Positioning method and device of Beidou receiver and electronic equipment

Abstract

The invention discloses a positioning method and device of a Beidou receiver and electronic equipment. The method comprises the following steps: acquiring current receiving time and initial receiving position information of a Beidou receiver; pre-estimating based on the current receiving time to obtain pre-estimated signal transmitting time of the target satellite; performing calculation based on the estimated signal emission time and the pre-installed ephemeris to obtain initial emission position information of the target satellite; performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain corrected signal transmitting time; performing reconstruction based on the corrected signal emission time to obtain target signal emission time; and performing observation based on the target signal emission time to obtain target receiving position information of the Beidou receiver. By calculating the position of the target satellite, the estimated value of the emission time is determined, and the position information of the Beidou receiver is determined based on the reconstruction result of the emission time, so that the requirement of positioning precision is met while the rapid positioning of the Beidou receiver is realized.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation technology, and in particular to a positioning method, device and electronic equipment for a Beidou receiver. Background Art

[0002] Amidst the surge in technological advancement, there is an urgent need for high-precision positioning information and stable and reliable communication data transmission in numerous fields, including intelligent transportation, precision agriculture, emergency rescue, and military defense. As a crucial component of modern information technology, satellite navigation systems play a vital role worldwide and have transformed how people live and work.

[0003] During the transmission process between the satellite and the ground, electronic communication signals, due to their inherent characteristics, are inevitably subject to obstruction and other interference, resulting in signal interruption. In complex environments, such as urban areas with tall buildings and mountainous canyons, satellite signals are easily blocked and reflected, resulting in reduced positioning accuracy or even positioning failure. When obstruction or interference lasts for a long time, the receiver often needs a long time to reposition after the signal is restored, resulting in long positioning time and low accuracy. Therefore, a faster and more accurate Beidou receiver rapid positioning method is urgently needed. Summary of the Invention

[0004] In order to solve the problems of the prior art, the present application provides a Beidou receiver positioning method, device and electronic equipment. By using pre-installed ephemeris and local information of the Beidou receiver to infer the position of the target satellite, the estimated value of the launch time is determined, and then the launch time is reconstructed. The position information of the Beidou receiver is determined based on the reconstruction result. While achieving rapid positioning of the Beidou receiver, it also meets the requirements of positioning accuracy, expands the scope of use of the Beidou receiver under complex working conditions, and solves the problem of how to improve the efficiency of Beidou receiver positioning when there is interference in the Beidou receiver's receiving signal.

[0005] According to one aspect of the present application, a positioning method for a BeiDou receiver is provided, the method comprising:

[0006] Obtain the current receiving time and initial receiving position information of the Beidou receiver;

[0007] Estimating based on the current reception time to obtain an estimated signal transmission time of the target satellite;

[0008] Calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite;

[0009] Performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time;

[0010] When the corrected signal transmission time satisfies a preset convergence condition, reconstructing based on the corrected signal transmission time to obtain a target signal transmission time;

[0011] Observation is performed based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver.

[0012] In a possible implementation, the satellite type of the target satellite includes a first satellite type and a second satellite type, the first satellite type represents a satellite operating in a medium earth orbit, and the second satellite type represents a satellite not operating in a medium earth orbit;

[0013] The estimating based on the current reception time to obtain an estimated signal transmission time of the target satellite includes:

[0014] When the satellite type of the target satellite is a first satellite type, summing the current reception time and a first preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0015] When the satellite type of the target satellite is the second satellite type, summing the current reception time and the second preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0016] The first preset compensation time is shorter than the second preset compensation time.

[0017] In a possible implementation, the pre-installed ephemeris includes satellite orbit information of the target satellite.

[0018] The calculating based on the estimated signal transmission time and the pre-installed ephemeris to obtain the initial transmission position information of the target satellite includes:

[0019] The satellite orbit information of the target satellite is calculated based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

[0020] In one possible implementation, the performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmission time includes:

[0021] Performing calculation based on the initial receiving position information and the initial transmitting position information to obtain a predicted pseudorange;

[0022] Dividing the predicted pseudorange by the speed of light to obtain a predicted propagation time;

[0023] The current reception time is subtracted from the predicted propagation time to obtain the corrected signal transmission time.

[0024] In a possible implementation, the method further includes:

[0025] Calculating the difference between the corrected signal transmission time and the estimated signal transmission time;

[0026] When the difference is less than or equal to a preset threshold, determining that the correction signal transmission time satisfies the preset convergence condition;

[0027] When the difference is greater than a preset threshold, it is determined that the correction signal transmission time does not meet the preset convergence condition.

[0028] In a possible implementation, the method further includes:

[0029] If the corrected signal transmission time does not meet the preset convergence condition, re-using the corrected signal transmission time as the estimated signal transmission time;

[0030] Repeating the steps of calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; and performing correction processing based on the initial reception position information and the initial transmission position information to obtain a corrected signal transmission time;

[0031] Until the correction signal transmission time meets the preset convergence condition.

[0032] In a possible implementation, reconstructing based on the corrected signal transmission time to obtain the target signal transmission time includes:

[0033] Acquire the signal unit transmission time and transmission delay information of the target satellite;

[0034] Dividing the corrected signal transmission time by the signal unit transmission time to obtain a division result;

[0035] multiplying the division result by the signal unit transmission time to obtain a multiplication result;

[0036] The multiplication result is added to the transmission delay information to obtain the target signal transmission time.

[0037] In a possible implementation, the target satellite includes a plurality of preset satellites.

[0038] The observing based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver includes:

[0039] Get the target signal transmission time of each preset satellite;

[0040] Calculating based on the target signal transmission time of each preset satellite and the pre-installed ephemeris to obtain the transmission position information of each preset satellite;

[0041] Determining a pseudorange between the Beidou receiver and each preset satellite based on the transmission position information of each preset satellite and the initial receiving position information of the Beidou receiver;

[0042] Observation is performed based on the pseudorange corresponding to each preset satellite and the transmission position information of each preset satellite to obtain clock difference information, unit time ambiguity information and the target receiving position information of the Beidou receiver.

[0043] In another aspect, a positioning device for a BeiDou receiver is provided, the device comprising:

[0044] An initial information acquisition module is used to obtain the current receiving time and initial receiving position information of the Beidou receiver;

[0045] A signal transmission time estimation module is used to estimate the signal transmission time of the target satellite based on the current reception time;

[0046] A calculation module, configured to calculate based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite;

[0047] A correction processing module, configured to perform correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time;

[0048] A reconstruction module, configured to reconstruct the target signal transmission time based on the corrected signal transmission time when the corrected signal transmission time satisfies a preset convergence condition;

[0049] The observation module is used to observe based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver.

[0050] In a possible implementation, the satellite type of the target satellite includes a first satellite type and a second satellite type, the first satellite type represents a satellite operating in a medium earth orbit, and the second satellite type represents a satellite not operating in a medium earth orbit;

[0051] The signal transmission time estimation module is used to:

[0052] When the satellite type of the target satellite is a first satellite type, summing the current reception time and a first preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0053] When the satellite type of the target satellite is the second satellite type, summing the current reception time and the second preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0054] The first preset compensation time is shorter than the second preset compensation time.

[0055] In a possible implementation, the pre-installed ephemeris includes satellite orbit information of the target satellite, and the calculation module is configured to:

[0056] The satellite orbit information of the target satellite is calculated based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

[0057] In a possible implementation, the correction processing module is configured to:

[0058] Performing calculation based on the initial receiving position information and the initial transmitting position information to obtain a predicted pseudorange;

[0059] Dividing the predicted pseudorange by the speed of light to obtain a predicted propagation time;

[0060] The current reception time is subtracted from the predicted propagation time to obtain the corrected signal transmission time.

[0061] In a possible implementation, the apparatus further includes a convergence analysis module, which is configured to:

[0062] Calculating the difference between the corrected signal transmission time and the estimated signal transmission time;

[0063] When the difference is less than or equal to a preset threshold, determining that the correction signal transmission time satisfies the preset convergence condition;

[0064] When the difference is greater than a preset threshold, it is determined that the correction signal transmission time does not meet the preset convergence condition.

[0065] In a possible implementation, the apparatus further includes an updating module, wherein the updating module is configured to:

[0066] If the corrected signal transmission time does not meet the preset convergence condition, re-using the corrected signal transmission time as the estimated signal transmission time;

[0067] Repeating the steps of calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; and performing correction processing based on the initial reception position information and the initial transmission position information to obtain a corrected signal transmission time;

[0068] Until the correction signal transmission time meets the preset convergence condition.

[0069] In a possible implementation, the reconstruction module is used to:

[0070] Acquire the signal unit transmission time and transmission delay information of the target satellite;

[0071] Dividing the corrected signal transmission time by the signal unit transmission time to obtain a division result;

[0072] multiplying the division result by the signal unit transmission time to obtain a multiplication result;

[0073] The multiplication result is added to the transmission delay information to obtain the target signal transmission time.

[0074] In a possible implementation, the target satellite includes a plurality of preset satellites, and the observation module is configured to:

[0075] Get the target signal transmission time of each preset satellite;

[0076] Calculating based on the target signal transmission time of each preset satellite and the pre-installed ephemeris to obtain the transmission position information of each preset satellite;

[0077] Determining a pseudorange between the Beidou receiver and each preset satellite based on the transmission position information of each preset satellite and the initial receiving position information of the Beidou receiver;

[0078] Observation is performed based on the pseudorange corresponding to each preset satellite and the transmission position information of each preset satellite to obtain clock difference information, unit time ambiguity information and the target receiving position information of the Beidou receiver.

[0079] On the other hand, an electronic device is provided, including a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the positioning method of the Beidou receiver in any of the above aspects.

[0080] On the other hand, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored. The at least one instruction or the at least one program is loaded and executed by a processor to implement a positioning method for a Beidou receiver as described in any of the above aspects.

[0081] In another aspect, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the positioning method for a Beidou receiver according to any of the above aspects.

[0082] The embodiment of the present application obtains the current receiving time and initial receiving position information of the Beidou receiver; estimates based on the current receiving time to obtain the estimated signal transmission time of the target satellite; calculates based on the estimated signal transmission time and pre-installed ephemeris to obtain the initial transmission position information of the target satellite; performs correction processing based on the initial receiving position information and the initial transmission position information to obtain the corrected signal transmission time; reconstructs based on the corrected signal transmission time to obtain the target signal transmission time when the corrected signal transmission time meets the preset convergence condition; and observes based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver. By using the pre-installed ephemeris and the local information of the Beidou receiver to calculate the position of the target satellite, the estimated value of the transmission time is determined, and then the transmission time is reconstructed and the position information of the Beidou receiver is determined based on the reconstruction result. While achieving rapid positioning of the Beidou receiver, it also meets the positioning accuracy requirements, expands the scope of use of the Beidou receiver in complex working conditions, improves the efficiency of Beidou receiver positioning, and improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0084] Figure 1 This is a flowchart of a Beidou receiver positioning method provided by an embodiment of the present application;

[0085] Figure 2 This is a structural block diagram of a positioning device for a Beidou receiver provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0087] As a vital component of modern information technology, satellite navigation systems are profoundly changing people's lives and production worldwide. In today's wave of technological advancement, there is an urgent need for high-precision positioning information and stable and reliable communication data transmission in numerous fields, including intelligent transportation, precision agriculture, emergency rescue, and military defense.

[0088] However, due to the characteristics of electronic communication signals, they are inevitably blocked during the transmission between the satellite and the ground, resulting in signal interruption. In complex environments, such as urban areas with tall buildings, mountainous canyons and other terrains, satellite signals are easily blocked, reflected and other interference, resulting in reduced positioning accuracy or even positioning failure. When the blockage or interference lasts for a long time, the receiver often needs a long time to perform frame synchronization, positioning and other processes after the signal is restored. This is unacceptable for users who urgently need positioning information, especially when autonomous driving vehicles face emergencies and need to avoid obstacles immediately. Slow positioning feedback will bring great safety risks. Existing technologies often cannot quickly achieve positioning after the signal is restored and the positioning accuracy is not high.

[0089] The embodiments of the present application provide a positioning method for a BeiDou receiver, which is the core device for realizing the positioning, navigation, and timing functions of the BeiDou satellite navigation system. By accurately measuring the time difference of satellite signals and calculating the user position in combination with navigation messages, and integrating anti-interference technology, a high-precision and high-reliability positioning service is achieved. Figure 1 The positioning method of the Beidou receiver includes steps S101 to S1011.

[0090] In step S101, the current receiving time and initial receiving position information of the Beidou receiver are obtained.

[0091] In a possible implementation, the Beidou receiver is used to receive and process Beidou Satellite Navigation System (BDS) signals.

[0092] In a possible implementation, the current receiving time of the Beidou receiver is the local time of the Beidou receiver.

[0093] In a possible implementation, the initial reception position information represents the result of the most recent positioning of the Beidou receiver from the current reception time.

[0094] In a possible implementation, the initial received position information may also be the position information before the Beidou receiver loses the signal.

[0095] In a possible implementation, the target satellite is a satellite that sends a satellite signal to the Beidou receiver, and there may be multiple target satellites.

[0096] In step S103, an estimation is performed based on the current reception time to obtain an estimated signal transmission time of the target satellite.

[0097] In a possible implementation, the satellite type of the target satellite includes a first satellite type and a second satellite type, wherein the first satellite type represents a satellite operating in a medium earth orbit, and the second satellite type represents a satellite not operating in a medium earth orbit.

[0098] The estimating based on the current reception time to obtain an estimated signal transmission time of the target satellite includes:

[0099] When the satellite type of the target satellite is a first satellite type, summing the current reception time and a first preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0100] When the satellite type of the target satellite is the second satellite type, summing the current reception time and the second preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0101] The first preset compensation time is shorter than the second preset compensation time.

[0102] In a possible implementation manner, the satellite type of the target satellite includes the first satellite type and the second satellite type.

[0103] In one possible implementation, the first satellite type represents a satellite operating in a medium-Earth orbit, namely a MEO satellite (Medium-Earth Orbit Satellite), which is one of the core components of the Beidou satellite navigation system. It operates in a medium and low-Earth orbit (at an altitude of approximately 21,500 kilometers), has global coverage capabilities, and is mainly used to provide high-precision positioning, navigation and timing services.

[0104] In one possible implementation, the second satellite type represents satellites that do not operate in medium earth orbit, i.e., non-MEO satellites, including geostationary orbit satellites (GEO) and inclined geosynchronous orbit satellites (IGSO), which together with MEO satellites constitute the space segment of the BeiDou satellite navigation system. Specifically, geostationary orbit satellites (GEO satellites) operate in a high-altitude orbit about 35,786 kilometers from the earth's equator, synchronized with the earth's rotation (operating cycle 24 hours), and are always fixed at a certain longitude position above the equator. Geostationary orbit satellites (GEO satellites) undertake the key tasks of regional signal enhancement, short message communication and real-time timing in the BeiDou system. Their fixed position and high-stability signals provide reliable support for navigation and communication in complex environments, and are especially irreplaceable in emergency scenarios. Their coverage limitations and ionospheric delay problems need to be solved through cooperation with MEO. Collaborative solution of O and IGSO satellites; Inclined geosynchronous orbit satellite (IGSO) is one of the components of the BeiDou satellite navigation system, operating in a synchronous orbit with an inclination of 55° to the Earth's equatorial plane (at an altitude of about 35,786 kilometers), with an operation cycle of 24 hours. Its design combines the stability of geostationary orbit (GEO) with the flexibility of inclined orbit. It is mainly used to enhance regional navigation coverage, support inter-satellite link communication, and make up for the signal blind spots of MEO satellites in high latitudes; through the joint observation of multiple MEO satellites, the positioning accuracy can be significantly improved.

[0105] In a possible implementation, when the satellite type of the target satellite is the first satellite type, the first preset compensation time is determined to be 0.075s, and the estimated signal transmission time of the target satellite is:

[0106] T trans_time =T recv_time +0.075

[0107] in,

[0108] T trans_time is the estimated signal transmission time,

[0109] T recv_time is the current receiving time.

[0110] In a possible implementation, when the satellite type of the target satellite is the second satellite type, the first preset compensation time is determined to be 0.127 s, and the estimated signal transmission time of the target satellite is:

[0111] T trans_time =T recv_time +0.127

[0112] in,

[0113] T trans_time is the estimated signal transmission time,

[0114] T recv_time is the current receiving time.

[0115] In this implementation, the compensation time is determined based on different types of satellites, the current receiving time is estimated, and the estimated signal transmission time of the target satellite is obtained, thereby improving the accuracy of the estimated signal transmission time of the target satellite.

[0116] In step S105, the initial launch position information of the target satellite is obtained by calculation based on the estimated signal launch time and the pre-installed ephemeris.

[0117] In a possible implementation, the pre-installed ephemeris includes satellite orbit information of the target satellite.

[0118] The calculating based on the estimated signal transmission time and the pre-installed ephemeris to obtain the initial transmission position information of the target satellite includes:

[0119] The satellite orbit information of the target satellite is calculated based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

[0120] In one possible implementation, the pre-installed ephemeris is used to store the orbital parameters and time information of the satellite. The pre-installed ephemeris is pre-loaded when the Beidou receiver is initialized, helping the Beidou receiver to quickly lock onto the satellite signal and calculate the position without relying on real-time downloaded ephemeris data. Specifically, the pre-installed ephemeris is obtained through satellite broadcast, ground station distribution or factory pre-set equipment. Satellite broadcast means that the Beidou receiver obtains real-time ephemeris by capturing the navigation message in the satellite signal. Ground station distribution means that it is downloaded from official or third-party platforms through channels such as the Internet and USB flash drives. Factory pre-set equipment means that the manufacturer has embedded the latest ephemeris data when producing the Beidou receiver.

[0121] In one possible implementation, the pre-installed ephemeris can be updated through automatic and manual updates to improve its accuracy. Specifically, automatic updates involve the Beidou receiver automatically downloading new ephemeris at a preset interval (e.g., once a day) after connecting to the network, while manual updates involve the user manually importing new ephemeris files through software or an interface.

[0122] In a possible implementation, the pre-installed ephemeris includes satellite orbit information of the target satellite, and the satellite orbit information includes orbit parameters and time information. Based on the pre-installed ephemeris, the position of the target satellite at a certain time point can be quickly queried.

[0123] In a possible implementation, the pre-installed ephemeris is queried based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

[0124] In this implementation, the initial launch position information of the target satellite is obtained based on the estimated signal transmission time and the pre-installed ephemeris, and the initial launch position information of the target satellite is quickly located, thereby improving the convenience and reliability of repositioning.

[0125] In step S107, correction processing is performed based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time.

[0126] In one possible implementation, the performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmission time includes:

[0127] Performing calculation based on the initial receiving position information and the initial transmitting position information to obtain a predicted pseudorange;

[0128] Dividing the predicted pseudorange by the speed of light to obtain a predicted propagation time;

[0129] The current reception time is subtracted from the predicted propagation time to obtain the corrected signal transmission time.

[0130] In a possible implementation, a predicted pseudorange between the BeiDou receiver and the target satellite is calculated based on the initial reception position information and the initial transmission position information:

[0131]

[0132] in,

[0133] U user (init) is the initial receiving position information,

[0134] is the initial transmission position information,

[0135] is the predicted pseudorange.

[0136] In one possible implementation, the predicted propagation time is calculated as follows:

[0137]

[0138] in,

[0139] is the predicted pseudorange,

[0140] c is the speed of light,

[0141] T travel_time is the predicted propagation time.

[0142] In one possible implementation, the correction signal transmission time is calculated as follows:

[0143] T trans_ ti me (new) = T recv_time -T trave l _ ti me

[0144] in,

[0145] T trans_time (new) is the correction signal emission time,

[0146] T travel_time is the predicted propagation time,

[0147] T recv_time is the current receiving time.

[0148] In this implementation, correction processing is performed based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmission time, and a convergence judgment is performed on the corrected signal transmission time, thereby ensuring the accuracy of the determination of the signal transmission time.

[0149] In a possible implementation, the method further includes:

[0150] Calculating the difference between the corrected signal transmission time and the estimated signal transmission time;

[0151] When the difference is less than or equal to a preset threshold, determining that the correction signal transmission time satisfies the preset convergence condition;

[0152] When the difference is greater than the preset threshold, it is determined that the correction signal transmission time does not meet the preset convergence condition.

[0153] In a possible implementation, the method further includes:

[0154] If the corrected signal transmission time does not meet the preset convergence condition, re-using the corrected signal transmission time as the estimated signal transmission time;

[0155] Repeating the steps of calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; and performing correction processing based on the initial reception position information and the initial transmission position information to obtain a corrected signal transmission time;

[0156] Until the correction signal transmission time meets the preset convergence condition.

[0157] In one possible implementation, the difference between the corrected signal transmission time and the estimated signal transmission time is calculated as follows:

[0158] dt=|T trans_time (new)-T trans_time |

[0159] in,

[0160] dt is the difference between the corrected signal transmission time and the estimated signal transmission time,

[0161] T trans_time (new) is the correction signal emission time,

[0162] T trans_time is the estimated signal transmission time.

[0163] In one possible implementation, when the difference is greater than a preset threshold, it is determined that the time interval between the corrected signal transmission time and the estimated signal transmission time does not meet the preset convergence condition, the corrected signal transmission time is re-used as the estimated signal transmission time, and the initial transmission position information of the target satellite is obtained based on the re-obtained estimated signal transmission time and the pre-installed ephemeris. Correction processing is performed based on the initial received position information and the initial transmission position information to obtain the corrected signal transmission time for this update.

[0164] In a possible implementation, when the time interval between two calculated corrected signal transmission times is less than or equal to a preset threshold, it is determined that the calculated corrected signal transmission time satisfies the preset convergence condition.

[0165] In a possible implementation, determining whether the correction signal transmission time satisfies the preset convergence condition is:

[0166] dt=|T trans_time (new)-T trans_time |≤1e -8

[0167] dt is the difference between the corrected signal transmission time and the estimated signal transmission time,

[0168] T trans_time (new) is the correction signal emission time,

[0169] T trans_time is the estimated signal transmission time,

[0170] 1e -8 is the preset threshold.

[0171] In this implementation, when the corrected signal transmission time does not meet the preset convergence condition, the signal transmission time is obtained through repeated corrections, thereby ensuring the accuracy of the signal transmission time and further improving the positioning accuracy of the Beidou receiver.

[0172] In step S109 , when the corrected signal transmission time satisfies a preset convergence condition, reconstruction is performed based on the corrected signal transmission time to obtain a target signal transmission time.

[0173] In a possible implementation, reconstructing based on the corrected signal transmission time to obtain the target signal transmission time includes:

[0174] Acquire the signal unit transmission time and transmission delay information of the target satellite;

[0175] Dividing the corrected signal transmission time by the signal unit transmission time to obtain a division result;

[0176] multiplying the division result by the signal unit transmission time to obtain a multiplication result;

[0177] The multiplication result is added to the transmission delay information to obtain the target signal transmission time.

[0178] In one possible implementation, the corrected signal transmission time that meets the preset convergence conditions is reconstructed. Any time ambiguity exceeding a full message bit is replaced with a time ambiguity of full bit length. Any time ambiguity less than a full message bit is determined using ms_cnt and code phase. Therefore, this ambiguity needs to be solved as an unknown when solving the equation. Compared to traditional four-satellite positioning, an additional satellite is required to achieve time-free positioning. Specifically, ms_cnt represents the time difference of the received signal relative to a certain point in time, and code phase determines the time delay of signal propagation.

[0179] In a possible implementation, the target signal transmission time is determined as follows:

[0180] T trans _ time (final)

[0181] =(T trans_time (new) / flex_time)*flex_time+m_code_pase

[0182] in,

[0183] T trans_time (final) is the target signal transmission time,

[0184] T trans_time (new) is the correction signal emission time,

[0185] flex_time is the length of the message bit in milliseconds corresponding to the signal frequency.

[0186] m_code_p ase is the code phase.

[0187] In one possible implementation, flex_time is the millisecond length of the message bit corresponding to the signal frequency, that is, the number of milliseconds required to transmit each bit corresponding to the signal frequency, which can be obtained through query. Specifically, the flex_time corresponding to the D1 navigation message of B1I\B3I is 20ms, and the flex_time corresponding to the D2 navigation message is 2ms. B1I\B3I are the navigation signal frequency bands in the Beidou Satellite Navigation System (BDS), corresponding to the improved B1 frequency band (B1I) and the B3 frequency band (B3I), respectively. They significantly improve positioning accuracy, anti-interference capability, and system reliability through multi-band collaboration. D1 navigation message or D2 navigation message refers to a specific transmission protocol or data format in the Beidou system.

[0188] In this implementation, reconstruction is performed based on the corrected signal transmission time to obtain the target signal transmission time. By quickly correcting the signal propagation delay, the positioning error caused by the influence of the atmospheric environment is reduced, thereby improving the positioning accuracy.

[0189] In step S1011, observation is performed based on the target signal transmission time to obtain target receiving position information of the Beidou receiver.

[0190] In a possible implementation, the target satellite includes a plurality of preset satellites.

[0191] The observing based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver includes:

[0192] Get the target signal transmission time of each preset satellite;

[0193] Calculating based on the target signal transmission time of each preset satellite and the pre-installed ephemeris to obtain the transmission position information of each preset satellite;

[0194] Determining a pseudorange between the Beidou receiver and each preset satellite based on the transmission position information of each preset satellite and the initial receiving position information of the Beidou receiver;

[0195] Observation is performed based on the pseudorange corresponding to each preset satellite and the transmission position information of each preset satellite to obtain clock difference information, unit time ambiguity information and the target receiving position information of the Beidou receiver.

[0196] In one possible implementation, the clock difference information is a clock error, which is an inherent error source in a satellite navigation system. The influence of the clock error can be effectively suppressed through multi-band observation, inter-satellite link synchronization and high-precision algorithms.

[0197] In a possible implementation, the unit time ambiguity information is the ambiguity of an entire bit length of time.

[0198] In one possible implementation, a common time unknown is set to represent the ambiguity δt of the entire bit length time flex , the corrected pseudorange observation equation is as follows:

[0199]

[0200] in,

[0201] x, y, z are the target receiving position information of the BeiDou receiver,

[0202] x i 、y i 、z i is the launch position information of the i-th preset satellite,

[0203] δt u For the clock error,

[0204] δt flex is the ambiguity of the entire bit length time,

[0205] is the pseudorange between the BeiDou receiver and the i-th preset satellite.

[0206] In a possible implementation, the plurality of preset satellites are five preset satellites, and observations are performed based on the target signal transmission time to obtain a five-variable nonlinear equation system:

[0207]

[0208] in,

[0209] x, y, z are the target receiving position information of the BeiDou receiver,

[0210] x N 、y N 、z N The launch position information of the Nth preset satellite,

[0211] δt u For the clock error,

[0212] δt flex is the ambiguity of the entire bit length time,

[0213] is the pseudorange between the BeiDou receiver and the i-th preset satellite.

[0214] In one possible implementation, this five-variable nonlinear equation system is solved to obtain the BeiDou receiver's target receiving position information, clock error, and ambiguity over the entire bit time period. Without requiring frame synchronization, rapid positioning is performed using only the intra-bit time observations and the receiver's approximate position and time. Based on the least squares method, a common time unknown is added to represent the ambiguity over the entire bit time period, increasing the number of unknowns in the positioning solution by one.

[0215] In this implementation, the target signal transmission time of multiple target satellites is observed to obtain the target receiving position information of the Beidou receiver, and correction is made by adding a common time unknown quantity to achieve rapid positioning without the need for frame synchronization.

[0216] The above-mentioned embodiment of the present application has the following beneficial effects: the embodiment of the present application obtains the current receiving time and initial receiving position information of the Beidou receiver; estimates based on the current receiving time to obtain the estimated signal transmission time of the target satellite; calculates based on the estimated signal transmission time and pre-installed ephemeris to obtain the initial transmission position information of the target satellite; performs correction processing based on the initial receiving position information and the initial transmission position information to obtain the corrected signal transmission time; reconstructs based on the corrected signal transmission time to obtain the target signal transmission time when the corrected signal transmission time meets the preset convergence condition; and observes based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver. By using the pre-installed ephemeris and the local information of the Beidou receiver to calculate the position of the target satellite, determine the estimated value of the transmission time, and then reconstruct the transmission time, and determine the position information of the Beidou receiver based on the reconstruction result, the Beidou receiver can achieve rapid positioning while meeting the positioning accuracy requirements, expand the scope of use of the Beidou receiver in complex working conditions, improve the efficiency of Beidou receiver positioning, and improve the user experience.

[0217] Figure 2 The schematic diagram of the structure of a positioning device 200 for a BeiDou receiver provided in an embodiment of the present application is shown. The device has the function of implementing the positioning method of the BeiDou receiver in the above method embodiment. The function can be implemented by hardware or by hardware executing corresponding software. Figure 2 As shown, the device may include:

[0218] An initial information acquisition module 201 is configured to acquire the current receiving time and initial receiving position information of the BeiDou receiver;

[0219] A signal transmission time estimation module 202 is configured to estimate the signal transmission time of the target satellite based on the current reception time;

[0220] A calculation module 203 is configured to calculate, based on the estimated signal transmission time and pre-installed ephemeris, the initial transmission position information of the target satellite;

[0221] A correction processing module 204 is configured to perform correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time;

[0222] A reconstruction module 205 is configured to reconstruct the target signal transmission time based on the corrected signal transmission time when the corrected signal transmission time satisfies a preset convergence condition;

[0223] The observation module 206 is used to observe based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver.

[0224] In a possible implementation, the satellite type of the target satellite includes a first satellite type and a second satellite type, the first satellite type represents a satellite operating in a medium earth orbit, and the second satellite type represents a satellite not operating in a medium earth orbit;

[0225] The signal transmission time estimation module 202 is used to:

[0226] When the satellite type of the target satellite is a first satellite type, summing the current reception time and a first preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0227] When the satellite type of the target satellite is the second satellite type, summing the current reception time and the second preset compensation time to obtain an estimated signal transmission time of the target satellite;

[0228] The first preset compensation time is shorter than the second preset compensation time.

[0229] In a possible implementation, the pre-installed ephemeris includes satellite orbit information of the target satellite, and the calculation module 203 is configured to:

[0230] The satellite orbit information of the target satellite is calculated based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

[0231] In a possible implementation, the correction processing module 204 is configured to:

[0232] Performing calculation based on the initial receiving position information and the initial transmitting position information to obtain a predicted pseudorange;

[0233] Dividing the predicted pseudorange by the speed of light to obtain a predicted propagation time;

[0234] The current reception time is subtracted from the predicted propagation time to obtain the corrected signal transmission time.

[0235] In a possible implementation, the apparatus further includes a convergence analysis module 207, and the convergence analysis module 207 is configured to:

[0236] Calculating the difference between the corrected signal transmission time and the estimated signal transmission time;

[0237] When the difference is less than or equal to a preset threshold, determining that the correction signal transmission time satisfies the preset convergence condition;

[0238] When the difference is greater than a preset threshold, it is determined that the correction signal transmission time does not meet the preset convergence condition.

[0239] In a possible implementation, the apparatus further includes an updating module 208, wherein the updating module 208 is configured to:

[0240] If the corrected signal transmission time does not meet the preset convergence condition, re-using the corrected signal transmission time as the estimated signal transmission time;

[0241] Repeating the steps of calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; and performing correction processing based on the initial reception position information and the initial transmission position information to obtain a corrected signal transmission time;

[0242] Until the correction signal transmission time meets the preset convergence condition.

[0243] In a possible implementation, the reconstruction module 205 is configured to:

[0244] Acquire the signal unit transmission time and transmission delay information of the target satellite;

[0245] Dividing the corrected signal transmission time by the signal unit transmission time to obtain a division result;

[0246] multiplying the division result by the signal unit transmission time to obtain a multiplication result;

[0247] The multiplication result is added to the transmission delay information to obtain the target signal transmission time.

[0248] In a possible implementation, the target satellite includes a plurality of preset satellites, and the observation module 206 is configured to:

[0249] Get the target signal transmission time of each preset satellite;

[0250] Calculating based on the target signal transmission time of each preset satellite and the pre-installed ephemeris to obtain the transmission position information of each preset satellite;

[0251] Determining a pseudorange between the Beidou receiver and each preset satellite based on the transmission position information of each preset satellite and the initial receiving position information of the Beidou receiver;

[0252] Observation is performed based on the pseudorange corresponding to each preset satellite and the transmission position information of each preset satellite to obtain clock difference information, unit time ambiguity information and the target receiving position information of the Beidou receiver.

[0253] It should be noted that the apparatus provided in the above embodiments, when implementing its functions, is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0254] An embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement any one of the Beidou receiver positioning methods provided in the above method embodiments.

[0255] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store the operating system, application programs required for the functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0256] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to implementing a positioning method for a Beidou receiver. The at least one instruction or the at least one program is loaded and executed by the processor to implement any one of the positioning methods for a Beidou receiver provided in the above method embodiments.

[0257] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store program codes.

[0258] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0259] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences from other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0260] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0261] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A positioning method for a Beidou receiver, characterized in that: The method comprises: Obtain the current receiving time and initial receiving position information of the Beidou receiver; Estimating based on the current reception time to obtain an estimated signal transmission time of the target satellite; Calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; Performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time; When the corrected signal transmission time satisfies a preset convergence condition, reconstructing based on the corrected signal transmission time to obtain a target signal transmission time; Observation is performed based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver.

2. The BeiDou receiver positioning method according to claim 1, wherein: The satellite type of the target satellite includes a first satellite type and a second satellite type, wherein the first satellite type represents a satellite operating in a medium earth orbit, and the second satellite type represents a satellite not operating in a medium earth orbit; The estimating based on the current reception time to obtain an estimated signal transmission time of the target satellite includes: When the satellite type of the target satellite is a first satellite type, summing the current reception time and a first preset compensation time to obtain an estimated signal transmission time of the target satellite; When the satellite type of the target satellite is the second satellite type, summing the current reception time and the second preset compensation time to obtain an estimated signal transmission time of the target satellite; The first preset compensation time is shorter than the second preset compensation time.

3. The positioning method of the Beidou receiver according to claim 1, characterized in that: The pre-installed ephemeris includes satellite orbit information of the target satellite, The calculating based on the estimated signal transmission time and the pre-installed ephemeris to obtain the initial transmission position information of the target satellite includes: The satellite orbit information of the target satellite is calculated based on the estimated signal transmission time to obtain the initial transmission position information of the target satellite.

4. The positioning method of the Beidou receiver according to claim 1, characterized in that: The performing correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time includes: Performing calculation based on the initial receiving position information and the initial transmitting position information to obtain a predicted pseudorange; Dividing the predicted pseudorange by the speed of light to obtain a predicted propagation time; The current reception time is subtracted from the predicted propagation time to obtain the corrected signal transmission time.

5. The BeiDou receiver positioning method according to claim 1, wherein: The method further comprises: Calculating the difference between the corrected signal transmission time and the estimated signal transmission time; When the difference is less than or equal to a preset threshold, determining that the correction signal transmission time satisfies the preset convergence condition; When the difference is greater than a preset threshold, it is determined that the correction signal transmission time does not meet the preset convergence condition.

6. The BeiDou receiver positioning method according to claim 5, characterized in that: The method further comprises: If the corrected signal transmission time does not meet the preset convergence condition, re-using the corrected signal transmission time as the estimated signal transmission time; Repeating the steps of calculating based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; and performing correction processing based on the initial reception position information and the initial transmission position information to obtain a corrected signal transmission time; Until the correction signal transmission time meets the preset convergence condition.

7. The BeiDou receiver positioning method according to claim 1, wherein: The reconstructing based on the corrected signal transmission time to obtain the target signal transmission time includes: Acquire the signal unit transmission time and transmission delay information of the target satellite; Dividing the corrected signal transmission time by the signal unit transmission time to obtain a division result; multiplying the division result by the signal unit transmission time to obtain a multiplication result; The multiplication result is added to the transmission delay information to obtain the target signal transmission time.

8. The BeiDou receiver positioning method according to claim 1, wherein: The target satellite includes a plurality of preset satellites. The observing based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver includes: Get the target signal transmission time of each preset satellite; Calculating based on the target signal transmission time of each preset satellite and the pre-installed ephemeris to obtain the transmission position information of each preset satellite; Determining a pseudorange between the Beidou receiver and each preset satellite based on the transmission position information of each preset satellite and the initial receiving position information of the Beidou receiver; Observation is performed based on the pseudorange corresponding to each preset satellite and the transmission position information of each preset satellite to obtain clock difference information, unit time ambiguity information and the target receiving position information of the Beidou receiver.

9. A positioning device for a Beidou receiver, characterized in that: The device comprises: An initial information acquisition module is used to obtain the current receiving time and initial receiving position information of the Beidou receiver; A signal transmission time estimation module is used to estimate the signal transmission time of the target satellite based on the current reception time; A calculation module, configured to calculate based on the estimated signal transmission time and pre-installed ephemeris to obtain initial transmission position information of the target satellite; A correction processing module, configured to perform correction processing based on the initial receiving position information and the initial transmitting position information to obtain a corrected signal transmitting time; A reconstruction module, configured to reconstruct the target signal transmission time based on the corrected signal transmission time when the corrected signal transmission time satisfies a preset convergence condition; The observation module is used to observe based on the target signal transmission time to obtain the target receiving position information of the Beidou receiver.

10. An electronic device, characterized in that: It includes a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the positioning method of the Beidou receiver according to any one of claims 1 to 8.

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