A Doppler localization solution method and apparatus based on a chip platform

Abstract

This application belongs to the field of Doppler positioning technology, and relates to a Doppler positioning solution method and apparatus based on a chip platform. The method includes: acquiring satellite ephemeris data and satellite-broadcast radio signals, and establishing Doppler positioning equations; converting the Doppler positioning equations into polynomials in the rational number field, and obtaining a system of polynomial equations; obtaining multiple solutions to the univariate high-order polynomials based on their coefficients; backtracking based on the multiple solutions to obtain multiple sets of initial solutions to the Doppler positioning equations; substituting each set of initial solutions into the satellite observation equations to obtain the corresponding Doppler residuals; using the initial solution corresponding to the smallest Doppler residual as the initial value, iteratively solving the Doppler positioning equations to obtain the final solution, which is then used as the Doppler positioning result. This application enables accurate Doppler positioning.

Description

Technical Field

[0001] This application relates to the field of Doppler positioning technology, and in particular to a Doppler positioning solution method and apparatus based on a chip platform. Background Technology

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

[0003] Low-Earth orbit (LEO) satellites, compared to traditional GNSS satellites, have shorter orbital periods and faster speeds. Their Doppler observations exhibit a wider range of variation within the satellite's visible time, making them suitable for positioning. Compared to pseudorange positioning methods, Doppler positioning can utilize continuous observation data from a single satellite over a period of time for positioning solutions. It can provide a certain level of positioning accuracy even when there are few visible satellites. Furthermore, it can serve as a supplement to receiver positioning methods, thus attracting increasing research attention.

[0004] In existing technologies, the Doppler localization equations of Doppler localization methods are nonlinear equations, and iterative methods are conventionally recommended for solving them.

[0005] However, existing iterative methods have the following drawbacks:

[0006] 1) When solving the iterative calculation for GNSS satellite positioning, the Earth's geocenter is used as the initial position. Since the orbital altitude of low-Earth orbit satellites is between 500 and 2000 kilometers, the iterative calculation may fail to converge.

[0007] 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 partitioning method, traversing the calculation will greatly increase the amount of computation.

[0008] 3) Using the method of searching by satellite projection points on the ground requires the condition of observing multiple satellites. Summary of the Invention

[0009] Therefore, it is necessary to provide a Doppler positioning solution method and apparatus based on a chip platform to address the above-mentioned technical problems, which can perform accurate Doppler positioning.

[0010] A Doppler localization solution based on a chip platform includes:

[0011] By acquiring satellite ephemeris data and satellite-broadcast radio signals, the satellite's position, velocity, and Doppler value are obtained, and the Doppler positioning equation is established.

[0012] The Doppler positioning equations are transformed into polynomials over the rational number field, and the Gröbner basis is calculated to obtain a system of polynomial equations consisting of multiple polynomials.

[0013] Based on the coefficients of the univariate high-order polynomials in the polynomial equation system, multiple solutions of the univariate high-order polynomials are obtained; based on the multiple solutions of the univariate high-order polynomials, backtracking is performed to obtain multiple sets of initial solutions of the Doppler positioning equations.

[0014] Substitute each initial solution into the satellite's observation equation to obtain the corresponding Doppler residual for each initial solution; use the initial solution corresponding to the smallest Doppler residual as the initial value to iteratively solve the Doppler positioning equation to obtain the final solution of the Doppler positioning equation; use the final solution of the Doppler positioning equation as the Doppler positioning result.

[0015] In one embodiment, multiple solutions to a univariate higher-order polynomial are obtained based on the coefficients of the polynomials in the system of polynomial equations, including:

[0016] Construct the Frobenius matrix based on the coefficients of the univariate higher-order polynomials in the polynomial equation system; solve for the eigenvalues ​​of the Frobenius matrix to obtain multiple solutions to the univariate higher-order polynomials.

[0017] In one embodiment, solving for the eigenvalues ​​of the Frobenius matrix yields multiple solutions to a univariate high-order polynomial, including:

[0018] The QR decomposition method is used to solve for the eigenvalues ​​of the Frobenius matrix, resulting in multiple solutions for the univariate high-order polynomial.

[0019] In one embodiment, backtracking is performed based on multiple solutions to a univariate high-order polynomial to obtain multiple sets of initial solutions to the Doppler positioning equation, including:

[0020] Substitute 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, and so on until each polynomial in the polynomial equation system is traversed to obtain the first set of initial solutions of the Doppler positioning equation.

[0021] Substituting the second solution of the univariate high-order polynomial into the bivariate high-order polynomial yields the second set of initial solutions for the Doppler positioning equation. This process is repeated until each solution of the univariate high-order polynomial is traversed, resulting in multiple sets of initial solutions for the Doppler positioning equation.

[0022] In one embodiment, satellite ephemeris data and satellite-broadcast radio signals are acquired to obtain the satellite's position, velocity, and Doppler value, and a Doppler positioning equation is established, including:

[0023] Based on the chip platform, satellite ephemeris data is acquired, and the satellite's position and velocity are calculated based on the satellite ephemeris data;

[0024] Based on the chip platform, the satellite broadcast radio signals are acquired, processed, and the Doppler value of the satellite is measured.

[0025] Doppler positioning equations are established based on the satellite's position, velocity, and Doppler value.

[0026] In one embodiment, based on a chip platform, satellite-broadcast radio signals are acquired, processed, and the Doppler value of the satellite is measured, including:

[0027] Based on the chip platform, the satellite broadcast radio signals are acquired and processed. The Doppler values ​​of multiple observation times at uniform intervals within a certain period of time are selected as the satellite's Doppler values.

[0028] In one embodiment, a Doppler positioning equation is established based on the satellite's position, velocity, and Doppler value, including:

[0029] ;

[0030] In the formula, Indicates the wavelength of the satellite broadcast signal; subscript Indicates receiver; superscript Indicates the s-th satellite; This represents the Doppler value of receiver r relative to the s-th satellite; This represents the velocity vector of the s-th satellite; This represents the velocity vector of receiver r; This represents the position vector of the s-th satellite; Let r represent the receiver's position vector, which is used as an unknown parameter; Represents the speed of light; The receiver clock drift r is represented as an unknown parameter. This indicates the clock drift of the s-th satellite; Indicates noise error; It represents the inverse of the vector's magnitude.

[0031] In one embodiment, the Doppler localization equations are transformed into polynomials over the rational number field, and the Gröbner basis is calculated to obtain a system of polynomial equations consisting of multiple polynomials, including:

[0032] Transform the Doppler positioning equation into a polynomial over the rational number field;

[0033] Based on polynomials over the rational number field, the Buchberger algorithm is used to compute the Gröbner basis of the polynomials, resulting in a system of polynomial equations composed of multiple polynomials.

[0034] In one embodiment, the initial solution corresponding to the minimum Doppler residual is used as the initial value to iteratively solve the Doppler localization equation, obtaining the final solution of the Doppler localization equation, including:

[0035] Using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equations for all observation times are solved iteratively using the least squares method to obtain the final solution of the Doppler positioning equations.

[0036] A Doppler localization solving device based on a chip platform, comprising:

[0037] The first module is used to acquire satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity, and Doppler value, and establish the Doppler positioning equation;

[0038] The second module is used to convert the Doppler positioning equations into polynomials over the rational number field and to calculate the Gröbner basis to obtain a system of polynomial equations consisting of multiple polynomials.

[0039] The third module is used to obtain multiple solutions of a univariate high-order polynomial based on the coefficients of the univariate high-order polynomial in the polynomial equation system; and to backtrack based on the multiple solutions of the univariate high-order polynomial to obtain multiple initial solutions of the Doppler positioning equation.

[0040] The fourth module is used to substitute each set of initial solutions into the satellite's observation equations to obtain the corresponding Doppler residuals for each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equations are iteratively solved to obtain the final solution of the Doppler positioning equations; the final solution of the Doppler positioning equations is used as the Doppler positioning result.

[0041] The aforementioned Doppler positioning solution method and device based on the chip platform, according to satellite ephemeris data, selects observation values ​​at four times to form a system of multivariate high-order polynomial equations, then uses algebraic methods to find all solutions, selects the solution that conforms to the actual scenario as the initial value for 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, using the algebraic solution of the polynomial equation as the initial value for iteration. This avoids the problem of convergence failure in iterative calculations, accelerates the convergence process, improves accuracy, and achieves accurate positioning. Simultaneously, it eliminates the need for mesh generation, avoiding the invalid computations introduced by existing methods. The total computational cost of equation elimination (only 16 polynomials are needed to form the Gröbner basis when ignoring receiver clock drift variables) and solving for the eigenvalues ​​of the 8*8 matrix is ​​significantly reduced, accelerating convergence and the positioning process. Furthermore, the selected observations can come from a single satellite or a combination of multiple satellites, avoiding the requirement of observing multiple satellites in existing methods. This significantly reduces the amount of data required for computation, shortens computation time, and reduces computational resource consumption, further accelerating the positioning process and improving the efficiency and cost of positioning solutions. It also has the advantages of low computational complexity and wider applicability. Attached Figure Description

[0042] Figure 1 This is a flowchart illustrating a chip-based Doppler localization solution method in one embodiment.

[0043] Figure 2 This is a structural block diagram of a chip-based Doppler localization solving device in one embodiment;

[0044] Figure 3 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0046] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this application, "multiple sets" means at least two sets, such as two sets, three sets, etc., unless otherwise explicitly specified.

[0047] In this application, unless otherwise expressly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; 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 the internal communication of two elements or the interaction between two elements, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0049] This application provides a Doppler localization solution method based on a chip platform, such as... Figure 1 The flowchart shown, in one embodiment, includes:

[0050] Step 101: 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.

[0051] Specifically:

[0052] Based on the chip platform, satellite ephemeris data is acquired, and the satellite's position and velocity are calculated. Based on the chip platform, satellite-broadcast radio signals are acquired, processed, and the satellite's Doppler value is measured. Based on the satellite's position, velocity, and Doppler value, a Doppler positioning equation is established.

[0053] More specifically:

[0054] Based on the chip platform, satellite ephemeris data is acquired, and the satellite's position and velocity are calculated. Also based on the chip platform, satellite-transmitted radio signals are acquired and processed. Doppler values ​​from multiple evenly spaced observation times within a certain period (e.g., Doppler values ​​from four evenly spaced observation times within a 5-minute period) are selected as the satellite's Doppler values. Based on the satellite's position, velocity, and Doppler values, a Doppler positioning equation is established.

[0055] ;

[0056] In the formula, Indicates the wavelength of the satellite broadcast signal; subscript Indicates receiver; superscript Indicates the s-th satellite; This represents the Doppler value of receiver r relative to the s-th satellite; This represents the velocity vector of the s-th satellite; This represents the velocity vector of receiver r; This represents the position vector of the s-th satellite; Let r represent the receiver's position vector, which is used as an unknown parameter; Represents the speed of light; The receiver clock drift r is represented as an unknown parameter. This indicates the clock drift of the s-th satellite; Indicates noise error; It represents the inverse of the vector's magnitude.

[0057] In the Doppler positioning equation, the unknown parameter is denoted as... , represent the receiver clock drift and the receiver's coordinates in the geocentric coordinate system, respectively.

[0058] In this step, the chip platform is used as a receiver to receive low-Earth orbit satellite ephemeris data and satellite-broadcast radio signals.

[0059] It should be noted that how to calculate the satellite's position and velocity based on satellite ephemeris data, and how to process the radio signals broadcast by the satellite, are all existing technologies and will not be elaborated here.

[0060] Step 102: Transform the Doppler positioning equations into polynomials over the rational number field and calculate the Gröbner basis to obtain a system of polynomial equations consisting of multiple polynomials.

[0061] Specifically:

[0062] The Doppler positioning equations are transformed into polynomials over the rational number field Q. Based on the polynomials over the rational number field, the Gröbner basis of the polynomials is calculated using the Buchberger algorithm to obtain a system of polynomial equations composed of multiple polynomials.

[0063] More specifically:

[0064] Transform the Doppler localization equations into polynomials over the rational number field Q:

[0065] ;

[0066] In the formula, For the first s The Doppler equations for the 1st satellite i The coefficients are integer coefficients obtained by multiplying each coefficient by a power of 10 and then rounding down. i Take values ​​from 0 to 20;

[0067] Based on polynomials over the rational number field, the Buchberger algorithm is used to compute the Gröbner basis of the polynomials, resulting in a system of polynomial equations consisting of multiple polynomials:

[0068] ;

[0069] In the formula, For the first polynomial, This is the 4th polynomial. For the first n -3 polynomials For the first n -2 polynomials, For the first n -1 polynomial, For the first n A polynomial; For the first n -3 polynomials about highest ( m (the exponent) term, for The u One coefficient; For the first n -2 polynomials about The highest power term, for The v One coefficient; For the first n -1 polynomial about The highest power term, for The w One coefficient; For the firstn polynomials about The highest power term, for The m One coefficient; u , v , w , m They are not equal.

[0070] In this step, elimination is performed during the process of obtaining the Gröbner basis, which increases the degree of individual variables. For example: yes A higher-order polynomial; Only contains Variables, and It is a linear term; Only contains Variables, and It is a linear term; Include Variables, and This is a linear term. The above form is beneficial for backtracking solutions.

[0071] It should be noted that the Buchberger algorithm and how to use the Buchberger algorithm to compute the Gröbner basis of polynomials are existing technologies and will not be elaborated here.

[0072] Step 103: Based on the coefficients of the univariate high-order polynomials in the polynomial equation system, obtain multiple solutions of the univariate high-order polynomials; based on the multiple solutions of the univariate high-order polynomials, backtrack to obtain multiple sets of initial solutions of the Doppler positioning equations.

[0073] Specifically:

[0074] Construct the Frobenius matrix based on the coefficients of the univariate high-order polynomials in the polynomial equation system; use the QR decomposition method to solve for the eigenvalues ​​of the Frobenius matrix to obtain the univariate high-order polynomials. Multiple solutions ;

[0075] univariate high-order polynomial Substituting the first solution into the bivariate high-order polynomial This process yields the first solution to the binary high-order polynomial, and continues until each polynomial in the polynomial equation system is traversed to obtain the first set of initial solutions to the Doppler positioning equation.

[0076] univariate high-order polynomial Substituting the second solution into the bivariate high-degree polynomial This yields the second set of initial solutions to the Doppler positioning equations, and continues until each solution of the univariate high-order polynomial is obtained, resulting in multiple sets of initial solutions to the Doppler positioning equations. .

[0077] In this step, the roots of the univariate high-order polynomial are the eigenvalues ​​of the Frobenius matrix.

[0078] It should be noted that the methods for constructing the Frobenius matrix, the QR decomposition method, and how to use the QR decomposition method to solve for the eigenvalues ​​of the Frobenius matrix are all existing technologies and will not be elaborated here.

[0079] Step 104: Substitute each set of initial solutions into the satellite's observation equations to obtain the corresponding Doppler residuals for each set of initial solutions; use the initial solution corresponding to the smallest Doppler residual as the initial value to iteratively solve the Doppler positioning equations to obtain the final solution of the Doppler positioning equations; use the final solution of the Doppler positioning equations as the Doppler positioning result.

[0080] Specifically:

[0081] Substitute each initial solution into the satellite's observation equations to obtain the corresponding Doppler residuals for each initial solution. Using the initial solution corresponding to the smallest Doppler residual as the initial value, the least squares method is used to iteratively solve the Doppler positioning equations system formed by the Doppler positioning equations at all observation times to obtain the solution of the Doppler positioning equations system, which is taken as the final solution of the Doppler positioning equations. The final solution of the Doppler positioning equations is taken as the Doppler positioning result.

[0082] In this step, the satellite observation equations, how to obtain the Doppler residuals, the least squares method, and how to use the least squares method to iteratively solve the Doppler positioning equations for all observation times are all existing technologies and will not be elaborated here.

[0083] The aforementioned Doppler positioning solution method based on the chip platform uses satellite ephemeris data to construct a system of multivariate high-order polynomial equations by selecting observations at four times. Then, it uses algebraic methods to find all solutions, selects the solution that matches the actual scenario as the initial value for iteration, and finally obtains the positioning result. Compared with the existing technology that randomly removes a solution, this method greatly improves the positioning accuracy. This application obtains and compares all solutions to the Doppler positioning equation, using the algebraic solution of the polynomial equation as the initial value for iteration. This avoids the problem of convergence failure in iterative calculations, accelerates the convergence process, improves accuracy, and achieves accurate positioning. Simultaneously, it eliminates the need for mesh generation, avoiding the invalid computations introduced by existing methods. The total computational cost of equation elimination (only 16 polynomials are needed to form the Gröbner basis when ignoring receiver clock drift variables) and solving for the eigenvalues ​​of the 8*8 matrix is ​​significantly reduced, accelerating convergence and the positioning process. Furthermore, the selected observations can come from a single satellite or a combination of multiple satellites, avoiding the requirement of observing multiple satellites in existing methods. This significantly reduces the amount of data required for computation, shortens computation time, and reduces computational resource consumption, further accelerating the positioning process and improving the efficiency and cost of positioning solutions. It also has the advantages of low computational complexity and wider applicability.

[0084] It should be understood that, although Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed 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 some of the sub-steps or stages of other steps.

[0085] 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:

[0086] The first module is used to acquire satellite ephemeris data and satellite broadcast radio signals, obtain the satellite's position, velocity, and Doppler value, and establish the Doppler positioning equation;

[0087] The second module is used to convert the Doppler positioning equations into polynomials over the rational number field and to calculate the Gröbner basis to obtain a system of polynomial equations consisting of multiple polynomials.

[0088] The third module is used to obtain multiple solutions of a univariate high-order polynomial based on the coefficients of the univariate high-order polynomial in the polynomial equation system; and to backtrack based on the multiple solutions of the univariate high-order polynomial to obtain multiple initial solutions of the Doppler positioning equation.

[0089] The fourth module is used to substitute each set of initial solutions into the satellite's observation equations to obtain the corresponding Doppler residuals for each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equations are iteratively solved to obtain the final solution of the Doppler positioning equations; the final solution of the Doppler positioning equations is used as the Doppler positioning result.

[0090] For specific limitations regarding a chip-based Doppler positioning solution device, please refer to the limitations of a chip-based Doppler positioning solution method described above, which will not be repeated here. Each module in the aforementioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in a computer device, or stored in software in the memory of a computer device, so that the processor can call and execute the operations corresponding to each module.

[0091] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 3 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a Doppler localization solution method based on a chip platform. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0092] Those skilled in the art will understand that Figure 3The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of the method described above.

[0094] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described above.

[0095] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can 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 a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual 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.

[0096] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0098] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A Doppler localization solution method based on a chip platform, characterized in that, include: By acquiring satellite ephemeris data and satellite-broadcast radio signals, the satellite's position, velocity, and Doppler value are obtained, and the Doppler positioning equation is established. The Doppler positioning equations are transformed into polynomials over the rational number field, and the Gröbner basis is calculated to obtain a system of polynomial equations consisting of multiple polynomials. Based on the coefficients of the univariate high-order polynomials in the polynomial equation system, multiple solutions of the univariate high-order polynomials are obtained; based on the multiple solutions of the univariate high-order polynomials, backtracking is performed to obtain multiple sets of initial solutions of the Doppler positioning equations. By backtracking through multiple solutions of the univariate high-order polynomial, multiple initial solutions to the Doppler positioning equation are obtained, 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, and so on, until each polynomial in the polynomial equation system is traversed to obtain the first set of initial solutions to the Doppler positioning equation; substituting the second solution of the univariate high-order polynomial into the bivariate high-order polynomial to obtain the second set of initial solutions to the Doppler positioning equation, and so on, until each solution of the univariate high-order polynomial is traversed to obtain multiple sets of initial solutions to the Doppler positioning equation. Substitute each initial solution into the satellite's observation equation to obtain the corresponding Doppler residual for each initial solution; use the initial solution corresponding to the smallest Doppler residual as the initial value to iteratively solve the Doppler positioning equation to obtain the final solution of the Doppler positioning equation; use the final solution of the Doppler positioning equation as the Doppler positioning result.

2. The Doppler localization solution method based on a chip platform according to claim 1, characterized in that, Based on the coefficients of the univariate higher-order polynomials in the system of polynomial equations, multiple solutions to the univariate higher-order polynomials are obtained, including: Construct the Frobenius matrix based on the coefficients of the univariate higher-order polynomials in the polynomial equation system; solve for the eigenvalues ​​of the Frobenius matrix to obtain multiple solutions to the univariate higher-order polynomials.

3. The Doppler localization solution method based on a chip platform according to claim 2, characterized in that, Solving for the eigenvalues ​​of the Frobenius matrix yields multiple solutions to the univariate high-order polynomial, including: The QR decomposition method is used to solve for the eigenvalues ​​of the Frobenius matrix, resulting in multiple solutions for the univariate high-order polynomial.

4. A Doppler localization solution method based on a chip platform according to any one of claims 1 to 3, characterized in that, By acquiring satellite ephemeris data and satellite-broadcast radio signals, the satellite's position, velocity, and Doppler values ​​are obtained, and the Doppler positioning equation is established, including: Based on the chip platform, satellite ephemeris data is acquired, and the satellite's position and velocity are calculated based on the satellite ephemeris data; Based on the chip platform, the satellite broadcast radio signals are acquired, processed, and the Doppler value of the satellite is measured. Doppler positioning equations are established based on the satellite's position, velocity, and Doppler value.

5. The Doppler localization solution method based on a chip platform according to claim 4, characterized in that, Based on the chip platform, satellite-broadcast radio signals are acquired, processed, and the Doppler values ​​of the satellite are measured, including: Based on the chip platform, the satellite broadcast radio signals are acquired and processed. The Doppler values ​​of multiple observation times at uniform intervals within a certain period of time are selected as the satellite's Doppler values.

6. The Doppler localization solution method based on a chip platform according to claim 5, characterized in that, Based on the satellite's position, velocity, and Doppler value, a Doppler positioning equation is established, including: In the formula, Indicates the wavelength of the satellite broadcast signal; subscript Indicates receiver; superscript Indicates the s-th satellite; This represents the Doppler value of receiver r relative to the s-th satellite; This represents the velocity vector of the s-th satellite; This represents the velocity vector of receiver r; This represents the position vector of the s-th satellite; Let r represent the receiver's position vector, which is used as an unknown parameter; Represents the speed of light; The receiver clock drift r is represented as an unknown parameter. This indicates the clock drift of the s-th satellite; Indicates noise error; It represents the inverse of the vector's magnitude.

7. A Doppler localization solution method based on a chip platform according to any one of claims 1 to 3, characterized in that, The Doppler localization equations are transformed into polynomials over the rational number field, and the Gröbner basis is calculated to obtain a system of polynomial equations consisting of multiple polynomials, including: Transform the Doppler positioning equations into polynomials over the rational number field; Based on polynomials over the rational number field, the Buchberger algorithm is used to compute the Gröbner basis of the polynomials, resulting in a system of polynomial equations composed of multiple polynomials.

8. A Doppler localization solution method based on a chip platform according to any one of claims 1 to 3, characterized in that, Using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler localization equation is iteratively solved to obtain the final solution of the Doppler localization equation, including: Using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equations for all observation times are solved iteratively using the least squares method to obtain the final solution of the Doppler positioning equations.

9. A Doppler positioning solution device based on a chip platform, characterized in that, include: The first module is used to acquire 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 equations into polynomials over the rational number field and to calculate the Gröbner basis to obtain a system of polynomial equations consisting of multiple polynomials. The third module is used to obtain multiple solutions to a univariate high-degree polynomial based on the coefficients of the univariate high-degree polynomial in the polynomial equation system. By backtracking through multiple solutions of a univariate high-order polynomial, multiple initial solutions of the Doppler positioning equation can be obtained. By backtracking through multiple solutions of the univariate high-order polynomial, multiple initial solutions to the Doppler positioning equation are obtained, 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, and so on, until each polynomial in the polynomial equation system is traversed to obtain the first set of initial solutions to the Doppler positioning equation; substituting the second solution of the univariate high-order polynomial into the bivariate high-order polynomial to obtain the second set of initial solutions to the Doppler positioning equation, and so on, until each solution of the univariate high-order polynomial is traversed to obtain multiple sets 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 equations to obtain the corresponding Doppler residuals for each set of initial solutions; using the initial solution corresponding to the minimum Doppler residual as the initial value, the Doppler positioning equations are iteratively solved to obtain the final solution of the Doppler positioning equations; the final solution of the Doppler positioning equations is used as the Doppler positioning result.

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