Terminal equipment positioning method and device based on satellite direct connection network

Abstract

The invention provides a terminal equipment positioning method and device based on a satellite direct connection network, and relates to the technical field of satellites. The terminal equipment positioning method based on the satellite direct connection network comprises the following steps: acquiring target communication signaling at a plurality of moments from the satellite direct connection network; according to the target communication signaling at the multiple moments, extracting position clues of the terminal equipment at the multiple moments; acquiring track point information of satellites which correspond to the multiple moments and provide satellite direct connection network services; and determining the position information of the terminal equipment according to the position clues at the multiple moments and the track point information of the satellite at the multiple moments. The satellite network can be directly connected through the terminal device, and a terminal device positioning function is provided for a user.

Description

Technical Field

[0001] The present invention relates to the field of satellite technology, and in particular to a terminal equipment positioning method and device based on a satellite direct connection network. Background Art

[0002] Mobile phone positioning services, as a fundamental feature of smart devices, have been widely used in numerous fields, including map navigation and emergency rescue, greatly facilitating people's daily lives and work. Currently, smartphones generally rely on traditional satellite navigation systems such as GPS and Beidou for positioning, obtaining their geographic location by receiving satellite signals. However, with the continuous advancement of technology, satellite navigation systems face increasing interference risks, which has impacted the reliability of positioning services to a certain extent.

[0003] At the same time, emerging low-orbit giant constellations are developing rapidly, and many satellite operators are actively deploying terminal equipment directly connected to satellite networks, aiming to provide global communication services to ground mobile phone users, especially for users in remote areas such as forests, oceans, deserts, etc.

[0004] Therefore, how to directly connect terminal devices to the satellite network and provide users with terminal device positioning functions is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] The present invention provides a terminal device positioning method and device based on a satellite direct connection network, which are used to solve the above defects in the prior art, so as to realize the terminal device positioning function for users by directly connecting the terminal device to the satellite network.

[0006] The present invention provides a terminal equipment positioning method based on a satellite direct connection network, comprising the following steps.

[0007] Obtain target communication signaling at multiple time instants from a satellite direct connection network; extract location clues of the terminal device at the multiple time instants based on the target communication signaling at the multiple time instants; obtain trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple time instants; determine the location information of the terminal device based on the location clues at the multiple time instants and the trajectory point information of the satellite at the multiple time instants.

[0008] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the position clue includes the propagation delay between the terminal device and the satellite; the trajectory point information includes the position of the satellite; the position clues at the multiple moments and the trajectory point information of the satellite at the multiple moments are used to determine the position information of the terminal device, including: step S11: for each of the multiple moments, a spherical model of the moment is established with the position of the satellite at the moment as the center of the sphere; wherein the radius of the spherical model is calculated based on the propagation delay, the speed of light and the first error at the moment range; the error range is determined according to the first precision of the propagation delay; step S12: respectively solving the spherical model of each moment; step S13: determining the intersection of the spherical models of the multiple moments according to the solution results of the spherical model of each moment; if the intersection of the spherical models is empty, updating the first error range with a multiple of the first precision, re-executing steps S11 to S13 until the intersection of the spherical models is not empty; if the intersection of the spherical models is not empty, determining the location information of the terminal device according to the intersection of the spherical models.

[0009] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the location information of the terminal device is determined according to the intersection of the spherical models, including: determining the location range of the terminal device according to the intersection of the spherical models; and determining the location information of the terminal device according to the center of the location range.

[0010] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the radius of the spherical model is located at a first radius determined by the following formula: and the second radius Within the radius of: ; ; in, is the speed of light; is the propagation delay; is the first precision; Is a non-zero integer.

[0011] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the position clue includes a change value of the propagation delay between the terminal device and the satellite between two adjacent moments; the trajectory point information includes the position of the satellite; the position information of the terminal device is determined based on the position clues of the multiple moments and the trajectory point information of the satellite at the multiple moments, including: step S21: for each two adjacent moments in the multiple moments, the positions of the satellites at the adjacent moments are used as the first focus and the second focus to construct a hyperbolic model; wherein the real axis length of the hyperbolic model is calculated based on the speed of light, the change value of the propagation delay and the first focus. The method comprises the following steps: step S21, step S22, and step S23; wherein the second error range is determined according to the second precision of the change value of the propagation delay; step S22: solving the hyperbolic model of each two adjacent moments respectively; step S23: determining the intersection of the hyperbolic models of the multiple moments according to the solution results of the hyperbolic model of each two adjacent moments; if the intersection of the hyperbolic models is empty, updating the second error range with a preset multiple of the second precision, and re-executing steps S21 to S23 until the intersection of the hyperbolic models is not empty; if the intersection of the hyperbolic models is not empty, determining the location information of the terminal device according to the intersection of the hyperbolic models.

[0012] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the position clue includes the Doppler frequency shift of the satellite; the trajectory point information includes the position and speed of the satellite; the position information of the terminal device is determined based on the position clues at the multiple moments and the trajectory point information of the satellite at the multiple moments, including: step S31: for each of the multiple moments, a cone model is established according to the position, Doppler frequency shift and third error range of the satellite at the moment; the third error range is determined according to the third precision of the Doppler frequency shift; step S32: solving the cone model at each moment respectively; step S33: determining the intersection of the cone models at the multiple moments based on the solution results of the cone model at each moment; if the intersection of the cone models is empty, the third error range is updated with a preset multiple of the third precision, and steps S31 to S33 are re-executed until the intersection of the cone models is not empty; if the intersection of the cone models is not empty, the position information of the terminal device is determined based on the intersection of the cone models.

[0013] According to a terminal device positioning method based on a satellite direct connection network provided by the present invention, the positions of the satellites at the multiple moments are obtained in the following manner; for each moment, the following operations are performed to obtain the position of the satellite at the moment: a first position of the satellite at a moment before the moment and a second position of the satellite at a moment after the moment are obtained; the position of the satellite at the moment is calculated based on the first position, the second position, the first moment corresponding to the first position, the second moment corresponding to the second position, and the moments.

[0014] The present invention also provides a terminal device positioning device based on a satellite direct connection network, the device being installed in a terminal device connected to the satellite direct connection network, the device comprising: A first acquisition module is used to acquire target communication signaling at multiple times from a satellite direct connection network; An extraction module is used to extract location clues of the terminal device at the multiple moments based on the target communication signaling at the multiple moments; a second acquisition module is used to obtain trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple moments; and a determination module is used to determine the location information of the terminal device based on the location clues at the multiple moments and the trajectory point information of the satellite at the multiple moments.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and runnable on the processor. When the processor executes the computer program, it implements any of the above-described methods for positioning a terminal device based on a satellite direct connection network.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the terminal device positioning method based on a satellite direct connection network as described above is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for positioning a terminal device based on a satellite direct connection network.

[0018] The present invention provides a terminal device positioning method and apparatus based on a satellite direct connection network. The method and apparatus obtain target communication signaling at multiple times from the satellite direct connection network; extract location clues of the terminal device at multiple times based on the target communication signaling at multiple times; obtain trajectory point information of satellites providing satellite direct connection network services corresponding to the multiple times; and determine the location information of the terminal device based on the location clues at multiple times and the trajectory point information of the satellites at multiple times. By effectively utilizing clues related to the terminal device's location extracted from the target communication signaling at multiple times, as well as the satellite's trajectory point information, the terminal's location can be accurately determined without relying on traditional satellite navigation systems. When the traditional system fails, the embodiments of the present invention can be used to accurately determine the terminal device's location information, enabling the terminal device to directly connect to the satellite network to provide positioning functions for the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a flow chart of the terminal equipment positioning method based on satellite direct connection network provided by the present invention.

[0021] Figure 2 This is one of the flow charts of the method for determining the location information of a terminal device provided by the present invention.

[0022] Figure 3 This is the second flow chart of the method for determining the location information of a terminal device provided by the present invention.

[0023] Figure 4 This is the third flow chart of the method for determining the location information of a terminal device provided by the present invention.

[0024] Figure 5 It is a schematic diagram of the terminal equipment positioning process based on the satellite direct connection network provided by the present invention.

[0025] Figure 6 It is a structural schematic diagram of a terminal equipment positioning device based on a satellite direct connection network provided by the present invention.

[0026] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0027] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0028] The following combination Figure 1-Figure 5 The present invention describes a terminal device positioning method based on a satellite direct connection network.

[0029] Figure 1 This is a flow chart of a method for locating a terminal device based on a satellite direct network, as provided by the present invention. This method is applied to a terminal device connected to a satellite direct network. The terminal device may include, but is not limited to, a mobile phone, a dedicated satellite communication terminal, an Internet of Things device, and the like.

[0030] like Figure 1 As shown, the method includes the following steps: Step 101: Acquire target communication signaling at multiple times from a satellite direct connection network.

[0031] Step 102: Extract location clues of the terminal device at multiple moments based on target communication signaling at multiple moments.

[0032] Target communication signaling is signaling used for communication between a terminal device and a satellite in a satellite direct connection network, and carries information related to the terminal device's location.

[0033] The location clue is information extracted from the target communication signaling that can reflect the location of the terminal device. The location clue includes at least one of the propagation delay between the terminal device and the satellite, the change in propagation delay, and Doppler shift.

[0034] While acquiring the target communication signaling, the receiving timestamp of each signaling is recorded for subsequent analysis of location clues at different times.

[0035] In the specific implementation process, for different protocol systems, the target communication signaling has different forms, and different methods can be used to extract location clues from the target communication signaling, as follows.

[0036] (1) In satellite networks based on the GSM extended protocol (e.g., Iridium), users need to use a dedicated satellite phone to communicate with the satellite. The target communication signaling is the Access Request Message signaling used in the GSM extended protocol during a satellite phone call. This signaling carries the one-way propagation delay and Doppler shift between the terminal device and the satellite. The change in the propagation delay between the terminal device and the satellite can be obtained by subtracting the propagation delays carried in two Access Request Messages.

[0037] (2) In satellite networks that reuse 4G / 5G protocols (such as Starlink Direct-to-Cell and ASTSpaceMobile BlueBird), users can use existing 4G / 5G mobile phones to communicate directly with satellites. The target communication signaling is applied to the 4G / 5G reuse protocol, which is the Random Access Response signaling in the random access process and the MAC CE signaling in the uplink synchronization adjustment process. Both signalings carry timing advances. The timing advance carried by the Random Access Response signaling represents the initial round-trip propagation delay between the terminal and the satellite, and the timing advance carried by the MAC CE signaling represents the change in the round-trip propagation delay between the terminal and the satellite. According to the 3GPP standard, the accuracy of the timing advance is microseconds, where is a parameter related to subcarrier spacing. Subcarrier spacing is defined as kHz. Assume that the timing advance is , then the timing advance carried by the Random Access Response signaling indicates the initial round-trip propagation delay from the terminal device to the satellite is Since the range of 4G timing advance can be expressed is 100 kilometers, it is necessary to determine the location clue based on the distance range. If the distance between the satellite and the terminal device does not exceed 100 kilometers, you can directly use As the round-trip propagation delay, the one-way propagation delay between the satellite and the terminal device is If the distance between the satellite and the terminal device exceeds 100 kilometers, an offset value needs to be set. , broadcasted by satellite to the terminal device, As the round-trip propagation delay, the one-way propagation delay between the satellite and the terminal device is In the above two cases, the timing advance carried by the MAC CE signaling represents the change in the round-trip propagation delay from the terminal device to the satellite, and is , the one-way propagation delay change is .

[0038] Step 103: Obtain trajectory point information of satellites providing satellite direct network services corresponding to multiple time periods.

[0039] The track point information includes the position, or position and speed, of the satellite providing the satellite direct network service at multiple times.

[0040] like Figure 5 As shown, the satellite broadcasts its position and speed at fixed time intervals, and the terminal device records the satellite broadcast time, position and speed triplet. When the terminal receives a target communication signal, it records the time when the signal is received. The terminal device can calculate the satellite's position based on the trajectory information broadcast by the satellite and the time when the target communication signal is received. Position and velocity at a given moment.

[0041] For each moment when the target communication signal is obtained, the following operations are performed to obtain the position of the satellite at the moment: obtain the first position of the satellite at a moment before the moment, and the second position of the satellite at a moment after the moment; calculate the position of the satellite at the moment based on the first position, the second position, the first moment corresponding to the first position, the second moment corresponding to the second position, and the moment.

[0042] In the specific implementation process, the terminal device searches for the satellite tracks in the record. The last satellite trajectory record before is called the predecessor satellite trajectory (i.e. the first position of the satellite), and The first satellite trajectory record after this is called the successor satellite trajectory (i.e., the second position of the satellite). The time, position, and velocity triple of the predecessor satellite trajectory is expressed as , the time, position, and velocity triplet of the subsequent satellite trajectory is expressed as , then in At this moment, the position of the satellite can be approximately calculated as: (1) exist At this moment, the satellite's speed can be approximately calculated as: (2) Step 104: Determine the location information of the terminal device based on the location clues at multiple times and the satellite trajectory point information at multiple times.

[0043] In the specific implementation process, a mathematical model about the location of the terminal device can be established based on the location clues at multiple times and the trajectory point information of the satellite at multiple times, and the location information of the terminal device can be determined by solving the mathematical model.

[0044] Regarding an embodiment of determining the location information of the terminal device based on the location clues at the multiple moments and the trajectory point information of the satellites at the multiple moments, see Figure 2 、 Figure 3 and Figure 4 The relevant content in will not be repeated here.

[0045] Figure 2 This is one of the flow charts of the method for determining the location information of a terminal device provided by the present invention.

[0046] In this embodiment, the location clue includes the propagation delay between the terminal device and the satellite; the track point information includes the location of the satellite. Figure 2 As shown, the method includes the following steps: Step 201: For each of the multiple moments, establish a spherical model at that moment with the position of the satellite at that moment as the center of the sphere; wherein the radius of the spherical model is determined based on the propagation delay, the speed of light, and a first error range at that moment; and the first error range is determined based on a first accuracy of the propagation delay.

[0047] In the three-dimensional Cartesian coordinate system, the position of the terminal device is expressed as Assuming that a total of The target communication signal at the moment At that moment, the position of the satellite is expressed as , the one-way propagation delay between the terminal device and the satellite is , the speed of light is , then the theoretical radius of the spherical model is: (3) For the At this moment, theoretically, the position of the satellite can be As the center of the sphere, Model the sphere at that moment for radius.

[0048] Since there is an error in the measurement of the propagation delay, it is necessary to increase the first error range when calculating the radius of the spherical model. The first error range is determined based on the first accuracy of the propagation delay. , the first error range is determined by the multiple of the first precision: - ~+ , then the possible range of actual propagation delay is arrive .

[0049] Therefore, the radius of the spherical model is located at the first radius determined by the following formula and the second radius Within the radius of: ; (4) ; (5) in, is the speed of light; is the propagation delay; is the first precision; Is a non-zero integer.

[0050] The terminal device is considered as a point on the spherical model. The terminal device is actually located at The spherical model with radius The position of the terminal device on the spherical model at the kth moment can be recorded as .

[0051] As the satellite moves, its position changes and the propagation delay also changes. For each moment when the target communication signal is received, different spherical models are constructed in the above way to obtain multiple spherical models. ~ Since the terminal device is located on the spherical model constructed at each moment, the location range of the terminal device is the intersection of multiple spherical models. .

[0052] The embodiments provided by this invention create a spherical model, using satellites as "beacons," with the satellite's position as the center of the sphere and the distance corresponding to the propagation delay as the radius, to draw a possible terminal device location area. By analyzing the intersection of these spherical models, the terminal device's location range can be further narrowed down, accurately determining its location.

[0053] Step 202: Solve the spherical model at each moment.

[0054] In a specific implementation process, the equations representing multiple spherical models can be solved based on known parameters such as the speed of light, the propagation delay at each moment, the satellite position at each moment, and the first precision.

[0055] In the specific implementation process, the theoretical spherical model can be first solved, that is, the spherical model without considering the first error range. Then, considering the first error range, the maximum spherical model and the minimum spherical model are calculated according to the first radius shown in formula (3) and the second radius shown in formula (4). Finally, the actual position range of the terminal device is calculated: a spherical shell area is formed between the maximum spherical model and the minimum spherical model.

[0056] Step 203: Determine the intersection of the spherical models at multiple moments according to the solution result of the spherical model at each moment.

[0057] The spherical shell area at each moment calculated in step 202 represents a possible location range of a terminal device, and the intersection of the spherical models is the overlapping part of these ranges.

[0058] In specific implementations, various algorithms can be used to determine the intersection of spherical models at multiple moments based on the solution of the spherical model at each moment, without being limited by the description in this specification. For example, geometric algorithms, such as iterative approximation and spatial segmentation, can be used to determine the intersection of spherical models at multiple moments.

[0059] Step 204: If the intersection of the spherical models is empty, update the first error range by a multiple of the first precision, and re-execute steps 201 to 203 until the intersection of the spherical models is not empty.

[0060] If the intersection of the spherical models is empty, it means the first error range (- ~+ ) is too small, the multiple of the first precision can be increased to expand the first error range. Based on the updated first error range, steps 201 to 203 are re-executed until the intersection of the spherical models is not empty. For example, if the initial multiple of the first precision is 1 and it is doubled each time, the first error range will change: ~+ 、- ~+ 、- ~+ ….

[0061] Step 205: If the intersection of the spherical models is not empty, determine the location information of the terminal device according to the intersection of the spherical models.

[0062] In a specific implementation, the location range of the terminal device can be determined based on the intersection of the spherical models. For example, the resulting intersection can be used as the possible location range of the terminal device. The location information of the terminal device can be determined based on the center of the location range. For example, the center of the location range can be used as the location of the terminal device.

[0063] Figure 3 This is the second flow chart of the method for determining the location information of a terminal device provided by the present invention.

[0064] In this embodiment, the location clue includes a change in the propagation delay between the terminal device and the satellite between two adjacent moments; and the track point information includes the location of the satellite.

[0065] like Figure 3 As shown, the method includes the following steps: Step 301: For every two adjacent moments in a plurality of moments, a hyperbolic surface model is constructed using the positions of the satellites at the adjacent moments as the first and second focuses; wherein the real axis length of the hyperbolic surface model is determined based on the speed of light, the change in propagation delay, and a second error range; and the second error range is determined based on a second precision of the change in propagation delay.

[0066] In the At that moment, the position of the satellite is expressed as , in At that moment, the position of the satellite is expressed as As the satellite moves, the propagation delay between the terminal device and the satellite changes at different times. The time of receiving the target communication signal to the The receiving time of the target communication signaling, the change of the one-way propagation delay is recorded as , theoretically speaking, the real axis length of the hyperbolic model can be: (6) Since there is an error in the measurement of the change in propagation delay, a second error range needs to be added when calculating the real axis length of the hyperbolic model. The second error range is determined based on the second precision of the change in propagation delay. , the second error range is determined by the multiple of the second precision: - ~+ , then the possible range of the actual propagation delay variation is arrive .

[0067] Therefore, the real axis length of the hyperbolic model is located at the first real axis length determined by the following formula and the second real axis length The scope of composition: (7) (8) Assume the error is The possible range of actual propagation delay variation is arrive A hyperbolic surface can be determined by the different positions of satellites at adjacent moments and the change in propagation delay. The position of the terminal device is regarded as a point on the hyperbolic surface model. The terminal device is actually located at and Between two hyperbolic models with a real axis length, the position of the terminal device on the hyperbolic model at the kth moment can be recorded as As the satellite moves, the hyperboloid is constantly changing, so the terminal's position range is .

[0068] Step 302: Solve the hyperbolic surface model at every two adjacent moments.

[0069] In a specific implementation process, the equation group representing multiple hyperbolic surface models can be solved based on known parameters such as the speed of light, the change in propagation delay between every two adjacent moments, the satellite position at each moment, and the second precision.

[0070] In the specific implementation process, the theoretical hyperboloid model can be first solved, that is, the hyperboloid model without considering the second error range. Then, considering the second error range, the maximum hyperboloid model and the minimum hyperboloid model are calculated based on the first real axis length shown in formula (7) and the first real axis length shown in formula (8). Finally, the actual position range of the terminal device is calculated: a hyperboloid shell region is formed between the maximum hyperboloid model and the minimum hyperboloid model.

[0071] Step 303: Determine the intersection of the hyperbolic surface models at multiple moments based on the solution results of the hyperbolic surface models at every two adjacent moments.

[0072] Each hyperbolic thin shell region calculated in step 302 represents a possible location range of a terminal device, and the intersection of the hyperbolic models is the overlapping portion of these ranges.

[0073] In a specific implementation process, the intersection of all hyperbolic surface models can be determined according to the solution results of each hyperbolic surface model through various algorithms (for example, iterative approximation algorithm, etc.), which is not limited to the description of this specification.

[0074] Step 304: If the intersection of the hyperbolic surface models is empty, update the second error range with a preset multiple of the second precision, and re-execute steps S301 to S303 until the intersection of the hyperbolic surface models is not empty.

[0075] If the intersection of the hyperbolic surface model is empty, it means the second error range (- ~+ ) is too small, the second precision multiple can be increased to expand the second error range. Based on the updated second error range, steps 301 to 303 are re-executed until the intersection of the hyperbolic surface model is not empty. For example, the initial multiple of the second precision is 1, and it is doubled each time, and the second error range changes successively: ~+ 、- ~+ 、- ~+ ….

[0076] Step 305: If the intersection of the hyperbolic surface models is not empty, determine the location information of the terminal device according to the intersection of the hyperbolic surface models.

[0077] In a specific implementation, the location range of the terminal device can be determined based on the intersection of the hyperbolic surface models. For example, the resulting intersection can be used as the possible location range of the terminal device. The location information of the terminal device can be determined based on the center of the location range. For example, the center of the location range can be used as the location of the terminal device.

[0078] Figure 4 This is the third flow chart of the method for determining the location information of a terminal device provided by the present invention.

[0079] In this embodiment, the location clue includes the Doppler shift of the satellite, and the track point information includes the position and speed of the satellite.

[0080] like Figure 4 As shown, the method includes the following steps: Step 401: For each of the multiple moments, a cone model is established according to the satellite position, Doppler frequency shift and a third error range at the moment; wherein the third error range is determined according to a third precision of the Doppler frequency shift.

[0081] In the The frequency of receiving the target communication signal is , the Doppler shift is , the satellite's speed is , the speed of light is , then at time k, the theoretical equation of the cone model is as follows: (9) Since the measurement of Doppler shift may have errors, it is necessary to add a third error range when establishing the cone model. The third error range is determined based on the third accuracy of Doppler shift. , the third error range is determined by the multiple of the third precision: - ~+ The possible range of the actual Doppler shift is arrive .

[0082] Therefore, the cone surface model includes the first cone surface model and the second cone surface model as shown below: ; (10) ; (11) The terminal device is located at a point on the cone model. The terminal device is actually located between the first cone model and the second cone model shown in the above formula. The position point of the terminal device on the cone model at the kth moment can be recorded as .

[0083] As the satellite moves, its position changes and the Doppler shift also changes. For each moment when the target communication signal is received, different cone models are constructed in the above way to obtain multiple cone models. ~ Since the terminal device is located on the cone model constructed at each moment, the location range of the terminal device is the intersection of multiple cone models. .

[0084] Step 402: Solve the cone model at each moment.

[0085] In a specific implementation process, the equations representing multiple cone models can be solved based on known parameters such as the speed of light, the observed Doppler shift at each moment, the satellite position at each moment, the signal frequency, and the third precision.

[0086] In practice, the theoretical cone model can be first solved, i.e., the cone model without considering the third error range. Based on the geometric relationship between the Doppler shift and the relative velocity between the satellite and the terminal device, a cone equation with the satellite position as the vertex and determined by the Doppler shift can be constructed.

[0087] Then, considering the third error range, the maximum cone model and the minimum cone model are calculated based on the first cone model shown in formula (10) and the second cone model shown in formula (11). These two cone models correspond to the upper and lower bounds of the Doppler shift measurement value, respectively.

[0088] The final calculation yields the actual location range of the terminal device: the area between the largest and smallest cone models, forming a conical shell. This area represents the possible location range of the terminal device, accounting for Doppler shift measurement errors.

[0089] Step 403: Determine the intersection of the cone models at multiple moments based on the solution results of the cone model at each moment.

[0090] In specific implementations, various algorithms can be used to determine the intersection of the cone models at multiple moments based on the solution of the cone model at each moment, without being limited by the description in this specification. For example, algorithms such as iterative approximation and spatial segmentation can be used to determine the intersection of the claim cone models at multiple moments.

[0091] Step 404: If the intersection of the cone models is empty, update the third error range with a preset multiple of the third precision, and re-execute steps 401 to 403.

[0092] If the intersection of the cone model is empty, it means the third error range (- ~+ ) is too small, the third precision multiple can be increased to expand the third error range. Based on the updated third error range, steps 401 to 403 are re-executed until the intersection of the cone model is not empty. For example, the initial multiple of the third precision is 1, and it is doubled each time, and the third error range changes successively: ~+ 、- ~+ 、- ~+ ….

[0093] Step 405: If the intersection of the cone models is not empty, determine the location information of the terminal device according to the intersection of the cone models.

[0094] In a specific implementation, the location range of the terminal device can be determined based on the intersection of the cone models. For example, the resulting intersection can be used as the possible location range of the terminal device. The location information of the terminal device can be determined based on the center of the location range. For example, the center of the location range can be used as the location of the terminal device.

[0095] The following describes a terminal device positioning apparatus based on a satellite direct connection network provided by the present invention. The terminal device positioning apparatus based on a satellite direct connection network described below and the terminal device positioning method based on a satellite direct connection network described above can refer to each other.

[0096] Figure 6 This is a schematic diagram of the structure of the terminal equipment positioning device based on the satellite direct connection network provided by the present invention. Figure 6 As shown, the device 600 includes the following modules: The first acquisition module 610 is configured to acquire target communication signaling at multiple moments from the satellite direct connection network.

[0097] The extraction module 620 is used to extract the location clues of the terminal device at the multiple moments according to the target communication signaling at the multiple moments.

[0098] The second acquisition module 630 is configured to acquire the track point information of the satellite providing the satellite direct connection network corresponding to the multiple time instants.

[0099] The determination module 640 is used to determine the location information of the terminal device based on the location clues at the multiple moments and the trajectory point information of the satellites at the multiple moments.

[0100] Figure 7 An example of a physical structure diagram of an electronic device is shown below. Figure 7 As shown, the electronic device may include: a processor 710, a communications interface 720, a memory 730, and a communication bus 740, wherein the processor 710, the communications interface 720, and the memory 730 communicate with each other via the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute a terminal device positioning method based on a satellite direct connection network, the method comprising: obtaining target communication signaling at multiple time instants from the satellite direct connection network; extracting location clues of the terminal device at the multiple time instants based on the target communication signaling at the multiple time instants; obtaining trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple time instants; and determining the location information of the terminal device based on the location clues at the multiple time instants and the trajectory point information of the satellite at the multiple time instants.

[0101] Furthermore, the logic instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0102] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the terminal device positioning method based on a satellite direct connection network provided by the above methods, and the method includes: obtaining target communication signaling at multiple time periods from the satellite direct connection network; extracting location clues of the terminal device at the multiple time periods based on the target communication signaling at the multiple time periods; obtaining trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple time periods; and determining the location information of the terminal device based on the location clues at the multiple time periods and the trajectory point information of the satellite at the multiple time periods.

[0103] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the terminal device positioning method based on a satellite direct connection network provided by the above-mentioned methods, the method comprising: obtaining target communication signaling at multiple time instants from the satellite direct connection network; extracting location clues of the terminal device at the multiple time instants based on the target communication signaling at the multiple time instants; obtaining trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple time instants; and determining the location information of the terminal device based on the location clues at the multiple time instants and the trajectory point information of the satellite at the multiple time instants.

[0104] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0105] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0106] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A terminal device positioning method based on a satellite direct connection network, characterized in that: The method is applied to a terminal device accessing a satellite direct connection network, and the method includes: Obtain target communication signaling at multiple times from a satellite direct connection network; Extracting location clues of the terminal device at the multiple moments according to the target communication signaling at the multiple moments; Obtaining trajectory point information of a satellite providing the satellite direct connection network corresponding to the multiple time instants; The location information of the terminal device is determined based on the location clues at the multiple time moments and the trajectory point information of the satellite at the multiple time moments.

2. The terminal device positioning method based on a satellite direct connection network according to claim 1, characterized in that: The location clue includes the propagation delay between the terminal device and the satellite; the track point information includes the location of the satellite; The determining the location information of the terminal device according to the location clues at the multiple moments and the trajectory point information of the satellites at the multiple moments includes: Step S11: For each of the multiple moments, establish a spherical model at the moment with the position of the satellite at the moment as the sphere center; wherein the radius of the spherical model is determined based on the propagation delay, the speed of light, and a first error range at the moment; and the first error range is determined based on a first accuracy of the propagation delay. Step S12: solving the spherical model at each moment respectively; Step S13: determining the intersection of the spherical models at the multiple moments according to the solution result of the spherical model at each moment; If the intersection of the spherical models is empty, updating the first error range by a multiple of the first precision, and re-performing steps S11 to S13 until the intersection of the spherical models is not empty; If the intersection of the spherical models is not empty, the location information of the terminal device is determined according to the intersection of the spherical models.

3. The terminal device positioning method based on a satellite direct connection network according to claim 2, characterized in that: The determining the location information of the terminal device according to the intersection of the spherical models includes: Determining the location range of the terminal device according to the intersection of the spherical models; The location information of the terminal device is determined according to the center of the location range.

4. The terminal device positioning method based on a satellite direct connection network according to claim 2, characterized in that: The radius of the spherical model is located at the first radius determined by the following formula and the second radius Within the radius of: ； ； in, is the speed of light; is the propagation delay; is the first precision; Is a non-zero integer.

5. The terminal device positioning method based on a satellite direct connection network according to claim 1, characterized in that: The location clue includes a change in the propagation delay between the terminal device and the satellite between two adjacent moments; the track point information includes the location of the satellite; The determining the location information of the terminal device according to the location clues at the multiple moments and the trajectory point information of the satellites at the multiple moments includes: Step S21: For every two adjacent moments in the multiple moments, construct a hyperbolic surface model using the satellite positions at the adjacent moments as a first focus and a second focus; wherein the real axis length of the hyperbolic surface model is determined based on the speed of light, the change in the propagation delay, and a second error range; and the second error range is determined based on a second precision of the change in the propagation delay. Step S22: solving the hyperbolic surface model at every two adjacent moments respectively; Step S23: determining the intersection of the hyperbolic surface models at the multiple moments according to the solution results of the hyperbolic surface models at every two adjacent moments; If the intersection of the hyperbolic surface models is empty, updating the second error range by a preset multiple of the second precision, and re-performing steps S21 to S23 until the intersection of the hyperbolic surface models is not empty; If the intersection of the hyperbolic surface models is not empty, the location information of the terminal device is determined according to the intersection of the hyperbolic surface models.

6. The terminal device positioning method based on a satellite direct connection network according to claim 1, characterized in that: The position clue includes the Doppler shift of the satellite; the track point information includes the position and speed of the satellite; The determining the location information of the terminal device according to the location clues at the multiple moments and the trajectory point information of the satellites at the multiple moments includes: Step S31: For each of the multiple moments, establishing a cone model based on the satellite position, Doppler shift, and a third error range at the moment; wherein the third error range is determined based on a third accuracy of the Doppler shift; Step S32: solving the cone surface model at each moment respectively; Step S33: determining the intersection of the cone surface models at the multiple moments according to the solution result of the cone surface model at each moment; If the intersection of the cone models is empty, updating the third error range by a preset multiple of the third precision, and re-performing steps S31 to S33 until the intersection of the cone models is not empty; If the intersection of the cone models is not empty, the location information of the terminal device is determined according to the intersection of the cone models.

7. The terminal device positioning method based on a satellite direct connection network according to any one of claims 2 to 6, characterized in that: Obtaining the positions of the satellites at the plurality of moments in time by the following method; For each moment, perform the following operations to obtain the satellite position at that moment: Acquire a first position of the satellite at a time before the time, and a second position of the satellite at a time after the time; The position of the satellite at the time is calculated based on the first position, the second position, a first time corresponding to the first position, a second time corresponding to the second position, and the time.

8. A terminal equipment positioning device based on a satellite direct connection network, characterized in that: The device is installed in a terminal device connected to a satellite direct connection network, and includes: A first acquisition module is used to acquire target communication signaling at multiple times from a satellite direct connection network; An extraction module, configured to extract location clues of the terminal device at the multiple moments according to the target communication signaling at the multiple moments; A second acquisition module is used to obtain trajectory point information of the satellite providing the satellite direct connection network corresponding to the multiple time points; A determination module is used to determine the location information of the terminal device based on the location clues at the multiple moments and the trajectory point information of the satellite at the multiple moments.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the terminal device positioning method based on the satellite direct connection network as described in any one of claims 1 to 7 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the terminal device positioning method based on a satellite direct connection network as described in any one of claims 1 to 7 is implemented.

Images