Method and system for positioning electric power Beidou communication terminal based on receiving two satellites

Abstract

The invention discloses a positioning method and system of an electric power Beidou communication terminal based on receiving two satellites. The method comprises the steps that the electric power Beidou communication terminal acquires information of an area where the electric power Beidou communication terminal is located; querying a database according to the information of the area where the electric power Beidou communication terminal is located to obtain the height information of the area where the electric power Beidou communication terminal is located; obtaining the observation information of the BDS satellite, re-observing and obtaining the observation information of the BDS satellite after T seconds, and executing at least once; based on a plurality of BDS observation information with the interval time being T and the height information of the area where the electric power Beidou communication terminal is located, a plurality of curves passing through the area where the electric power Beidou communication terminal is located are obtained through a positioning algorithm, the intersection point of the curves is the position of the electric power Beidou communication terminal, and positioning is completed. The method provided by the invention successfully solves the problem that the electric power Beidou communication terminal cannot position two satellites when receiving the two satellites in the BDS navigation system at present.

Description

Technical Field

[0001] This invention belongs to the field of electronic communication technology, specifically relating to a positioning method and system based on a power-based BeiDou communication terminal that receives signals from two satellites. Background Technology

[0002] BDS satellite navigation technology combines positioning technology with mobile communication networks to locate communication terminals. This technology requires adding a positioning control receiver module to the terminal. The BeiDou communication network can determine the location of BDS satellites above the power communication terminal based on its current application scenario (e.g., a power transmission tower in the field), and provide this information to the terminal. Based on this information, the terminal narrows its search range, shortens the search time, and completes the search for available satellites more quickly. After the search is complete, there are two methods for calculating the terminal's position: first, the terminal calculates its position itself based on relevant information; second, the terminal interacts with the network, transmitting the information used to calculate its position to the network, which then calculates the power communication terminal's position. The main advantage of BDS navigation and positioning technology lies in its positioning accuracy. In open areas such as outdoors, its accuracy can reach approximately meter-level under normal BDS satellite communication operating conditions, making it arguably the most accurate positioning technology currently available. Another advantage is that the initial acquisition time of a BDS signal is generally only a few seconds, while the initial acquisition time for the Global Positioning System (GPS) can take 2-3 minutes.

[0003] Although BDS navigation technology offers high positioning accuracy and a short initial BDS signal acquisition time, it has a drawback: indoor positioning remains unresolved. This is due to various obstructions that prevent BDS signal reception indoors, or result in a limited number of satellite signals being received. When determining the location of a power line communication terminal using BDS measurement equations, four unknowns exist: the terminal's latitude, longitude, altitude, and clock bias. At least four measurement equations are required to solve for all four unknowns, meaning at least four satellites need to be observed simultaneously to determine the terminal's location. If the terminal's altitude (H) is known, at least three measurement equations are needed, requiring signals from at least three satellites to determine the latitude, longitude, and clock bias. However, when the power line communication terminal receives signals from only two satellites, the number of measurement equations is less than the number of unknowns, resulting in an underdetermined system of equations. Clearly, the exact location of the communication terminal cannot be determined in this case. In short, in the current BDS satellite navigation technology, when the number of BDS satellites received by the power Beidou communication terminal is greater than 2, the terminal's position can be quickly calculated; however, when the number of satellites received by the terminal is 2, the position information of the communication terminal will not be given.

[0004] However, in indoor power grids, urban power grids with high-rise buildings, and high-altitude power systems with extremely harsh environments, the probability of receiving no more than two BDS satellites is very high; therefore, there is an urgent need for a positioning method for power BeiDou communication terminals that receive two satellites. Summary of the Invention

[0005] To address the shortcomings of existing technologies, one of the objectives of this invention is to provide a positioning method based on a power grid BeiDou communication terminal that receives signals from two satellites, so as to achieve positioning in indoor power grids, urban power grids with high-rise buildings, and high-altitude power system scenarios with extremely harsh environments when the number of BDS satellites received is no more than two.

[0006] The second objective of this invention is to provide a system for implementing the positioning method of the power-based BeiDou communication terminal that receives signals from two satellites.

[0007] This invention provides a positioning method for a power-based BeiDou communication terminal that receives signals from two satellites. The positioning method includes the following steps:

[0008] The power grid Beidou communication terminal obtains information about the area where the power grid Beidou communication terminal is located;

[0009] The system queries the database based on the location information of the power grid Beidou communication terminal to obtain the altitude information of the location of the power grid Beidou communication terminal.

[0010] When the total number of satellites observed by the power Beidou communication terminal is 2, the observation information of the BDS satellite is obtained and the observation information of the BDS satellite is obtained again after T seconds, and this process is performed at least once.

[0011] Based on several BDS observations with an interval of T and the altitude information of the area where the power Beidou communication terminal is located, a positioning algorithm is used to obtain several curves passing through the area where the power Beidou communication terminal is located. The intersection of these curves is the position of the power Beidou communication terminal, thus completing the positioning.

[0012] The positioning method specifically includes the following steps:

[0013] S1. The power Beidou communication terminal observes the BDS satellite and then sends the obtained observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system.

[0014] S2. After the BDS navigation system receives the observation data from the power Beidou communication terminal, it checks the total number of observed satellites in the BDS satellite observation information;

[0015] S3. When the BDS satellite navigation system check result shows that the total number of observed satellites is 2, the power Beidou communication terminal is requested to re-search and observe the satellites N times, where N is a positive integer;

[0016] S4. After each observation, the power Beidou communication terminal will send the latest observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system.

[0017] S5. When the measurement is completed, the BDS satellite system analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expressions of several curves passing through the cell under the altitude conditions in the cell information;

[0018] S6. Based on the expressions of several curves passing through the cell, the intersection points of the curves are obtained and used as the location of the power Beidou communication terminal. The calculation results are returned to the BDS WeChat navigation system to complete the positioning.

[0019] The observation information related to the BDS satellites includes: the total number of observed satellites, the PRN number of each satellite, the measurement pseudorange of each satellite, and the pseudorange measurement time.

[0020] The cell information where the terminal is located includes: cell identifier, cell coverage area, and sector shape.

[0021] In step S5, the BDS satellite system first obtains two satellite pseudorange observation equations and an ellipsoid equation for the location of the power Beidou communication terminal by analyzing the measurement data of the N+1 power Beidou communication terminal and combining it with the ground-fixed coordinate system of the terminal location. Then, it simplifies to obtain the expressions for several curves passing through the cell under the altitude conditions in the cell information.

[0022] The graph represented by the two satellite pseudorange observation equations and the ellipsoidal equation of the location of the power user service equipment is a curve passing through the cell at an altitude of h.

[0023] After the power grid Beidou communication terminal has made N+1 measurements, it can obtain N+1 such curves. The location of the power grid Beidou communication terminal is at the intersection of these N curves.

[0024] When N=2, the equations for the pseudorange observations of the two satellites and the equation for the ellipsoid of the point where the BeiDou communication terminal is located are expressed by the following formula: ;in, The radius of the Earth's equator; The Earth's polar radius; Let be the radius of curvature of the ellipsoid's prime meridian; For clock difference; The latitude of the terminal; The longitude of the terminal; This is the pseudorange from the satellite to the terminal obtained from the first measurement; This is the pseudorange from the satellite to the terminal obtained from the second measurement; The three-dimensional spatial coordinates of the power grid Beidou communication terminal; These are the satellite's three-dimensional spatial coordinates.

[0025] Based on two satellite pseudorange observation equations and an ellipsoidal equation for the location of a power-powered BeiDou communication terminal, a simplified set of equations is obtained for two curves passing through the cell at an altitude of h, expressed by the following formula: ;

[0026] In step S5, because there is relative motion between the power grid Beidou communication terminal and the satellite during communication, the frequency of the received signal will change during the communication process, so Doppler frequency shift needs to be introduced. A transmission frequency compensation mechanism is introduced, and the Doppler frequency shift is expressed by the following formula: The transmission frequency is... The receiving frequency is v is the relative velocity between the transmitter and receiver; c is the speed of light. When the transmitter and receiver are moving closer to each other, a "+" sign is used, indicating that the receiving frequency is greater than the transmitting frequency; when they are moving further apart, a "-" sign is used, indicating that the receiving frequency is less than the transmitting frequency.

[0027] The present invention also discloses a system for implementing the positioning method of the power Beidou communication terminal based on receiving two satellites, including a BDS satellite observation module, an observation data inspection module, a BDS satellite re-observation module, an observation data uploading module, a data analysis module, and a terminal positioning module;

[0028] The BDS satellite observation module observes the BDS satellite, obtains observation information about the BDS satellite and the cell information where the terminal is located, and uploads the data to the observation data inspection module.

[0029] The observation data inspection module checks the total number of observed satellites in the BDS satellite observation information after receiving the observation data from the power Beidou communication terminal, and then uploads the data to the BDS satellite re-observation module.

[0030] Based on the received data, when the check result shows that the total number of observed satellites is 2, the BDS satellite re-observation module requests the power Beidou communication terminal to re-search and observe the satellites N times, where N is a positive integer, and uploads the data to the observation data upload module.

[0031] Based on the received data, the observation data upload module will upload the latest observation information about the BDS satellite and the cell information where the terminal is located to the data analysis module after each observation.

[0032] Based on the received data, when the measurement is completed, the data analysis module analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expression of several curves passing through the cell under the altitude condition in the cell information, and uploads the data to the terminal positioning module.

[0033] The terminal positioning module calculates the intersection of several curves passing through the cell based on the received data and the expression of the curves. This intersection is used as the location of the power grid Beidou communication terminal, thus completing the positioning process.

[0034] This invention discloses a positioning method and system for a power grid BeiDou communication terminal that receives two satellites, so as to achieve positioning when the number of BDS satellites received is no more than two in indoor power grids, urban power grids with high-rise buildings, and high-altitude power system scenarios with extremely harsh environments. Attached Figure Description

[0035] Figure 1 This is a schematic flowchart of the method of the present invention;

[0036] Figure 2 This is a curve intersection diagram obtained based on measurement data when N=2 in an embodiment of the present invention;

[0037] Figure 3 This is a schematic diagram of the system of the present invention. Detailed Implementation

[0038] This invention provides a positioning method for a power-based BeiDou communication terminal that receives signals from two satellites, the flowchart of which is shown below. Figure 1 As shown, the positioning method includes the following steps:

[0039] The power grid Beidou communication terminal obtains information about the area where the power grid Beidou communication terminal is located;

[0040] The system queries the database based on the location information of the power grid Beidou communication terminal to obtain the altitude information of the location of the power grid Beidou communication terminal.

[0041] When the total number of satellites observed by the power Beidou communication terminal is 2, the observation information of the BDS satellite is obtained and the observation information of the BDS satellite is obtained again after T seconds, and this process is performed at least once.

[0042] Based on several BDS observations with an interval of T and the altitude information of the area where the power Beidou communication terminal is located, a positioning algorithm is used to obtain several curves passing through the area where the power Beidou communication terminal is located. The intersection of these curves is the position of the power Beidou communication terminal, thus completing the positioning.

[0043] The positioning method specifically includes the following steps:

[0044] S1. The power Beidou communication terminal observes the BDS satellite and then sends the obtained observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system.

[0045] S2. After the BDS navigation system receives the observation data from the power Beidou communication terminal, it checks the total number of observed satellites in the BDS satellite observation information;

[0046] S3. When the BDS satellite navigation system check result shows that the total number of observed satellites is 2, the power Beidou communication terminal is requested to re-search and observe the satellites N times, where N is a positive integer;

[0047] S4. After each observation, the power Beidou communication terminal will send the latest observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system.

[0048] S5. When the measurement is completed, the BDS satellite system analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expressions of several curves passing through the cell under the altitude conditions in the cell information;

[0049] S6. Based on the expressions of several curves passing through the cell, the intersection points of the curves are obtained and used as the location of the power Beidou communication terminal. The calculation results are returned to the BDS WeChat navigation system to complete the positioning.

[0050] The observation information related to the BDS satellites includes: the total number of observed satellites, the PRN number of each satellite, the measurement pseudorange of each satellite, and the pseudorange measurement time.

[0051] The cell information where the terminal is located includes: cell identifier, cell coverage area, and sector shape.

[0052] The power BeiDou communication terminal encodes and modulates power service data before transmitting it through an antenna. The BeiDou satellite receives the signal, amplifies and frequency-converts it, and then forwards it to the cell reference station. The cell reference station receives the signal, demodulates, parses, and processes it, generating a new data frame. After remodulation, it sends the signal back to the satellite. The satellite amplifies, frequency-converts, and forwards the signal again. Another power BeiDou communication terminal receives the signal, converts it into service data, and outputs it to the power user equipment.

[0053] In step S5, the BDS satellite system first obtains two satellite pseudorange observation equations and an ellipsoid equation for the location of the power Beidou communication terminal by analyzing the measurement data of the N+1 power Beidou communication terminal and combining it with the ground-fixed coordinate system of the terminal location. Then, it simplifies to obtain the expressions for several curves passing through the cell under the altitude conditions in the cell information.

[0054] The graph represented by the two satellite pseudorange observation equations and the ellipsoidal equation of the location of the power user service equipment is a curve passing through the cell at an altitude of h.

[0055] After the power grid Beidou communication terminal has made N+1 measurements, it can obtain N+1 such curves. The location of the power grid Beidou communication terminal is at the intersection of these N curves.

[0056] When N=2, the equations for the pseudorange observations of the two satellites and the equation for the ellipsoid of the point where the BeiDou communication terminal is located are expressed by the following formula: ;in, The radius of the Earth's equator; The Earth's polar radius; Let be the radius of curvature of the ellipsoid's prime meridian; For clock difference; The latitude of the terminal; The longitude of the terminal; This is the pseudorange from the satellite to the terminal obtained from the first measurement; This is the pseudorange from the satellite to the terminal obtained from the second measurement; The three-dimensional spatial coordinates of the power grid Beidou communication terminal; These are the satellite's three-dimensional spatial coordinates.

[0057] Based on two satellite pseudorange observation equations and an ellipsoidal equation for the location of a power-powered BeiDou communication terminal, a simplified set of equations is obtained for two curves passing through the cell at an altitude of h, expressed by the following formula: ;

[0058] In step S5, because there is relative motion between the power grid Beidou communication terminal and the satellite during communication, the frequency of the received signal will change during the communication process, so Doppler frequency shift needs to be introduced. A transmission frequency compensation mechanism is introduced, and the Doppler frequency shift is expressed by the following formula: The transmission frequency is... The receiving frequency is v is the relative velocity between the transmitter and receiver; c is the speed of light. When the transmitter and receiver are moving closer to each other, a "+" sign is used, indicating that the receiving frequency is greater than the transmitting frequency; when they are moving further apart, a "-" sign is used, indicating that the receiving frequency is less than the transmitting frequency.

[0059] Specifically, the transmission frequency compensation mechanism is as follows:

[0060] Beidou Terminal 1 receives satellite signals while transmitting them. Due to high-speed motion, the Doppler frequency shift changes continuously during the time difference period, causing a calculation delay. Therefore, appropriate compensation can be made to the transmission frequency. Assuming the Beidou satellite downlink transmission frequency is approximately 2.5 GHz, and assuming there is a relative velocity *v* between Terminal 1 and the satellite, and that they are constantly approaching each other, the Doppler frequency shift of the satellite signal received by Beidou Terminal 1 is approximately... Therefore, the relative speed between the terminal and the satellite can be obtained. At this point, to ensure that the frequency of the terminal's transmitted signal still reaches the satellite at the standard frequency of 1.6 GHz, the actual transmission frequency should be [frequency to be filled in]. Meanwhile, based on the data obtained from the receiving PLL loop tracking... This allows for real-time calculation of the transmitted signal frequency, followed by real-time adjustment of the transmission frequency. This minimizes the time difference between measurement and compensation, ensuring the timeliness and accuracy of the compensation.

[0061] When N=2, the intersection points of the different curves obtained from two measurements by the power Beidou communication terminal on the Earth's surface are as follows: Figure 2 As shown in the diagram. S1 and S2 are the two space satellites measured in the first measurement; S11 and S22 are the two space satellites measured in the second measurement; L1 is the curve passing through the cell obtained when measuring satellites S1 and S2; L2 is the curve passing through the cell obtained in the second measurement; point A is the intersection of curves L1 and L2 within the cell, which is the location of the power Beidou communication terminal.

[0062] This invention also discloses a system for implementing the positioning method of a power-based BeiDou communication terminal that receives signals from two satellites, the structural diagram of which is shown below. Figure 3 As shown, it includes a BDS satellite observation module, an observation data inspection module, a BDS satellite re-observation module, an observation data upload module, a data analysis module, and a terminal positioning module;

[0063] The BDS satellite observation module observes the BDS satellite, obtains observation information about the BDS satellite and the cell information where the terminal is located, and uploads the data to the observation data inspection module.

[0064] The observation data inspection module checks the total number of observed satellites in the BDS satellite observation information after receiving the observation data from the power Beidou communication terminal, and then uploads the data to the BDS satellite re-observation module.

[0065] Based on the received data, when the check result shows that the total number of observed satellites is 2, the BDS satellite re-observation module requests the power Beidou communication terminal to re-search and observe the satellites N times, where N is a positive integer, and uploads the data to the observation data upload module.

[0066] Based on the received data, the observation data upload module will upload the latest observation information about the BDS satellite and the cell information where the terminal is located to the data analysis module after each observation.

[0067] Based on the received data, when the measurement is completed, the data analysis module analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expression of several curves passing through the cell under the altitude condition in the cell information, and uploads the data to the terminal positioning module.

[0068] The terminal positioning module calculates the intersection of several curves passing through the cell based on the received data and the expression of the curves. This intersection is used as the location of the power grid Beidou communication terminal, thus completing the positioning process.

Claims

1. A positioning method based on a power-operated BeiDou communication terminal receiving signals from two satellites, characterized in that, Includes the following steps: The power grid Beidou communication terminal obtains information about the area where the power grid Beidou communication terminal is located; The system queries the database based on the location information of the power grid Beidou communication terminal to obtain the altitude information of the location of the power grid Beidou communication terminal. When the total number of satellites observed by the power Beidou communication terminal is 2, the observation information of the BDS satellite is obtained and the observation information of the BDS satellite is obtained again after T seconds, and this process is performed at least once. Based on several BDS observations with an interval of T and the altitude information of the area where the power Beidou communication terminal is located, a positioning algorithm is used to obtain several curves passing through the area where the power Beidou communication terminal is located. The intersection of these curves is the position of the power Beidou communication terminal, thus completing the positioning.

2. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 1, is characterized in that... Specifically, the following steps are included: S1. The power Beidou communication terminal observes the BDS satellite and then sends the obtained observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system. S2. After the BDS navigation system receives the observation data from the power Beidou communication terminal, it checks the total number of observed satellites in the BDS satellite observation information; S3. When the BDS satellite navigation system check result shows that the total number of observed satellites is 2, the power Beidou communication terminal is requested to re-search and observe the satellites N times, where N is a positive integer; S4. After each observation, the power Beidou communication terminal will send the latest observation information about the BDS satellite and the cell information where the terminal is located to the BDS satellite navigation system. S5. When the measurement is completed, the BDS satellite system analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expressions of several curves passing through the cell under the altitude conditions in the cell information; S6. Based on the expressions of several curves passing through the cell, the intersection points of the curves are obtained and used as the location of the power Beidou communication terminal. The calculation results are returned to the BDS WeChat navigation system to complete the positioning.

3. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 2, is characterized in that... The observation information related to the BDS satellites includes: the total number of observed satellites, the PRN number of each satellite, the measurement pseudorange of each satellite, and the pseudorange measurement time. The cell information where the terminal is located includes: cell identifier, cell coverage area, and sector shape.

4. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 2, is characterized in that... In step S5, the BDS satellite system first obtains two satellite pseudorange observation equations and an ellipsoid equation for the location of the power Beidou communication terminal by analyzing the measurement data of the N+1 power Beidou communication terminal and combining it with the ground-fixed coordinate system of the terminal location. Then, it simplifies to obtain the expressions for several curves passing through the cell under the altitude conditions in the cell information.

5. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites according to claim 4, characterized in that, The graph represented by the two satellite pseudorange observation equations and the ellipsoidal equation of the location of the power user service equipment is a curve passing through the cell at an altitude of h.

6. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites according to claim 2, characterized in that, After the power grid Beidou communication terminal has made N+1 measurements, it will obtain N+1 such curves. The location of the power grid Beidou communication terminal is at the intersection of these N curves.

7. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 4, is characterized in that... When N=2, the equations for the pseudorange observations of the two satellites and the equation for the ellipsoid of the point where the BeiDou communication terminal is located are expressed by the following formula: ;in, The radius of the Earth's equator; The Earth's polar radius; Let be the radius of curvature of the ellipsoid's prime meridian; For clock difference; The latitude of the terminal; The longitude of the terminal; This is the pseudorange from the satellite to the terminal obtained from the first measurement; This is the pseudorange from the satellite to the terminal obtained from the second measurement; The three-dimensional spatial coordinates of the power grid Beidou communication terminal; These are the satellite's three-dimensional spatial coordinates.

8. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 7, is characterized in that... Based on two satellite pseudorange observation equations and an ellipsoidal equation for the location of a power-powered BeiDou communication terminal, a simplified set of equations is obtained for two curves passing through the cell at an altitude of h, expressed by the following formula: .

9. The positioning method for a power-based BeiDou communication terminal based on receiving signals from two satellites, as described in claim 8, is characterized in that... Because there is relative motion between the power grid BeiDou communication terminal and the satellite during communication, the frequency of the received signal will change during the communication process, necessitating the introduction of Doppler frequency shift. A transmission frequency compensation mechanism is introduced, and the Doppler frequency shift is expressed by the following formula: The transmission frequency is... The receiving frequency is v is the relative velocity between the transmitter and receiver; c is the speed of light. When the transmitter and receiver are moving closer to each other, a "+" sign is used, indicating that the receiving frequency is greater than the transmitting frequency; when they are moving further apart, a "-" sign is used, indicating that the receiving frequency is less than the transmitting frequency.

10. A system for implementing the positioning method of a power-based BeiDou communication terminal based on receiving signals from two satellites as described in any one of claims 1 to 9, characterized in that, It includes a BDS satellite observation module, an observation data inspection module, a BDS satellite re-observation module, an observation data upload module, a data analysis module, and a terminal positioning module; The BDS satellite observation module observes the BDS satellite, obtains observation information about the BDS satellite and the cell information where the terminal is located, and uploads the data to the observation data inspection module. The observation data inspection module checks the total number of observed satellites in the BDS satellite observation information after receiving the observation data from the power Beidou communication terminal, and then uploads the data to the BDS satellite re-observation module. Based on the received data, when the check result shows that the total number of observed satellites is 2, the BDS satellite re-observation module requests the power Beidou communication terminal to re-search and observe the satellites N times, where N is a positive integer, and uploads the data to the observation data upload module. Based on the received data, the observation data upload module will upload the latest observation information about the BDS satellite and the cell information where the terminal is located to the data analysis module after each observation. Based on the received data, when the measurement is completed, the data analysis module analyzes the measurement data of the N+1 power Beidou communication terminal and combines it with the ground-fixed coordinate system of the terminal location to obtain the expression of several curves passing through the cell under the altitude condition in the cell information, and uploads the data to the terminal positioning module. The terminal positioning module calculates the intersection of several curves passing through the cell based on the received data and the expression of the curves. This intersection is used as the location of the power grid Beidou communication terminal, thus completing the positioning process.

Images