A navigation enhancement information transmission method, device and system

Abstract

The application provides a navigation enhancement information transmission method, device and system, and the method comprises the following steps: a server receives a navigation enhancement original message; the server determines navigation enhancement information messages of visible satellites in each grid in real time according to the navigation enhancement original message; the server determines a grid in which a terminal is located according to the position information of the terminal in response to a navigation information enhancement service request of the terminal; and the server sends the navigation enhancement information messages of the visible satellites in the grid in which the terminal is located to the terminal through a ground network and a low-orbit satellite. Through the above scheme, the terminal is grouped based on the grid, so that the purpose of grouping by area can be achieved, the navigation enhancement information messages can quickly reach the terminal, the technical problem of low transmission efficiency of navigation enhancement information in the existing navigation enhancement technology is solved, and the technical effect of quickly and accurately transmitting the navigation enhancement messages is achieved, so that the reliability of terminal positioning is improved.

Description

Technical Field

[0001] This application belongs to the field of satellite navigation technology, and in particular relates to a method, apparatus and system for transmitting navigation enhancement information. Background Technology

[0002] While Global Navigation Satellite Systems (GNSS) offer comprehensive, all-weather, and round-the-clock navigation services, their availability can be insufficient in complex environments. Therefore, improvements in the accuracy, reliability, and anti-interference capabilities of these services are necessary. In practical scenarios, low-Earth orbit (LEO) satellites can serve as an enhancement and supplement to GNSS, strengthening satellite navigation signals.

[0003] However, existing navigation enhancement technologies have low transmission efficiency for navigation enhancement information, and in complex environments, they cannot meet the user's needs for large-scale, rapid convergence and high accuracy. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus and system for transmitting navigation enhancement information, which can transmit navigation enhancement messages quickly and with high accuracy to improve the reliability of terminal positioning.

[0005] This application provides a navigation enhancement information transmission method, apparatus, and system, which are implemented as follows:

[0006] A navigation enhancement information transmission method, applied to a server, the method comprising:

[0007] The server receives the original navigation-enhanced message;

[0008] The server determines the navigation enhancement information messages of visible satellites within each grid in real time based on the original navigation enhancement message;

[0009] The server responds to the terminal's navigation information enhancement service request and determines the grid where the terminal is located based on the terminal's location information;

[0010] The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via terrestrial networks and low-Earth orbit satellites.

[0011] In one implementation, the server determines the navigation enhancement information messages of visible satellites within each grid in real time based on the original navigation enhancement message, including:

[0012] The server obtains the location information of the current grid center point and the location information of each satellite;

[0013] Based on the current location information of the grid center point and the location information of each satellite, determine the elevation angle between the current grid center point and each satellite;

[0014] Satellites with an elevation angle greater than or equal to the preset cutoff elevation angle are considered as visible satellites in the current grid.

[0015] From the original navigation enhancement message, select the message corresponding to the visible satellite of the current grid as the navigation enhancement information message for the visible satellite within the current grid.

[0016] In one implementation, satellites with elevation angles greater than or equal to a preset cutoff elevation angle are designated as visible satellites in the current grid, including:

[0017] The elevation angles between the current grid center point and each satellite are sorted from highest to lowest to obtain the sorting results;

[0018] Obtain the preset cutoff elevation angle;

[0019] Determine the position of the preset cutoff elevation angle in the sorting results;

[0020] Satellites located before the preset cutoff elevation angle in the sorting results are considered as visible satellites in the current grid.

[0021] In one implementation, the server determines the grid cell where the terminal is located based on the terminal's location information, including:

[0022] The server receives location information reported by the terminal;

[0023] The server determines the latitude and longitude range corresponding to each grid cell based on the grid cell number.

[0024] The server matches the location information reported by the terminal with the latitude and longitude range corresponding to each grid to determine the grid where the terminal is located.

[0025] In one implementation, the server sends navigation enhancement information messages from visible satellites within its grid to the terminal via a terrestrial network and low-Earth orbit satellites, including:

[0026] The server broadcasts the grid area atmospheric corrections in the navigation enhancement information message according to the location of the grid where the terminal is located. The grid area atmospheric corrections include at least one of the following: satellite residual ionospheric delay and grid point tropospheric delay residual.

[0027] The server broadcasts the precision message corrections in the navigation enhancement information messages through message arrangement, wherein the precision message corrections include at least one of the following: precision clock error, orbit correction parameters, code deviation, phase deviation parameters, and integrity parameters.

[0028] In one implementation, the server sends navigation enhancement information messages from visible satellites within its grid to the terminal via a terrestrial network and low-Earth orbit satellites, including:

[0029] The server sends navigation enhancement information messages of visible satellites within the grid where the terminal is located to the ground network, then to the gateway station via the ground network, then to the low-Earth orbit satellite via the gateway station, and finally to the terminal via the low-Earth orbit satellite.

[0030] A navigation enhancement information transmission method, applied to a terminal, the method comprising:

[0031] The terminal sends a request for enhanced navigation information services.

[0032] The terminal receives navigation enhancement information messages from visible satellites within its grid location via a terrestrial network and a low-orbit satellite receiving server. These navigation enhancement information messages are determined in real-time based on the navigation enhancement original messages and the navigation enhancement information messages from visible satellites within each grid.

[0033] In one embodiment, the method further includes: the terminal reporting location information to the server, wherein the location information is used to determine the grid where the terminal is located.

[0034] A navigation enhancement information broadcasting device, located on a server, includes:

[0035] The first receiving module is used to receive the original navigation-enhanced message;

[0036] The first determining module is used to determine the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message;

[0037] The second determining module is used to respond to the terminal's navigation information enhancement service request and determine the grid where the terminal is located based on the terminal's location information;

[0038] The first transmitting module is used to transmit navigation enhancement information messages of visible satellites within the grid to the terminal via a terrestrial network and low-orbit satellites.

[0039] A navigation enhancement information transmission device, located in a communication and navigation terminal, includes:

[0040] The second sending module is used to send navigation information enhancement service requests;

[0041] The second receiving module is used to receive navigation enhancement information messages of visible satellites within the grid where the terminal is located, returned by the terrestrial network and low-orbit satellite server. The navigation enhancement information messages are determined in real time based on the navigation enhancement original messages of visible satellites within each grid.

[0042] A navigation enhancement information transmission system includes: a server, a satellite navigation system, a communication and navigation terminal, a low-Earth orbit satellite, and a terrestrial network, wherein:

[0043] The server receives the original navigation enhancement message pushed by the terrestrial network, and determines the navigation enhancement information message of the visible satellites in each grid in real time based on the original navigation enhancement message; the server responds to the navigation information enhancement service request of the communication and navigation terminal, and determines the grid where the communication and navigation terminal is located based on the location information obtained by the communication and navigation terminal from the satellite navigation system; the server sends the navigation enhancement information message of the visible satellites in its grid to the communication and navigation terminal through the terrestrial network and low-orbit satellites.

[0044] An electronic device includes a processor and a memory for storing processor-executable instructions, wherein the processor, when executing the instructions, implements the steps of the method described above.

[0045] A computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps of the above-described method.

[0046] The navigation enhancement information transmission method, apparatus, and system provided in this application involve a server receiving the original navigation enhancement message and, based on this message, determining in real time the navigation enhancement information messages of visible satellites within each grid, thereby achieving grid-based terminal grouping. Then, in response to a terminal's navigation enhancement service request, the server determines the grid where the terminal is located based on the terminal's location information. Finally, the server transmits the navigation enhancement information messages of visible satellites within the terminal's grid to the terminal via a terrestrial network and low-Earth orbit satellites. This grid-based terminal grouping achieves the goal of grouping by region, enabling navigation enhancement information messages to quickly reach the terminal. It solves the technical problem of low transmission efficiency in existing navigation enhancement technologies, achieving rapid and high-precision broadcasting of navigation enhancement messages to improve the reliability of terminal positioning. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the architecture of the navigation enhancement information transmission system provided in this application;

[0049] Figure 2This is a flowchart of one embodiment of the navigation enhancement information transmission method provided in this application;

[0050] Figure 3 This is a schematic diagram of the navigation enhancement information group transmission data link provided in this application;

[0051] Figure 4 This is a flowchart of one embodiment of the low-orbit navigation enhancement information group optimized transmission method provided in this application;

[0052] Figure 5 This is a structural block diagram of a server provided in this application;

[0053] Figure 6 This is a flowchart of a method for processing grid information on a server provided in this application;

[0054] Figure 7 This is a hardware structure block diagram of an electronic device for a navigation enhancement information transmission method provided in this application;

[0055] Figure 8 This is a schematic diagram of the module structure of one embodiment of the navigation enhancement information transmission device provided in this application. Detailed Implementation

[0056] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0057] It should be noted that the information and data related to users involved in the embodiments of this specification are all information and data authorized by the user or fully authorized by the relevant parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of the relevant data all comply with relevant laws, regulations, and standards, and necessary confidentiality measures have been taken. They do not violate public order and good morals, and corresponding operation entry points are provided for users or relevant parties to choose to authorize or refuse.

[0058] It should also be noted that in the embodiments of this specification, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, they do not mean that the solution has been or necessarily used.

[0059] This example provides a navigation enhancement information transmission system, such as Figure 1As shown, it may include: server 1, satellite navigation system 2, communication and navigation terminal 3, low-Earth orbit satellite 4, and ground network 5, wherein:

[0060] Server 1 receives the original navigation enhancement message pushed by the terrestrial network, and determines the navigation enhancement information message of the visible satellites in each grid in real time based on the original navigation enhancement message; in response to the navigation information enhancement service request of the communication and navigation terminal 3, Server 1 determines the grid where the communication and navigation terminal 3 is located based on the location information obtained by the communication and navigation terminal 3 from the satellite navigation system 2; Server 1 sends the navigation enhancement information message of the visible satellites in its grid to the communication and navigation terminal 3 through the terrestrial network 5 and the low-orbit satellite 4.

[0061] Based on the aforementioned navigation enhancement information transmission system, this example provides a method for transmitting navigation enhancement information. Figure 2 This is a flowchart of one embodiment of the navigation enhancement information transmission method provided in this application. Although this application provides method operation steps or apparatus structures as shown in the following embodiments or figures, more or fewer operation steps or module units may be included in the method or apparatus based on conventional or non-inventive effort. In steps or structures where there is no logically necessary causal relationship, the execution order of these steps or the module structure of the apparatus is not limited to the execution order or module structure described in the embodiments and figures of this application. When the method or module structure is applied in actual devices or terminal products, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiments or figures (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed processing environment).

[0062] Specifically, such as Figure 2 As shown, the above-mentioned navigation enhancement information transmission method may include the following steps:

[0063] Step 201: The server receives the original navigation-enhanced message;

[0064] In other words, the server can receive the raw navigation enhancement messages continuously pushed by the ground network, and then process the massive amounts of data using data management functions. Specifically, the server can acquire all the navigation information enhancement data, and then, using a gridded processing method, periodically generate navigation information enhancement messages within each grid. Based on the timed location reports from end users, the server can quickly group the data by region in real time on the platform side, or customize the grouping as needed. Then, the server automatically broadcasts the data to user terminals in groups point-to-point according to the set broadcast frequency.

[0065] Step 202: The server determines the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message;

[0066] Specifically, the server determines the navigation enhancement information messages of visible satellites within each grid in real time based on the original navigation enhancement message, which may include:

[0067] S1: The server obtains the location information of the current grid center point and the location information of each satellite;

[0068] S2: Determine the elevation angle between the current grid center point and each satellite based on the current grid center point's location information and the location information of each satellite;

[0069] S3: Satellites with an elevation angle greater than or equal to the preset cutoff elevation angle are designated as visible satellites in the current grid.

[0070] S4: Select the message corresponding to the visible satellite of the current grid from the original navigation enhancement message, and use it as the navigation enhancement information message for the visible satellite within the current grid.

[0071] The aforementioned server can be a navigation service platform, a transmission control service module integrated into a navigation system, or a separate processing device for transmission control. The specific implementation structure and placement can be set according to actual needs and scenarios, and this application does not limit them.

[0072] The process of identifying satellites with elevation angles greater than or equal to a preset cutoff elevation angle as visible satellites in the current grid can include: sorting the elevation angles between the current grid center point and each satellite from highest to lowest to obtain a sorting result; obtaining the preset cutoff elevation angle; determining the position of the preset cutoff elevation angle in the sorting result; and identifying satellites in the sorting result that are before the preset cutoff elevation angle as visible satellites in the current grid. For example, using the grid center point position P1 of the terminal and the satellite positions Q1, Q2, Q3…Qn, the elevation angles α1, α2, α3…αn between the grid center point and each satellite are calculated. Satellites meeting the requirements are then filtered according to the set cutoff elevation angle θ and sorted from highest to lowest as β1, β2…βm (βm≥θ), and then the satellites meeting the conditions are identified as visible satellites in the grid.

[0073] Step 203: The server responds to the terminal's navigation information enhancement service request and determines the grid where the terminal is located based on the terminal's location information;

[0074] In implementation, the server determines the grid where the terminal is located based on the terminal's location information, which may include:

[0075] S1: The server receives the location information reported by the terminal. The location information reported by the terminal can be obtained by the terminal from the GNSS satellite navigation system. After obtaining the location information of the terminal, the terminal can report the location information to the server in the order of low-orbit satellite-gateway station-point network-server.

[0076] S2: Server, which determines the latitude and longitude range corresponding to each grid based on the grid point number;

[0077] S3: The server matches the location information of the terminal with the latitude and longitude range corresponding to each grid to determine the grid where the terminal is located.

[0078] Step 204: The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via the terrestrial network and low-orbit satellites.

[0079] The aforementioned navigation enhancement information message may include: precision message corrections and grid area atmospheric corrections. Based on this, in this example, the server broadcasts the grid area atmospheric corrections in the navigation enhancement information message according to the location of the terminal within its grid. These grid area atmospheric corrections may include, but are not limited to, at least one of the following: satellite residual ionospheric delay, grid point tropospheric delay residuals. The server also broadcasts the precision message corrections in the navigation enhancement information message through message arrangement. These precision message corrections may include, but are not limited to, at least one of the following: precision clock bias, orbital correction parameters, code bias, phase bias parameters, and integrity parameters.

[0080] In this example, the transmission is performed through a server. Specifically, the server sends navigation enhancement information messages of visible satellites within the grid to the terminal via a terrestrial network and low-Earth orbit satellites. This can include: the server sending the navigation enhancement information messages of visible satellites within the grid to the terrestrial network, then to the gateway station via the terrestrial network, then to the low-Earth orbit satellites via the gateway station, and finally to the terminal via the low-Earth orbit satellites.

[0081] In this example, addressing the issues of fixed parameter configurations, low data processing efficiency, poor grid adaptability, and link transmission redundancy in existing low-Earth orbit (LEO) navigation enhancement transmission schemes, a method for optimizing LEO navigation enhancement information group transmission with dynamic adaptation capabilities, intelligent processing mechanisms, and precise broadcasting logic is provided. This method overcomes the limitations of existing schemes through multi-dimensional technological innovation, thereby significantly improving the accuracy, real-time performance, and resource utilization of navigation enhancement services. Specifically, it may include:

[0082] 1) The server is based on a bidirectional adaptive data link to achieve accurate acquisition of the location reported by each user terminal at regular intervals. At the same time, it builds a dual-mode navigation enhancement information parameter collaboration system that is platform-led and terminal-personalized adapted to solve the problem that the existing parameter configuration is single and cannot match the needs of complex scenarios.

[0083] The navigation enhancement information parameters can include: constellation type, number of satellites, message type, terminal user number information within the group, dynamic parameter adjustment threshold, scenario-based priority weight, and link quality adaptation parameters. The constellation types cover the US GPS, China BeiDou, EU Galileo, and Russian GLONASS satellite navigation systems, supporting multi-constellation fusion adaptation. In addition to GNSS precision messages and independent or combined messages with regional atmospheric corrections, message types can also include scenario-based simplified messages adapted to low-bandwidth terminals and redundant verification messages adapted to high-reliability scenarios, thereby achieving precise matching between message types and terminal requirements.

[0084] For the server, basic parameters can be preset based on global link load and regional navigation accuracy requirements. The terminal can configure personalized parameters according to its own scenario (e.g., vehicle-mounted high-speed mobile, outdoor static surveying, low-altitude drone operation). The server can automatically complete the dynamic fusion and optimization adjustment of parameters by verifying the rationality of the terminal parameters in real time (e.g., whether the satellite number configuration meets the regional constellation coverage capability, whether the message type is compatible with the link bandwidth). This ensures both the stability of the global service and meets the personalized needs of the terminal.

[0085] 2) The server receives navigation enhancement raw messages continuously pushed by the ground network and can adopt an integrated data management solution with hierarchical processing, flexible scheduling and intelligent caching to achieve efficient processing and accurate forwarding of massive raw messages.

[0086] Specifically, the server may include the following modules:

[0087] Data access service module: In addition to location data access and navigation information enhancement data access, it can also set up link quality data access function to collect parameters such as bandwidth, latency, and packet loss rate of the ground network-gateway station-low orbit satellite link in real time, providing link basis for data processing and forwarding; at the same time, it adopts an adaptive access protocol to support differentiated data access for different types of terminals (high bandwidth smart terminals, low bandwidth simple terminals).

[0088] Data processing service module: Based on the above-mentioned user grouping, message processing and other functions, a hierarchical processing mechanism is added—a real-time high-speed processing channel is used for core precision parameters (e.g., orbit correction, clock error), a batch processing channel is used for auxiliary parameters (e.g., historical atmospheric correction data), and intelligent filtering is used for redundant data (e.g., duplicate satellite information).

[0089] Data storage service module: It can adopt a three-level storage architecture of real-time database, distributed storage and intelligent caching. The high-performance real-time database stores real-time data such as satellite orbit and terminal location that are updated in milliseconds. The distributed data center archives historical data. The intelligent caching module caches grid information and popular constellation parameters locally, thereby greatly improving data reading efficiency.

[0090] Data forwarding service module: It adopts a regional dynamic grouping and on-demand priority forwarding mechanism. The platform dynamically adjusts the grouping range based on terminal location, link quality and scenario requirements to avoid resource waste caused by fixed grouping. At the same time, it assigns forwarding priorities to different terminals (e.g., mapping terminals have higher priority than ordinary consumer terminals). When the link load is high, it prioritizes the information transmission of high-priority terminals. It also dynamically adjusts the forwarding frequency based on link monitoring data to achieve dual optimization of load adaptation and demand matching.

[0091] 3) The server can use grid division, multi-dimensional satellite priority sorting and dynamic message arrangement technology, combined with the actual scenario of user terminal and navigation accuracy requirements, to realize accurate calculation and efficient arrangement of navigation enhancement information messages within the grid, significantly improving the relevance and usability of navigation enhancement information.

[0092] Furthermore, the following process can be followed:

[0093] S1: Grid division and unified coding:

[0094] The server calculates the latitude and longitude range corresponding to each grid point based on the grid point number. The grid points in the service area use a unified numbering system.

[0095] S2: Grid matching for multi-source location fusion:

[0096] Based on the timed location reported by the terminal, the system integrates the terminal's inertial navigation data with historical location trajectories, corrects errors in single location data, accurately searches the grid range, and determines the grid number. For high-speed mobile terminals, a predictive algorithm is used to predict the grid they are about to enter and pre-calculate the navigation enhancement information for that grid to shorten subsequent information processing delays.

[0097] S3: Multi-dimensional satellite position and elevation angle calculation:

[0098] The real-time positions of each satellite are calculated based on GNSS ephemeris parameters. A dual-point collaborative calculation mode is adopted, which combines the grid center point and the actual terminal position. That is, based on the elevation angle calculation based on the grid center point P1 and the satellite position, the elevation angle is calculated by combining the actual terminal position P2. The error is corrected by fusing the two elevation angles. At the same time, the influence of the Earth's curvature and atmospheric refraction on the elevation angle calculation can be considered, and a correction model can be introduced to improve the accuracy of the elevation angle calculation, so as to provide an accurate basis for subsequent satellite selection.

[0099] S4: Multi-factor satellite screening and priority ranking:

[0100] Based on the cutoff elevation angle θ as the screening condition, a multi-dimensional screening mechanism is adopted, which considers elevation angle, constellation type, link quality, and terminal requirements. First, satellites that meet the requirements are screened according to the cutoff elevation angle θ. Then, a second screening is performed by combining the constellation preference of the terminal configuration (e.g., priority can be given to Beidou satellites), the link signal strength between the satellite and the terminal, and the satellite integrity parameters (to avoid faulty satellites). Finally, the satellites are sorted into β1, β2, ... βm according to a composite rule of elevation angle from high to low and priority from high to low, to determine the visible satellites and their priorities in the grid.

[0101] S5: Scenario-based dynamic message arrangement:

[0102] Based on server configuration and terminal customization requirements, and combined with satellite priority ranking results, a message arrangement method with on-demand trimming and redundancy checks is adopted: for high-priority satellites, complete GNSS precision message corrections and regional atmospheric corrections are arranged; for low-priority satellites, unnecessary parameters are trimmed according to terminal requirements (e.g., some precision phase parameters can be trimmed for ordinary consumer terminals); at the same time, dynamic redundancy check codes are added to the messages to adapt to the transmission requirements under different link quality and reduce accuracy loss caused by packet loss.

[0103] In terms of specific message arrangement, the scenario adaptation logic has been further refined: if the terminal requests atmospheric corrections for the grid area, the platform not only calculates the residual ionospheric delay of the satellite and the tropospheric delay residual of the grid point, but also adds short-term prediction corrections based on the terminal's moving speed to predict the trend of atmospheric parameter changes, thereby shortening the convergence time of high-precision positioning; if the terminal requests GNSS precision message corrections, in addition to obtaining parameters such as precision clock error and orbit correction, it can also obtain satellite signal interference correction parameters, thereby optimizing parameter configurations for scenarios such as urban high-rise building obstruction and electromagnetic interference, and improving navigation accuracy in complex environments.

[0104] 4) The server can automatically select the optimal transmission link based on the real-time link status obtained by the link monitoring module (e.g., prioritize ground transmission when the ground network is unobstructed, and switch to the low-orbit satellite link when the ground network is limited). It supports parallel transmission and seamless switching of multiple links. It dynamically adjusts the message compression ratio for different link bandwidths and adopts an adaptive compression algorithm (e.g., lossless compression for high-frequency parameters and lossy compression for low-frequency parameters) to minimize the message volume while ensuring navigation accuracy, thereby reducing the amount of transmitted data and improving the real-time performance of transmission.

[0105] 5) After receiving LOR navigation augmentation information messages and GNSS signals, the user terminal can fuse the received GNSS precision message corrections with its own inertial navigation data and barometric altitude data, and use a Kalman filter algorithm to correct positioning errors. By using the received regional atmospheric corrections and combining them with the terminal's real-time environmental data (e.g., temperature, air pressure), the correction model is dynamically adjusted to further shorten the high-precision positioning convergence time. Furthermore, the received messages can undergo redundancy verification. If data loss or errors are detected, the terminal automatically requests retransmission from the server and performs temporary error compensation based on historical data to avoid positioning failures due to data anomalies. For complex scenarios such as high-speed movement and obstruction, the terminal automatically adjusts the information reception frequency and fusion strategy to adapt to scene changes and ensure the continuity of positioning accuracy.

[0106] The above method will be described below with reference to a specific embodiment. However, it should be noted that this specific embodiment is only for better illustration of this application and does not constitute an improper limitation of this application.

[0107] To address the issue of low transmission efficiency in existing low-Earth orbit (LEO) navigation augmentation information transmission methods, this paper presents an optimized group transmission method for LEO navigation augmentation information. This method utilizes LEO satellite communication links to rapidly broadcast navigation augmentation messages in groups on demand, achieving fast convergence, high accuracy, and high reliability in complex environments. Specifically, the terminal periodically reports its approximate location. Utilizing server services such as data access, data processing, data storage, and data group forwarding, real-time rapid grouping by region or on-demand custom grouping can be achieved. The information is sorted according to the visible GNSS satellite elevation angles of the grid center point of the terminal's location, enabling rapid, on-demand group transmission of navigation augmentation information. This method effectively shortens the initial positioning time and high-precision positioning convergence time of the communication and navigation terminal, improving the reliability of high-precision positioning for user terminals.

[0108] like Figure 3 The diagram illustrates the data link for broadcasting navigation enhancement information in a group. It can include: a GNSS satellite navigation system, multiple communication and navigation terminals forming the group (corresponding to the terminals mentioned above), low-Earth orbit (LEO) satellites, a gateway station, an operations control center, and a navigation service platform (corresponding to the servers mentioned above). Specifically, the communication and navigation terminals complete two-way authentication with the network. Within the connection, the terminals periodically send their approximate location to the LEO satellite-gateway station-operations control center-navigation service platform. They receive enhancement information broadcast by the LEO satellites in the service channel, simultaneously receiving GNSS observation data and performing positioning calculations. The navigation service platform acquires all the navigation enhancement data, uses a gridded processing method, and periodically generates navigation enhancement messages for each grid. Based on the timed location reports from terminal users, the platform rapidly groups the data by region in real time or allows for custom grouping as needed. The navigation service platform automatically broadcasts the data to user terminals in a group point-to-point manner according to the set broadcast frequency.

[0109] Based on this, this example provides a method for optimizing the transmission of low-orbit navigation enhancement information groups, such as... Figure 4 As shown, it may include the following steps:

[0110] Step 401: The server obtains the timed location reports sent by each user terminal through the data link with the user terminals in the group.

[0111] The navigation enhancement information parameters may include, but are not limited to, at least one of the following: constellation type, number of satellites, message type, and terminal user number information within the group. The constellation type includes the US GPS, China BeiDou, EU Galileo, and Russian GLONASS satellite navigation systems. The message type is divided into GNSS precision messages and independent or combined messages with regional atmospheric corrections. The navigation enhancement information parameters can be set by the server or configured by the user terminal according to user scenario requirements; this application does not specifically limit this.

[0112] Step 402: The server receives the navigation enhancement raw messages continuously pushed by the ground network and processes the massive amount of data using the data management function.

[0113] Among them, the server can be like Figure 5 As shown, it includes: a data access service module, a data processing service module, a data storage service module, and a data forwarding service module. Specifically, the data access service may include: location data access service and navigation information enhanced data access service; the data processing service may include: user group processing service, navigation information enhanced message processing service, location data processing service, and grid positioning processing service; the data storage service may include: storage of real-time system data based on a high-performance database, and archiving and persistent storage of historical data based on a data center; and the data forwarding service may include: message data group forwarding service.

[0114] In other words, the server possesses data management functions such as data access services, data processing services, data storage services, and data forwarding services. Among these, the data forwarding service can quickly group navigation enhancement information by region in real time or customize groups as needed on the platform side, and forward the information to various communication and navigation terminals at a specified frequency.

[0115] Step 403: The server determines the grid location of the user based on the approximate location, and uses the grid information processing service to calculate and arrange the navigation enhancement information messages of visible satellites in each grid in real time.

[0116] Among them, the server's grid information processing service can be as follows: Figure 6 As shown, it includes:

[0117] S1: The server calculates the latitude and longitude range of each grid point based on its grid number. The grids in the service area use a unified numbering system.

[0118] S2: Search the grid range based on the approximate location of the user terminal and determine the grid number.

[0119] S3: Calculate the position of each GNSS satellite based on the GNSS ephemeris parameters. Using the position of the grid center point P1 where the terminal is located and the satellite positions Q1, Q2, Q3...Qn, calculate the elevation angles α1, α2, α3...αn between the grid center point and each satellite.

[0120] S4: Based on the set cutoff elevation angle θ, select the satellites that meet the requirements and sort them from high to low as β1, β2...βm (βm≥θ). Then, the satellites that meet the conditions are designated as grid visible satellites.

[0121] S5: Based on the number of satellites, constellation type, and message type configured on the server, broadcast the GNSS precision message corrections and grid area atmospheric correction messages for the corresponding m visible satellites in an order prioritizing elevation angle.

[0122] Specifically, if the message type requested by the terminal includes grid area atmospheric corrections, the server determines the satellite residual ionospheric delay and grid point tropospheric delay residual for each satellite and frequency point in the grid where the terminal is located, and transmits the area atmospheric correction message according to the grid location of the terminal; if the message type requested by the terminal includes GNSS precision message corrections, the server transmits the precision clock error, orbit correction parameters, code deviation, phase deviation parameters, and integrity parameters of each visible satellite through message arrangement.

[0123] In other words, the grid information processing service searches for grid numbers based on the approximate location of the user terminal, calculates the positions of each GNSS satellite based on GNSS ephemeris parameters, calculates the elevation angle between the grid center point and the satellite using the location of the grid center point and the satellite positions, filters satellites that meet the elevation angle according to the set cutoff elevation angle, and determines the priority of visible satellites and satellites broadcasting augmentation information in descending order of elevation angle, thereby improving the transmission efficiency of navigation augmentation information.

[0124] Step 404: The server sends navigation enhancement information messages to the communication and navigation terminal at the configured frequency through the terrestrial network-gateway station-low orbit satellite link.

[0125] Step 405: The user terminal receives low-orbit navigation enhancement information messages and GNSS signals to complete high-precision positioning. Specifically, the terminal can achieve carrier phase-based precise positioning services using the received GNSS precision message corrections; and the terminal can further shorten the high-precision positioning convergence time using the received regional atmospheric corrections.

[0126] In the example above, the user terminal can be configured with constellation type, number of satellites, message type, and user number information within the group according to user scenario requirements. The message type includes GNSS precision messages and regional atmospheric corrections. Regional atmospheric corrections can include ionospheric corrections and tropospheric corrections; ionospheric corrections can be transmitted according to the number of GNSS satellites and frequency points, while tropospheric corrections can be transmitted according to grid point delay. Specifically, for navigation information enhancement service requests from a large number of users, a gridded processing method is adopted. The server obtains all navigation information enhancement data and periodically generates navigation information enhancement messages within each grid. Based on the user's approximate location and the number of satellites and message type set by the server, the platform side performs real-time rapid grouping by region or on-demand customized grouping, and transmits the data point-to-point to the user terminal. Specifically, in the example above, based on the data links between the server and the ground network, low-orbit satellites, and the terminal, the server's data access, data processing, data storage, and data forwarding services, especially the navigation information enhancement service, enable the rapid grouping of users and the broadcasting of navigation information enhancement messages based on grid characteristics. This can effectively shorten the convergence time of high-precision positioning of communication and navigation terminals and improve the reliability of high-precision positioning of user terminals.

[0127] The methods and embodiments provided in the above-described embodiments of this application can be executed in a mobile terminal, computer terminal, or similar computing device. Taking operation on an electronic device as an example... Figure 7 This is a hardware structure block diagram of an electronic device for a navigation enhancement information transmission method provided in this application. (See diagram for example.) Figure 7 As shown, the electronic device 10 may include one or more (only one is shown in the figure) processors 02 (processors 02 may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs), a memory 04 for storing data, and a transmission module 06 for communication functions. Those skilled in the art will understand that... Figure 7 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, electronic device 10 may also include... Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown.

[0128] The memory 04 can be used to store software programs and modules of application software, such as the program instructions / modules corresponding to the navigation enhancement information transmission method in this embodiment. The processor 02 executes various functional applications and data processing by running the software programs and modules stored in the memory 04, thereby realizing the navigation enhancement information transmission method of the aforementioned application. The memory 04 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 04 may further include memory remotely located relative to the processor 02, and these remote memories can be connected to the electronic device 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0129] The transmission module 06 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 10. In one example, the transmission module 06 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 06 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0130] At the software level, the aforementioned navigation enhancement information transmission device is located on a server and can, for example... Figure 8 As shown, it includes:

[0131] The first receiving module 801 is used to receive the original navigation enhancement message;

[0132] The first determining module 802 is used to determine the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message;

[0133] The second determining module 803 is used to respond to the terminal's navigation information enhancement service request and determine the grid where the terminal is located based on the terminal's location information;

[0134] The first transmitting module 804 is used to transmit navigation enhancement information messages of visible satellites within the grid to the terminal via a terrestrial network and low-orbit satellites.

[0135] In one embodiment, the first determining module 802 can specifically acquire the position information of the current grid center point and the position information of each satellite; determine the elevation angle between the current grid center point and each satellite based on the position information of the current grid center point and the position information of each satellite; designate satellites with elevation angles greater than or equal to a preset cutoff elevation angle as visible satellites of the current grid; and select the message corresponding to the visible satellite of the current grid from the original navigation enhancement message as the navigation enhancement information message of the visible satellite within the current grid.

[0136] In one implementation, designating satellites with elevation angles greater than or equal to a preset cutoff elevation angle as visible satellites of the current grid may include: sorting the elevation angles between the center point of the current grid and each satellite in descending order to obtain a sorting result; obtaining a preset cutoff elevation angle; determining the position of the preset cutoff elevation angle in the sorting result; and designating satellites in the sorting result that are located before the preset cutoff elevation angle as visible satellites of the current grid.

[0137] In one embodiment, the second determining module 803 may specifically receive the location information reported by the terminal; determine the latitude and longitude location range corresponding to each grid according to the grid point number of each grid; and match the location information of the terminal with the latitude and longitude location range corresponding to each grid to determine the grid where the terminal is located.

[0138] In one embodiment, the first transmitting module 804 may broadcast atmospheric corrections for the grid area in the navigation enhancement information message based on the location of the grid where the terminal is located. The atmospheric corrections for the grid area include at least one of the following: satellite residual ionospheric delay and grid point tropospheric delay residual. The server broadcasts precision message corrections for the navigation enhancement information message through message arrangement. The precision message corrections include at least one of the following: precision clock bias, orbit correction parameters, code bias, phase bias parameters, and integrity parameters.

[0139] In one embodiment, the first transmitting module 804 can specifically transmit navigation enhancement information messages of visible satellites within the grid where the terminal is located to a ground network, transmit them to a gateway station via the ground network, transmit them to a low-Earth orbit satellite via the gateway station, and transmit them to the terminal via the low-Earth orbit satellite.

[0140] In this example, a navigation enhancement information transmission device is also provided, located in a communication and navigation terminal, which may include: a second sending module for sending a navigation information enhancement service request; and a second receiving module for receiving navigation enhancement information messages of visible satellites within the grid where the terminal is located, returned by a terrestrial network and a low-orbit satellite, wherein the navigation enhancement information messages are determined in real time based on the navigation enhancement original messages of visible satellites within each grid.

[0141] The method for obtaining the above-mentioned navigation enhancement information messages can be found in the section on obtaining server-side navigation enhancement information messages, and will not be repeated here.

[0142] This application also provides a specific implementation of an electronic device capable of implementing all steps of the navigation enhancement information transmission method in the above embodiments. The electronic device specifically includes: a processor, a memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the processor is used to call a computer program in the memory, and when the processor executes the computer program, it implements all steps of the navigation enhancement information transmission method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0143] Step 1: The server receives the original navigation-enhanced message;

[0144] Step 2: The server determines the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message;

[0145] Step 3: The server responds to the terminal's navigation information enhancement service request and determines the grid where the terminal is located based on the terminal's location information;

[0146] Step 4: The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via the terrestrial network and low-Earth orbit satellites.

[0147] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the navigation enhancement information transmission method in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the navigation enhancement information transmission method in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0148] Step 1: The server receives the original navigation-enhanced message;

[0149] Step 2: The server determines the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message;

[0150] Step 3: The server responds to the terminal's navigation information enhancement service request and determines the grid where the terminal is located based on the terminal's location information;

[0151] Step 4: The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via the terrestrial network and low-Earth orbit satellites.

[0152] As described above, in this embodiment, the server receives the original navigation enhancement message and, based on it, determines the navigation enhancement information messages of visible satellites within each grid in real time, thereby achieving grid-based terminal grouping. Then, in response to the terminal's navigation information enhancement service request, the server determines the grid where the terminal is located based on the terminal's location information. Finally, it sends the navigation enhancement information messages of visible satellites within the terminal's grid to the terminal via the terrestrial network and low-Earth orbit satellites. This grid-based terminal grouping achieves the goal of grouping by region, enabling navigation enhancement information messages to quickly reach the terminal. This solves the technical problem of low transmission efficiency in existing navigation enhancement technologies, achieving rapid and high-precision transmission of navigation enhancement messages to improve the reliability of terminal positioning.

[0153] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0154] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of this application. In some cases, the actions or steps described in this application may be performed in a different order than those shown in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0155] While this application provides the method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the methods shown in the embodiments or drawings can be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0156] While this specification provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or end product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in the process, method, product, or apparatus that includes said elements is not excluded.

[0157] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing the embodiments of this specification, the functions of each module can be implemented in one or more software and / or hardware components, or a module that performs the same function can be implemented by a combination of multiple sub-modules or sub-units. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between devices or units, and may be electrical, mechanical, or other forms.

[0158] Those skilled in the art will also know that, besides implementing the controller using purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the controller function as logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers (PLCs), and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the devices within it used to implement various functions can also be considered structures within that hardware component. Alternatively, the devices used to implement various functions can be considered as both software modules implementing the method and structures within a hardware component.

[0159] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0160] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, the embodiments of this specification can take the form of computer program products implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0161] The embodiments described in this specification can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. The embodiments of this specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0162] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0163] The above descriptions are merely embodiments of the examples in this specification and are not intended to limit the scope of the embodiments in this specification. For those skilled in the art, various modifications and variations can be made to the embodiments in this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments in this specification should be included within the protection scope of the embodiments in this specification.

Claims

1. A method of transmitting navigation enhancement information, characterized by, Applied to a server, the method includes: The server receives the original navigation-enhanced message; The server determines the navigation enhancement information messages of visible satellites within each grid in real time based on the original navigation enhancement message; The server responds to the terminal's navigation information enhancement service request and determines the grid where the terminal is located based on the terminal's location information; The server sends navigation enhancement information messages from visible satellites within its grid to the terminal via terrestrial networks and low-Earth orbit satellites. The process of the server determining the grid cell where the terminal is located based on the terminal's location information includes: the server receiving location information reported by the terminal; the server determining the latitude and longitude range corresponding to each grid cell based on the grid cell number; and the server matching the location information reported by the terminal with the latitude and longitude range corresponding to each grid cell to determine the grid cell where the terminal is located.

2. The method of claim 1, wherein, The server determines, in real time, the navigation enhancement information messages of visible satellites within each grid based on the original navigation enhancement message, including: The server obtains the location information of the current grid center point and the location information of each satellite; Based on the current location information of the grid center point and the location information of each satellite, determine the elevation angle between the current grid center point and each satellite; Satellites with an elevation angle greater than or equal to the preset cutoff elevation angle are considered as visible satellites in the current grid. From the original navigation enhancement message, select the message corresponding to the visible satellite of the current grid as the navigation enhancement information message for the visible satellite within the current grid.

3. The method according to claim 2, characterized in that, Satellites with elevation angles greater than or equal to a preset cutoff elevation angle are considered visible satellites in the current grid, including: The elevation angles between the current grid center point and each satellite are sorted from highest to lowest to obtain the sorting results; Obtain the preset cutoff elevation angle; Determine the position of the preset cutoff elevation angle in the sorting results; Satellites located before the preset cutoff elevation angle in the sorting results are considered as visible satellites in the current grid.

4. The method according to claim 1, characterized in that, The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via a terrestrial network and low-Earth orbit satellites, including: The server broadcasts the grid area atmospheric corrections in the navigation enhancement information message according to the location of the grid where the terminal is located. The grid area atmospheric corrections include at least one of the following: satellite residual ionospheric delay and grid point tropospheric delay residual. The server broadcasts the precision message corrections in the navigation enhancement information messages through message arrangement, wherein the precision message corrections include at least one of the following: precision clock error, orbit correction parameters, code deviation, phase deviation parameters, and integrity parameters.

5. The method according to claim 1, characterized in that, The server sends navigation enhancement information messages of visible satellites within its grid to the terminal via a terrestrial network and low-Earth orbit satellites, including: The server sends navigation enhancement information messages of visible satellites within the grid where the terminal is located to the ground network, then to the gateway station via the ground network, then to the low-Earth orbit satellite via the gateway station, and finally to the terminal via the low-Earth orbit satellite.

6. A method for transmitting navigation enhancement information, characterized in that, Applied to a terminal, the method includes: The terminal sends a request for enhanced navigation information services. The terminal receives navigation enhancement information messages from visible satellites within its grid location via a terrestrial network and a low-orbit satellite receiving server. These navigation enhancement information messages are determined in real-time based on the navigation enhancement original messages and the navigation enhancement information messages from visible satellites within each grid. The terminal reports its location information to the server, and the server determines the latitude and longitude range corresponding to each grid cell based on the grid cell number. The server then matches the location information reported by the terminal with the latitude and longitude range corresponding to each grid cell to determine the grid cell in which the terminal is located.

7. A navigation enhancement information transmission device, characterized in that, Located on the server, including: The first receiving module is used to receive the original navigation-enhanced message; The first determining module is used to determine the navigation enhancement information messages of visible satellites in each grid in real time based on the original navigation enhancement message; The second determining module is used to respond to the terminal's navigation information enhancement service request and determine the grid where the terminal is located based on the terminal's location information; The first transmitting module is used to transmit navigation enhancement information messages of visible satellites within the grid to the terminal via a terrestrial network and low-orbit satellites; The process of the server determining the grid cell where the terminal is located based on the terminal's location information includes: the server receiving location information reported by the terminal; the server determining the latitude and longitude range corresponding to each grid cell based on the grid cell number; and the server matching the location information reported by the terminal with the latitude and longitude range corresponding to each grid cell to determine the grid cell where the terminal is located.

8. A navigation enhancement information transmission device, characterized in that, Located in the terminal, including: The second sending module is used to send navigation information enhancement service requests; The second receiving module is used to receive navigation enhancement information messages of visible satellites within the grid where the terminal is located, returned by the terrestrial network and low-orbit satellite server. The navigation enhancement information messages are determined in real time based on the navigation enhancement original messages of visible satellites within each grid. The terminal reports its location information to the server, and the server determines the latitude and longitude range corresponding to each grid cell based on the grid cell number. The server then matches the location information reported by the terminal with the latitude and longitude range corresponding to each grid cell to determine the grid cell in which the terminal is located.

9. A navigation enhancement information transmission system, characterized in that, include: Servers, satellite navigation systems, terminals, low-Earth orbit satellites, and terrestrial networks, among which: The server receives the original navigation enhancement message pushed by the terrestrial network, and determines the navigation enhancement information message of the visible satellites in each grid in real time based on the original navigation enhancement message; the server responds to the terminal's navigation information enhancement service request, and determines the grid where the terminal is located based on the location information obtained by the terminal from the satellite navigation system; the server sends the navigation enhancement information message of the visible satellites in the grid where the terminal is located to the terminal through the terrestrial network and low-Earth orbit satellites; The process of the server determining the grid cell where the terminal is located based on the terminal's location information includes: the server receiving location information reported by the terminal; the server determining the latitude and longitude range corresponding to each grid cell based on the grid cell number; and the server matching the location information reported by the terminal with the latitude and longitude range corresponding to each grid cell to determine the grid cell where the terminal is located.

10. An electronic device comprising a processor and a memory for storing processor-executable instructions, characterized in that, When the processor executes the instructions, it implements the steps of the method according to any one of claims 1 to 5.

11. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1 to 5.

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