolite signal, it is necessary to ensure that the difference between the first pseudorange and the second pseudorange between the target satellite and the pseudolite base station is less than or equal to a threshold value, so that the receiver can determine whether the pseudolite signal received in real time is credible based on this difference. Alternatively, the method for determining the first pseudorange and the second pseudorange can refer to the embodiment described above in steps S233 to S235 and will not be further described here.

[0170] Figure 4 FIG. 4 is a schematic diagram of the hardware structure of a positioning device according to another embodiment.

[0171] like Figure 4 As shown, the positioning device 400 includes a processor 410 and a memory 420, wherein the memory 420 is used to store an executable computer program, and the processor 410 is used to execute a method as any of the above method embodiments under the control of the computer program.

[0172] In some embodiments, the processor 410 can be used to control the overall operation of the positioning device 400. For example, the processor 410 can execute instructions to implement all or part of the steps of the method in any of the foregoing embodiments of the present disclosure, thereby realizing one or more operations such as voice communication, data communication, database operation, display control, component control, multimedia processing, etc., wherein the above-mentioned components may include sensors, cameras, headphones, input and output devices, etc., and the component may be an internal component of the positioning device itself, or an external component connected to the positioning device wirelessly or wired. The above-mentioned multimedia may include one or more of voice, image, video, and text.

[0173] The positioning device 400 may be Figure 1 The receiver 140 in may also be Figure 1 Alternatively, the positioning device 400 may also be any electronic device.

[0174] An embodiment of the present disclosure further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method of any of the above method embodiments is implemented.

[0175] The present disclosure may be a system, method and / or computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement any of the methods in the aforementioned embodiments of the present disclosure.

[0176] A computer-readable storage medium can be a tangible device that can hold and store instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination thereof. As used herein, a computer-readable storage medium is not to be construed as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through an electrical wire.

[0177] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions to be stored in the computer-readable storage medium in each computing / processing device.

[0178] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk, C++, and conventional procedural programming languages such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., utilizing an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions. The electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present disclosure.

[0179] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams, and combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer-readable program instructions.

[0180] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device is generated that implements the functions / actions specified in one or more blocks in the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium, where these instructions cause the computer, programmable data processing device, and / or other device to operate in a specific manner. Thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing various aspects of the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0181] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operational steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more blocks in the flowchart and / or block diagram.

[0182] The flowcharts and block diagrams in the accompanying drawings show the possible implementation architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of an instruction, and the module, program segment or part of the instruction contains one or more executable instructions for implementing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.

[0183] The embodiments of the present disclosure have been described above. The above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terms used herein are chosen to best explain the principles of the embodiments, practical applications, or technical improvements to technologies in the marketplace, or to enable other persons skilled in the art to understand the embodiments disclosed herein. The scope of the present disclosure is defined by the appended claims.

Claims

1. A positioning method, characterized in that: Applied to a receiver, the method includes: receiving a pseudolite signal for simulating each target satellite among a plurality of target satellites, wherein the target satellite is a satellite that is not visible from the position of the receiver; determining a pseudolite base station corresponding to each target satellite according to the pseudolite signal; For each pseudolite base station, determining whether a target pseudolite signal corresponding to the pseudolite base station is credible; If the target pseudolite signal is credible, the position of the receiver is determined based on the target pseudolite signal.

2. The method according to claim 1, characterized in that The step of determining, for each pseudolite base station, whether a target pseudolite signal corresponding to the pseudolite base station is credible includes: For each pseudolite base station, determining whether there are at least four target pseudolite signals; In the case that there are at least four target pseudolite signals, it is determined whether the target pseudolite signals are credible.

3. The method according to claim 2, characterized in that The step of determining whether the target pseudolite signal is credible when at least four target pseudolite signals exist includes: When there are at least four target pseudolite signals, determining, for each target pseudolite signal, a satellite position of a target satellite corresponding to the target pseudolite signal and a first pseudorange between the target satellite and the pseudolite base station based on the target pseudolite signal; Determining a base station position and a clock deviation of the pseudo-satellite base station based on the satellite position and the first pseudo-range; wherein the clock deviation is a deviation between a clock of the pseudo-satellite base station and a local clock of the receiver; determining a second pseudorange between the target satellite and the pseudo-satellite base station according to the base station position, the clock bias, and the satellite position; The target pseudolite signal is determined to be credible based on a difference between the first pseudorange and the second pseudorange.

4. The method according to claim 2, characterized in that The step of determining whether the target pseudolite signal is credible when at least four target pseudolite signals exist includes: Obtaining the signal strength of each target pseudolite signal; If the relationship between the signal strengths of the target pseudolite signals complies with a preset rule, it is determined that the target pseudolite signal is credible.

5. The method according to claim 1, characterized in that: The step of determining a pseudolite base station corresponding to each target satellite based on the pseudolite signal includes: determining a satellite identifier of each of the target satellites according to the pseudolite signal; Determine a pseudo-satellite base station corresponding to the satellite identifier of the target satellite according to a pseudo-satellite group mapping relationship; wherein the pseudo-satellite group mapping relationship is a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier preset by the receiver, or a mapping relationship between the target satellite identifier and the pseudo-satellite base station identifier obtained by the receiver from a preset server.

6. The method according to claim 5, characterized in that Before determining the pseudolite base station corresponding to the target satellite identifier according to the pseudolite group mapping relationship, the method further includes: For any one of the plurality of target satellites, a target satellite is set, and at least one target satellite set is obtained from the remaining target satellites that are not grouped among the plurality of target satellites; wherein the target satellite set includes at least three of the target satellites; respectively obtaining the dilution of precision factors of the set target satellite and each group of the target satellite sets; The pseudolite grouping mapping relationship is determined according to the dilution of precision factor.

7. The method according to claim 1, characterized in that: The method further comprises: receiving real satellite signals transmitted by satellites visible from the location of the receiver; The step of determining the position of the receiver according to the target pseudolite signal when the target pseudolite signal is credible includes: determining whether the real satellite signal is credible; In a case where both the real satellite signal and the target pseudo-satellite signal are credible, the position of the receiver is determined according to the real satellite signal and the target pseudo-satellite signal.

8. The method according to claim 7, characterized in that: Determining whether the real satellite signal is credible includes: If the target pseudolite signal is credible, acquiring a first message format of the target pseudolite signal and a second message format of the real satellite signal; When the first message format is consistent with the second message format, it is determined that the real satellite signal is credible.

9. A positioning device, characterized in that: The positioning device includes a memory and a processor, the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which implements the method according to any one of claims 1 to 8 when executed by a processor.

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