Doppler positioning solving method and device based on chip platform

Abstract

The invention belongs to the technical field of Doppler positioning, and relates to a Doppler positioning solving method and device based on a chip platform. The method comprises the following steps: acquiring satellite ephemeris data and satellite broadcast radio signals, and establishing a Doppler positioning equation; converting the Doppler positioning equation into polynomials on a rational number domain, and obtaining a polynomial equation set formed by a plurality of polynomials; obtaining a plurality of solutions of the unary high-degree polynomial according to the coefficient of the unary high-degree polynomial in the polynomial equation set; according to the multiple solutions of the unary high-order polynomial, backtracking is carried out, and multiple sets of initial solutions of the Doppler positioning equation are obtained; substituting each group of initial solutions into an observation equation of a satellite to obtain Doppler residual errors corresponding to each group of initial solutions; and taking the initial solution corresponding to the minimum Doppler residual error as an initial value, carrying out iterative solution on the Doppler positioning equation to obtain a final solution of the Doppler positioning equation, and taking the final solution as a Doppler positioning result. According to the invention, accurate Doppler positioning can be carried out.

Description

Technical Field

[0001] The present application relates to the field of Doppler positioning technology, and in particular to a Doppler positioning solution method and device based on a chip platform. Background Art

[0002] In recent years, with the large-scale formation of low-orbit satellite constellations, Doppler positioning has become practical.

[0003] Compared to traditional GNSS satellites, low-Earth orbit satellites have shorter orbital periods and faster motion. Their Doppler observations have a wider range of variation within the satellite's visible time, making them suitable for positioning. Compared to pseudorange positioning, Doppler positioning can utilize continuous observation data from a single satellite over a period of time. This provides a certain level of positioning accuracy even when fewer satellites are visible. Furthermore, it can serve as a supplement to receiver positioning methods, and as a result, is attracting increasing research.

[0004] In the prior art, the Doppler positioning equation of the Doppler positioning method is a nonlinear equation, and it is generally recommended to use an iterative method to solve it.

[0005] However, existing iterative methods have the following disadvantages: 1) The iterative calculation of GNSS satellite positioning uses the center of the Earth as the initial position. Since the orbital altitude of low-orbit satellites is between 500 and 2000 kilometers, the iterative calculation may not converge; 2) According to the simulation results, the initial value of the iteration and the true value of the receiver position need to be within the kilometer range. Using the grid division method, the traversal calculation will greatly increase the computational complexity; 3) The method of searching by satellite projection points on the ground requires the condition of observing multiple satellites. Summary of the Invention

[0006] Based on this, it is necessary to provide a Doppler positioning solution method and device based on a chip platform to address the above technical problems, which can perform accurate Doppler positioning.

[0007] A Doppler positioning solution method based on a chip platform, comprising: Obtain satellite ephemeris data and satellite broadcast radio signals to obtain the satellite's position, velocity, and Doppler value, and establish the Doppler positioning equation; The Doppler positioning equation is converted into a polynomial in the field of rational numbers, and the Gröbner basis is calculated to obtain a polynomial equation system consisting of multiple polynomials. According to the coefficients of the univariate high-order polynomials in the polynomial equation group, multiple solutions of the univariate high-order polynomials are obtained; according to the multiple solutions of the univariate high-order polynomials, multiple groups of initial solutions of the Doppler positioning equation are obtained by backtracking; Each set of initial solutions is substituted into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; the initial solution corresponding to the minimum Doppler residual is used as the initial value, the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation; the final solution of the Doppler positioning equation is used as the Doppler positioning result.

[0008] In one embodiment, multiple solutions of the univariate high-order polynomial are obtained based on the coefficients of the univariate high-order polynomial in the polynomial equation system, including: According to the coefficients of the univariate high-order polynomial in the polynomial equation system, a Frobenius matrix is ​​constructed; the eigenvalues ​​of the Frobenius matrix are solved to obtain multiple solutions of the univariate high-order polynomial.

[0009] In one embodiment, the eigenvalues ​​of the Frobenius matrix are solved to obtain multiple solutions of a univariate high-degree polynomial, including: The QR decomposition method is used to solve the eigenvalues ​​of the Frobenius matrix and obtain multiple solutions of univariate high-degree polynomials.

[0010] In one embodiment, backtracking is performed based on multiple solutions of a univariate high-order polynomial to obtain multiple groups of initial solutions to the Doppler positioning equation, including: Substituting the first solution of the univariate high-order polynomial into the bivariate high-order polynomial to obtain the first solution of the bivariate high-order polynomial, until each polynomial in the polynomial equation group is traversed to obtain the first set of initial solutions of the Doppler positioning equation; Substituting the second solution of the univariate high-order polynomial into the bivariate high-order polynomial, a second set of initial solutions of the Doppler positioning equation is obtained, until each solution of the univariate high-order polynomial is traversed, and multiple sets of initial solutions of the Doppler positioning equation are obtained.

[0011] In one embodiment, satellite ephemeris data and satellite broadcast radio signals are obtained to obtain the satellite's position, velocity, and Doppler value, and to establish a Doppler positioning equation, including: Based on the chip platform, obtain satellite ephemeris data and calculate the satellite position and speed based on the satellite ephemeris data; Based on the chip platform, the satellite broadcast radio signal is obtained and processed to measure the satellite's Doppler value; The Doppler positioning equation is established based on the satellite's position, speed and Doppler value.

[0012] In one embodiment, based on a chip platform, obtaining a satellite-broadcast radio signal, processing the satellite-broadcast radio signal, and measuring a Doppler value of the satellite include: Based on the chip platform, the satellite broadcast radio signal is obtained and processed, and the Doppler values ​​of the satellite at multiple observation moments evenly spaced over a period of time are selected as the Doppler values ​​of the satellite.

[0013] In one embodiment, a Doppler positioning equation is established based on the position, velocity, and Doppler value of the satellite, including: ; Where, Indicates the wavelength of the satellite broadcast signal; Indicates receiver; superscript represents the sth satellite; represents the Doppler value between the receiver r and the sth satellite; represents the sth satellite velocity vector; represents the receiver r velocity vector; represents the sth satellite position vector; represents the receiver r position vector as an unknown parameter; represents the speed of light; represents the receiver r clock drift as an unknown parameter; represents the clock drift of the sth satellite; represents the noise error; Represents the inverse of the vector norm.

[0014] In one embodiment, the Doppler positioning equation is converted into a polynomial in the rational number field, and the Gröbner basis is calculated to obtain a polynomial equation system consisting of multiple polynomials, including: Convert the Doppler positioning equation into a polynomial over the field of rational numbers; According to the polynomials in the rational number field, the Buchberger algorithm is used to calculate the Gröbner basis of the polynomials and obtain a polynomial equation system consisting of multiple polynomials.

[0015] In one embodiment, the Doppler positioning equation is iteratively solved using the initial solution corresponding to the minimum Doppler residual as the initial value to obtain the final solution of the Doppler positioning equation, including: The initial solution corresponding to the minimum Doppler residual is used as the initial value, and the least square method is used to iteratively solve the Doppler positioning equations composed of the Doppler positioning equations at all observation times to obtain the final solution of the Doppler positioning equations.

[0016] A Doppler positioning solution device based on a chip platform, comprising: The first module is used to obtain satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity and Doppler value, and establish the Doppler positioning equation; The second module is used to convert the Doppler positioning equation into a polynomial in the rational number field and calculate the Gröbner basis to obtain a polynomial equation system consisting of multiple polynomials; The third module is used to obtain multiple solutions of the univariate high-order polynomial based on the coefficients of the univariate high-order polynomial in the polynomial equation group; and to perform backtracking based on the multiple solutions of the univariate high-order polynomial to obtain multiple groups of initial solutions of the Doppler positioning equation; The fourth module is used to substitute each set of initial solutions into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation; and the final solution of the Doppler positioning equation is used as the Doppler positioning result.

[0017] The above-mentioned Doppler positioning solution method and device based on the chip platform, according to the satellite ephemeris data, selects the observation values ​​at four moments to form a multivariate high-order polynomial equation system, then uses algebraic methods to find all the solutions, and then selects the solution that meets the actual scenario as the initial value of the iteration, and finally obtains the positioning result. Compared with the method of randomly removing a solution in the existing technology, the positioning accuracy is greatly improved. This application obtains and compares all solutions to the Doppler positioning equation, uses the algebraic solution of the polynomial equation as the initial value of the iteration, avoids the problem of iterative calculation failure to converge, accelerates the convergence process, improves accuracy, and achieves accurate positioning; at the same time, no grid division is required, avoiding the invalid calculations introduced by the existing method, and the total computational complexity of the equation solution elimination calculation (when ignoring the receiver clock drift variable, only 16 polynomials are calculated to form the Gröbner basis, the highest of which is 8th degree) and the calculation of the eigenvalues ​​of the 8*8 matrix are greatly reduced, which can accelerate convergence and accelerate the positioning solution process; in addition, the selected observation values ​​can come from a single satellite or a combination of multiple satellites, avoiding the condition of observing multiple satellites required by the existing method, thereby significantly reducing the amount of calculated data, shortening the calculation time and reducing the consumption of computing resources, further accelerating the positioning solution process, improving the efficiency and cost of positioning solution, and also having the advantages of low computational complexity and a wider range of applicable scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a Doppler positioning solution method based on a chip platform in one embodiment; Figure 2 This is a structural block diagram of a Doppler positioning solution device based on a chip platform in one embodiment; Figure 3 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining this application and are not intended to limit this application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in this application without creative work are within the scope of protection of this application.

[0020] In addition, the terms "first," "second," and so on, used in this application are for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "multiple groups" means at least two groups, such as two groups, three groups, and so on, unless otherwise specifically defined.

[0021] In this application, unless otherwise specified or limited, the terms "connect," "fix," etc. should be understood in a broad sense. For example, "fix" can mean a fixed connection, a detachable connection, or an integral connection; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean internal communication between two elements or an interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0022] In addition, the technical solutions between the various embodiments of the present application can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] This application provides a Doppler positioning solution method based on a chip platform, such as Figure 1 The flowchart shown, in one embodiment, includes: Step 101: Obtain satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity, and Doppler value, and establish a Doppler positioning equation.

[0024] Specifically: Based on the chip platform, satellite ephemeris data is obtained, and the satellite position and speed are calculated based on the satellite ephemeris data; based on the chip platform, the satellite broadcast radio signal is obtained, and the satellite broadcast radio signal is processed to measure the satellite's Doppler value; based on the satellite's position, speed and Doppler value, the Doppler positioning equation is established.

[0025] More specifically: Based on the chip platform, satellite ephemeris data is obtained, and the satellite position and velocity are calculated based on the satellite ephemeris data. Based on the chip platform, the satellite radio signal is obtained and processed, and the Doppler values ​​of multiple observation times evenly spaced over a period of time are selected as the satellite's Doppler value (for example, the Doppler values ​​of four observation times evenly spaced over 5 minutes are selected). Based on the satellite's position, velocity, and Doppler value, the Doppler positioning equation is established: ; Where, Indicates the wavelength of the satellite broadcast signal; Indicates receiver; superscript represents the sth satellite; represents the Doppler value between the receiver r and the sth satellite; represents the sth satellite velocity vector; represents the receiver r velocity vector; represents the sth satellite position vector; represents the receiver r position vector as an unknown parameter; represents the speed of light; represents the receiver r clock drift as an unknown parameter; represents the clock drift of the sth satellite; represents the noise error; Represents the inverse of the vector norm.

[0026] In the Doppler positioning equation, the unknown parameters are recorded as , respectively represent the receiver clock drift and the receiver coordinates in the Earth-centered Earth-fixed coordinate system.

[0027] In this step, the chip platform is used as a receiver to receive low-orbit satellite ephemeris data and satellite broadcast radio signals.

[0028] It should be noted that how to calculate the position and speed of a satellite based on satellite ephemeris data and how to process the radio signals broadcast by the satellite are both existing technologies and will not be described in detail here.

[0029] Step 102: Convert the Doppler positioning equation into a polynomial in the field of rational numbers, and calculate the Gröbner basis to obtain a polynomial equation system consisting of multiple polynomials.

[0030] Specifically: The Doppler positioning equation is converted into a polynomial in the rational number field Q. Based on the polynomial in the rational number field, the Buchberger algorithm is used to calculate the Gröbner basis of the polynomial to obtain a polynomial equation system consisting of multiple polynomials.

[0031] More specifically: Convert the Doppler positioning equation into a polynomial over the rational number field Q: ; Where, For the s The Doppler equation for each satellite i The coefficients are integer coefficients obtained by multiplying by several powers of 10 and then rounding them up, where i Take 0 to 20; According to the polynomials in the rational number field, the Buchberger algorithm is used to calculate the Gröbner basis of the polynomials and obtain a polynomial equation system consisting of multiple polynomials: ; Where, is the first polynomial, is the fourth polynomial, For the n - 3 polynomials, For the n -2 polynomials, For the n -1 polynomial, For the n polynomials; For the n -3 polynomials about The highest order ( m times) power term, for No. u coefficients; For the n -2 polynomials about The highest power term, for No. v coefficients; For the n -1 polynomial about The highest power term, for No. w coefficients; For the n polynomials about The highest power term, for No. m coefficients; u 、 v 、 w 、 m Not equal to each other.

[0032] In this step, elimination is performed in the process of obtaining the Gröbner basis, and the degree of a single variable is increased. For example: yes 's high-order polynomials; Contains only variables, and is a first-order term; Contains only variables, and is a first-order term; Include variables, and The above form is conducive to backtracking solution.

[0033] It should be noted that the Buchberger algorithm and how to use the Buchberger algorithm to calculate the Gröbner basis of a polynomial are both existing technologies and will not be described in detail here.

[0034] Step 103: obtaining multiple solutions of the univariate high-order polynomials according to the coefficients of the univariate high-order polynomials in the polynomial equation group; and performing backtracking according to the multiple solutions of the univariate high-order polynomials to obtain multiple groups of initial solutions of the Doppler positioning equation.

[0035] Specifically: According to the coefficients of the one-variable high-order polynomial in the polynomial equation system, the Frobenius matrix is ​​constructed; the eigenvalues ​​of the Frobenius matrix are solved by the QR decomposition method to obtain the one-variable high-order polynomial Multiple solutions of ; A high-degree polynomial Substitute the first solution of into the two variable high degree polynomial , get the first solution of the binary high-order polynomial, until each polynomial in the polynomial equation system is traversed, and the first set of initial solutions of the Doppler positioning equation is obtained; A high-degree polynomial Substitute the second solution of into the two variable high degree polynomial , and obtain the second set of initial solutions of the Doppler positioning equation, until each solution of the univariate high-order polynomial is traversed to obtain multiple sets of initial solutions of the Doppler positioning equation .

[0036] In this step, the roots of the univariate high-degree polynomial are the eigenvalues ​​of the Frobenius matrix.

[0037] It should be noted that how to construct a Frobenius matrix, the QR decomposition method, and how to use the QR decomposition method to solve the eigenvalues ​​of the Frobenius matrix are all existing technologies and will not be described in detail here.

[0038] Step 104: Substitute each set of initial solutions into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; use the initial solution corresponding to the minimum Doppler residual as the initial value, iteratively solve the Doppler positioning equation to obtain the final solution of the Doppler positioning equation; and use the final solution of the Doppler positioning equation as the Doppler positioning result.

[0039] Specifically: Each set of initial solutions is substituted into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; the initial solution corresponding to the minimum Doppler residual is used as the initial value, and the Doppler positioning equation group composed of the Doppler positioning equations at all observation times is iteratively solved using the least squares method to obtain the solution of the Doppler positioning equation group as the final solution of the Doppler positioning equation; the final solution of the Doppler positioning equation is used as the Doppler positioning result.

[0040] In this step, the satellite observation equation, how to obtain the Doppler residual, the least squares method, and how to use the least squares method to iteratively solve the Doppler positioning equation group at all observation times are all existing technologies and will not be repeated here.

[0041] The above-mentioned Doppler positioning solution method based on the chip platform, according to the satellite ephemeris data, selects the observation values ​​at four moments to form a multivariate high-order polynomial equation system, then uses algebraic methods to find all the solutions, and then selects the solution that meets the actual scenario as the initial value of the iteration, and finally obtains the positioning result. Compared with the method of randomly removing a solution in the existing technology, it greatly improves the positioning accuracy. This application obtains and compares all solutions to the Doppler positioning equation, uses the algebraic solution of the polynomial equation as the initial value of the iteration, avoids the problem of iterative calculation failure to converge, accelerates the convergence process, improves accuracy, and achieves accurate positioning; at the same time, no grid division is required, avoiding the invalid calculations introduced by the existing method, and the total computational complexity of the equation solution elimination calculation (when ignoring the receiver clock drift variable, only 16 polynomials are calculated to form the Gröbner basis, the highest of which is 8th degree) and the calculation of the eigenvalues ​​of the 8*8 matrix are greatly reduced, which can accelerate convergence and accelerate the positioning solution process; in addition, the selected observation values ​​can come from a single satellite or a combination of multiple satellites, avoiding the condition of observing multiple satellites required by the existing method, thereby significantly reducing the amount of calculated data, shortening the calculation time and reducing the consumption of computing resources, further accelerating the positioning solution process, improving the efficiency and cost of positioning solution, and also having the advantages of low computational complexity and a wider range of applicable scenarios.

[0042] It should be understood that although Figure 1The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0043] This application also provides a Doppler positioning solution device based on a chip platform, such as Figure 2 As shown, in one embodiment, it includes: a first module 201, a second module 202, a third module 203 and a fourth module 204, wherein: The first module is used to obtain satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity and Doppler value, and establish the Doppler positioning equation; The second module is used to convert the Doppler positioning equation into a polynomial in the rational number field and calculate the Gröbner basis to obtain a polynomial equation system consisting of multiple polynomials; The third module is used to obtain multiple solutions of the univariate high-order polynomial based on the coefficients of the univariate high-order polynomial in the polynomial equation group; and to perform backtracking based on the multiple solutions of the univariate high-order polynomial to obtain multiple groups of initial solutions of the Doppler positioning equation; The fourth module is used to substitute each set of initial solutions into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation; and the final solution of the Doppler positioning equation is used as the Doppler positioning result.

[0044] For the specific definition of a Doppler positioning solution device based on a chip platform, please refer to the definition of a Doppler positioning solution method based on a chip platform above, and will not be repeated here. Each module in the above device can be implemented in whole or in part by software, hardware, or a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each of the above modules.

[0045] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 3As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a Doppler positioning solution method based on a chip platform is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0046] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0047] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the method in the above embodiment when executing the computer program.

[0048] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method in the above embodiment are implemented.

[0049] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0050] The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0051] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0052] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A Doppler positioning solution method based on a chip platform, characterized in that: include: Obtain satellite ephemeris data and satellite broadcast radio signals to obtain the satellite's position, velocity, and Doppler value, and establish the Doppler positioning equation; The Doppler positioning equation is converted into a polynomial in the field of rational numbers, and the Gröbner basis is calculated to obtain a polynomial equation system consisting of multiple polynomials. According to the coefficients of the univariate high-order polynomials in the polynomial equation group, multiple solutions of the univariate high-order polynomials are obtained; according to the multiple solutions of the univariate high-order polynomials, multiple groups of initial solutions of the Doppler positioning equation are obtained by backtracking; Each set of initial solutions is substituted into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; the initial solution corresponding to the minimum Doppler residual is used as the initial value, the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation; the final solution of the Doppler positioning equation is used as the Doppler positioning result.

2. The Doppler positioning solution method based on a chip platform according to claim 1, characterized in that: According to the coefficients of the one-variable high-degree polynomial in the polynomial equation system, multiple solutions of the one-variable high-degree polynomial are obtained, including: According to the coefficients of the univariate high-order polynomial in the polynomial equation system, a Frobenius matrix is ​​constructed; the eigenvalues ​​of the Frobenius matrix are solved to obtain multiple solutions of the univariate high-order polynomial.

3. The Doppler positioning solution method based on a chip platform according to claim 2, characterized in that: Solve the eigenvalues ​​of the Frobenius matrix and obtain multiple solutions of univariate high-degree polynomials, including: The QR decomposition method is used to solve the eigenvalues ​​of the Frobenius matrix and obtain multiple solutions of univariate high-degree polynomials.

4. The Doppler positioning solution method based on a chip platform according to claim 3, characterized in that: Based on the multiple solutions of the univariate high-order polynomial, we backtrack and obtain multiple sets of initial solutions to the Doppler positioning equation, including: Substituting the first solution of the univariate high-order polynomial into the bivariate high-order polynomial to obtain the first solution of the bivariate high-order polynomial, until each polynomial in the polynomial equation group is traversed to obtain the first set of initial solutions of the Doppler positioning equation; Substituting the second solution of the univariate high-order polynomial into the bivariate high-order polynomial, a second set of initial solutions of the Doppler positioning equation is obtained, until each solution of the univariate high-order polynomial is traversed, and multiple sets of initial solutions of the Doppler positioning equation are obtained.

5. The Doppler positioning solution method based on a chip platform according to any one of claims 1 to 4, characterized in that: Obtain satellite ephemeris data and satellite broadcast radio signals to obtain the satellite's position, velocity, and Doppler value, and establish the Doppler positioning equation, including: Based on the chip platform, obtain satellite ephemeris data and calculate the satellite position and speed based on the satellite ephemeris data; Based on the chip platform, the satellite broadcast radio signal is obtained and processed to measure the satellite's Doppler value; The Doppler positioning equation is established based on the satellite's position, speed and Doppler value.

6. The Doppler positioning solution method based on a chip platform according to claim 5, characterized in that: Based on the chip platform, the satellite broadcast radio signal is acquired and processed to measure the satellite's Doppler value, including: Based on the chip platform, the satellite broadcast radio signal is obtained and processed, and the Doppler values ​​of the satellite at multiple observation moments evenly spaced over a period of time are selected as the Doppler values ​​of the satellite.

7. The Doppler positioning solution method based on a chip platform according to claim 6, characterized in that: According to the satellite's position, speed and Doppler value, the Doppler positioning equation is established, including: ； Where, Indicates the wavelength of the satellite broadcast signal; Indicates receiver; superscript represents the sth satellite; represents the Doppler value between the receiver r and the sth satellite; represents the sth satellite velocity vector; represents the receiver r velocity vector; represents the sth satellite position vector; represents the receiver r position vector as an unknown parameter; represents the speed of light; represents the receiver r clock drift as an unknown parameter; represents the clock drift of the sth satellite; represents the noise error; Represents the inverse of the vector norm.

8. The Doppler positioning solution method based on a chip platform according to any one of claims 1 to 4, characterized in that: The Doppler positioning equation is converted into a polynomial in the rational number field, and the Gröbner basis is calculated to obtain a polynomial equation system consisting of multiple polynomials, including: Convert the Doppler positioning equation into a polynomial over the field of rational numbers; According to the polynomials in the rational number field, the Buchberger algorithm is used to calculate the Gröbner basis of the polynomials and obtain a polynomial equation system consisting of multiple polynomials.

9. The Doppler positioning solution method based on a chip platform according to any one of claims 1 to 4, characterized in that: The initial solution corresponding to the minimum Doppler residual is used as the initial value, and the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation, including: The initial solution corresponding to the minimum Doppler residual is used as the initial value, and the least square method is used to iteratively solve the Doppler positioning equations composed of the Doppler positioning equations at all observation times to obtain the final solution of the Doppler positioning equations.

10. A Doppler positioning solution device based on a chip platform, characterized in that: include: The first module is used to obtain satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity and Doppler value, and establish the Doppler positioning equation; The second module is used to convert the Doppler positioning equation into a polynomial in the rational number field and calculate the Gröbner basis to obtain a polynomial equation system consisting of multiple polynomials; The third module is used to obtain multiple solutions of the one-variable high-degree polynomial according to the coefficients of the one-variable high-degree polynomial in the polynomial equation system; Based on multiple solutions of the univariate high-order polynomial, backtracking is performed to obtain multiple groups of initial solutions to the Doppler positioning equation; The fourth module is used to substitute each set of initial solutions into the satellite's observation equation to obtain the Doppler residual corresponding to each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equation is iteratively solved to obtain the final solution of the Doppler positioning equation; and the final solution of the Doppler positioning equation is used as the Doppler positioning result.

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