Method for detecting positioning performance of satellite and related device

Abstract

The invention relates to a method for detecting the positioning performance of a satellite and a related device. The method comprises the following steps: acquiring a group of test parameters of a satellite in a positioning system in a preset time period, wherein the positioning system is used for determining the position of terminal equipment through the satellite; the method further includes determining, based on the set of test parameters, a set of intermediate detection results of the positioning performance of the satellite, where the set of intermediate detection results indicates whether the satellite is affected by the multipath effect at a plurality of times within the predetermined time period. In addition, the method further comprises the step of generating indication information used for indicating the positioning accuracy of the satellite based on the set of intermediate detection results. In this way, the positioning performance of the satellites in the positioning system can be evaluated, the satellites with low positioning accuracy can be found out on the basis, and processing measures can be taken, so that the precision of the positioning system can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of positioning technology, and more particularly, to a method for detecting positioning performance of a satellite and related apparatuses. BACKGROUND

[0002] With the continuous development of communication technology and computer technology, various positioning systems such as Global Positioning System (GPS), Beidou Navigation Satellite System (BDS), GLONASS Satellite Navigation System, Galileo Satellite Savigation System (GSNS) and the like have been widely used in the fields of navigation, communication, consumer entertainment, surveying and mapping, time service, vehicle management, automobile navigation and the like to provide high-precision positioning services.

[0003] At present, the determination of the position of a terminal device by a positioning system is mainly achieved through information received from multiple satellites. For example, the pseudo-range observation value and / or carrier phase observation value between a satellite and a terminal device can be determined through the satellite position and satellite time respectively sent by multiple satellites, and the position of the terminal device is determined on the basis of the pseudo-range observation value and / or carrier phase observation value. SUMMARY

[0004] Embodiments of the present disclosure provide a method for detecting positioning performance of a satellite and related apparatuses.

[0005] In a first aspect of the present disclosure, a method for detecting positioning performance of a satellite is provided. The method comprises obtaining a set of test parameters of a satellite in a positioning system within a predetermined time period, wherein the positioning system is configured to determine a position of a terminal device through the satellite. The method further comprises determining a set of intermediate detection results of the positioning performance of the satellite based on the set of test parameters, wherein the set of intermediate detection results indicates whether the satellite is affected by multipath effect at multiple time instants within the predetermined time period. In addition, the method further comprises generating indication information for indicating positioning accuracy of the satellite based on the set of intermediate detection results.

[0006] In a second aspect of the present disclosure, an apparatus is provided. The apparatus includes an obtaining module configured to obtain a set of test parameters of a satellite in a positioning system within a predetermined time period, wherein the positioning system is configured to determine a position of a terminal device by the satellite. The apparatus further includes an intermediate detecting module configured to determine a set of intermediate detecting results of a positioning performance of the satellite based on the set of test parameters, wherein the set of intermediate detecting results indicate whether the satellite is affected by a multipath effect at a plurality of time instants within the predetermined time period. In addition, the apparatus further includes an analyzing module configured to generate indication information indicating a positioning accuracy of the satellite based on the set of intermediate detecting results.

[0007] In a third aspect of the present disclosure, an electronic device is provided. The electronic device includes one or more processors; and a memory device storing one or more programs configured to, working with the one or more processors, cause the one or more processors to implement a method according to the first aspect of the present disclosure.

[0008] In a fourth aspect of the present disclosure, a vehicle is provided. The vehicle includes a camera and an electronic device according to the third aspect of the present disclosure.

[0009] In a fifth aspect of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium has stored thereon computer-executable instructions that, when executed by a processor, cause the processor to implement a method according to the first aspect of the present disclosure.

[0010] In a sixth aspect of the present disclosure, a computer program product is provided. The computer program product is tangibly stored in a non-transitory computer-readable medium and includes computer-executable instructions that, when executed, cause a computer to perform a method according to the first aspect of the present disclosure.

[0011] It should be understood that any reference in this summary to a feature of the disclosure should be construed as a reference to a feature of a possibility of embodiments of the disclosure. The disclosure is directed to all such possibilities. BRIEF DESCRIPTION OF DRAWINGS

[0012] The above and other features, aspects and advantages of embodiments of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings. In the drawings similar elements are denoted by similar reference numerals, and:

[0013] Figure 1 a schematic diagram illustrating an example environment in which a plurality of embodiments of the present disclosure can be implemented is shown;

[0014] Figure 2A schematic diagram showing a scenario in which a satellite is affected by multipath effects, according to some embodiments of the disclosure;

[0015] Figure 3 A schematic diagram showing a method for detecting positioning performance of a satellite, according to some embodiments of the disclosure;

[0016] Figure 4 A schematic diagram showing a method for determining whether a satellite is affected by multipath effects, according to some embodiments of the disclosure;

[0017] Figure 5 A schematic diagram showing a method for determining positioning accuracy of a satellite, according to some embodiments of the disclosure;

[0018] Figure 6 A schematic diagram showing an indication information displayed by a detection apparatus, according to some embodiments of the disclosure;

[0019] Figure 7 A flowchart showing a method for determining positioning performance of a positioning system, according to some embodiments of the disclosure;

[0020] Figure 8 A schematic block diagram of an example device that can be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0021] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided for more thorough and complete understanding of the present disclosure. It is understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0022] In the description of embodiments of the present disclosure, the term "includes" and its derivatives, are used in an open-ended manner. The term "based on" is used in the sense of "based, at least in part, on." The term "one embodiment" or "the embodiment" are used herein to refer to at least one embodiment. The terms "first," "second," etc. can refer to different or the same objects. Other explicitly and implicitly recited definitions can also be found below.

[0023] As mentioned earlier, a positioning system requires information from multiple satellites to accurately locate a terminal device. In some cases, the signals transmitted by satellites can be reflected and refracted due to the environment in which the terminal device is located, resulting in multipath effects. This causes errors in the pseudorange and carrier phase observations determined by the positioning system, thus affecting the positioning accuracy. Therefore, in order to select a suitable satellite for accurate positioning, it is necessary to evaluate the positioning performance of the satellites and determine their positioning accuracy.

[0024] Therefore, embodiments of this disclosure propose a scheme for detecting the positioning performance of a satellite. In embodiments of this disclosure, a set of test parameters for a satellite in a positioning system can be obtained. Based on this set of test parameters, a set of intermediate detection results for the satellite's positioning performance can be determined. This set of intermediate detection results can indicate whether the satellite is affected by multipath effects at multiple moments within a predetermined time period. Based on this set of intermediate detection results, indication information indicating the positioning accuracy of the satellite can be generated.

[0025] In this way, it is possible to detect whether a satellite is affected by multipath effects and determine the satellite's positioning accuracy. Based on this, corresponding processing measures can be taken. For example, during the positioning process of terminal devices, satellites with the lowest positioning accuracy can be excluded, and satellites with higher positioning accuracy can be selected to position the terminal devices, thereby improving the positioning accuracy.

[0026] Figure 1 A schematic diagram of an example environment 100 in which various embodiments of this disclosure may be implemented is shown. For example... Figure 1 As shown, environment 100 includes satellite 101 and vehicle 102. Satellite 101 may include multiple satellites, such as satellite 101-1, satellite 101-2, and satellite 101-3. Receivers in satellite 101 and vehicle 102 can jointly constitute a positioning system, which allows vehicle 102 to determine its location 103. In some embodiments, satellite 101 can broadcast its own satellite position and time in real time. Receivers in vehicle 102 can receive the satellite position and time broadcast by satellite 101 and determine the vehicle 102's location 103 accordingly.

[0027] Environment 100 may also include a detection device capable of detecting the positioning performance of a satellite, such as whether the satellite is affected by multipath effects. In some embodiments, the detection device may also detect the positioning performance of the positioning system. The detection device may be configured in vehicle 102, in the positioning system, or be a device independent of vehicle 102 or the positioning system. The detection device may be implemented in software and / or hardware.

[0028] In some embodiments, the detection device can obtain a set of test parameters from the satellite 101-1, the satellite 101-2 or the satellite 101-3, such as a set of pseudorange observations and a set of carrier phase observations. The pseudorange observation is a measured distance obtained by multiplying the propagation time of the ranging code sent by the satellite 101-1, the satellite 101-2 or the satellite 101-3 to the receiver by the speed of light, which contains errors caused by satellite time error and receiver time error, as well as ionospheric delay and tropospheric delay. The carrier phase observation is the phase difference between the carrier signal or subcarrier signal emitted by the satellite 101-1, the satellite 101-2 or the satellite 101-3 and the received carrier signal of the receiver. The detection device can determine whether the satellite is affected by the multipath effect at multiple time points within a predetermined time period on the basis of the test parameters, and on this basis, determine the positioning accuracy of the satellite 101-1, the satellite 101-2 or the satellite 101-3.

[0029] Figure 2 A schematic diagram of a scenario 200 in which a satellite in a plurality of embodiments of the present disclosure is affected by the multipath effect is shown. The environment 200 includes a satellite 201 and a vehicle 202. The satellite 201 may, for example, be the satellite 101-1, the satellite 101-2 or the satellite 101-3 in the environment 100. The vehicle 202 may, for example, be the vehicle 102 in the aforementioned environment 100, and the receiver of the positioning system can be configured on the vehicle 202 to receive the signals sent by the satellite 201.

[0030] The signals of the satellite 201 can propagate to the receiver in the vehicle 202 through different paths. Figure 2 The path 204 and the path 205 are schematically shown in FIG. 2. The signals of the path 204 are directly sent to the receiver without reflection, and the signals of the path 205 are received by the receiver only through the reflection of the building 203. The path 204 and the path 205 have different lengths and different propagation times to reach the receiver in the vehicle 202, so the phases of the signals can be superimposed on each other, causing distortion or error of the signals. If the positioning system uses the signals of the satellite 201 to determine the position of the vehicle 202, an error-prone positioning result can be obtained.

[0031] It should be understood that, Figure 1 and Figure 2The above is only an example of the embodiments of the present disclosure, and cannot be regarded as a limitation of the present disclosure. For example, the vehicle 102 and the vehicle 202 are only an example of the terminal device, and in the embodiments of the present disclosure, the positioning system can determine the position of any terminal device, and the terminal device can be any device capable of sending and receiving information, and can include but is not limited to a mobile phone, a tablet computer, a notebook computer, a palm computer, a smart television, a PDA, a smart printer, a smart home appliance, a vehicle terminal, a wearable device (a smart watch, a smart bracelet, smart glasses, etc.), a virtual reality (VR) device, an augmented reality (AR) device, etc. In some embodiments, the satellite 101 or the satellite 201 can also be other devices for assisting positioning.

[0032] In some embodiments, four or more satellites can be included in the positioning system. In some embodiments, the vehicle 102 or the vehicle 202 can determine its own position based on the information received from the four or more satellites. In some embodiments, one terminal device can determine its own position by means of other terminal devices, for example, the position of a mobile phone of a passenger in a vehicle can be determined to determine the position of the vehicle.

[0033] Figure 3 An illustrative flow chart of a method 300 for detecting the positioning performance of a satellite according to some embodiments of the present disclosure is shown. The method 300 can be performed by a detection apparatus. The apparatus can be a terminal device, or a component configured in a terminal device, and can be implemented by software and / or hardware. For example, the apparatus can be a component in the vehicle 102 configured in the environment 100 or the vehicle 202 in the scenario 200. Next, the method 300 is illustratively described taking the detection apparatus as an example. Referring to Figure 3 The method 300 can include blocks 302 to 306.

[0034] In block 302, the detection apparatus obtains a set of test parameters of a satellite in a positioning system. The positioning system is a system for determining the position of a terminal device, which can include a plurality of satellites and a receiver configured at the terminal device. The positioning system can receive signals from one or more satellites through the receiver, and determine pseudo-range observations and carrier phase observations between the one or more satellites and the receiver, and determine the position of the receiver based on the plurality of pseudo-range observations and carrier phase observations between the receiver and the plurality of satellites, thereby realizing the positioning of the terminal device. The set of test parameters can be test parameters of a satellite in the positioning system, which can include a set of pseudo-range observations and a set of carrier phase observations between the satellite and the terminal device within a predetermined time period. In some embodiments, the test parameters can also be satellite position and satellite time of the satellite obtained by the detection apparatus from the positioning system, based on which the detection apparatus can determine the pseudo-range observations and the carrier phase observations.

[0035] The set of test parameters can include test parameters corresponding to a plurality of time instants within the predetermined time period. In some embodiments, the set of test parameters can include a set of pseudo-range observations and a set of carrier phase observations, which can correspond to a plurality of time instants within the predetermined time period, and each pseudo-range observation and each carrier phase observation can correspond to each other. For example, the predetermined time period can include a time instant t1 and a time instant t2, the set of pseudo-range observations can include a pseudo-range observation p1 and a pseudo-range observation p2, and the set of carrier phase observations can include a carrier phase observation f1 and a carrier phase observation f2. The pseudo-range observation p1 and the carrier phase observation f1 can be the pseudo-range observation and the carrier phase observation between the satellite and the terminal device at the time instant t1, and the pseudo-range observation p2 and the carrier phase observation f2 can be the pseudo-range observation and the carrier phase observation between the satellite and the terminal device at the time instant t2.

[0036] In some embodiments, the detection apparatus is an apparatus independent of the positioning system, and the detection apparatus can obtain the set of test parameters from the positioning system. In some embodiments, the detection apparatus can be an apparatus in the positioning system, and the set of test parameters can be determined by the detection apparatus based on the signals received from the satellite.

[0037] In block 304, the detection apparatus determines a set of intermediate detection results of the positioning performance of the satellite based on the obtained set of test parameters. The intermediate detection result indicates whether the satellite is affected by the multipath effect. The detection apparatus can determine a set of pseudo-range observations and a set of carrier phase observations between the satellite and the terminal device based on the set of test parameters, and determine the set of intermediate detection results based thereon. In some embodiments, the detection apparatus can determine the difference between the pseudo-range observation and the carrier phase observation corresponding to a time instant, and determine the intermediate detection result corresponding to the time instant based thereon. In some embodiments, the detection apparatus can determine the intermediate detection result corresponding to a time instant byFigure 4 The method 400 shown in FIG. 4 determines intermediate detection results. The set of intermediate detection results determined by the detection apparatus can include a plurality of intermediate detection results, each of which can correspond to a time instant within a predetermined time period and can indicate whether the satellite is affected by the multipath effect at the time instant.

[0038] In block 306, the detection apparatus generates indication information indicating the positioning accuracy of the satellite based on the set of intermediate detection results. In embodiments of the present disclosure, the positioning accuracy of a satellite can indicate the precision of the position of the terminal device determined by the positioning system based on information of the satellite. In some embodiments, the positioning accuracy of a satellite can be a plurality of predefined levels, and the detection apparatus can determine the positioning accuracy of a satellite based on a predefined correspondence relationship.

[0039] Exemplarily, in some embodiments, the positioning accuracy of a satellite can include two levels of accurate and inaccurate, and the detection apparatus can determine the number of intermediate results in the set of intermediate results indicating that a satellite is affected by the multipath effect, and in a case where the number is greater than a predetermined number threshold, the detection apparatus can determine that the positioning accuracy of the satellite is inaccurate, otherwise, determine that the positioning accuracy of the satellite is accurate. That is, the positioning accuracy can reflect the final conclusion of the detection apparatus on whether a satellite is affected by the multipath effect, and if the number of times that a satellite is detected to be affected by the multipath effect within a predetermined time period is too large, it is determined that the positioning error of the satellite is large and the positioning accuracy is low.

[0040] The set of intermediate detection results represents a plurality of detections of the detection apparatus on whether a satellite is affected by the multipath effect, and the positioning accuracy of a satellite is determined based on the plurality of detection results, so that the influence of accidental errors can be avoided, and thus the detection result of the positioning performance of the satellite can be more accurate. In some embodiments, in a case where the number of intermediate results in the set of intermediate results determined by the detection apparatus indicating that a satellite is affected by the multipath effect is greater than a predetermined number threshold, the detection apparatus can further generate alarm information indicating that the positioning accuracy of the satellite is too small, so as to remind the user or relevant personnel to handle in time.

[0041] In some embodiments, the detection apparatus can determine the positioning accuracy of a satellite in the positioning system based on the method in the foregoing block 302 to block 306, and generate indication information indicating the positioning accuracy of the satellite. In some embodiments, the detection apparatus can determine the positioning accuracy of multiple satellites in the positioning system respectively, and generate indication information indicating the positioning accuracy of the multiple satellites. Illustratively, in the foregoing block 302, the detection apparatus can obtain multiple sets of test parameters of multiple satellites included in the positioning system. In the foregoing block 304, the detection apparatus can determine multiple sets of intermediate detection results of the positioning performance of the multiple satellites respectively based on the multiple sets of test parameters. In the foregoing block 306, the detection apparatus can generate multiple pieces of indication information respectively for indicating the positioning accuracy of each satellite in the positioning system based on the multiple sets of intermediate detection results.

[0042] Based on the above technical solutions, the detection apparatus can determine the positioning performance of the satellites in the positioning system, realize the evaluation of each satellite in the positioning system, and thus can provide assistance and basis for the selection of the satellites in the positioning process. Based on the positioning performance of the satellites, the positioning system can select satellites with high positioning performance in the process of determining the position of the terminal device, and thus can improve the positioning accuracy of the positioning system. In addition, the detection result of the positioning performance of the satellites by the detection apparatus can also help the update and improvement of the positioning algorithm of the positioning system.

[0043] As mentioned above, in some embodiments, in the foregoing block 304, the detection apparatus determines the intermediate detection result by the method 400 shown in FIG. 4, i.e., determines whether the satellite is affected by the multipath effect. The method is illustratively described as follows. Figure 4 As mentioned above, in some embodiments, in the foregoing block 304, the detection apparatus determines the intermediate detection result by the method 400 shown in FIG. 4, i.e., determines whether the satellite is affected by the multipath effect. The method is illustratively described as follows. Figure 4 A schematic diagram of the method 400 for determining whether the satellite is affected by the multipath effect is shown. Referring to FIG. 4, Figure 4 The method 400 can include blocks 402 to 412. In block 402, the detection apparatus determines the difference (Deltarange Code Minus Carrier, DCMC) between the change of the pseudo-range observation value and the change of the carrier phase observation value of the satellite based on the pseudo-range observation value and the carrier observation value.

[0044] Illustratively, the DCMC can be determined by the following formula:

[0045] DCMC=Dρ-Dφ; (1)

[0046] Dp represents the rate of change of pseudo-range, and Dφ represents the rate of change of carrier phase. Dp can be determined by pseudo-range observations at two or more time instants, and Dφ can be determined by carrier phase observations at two or more time instants. Exemplarily, taking the time instants t1 and t2 in succession as an example, if the pseudo-range observation at time instant t1 is p1, the carrier phase observation at time instant t1 is φ1, the pseudo-range observation at time instant t2 is p2, and the carrier phase observation at time instant t2 is φ2, then Dp and Dφ at time instant t3 between time instants t1 and t2 can be determined by the following formulas:

[0047] Dp = (p2 - p1) / (t2 - t1) (2)

[0048] Dφ = (φ2 - φ1) / (t2 - t1) (3)

[0049] In block 404, the detection device determines a plurality of DCMCs corresponding to a plurality of time instants in a predetermined time period. For a plurality of time instants in the predetermined time period, the detection device can obtain a plurality of DCMCs through the steps in block 402. In block 406, the detection device determines the variance of the plurality of DCMCs. For a satellite not affected by multipath effect, the DCMCs obtained at different time instants obey a multivariate Gaussian distribution with zero mean, and thus the variance of the plurality of DCMCs can be determined by the following formula:

[0050] 2 T s = (X

[0051] wherein X represents a vector containing the plurality of DCMCs, s 2 represents the variance of the plurality of DCMCs, and w represents the number of DCMCs.

[0052] In block 408, the detection device determines whether the variance of the plurality of DCMCs is greater than a predetermined variance. If yes, block 410 is executed, and if no, block 412 is executed. In block 410, the detection device determines that the satellite is affected by multipath effect. In block 412, the detection device determines that the satellite is not affected by multipath effect. For a particular satellite, the variance of the noise of a plurality of pseudo-ranges at different time instants is determined by the characteristics of the receiver, which can be σ 2 For a satellite not affected by multipath effect, the variance s 2 of the plurality of DCMCs is equal to 2σ 2 , and for a satellite affected by multipath effect, the variance of the plurality of DCMCs increases, and thus whether the satellite is affected by multipath effect can be determined by judging the size of the variance of the plurality of DCMCs and the predetermined variance 2σ 2 .

[0053] ​​In some embodiments, in the foregoing block 306, the detection apparatus can obtain a posterior pseudo-range residual variance between the satellite and the terminal device within a predetermined time period, and determine the positioning accuracy of the satellite on the basis of the posterior pseudo-range residual variance and the set of intermediate detection results and obtained by block 304. Exemplarily, the posterior pseudo-range residual variance can be obtained from the positioning system. In some embodiments, the detection apparatus can obtain a plurality of pseudo-range observations between the satellite and the terminal device from the positioning system, and determine a plurality of pseudo-range residuals on the basis of the pseudo-range observations, on the basis of which the posterior pseudo-range residual variance is determined, i.e., the posterior pseudo-range residual variance. Figure 5 The method 500 shown determines the positioning accuracy of the satellite.

[0054] Referring to Figure 5 , the method 500 can include blocks 502 to 508. In block 502, the detection apparatus obtains a posterior pseudo-range residual variance between the satellite and the terminal device within a predetermined time period, which can be obtained from the positioning system, for example. In some embodiments, the detection apparatus can obtain a plurality of pseudo-range observations between the satellite and the terminal device from the positioning system, and determine a plurality of pseudo-range residuals on the basis of the pseudo-range observations, on the basis of which the posterior pseudo-range residual variance is determined, i.e., the posterior pseudo-range residual variance.

[0055] In block 504, the detection apparatus determines, among a plurality of intermediate detection results within the predetermined time period, a number of detection results indicating that the satellite is affected by the multipath effect, which is referred to as an affected number for ease of illustration. It should be noted that although block 502 is shown before block 504 in Figure 5 , it is not intended to limit the order of the operations performed at block 502 and block 504. Instead, the operations performed at block 502 and block 504 can be performed in reverse order or simultaneously.

[0056] In block 506, the detection apparatus determines a ratio of the affected number to the posterior pseudo-range residual variance, which is referred to as a reference ratio for ease of illustration. In block 508, the detection apparatus determines the positioning accuracy of the satellite on the basis of the affected number and the reference ratio. The correspondence between the positioning accuracy and the affected number and the reference ratio can be predefined. The reference ratio can reflect a usage weight of the signal of the satellite in the process in which the positioning system determines the position of the terminal device. The smaller the reference ratio of the satellite, the greater the usage weight of the positioning system for the satellite, i.e., the higher the dependence. Therefore, if the reference ratio of the satellite is large, i.e., the positioning system does not depend on the satellite in the process of determining the position of the terminal device, even if the satellite is detected to be affected by the multipath effect multiple times, it can be considered that the positioning accuracy of the satellite is high, i.e., the accuracy of the position of the terminal device determined by the positioning system on the basis of the information of the satellite is high.

[0057] In some embodiments, the detection apparatus can first determine whether the number of intermediate detection results indicating that the satellite is affected by multipath effect in the plurality of intermediate detection results is greater than a predetermined number threshold, and in the case where the number is greater than the predetermined number threshold, determine the reference ratio, and determine the positioning accuracy of the satellite based on the reference ratio. Through the above method 500, in the process of determining the positioning accuracy of the satellite, not only the number of times that the satellite is detected to be affected by multipath effect is considered, but also the degree of dependence of the positioning system on the satellite is considered, so that the positioning accuracy of the satellite can be more accurately determined.

[0058] In some embodiments, the detection apparatus can determine the value of the positioning accuracy of the satellite, compare the positioning accuracy of a plurality of satellites in the positioning system, and determine the satellite with the lowest positioning accuracy. The detection apparatus can update the positioning system based on this. For example, the detection apparatus can adjust the positioning algorithm of the positioning system, shield the signal from the satellite with the lowest positioning accuracy in the positioning algorithm, and make the positioning algorithm discard the signal from the satellite with the lowest positioning accuracy. In some embodiments, the detection apparatus can reduce the weight of the signal from the satellite with the lowest positioning accuracy in the positioning algorithm of the positioning system. In this way, the influence of the satellite with lower positioning accuracy on the positioning result in the positioning process can be reduced, and the positioning accuracy of the positioning system can be improved.

[0059] In some embodiments, the detection apparatus can display the number of the satellite and the indication information indicating the positioning accuracy of the satellite on the display or other display device configured by the detection apparatus. In some embodiments, the positioning system includes a plurality of satellites, and the detection apparatus can detect the positioning accuracy of the plurality of satellites and determine the indication information indicating the positioning accuracy of the plurality of satellites. In some embodiments, the detection apparatus can display the indication information in association with the number of the plurality of satellites. In this way, the status of the satellites in the positioning system can be more clearly provided to the user.

[0060] In some embodiments, the indication information includes the reference ratio determined by the method 500 and the number of intermediate detection results indicating that the satellite is affected by multipath effect in the set of intermediate detection results determined in block 304, that is, the detection apparatus can not determine the specific size of the positioning accuracy of the satellite, but display the two kinds of data together, so that the user can make a judgment based on the display result, and the efficiency of the evaluation of the positioning system can be improved.

[0061] For example, Figure 6 An example of the indication information 600 displayed by the detection apparatus is shown. In the example shown in FIG. 6, the indication information 600 includes the number of intermediate detection results indicating that the satellite G02 is affected by multipath effect in the predetermined time period, the number of intermediate detection results indicating that the satellite G04 is affected by multipath effect in the predetermined time period, the number of intermediate detection results indicating that the satellite G06 is affected by multipath effect in the predetermined time period, and the number of intermediate detection results indicating that the satellite G08 is affected by multipath effect in the predetermined time period. Figure 6 The number of intermediate detection results indicating that the satellite G02, the satellite G04, the satellite G06, and the satellite G08 are affected by multipath effect in the predetermined time period is shown in the table in FIG. 5.Figure 6 corresponding to satellite G02, satellite G04, satellite G06 and satellite G08, respectively. It should be understood that, Figure 6 corresponding to satellite G02, satellite G04, satellite G06 and satellite G08, respectively. It should be understood that, Figure 6 The above is only one example of the indication information in the embodiments of the present disclosure, and cannot be regarded as a limitation on the embodiments of the present disclosure. In some embodiments, the indication information can also be presented in other forms.

[0062] In some embodiments, the detection apparatus can also display, through the display screen, the positions of the satellites in the sky map, the environmental information of the terminal device, the error of the pseudo-range measurement value of the satellite in the horizontal direction, and the error of the pseudo-range measurement value of the satellite in the vertical direction. These information can be obtained by the detection apparatus from the positioning system, or obtained from the terminal device, or determined by the detection apparatus based on the information obtained from the positioning system. In some embodiments, the detection apparatus can also display more satellite-related information through the display screen, so as to provide more information to the user and improve the user experience.

[0063] In some embodiments, the detection apparatus can also determine the positioning performance of the positioning system. For example, Figure 7 A schematic diagram of a method 700 for determining the positioning performance of the positioning system is shown. In the method 700, the detection apparatus determines the performance of the positioning system by simulating the simulated position of the terminal device determined by the positioning system in the case that the error of the pseudo-range observation value is large. Referring to Figure 7 The method 700 can include blocks 702 to 712. In block 702, the detection apparatus obtains the real pseudo-range observation value between the satellite and the terminal device determined by the true value system. The true value system can be a system that can provide the real pseudo-range observation value and the real position of the terminal device, and can be configured in the detection device or be a system independent of the detection device.

[0064] In block 704, the detection apparatus determines the difference between the pseudo-range observation value between the satellite and the terminal device obtained from the positioning system and the real pseudo-range observation value, which is referred to as the first error for convenience of description. In block 706, the detection apparatus determines the simulated pseudo-range observation value based on the real pseudo-range observation value and the first error. For example, the detection apparatus can increase or decrease a value larger than the first error based on the real pseudo-range observation value, so as to obtain the simulated pseudo-range observation value. That is, the difference between the simulated pseudo-range observation value and the real pseudo-range observation value is larger than the first error.

[0065] In block 708, the detection apparatus inputs the analog pseudo-range observation value into the positioning system, so that the positioning system determines the position of the terminal device based on the analog pseudo-range observation value. For the purpose of illustration, the position is referred to as an analog position. In block 710, the detection apparatus acquires the real position of the terminal device from the real value system. In block 712, the detection apparatus compares the analog position with the real position, and determines the positioning performance of the positioning system based on the distance between the analog position and the real position.

[0066] In some embodiments, a first predetermined distance threshold is predefined in the detection apparatus. In block 712, the detection apparatus can compare the distance between the analog position and the real position with the first predetermined distance threshold. If the distance between the analog position and the real position is less than or equal to the first predetermined distance threshold, that is, even if the error of the pseudo-range observation value determined by the satellite is large, the positioning system can determine a relatively accurate result, the detection apparatus can determine that the positioning system has stable positioning performance. If the distance between the analog position and the real position is greater than the first predetermined distance threshold, that is, as the error of the pseudo-range observation value determined by the satellite increases, the positioning result determined by the positioning system becomes inaccurate, the detection apparatus can determine that the positioning system has unstable positioning performance.

[0067] In some embodiments, an error detector is configured in the positioning system, and the satellite signal with a large error can be shielded. In block 712, the detection apparatus can compare the analog position with the real position, and determine whether the error detector is effective based on the distance between the analog position and the real position. For example, if the distance between the analog position and the real position is greater than a second predetermined distance threshold, it can be determined that the error detector is ineffective, and if the distance between the analog position and the real position is less than or equal to the second predetermined distance threshold, it can be determined that the error detector is not ineffective.

[0068] In some embodiments, the positioning system includes a plurality of satellites, and the detection apparatus can perform the method 700 once for each satellite, so that the detection result of the stability of the positioning system is more comprehensive and reliable. In some embodiments, the detection apparatus can determine the satellite with the lowest positioning accuracy among the plurality of satellites, and perform the method 700 on the satellite. Through the method 700, the positioning system can be evaluated, so that the positioning system can be maintained conveniently.

[0069] Figure 8 A schematic block diagram of an example device 800 that can be used to implement embodiments of the present disclosure is shown. The detection apparatus in the foregoing method embodiments can be implemented by using the device 800. As shown in FIG. 8, the device 800 includes a processor 802, a memory 804, a communication interface 806, and a bus 808. The bus 808 can be used to implement communication between the processor 802, the memory 804, and the communication interface 806. The processor 802 can be a general-purpose processor, a single-chip computer, or a microcontroller. The memory 804 can be a random access memory (RAM), a read-only memory (ROM), or a combination thereof. The communication interface 806 can be a wired interface or a wireless interface. Figure 8As shown, the device 800 includes a processor 801 that can execute instructions stored in a computer-readable medium, such as a non-volatile memory (ROM) 802, to load into a random access memory (RAM) 803, to perform various suitable actions and processes. Various programs and data used by the device 800, including the computer program instructions implementing the methods 300, 400, 500, or 700, can also be stored in the RAM 803. The processor 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0070] Various components in the device 800 are connected to the I / O interface 805, including an input unit 806, such as a keyboard, a mouse, etc., an output unit 807, such as various types of displays, speakers, etc., a storage unit 808, such as a disk, a memory, etc., and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0071] The various processes and processes described above, such as the methods 300, 400, 500, or 700, can be performed by the processor 801. For example, in some embodiments, the methods 300, 400, 500, or 700 can be implemented as a computer software program tangibly embodied in a machine-readable medium. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 800 via the ROM 802. When the computer program is loaded into the RAM 803 and executed by the processor 801, one or more actions of the methods 300, 400, 500, or 700 described above can be performed.

[0072] The present disclosure can be a method, apparatus, system, and / or computer program product. The computer program product can include a computer-readable storage medium having computer-readable program instructions loaded thereon, used to perform various aspects of the present disclosure.

[0073] Computer readable storage media can be any media that can be read by a machine. Such media can include, but is not limited to, optical discs, magnetic discs, magnetic tapes, electronic memories and any combination thereof. Computer readable storage media is not, however, a transitory, propagating signal per se.

[0074] The computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0075] Computer readable program instructions for carrying out operations of the present disclosure can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0076] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0077] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0078] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer, other programmable data processing apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0079] The flow diagrams and the block diagrams in the drawings are presented to illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams and the block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logic functions. In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and

[0080] Embodiments of the present disclosure have been described above, and the description is intended to be illustrative of the embodiments and not restrictive. Many modifications and variations of the described embodiments are possible and are within the scope of the disclosure. The selection of the terms to be used in the description is not intended to limit the scope of the embodiments described herein, but rather to best describe the principles of the embodiments in the context of the specific application.

Claims

1.A method (300) for detecting positioning performance of a satellite, comprising: obtaining (302) a set of test parameters of the satellite in a positioning system within a predetermined time period, wherein the positioning system is configured to determine a position of a terminal device by the satellite; determining (304) a set of intermediate detection results of positioning performance of the satellite based on the set of test parameters, wherein the set of intermediate detection results indicates whether the satellite is affected by multipath effect at multiple time instants within the predetermined time period; and generating (306) indication information indicating positioning accuracy of the satellite based on the set of intermediate detection results. 2.The method of claim 1, wherein the generating (306) indication information indicating positioning accuracy of the satellite based on the set of intermediate detection results comprises: obtaining a posterior pseudorange residual variance of the satellite; and generating the indication information based on a number of intermediate detection results in the set of intermediate detection results indicating that the satellite is affected by multipath effect and the posterior pseudorange residual variance. 3.The method of claim 1, wherein the generating (306) indication information indicating positioning accuracy of the satellite based on the set of intermediate detection results comprises: in a case that the number of intermediate detection results in the set of intermediate detection results indicating that the satellite is affected by multipath effect is greater than a predetermined number threshold, generating alarm information indicating that the positioning accuracy of the satellite is too small. 4.The method of any one of claims 1 to 3, wherein the set of test parameters comprises a pseudorange observation between the satellite and the terminal device, the method further comprising: obtaining a true pseudorange observation between the satellite and the terminal device determined by a ground truth system; determining a first error between the pseudorange observation in the set of test parameters and the true pseudorange observation; determining a simulated pseudorange observation based on the true pseudorange observation and the first error, wherein a second error between the simulated pseudorange observation and the true pseudorange observation is greater than the first error; determining a simulated position of the terminal device based on the positioning system and the simulated pseudorange observation; obtaining a true position of the terminal device determined by the ground truth system; and determining positioning performance of the positioning system based on a distance between the simulated position and the true position. 5.The method of claim 4, wherein the determining positioning performance of the positioning system based on the distance between the simulated position and the true position comprises: in a case that the distance between the simulated position and the true position is greater than a first predetermined distance threshold, determining that the positioning performance of the positioning system is unstable. 6.The method of claim 4, further comprising: in a case that the distance between the simulated position and the true position is greater than a second predetermined distance threshold, determining that an error detector in the positioning system is failed. 7.The method of claim 1, wherein the set of test parameters comprises a set of pseudorange observations and a set of carrier phase observations between the satellite and the terminal device, and wherein determining (304) the set of intermediate detection results on the positioning performance of the satellite based on the set of test parameters comprises: determining, based on the set of pseudorange observations and the set of carrier phase observations, a difference between changes in pseudorange observations and changes in carrier phase observations of the satellite at multiple time instants within the predetermined time period; and determining the set of intermediate detection results based on the difference between the changes in pseudorange observations and the changes in carrier phase observations of the satellite. 8.The method of claim 1, wherein the positioning system comprises a plurality of satellites, the method further comprising: determining, based on a plurality of indication information respectively corresponding to the plurality of satellites, a target satellite with a lowest positioning accuracy among the plurality of satellites; and updating the positioning system based on the target satellite. 9.The method of claim 8, wherein updating the positioning system based on the target satellite comprises: adjusting a positioning algorithm of the positioning system to cause the positioning algorithm to discard signals from the target satellite; or reducing a weight of signals from the target satellite in a positioning algorithm of the positioning system. 10.The method of claim 1, further comprising: displaying a number of the satellite and a number of intermediate detection results in the plurality of intermediate detection results indicating that the satellite is affected by multipath effects in association with each other; and displaying a position of the satellite in a sky map, environment information in which the terminal device is located, and errors in pseudorange measurements of the satellite in a lateral direction and a longitudinal direction. 11.An electronic device comprising: at least one processor; and a memory coupled to the at least one processor and having stored thereon instructions that, when executed by the at least one processor, cause the device to perform the method of any one of claims 1-11. 12.A computer program product tangibly stored on a non-transitory computer-readable medium and comprising computer-executable instructions that, when executed, cause a computer to perform the steps of the method of any one of claims 1-11. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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