Navigation enhancement information transmission method and device, and communication device

Abstract

The present disclosure provides a navigation enhancement information transmission method, device and communication equipment. The navigation enhancement information transmission method comprises the following steps: a navigation terminal can receive navigation enhancement information of a navigation satellite transmitted by a first low-orbit satellite and a second low-orbit satellite in parallel, and the validity periods of the navigation enhancement information broadcast by the first low-orbit satellite and the second low-orbit satellite are different, so that the navigation terminal can receive navigation enhancement information with different validity periods in parallel, which helps the navigation terminal to quickly obtain all the navigation enhancement information required for positioning and / or time service.

Description

Technical Field

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

[0002] In satellite navigation and communication systems, it is crucial for navigation terminals to quickly obtain navigation enhancement information from low-Earth orbit satellites to perform positioning and / or timing. Summary of the Invention

[0003] This disclosure presents a method, apparatus, and communication device for transmitting navigation enhancement information, which can at least solve the problem of how navigation terminals can quickly obtain navigation enhancement information from low-Earth orbit satellites.

[0004] According to a first aspect of the present disclosure, a navigation enhancement information transmission method is proposed, the method being applied to a navigation terminal, the method comprising: receiving navigation enhancement information of a navigation satellite transmitted by a first low-Earth orbit (LEO) satellite; receiving navigation enhancement information of a navigation satellite transmitted by a second LEO satellite, wherein the navigation enhancement information of the navigation satellites transmitted by the first LEO satellite and the second LEO satellite is uploaded by a ground station, and the validity periods of the navigation enhancement information of the navigation satellites transmitted by the first LEO satellite and the second LEO satellite are different; and performing positioning and / or timing based on the navigation enhancement information transmitted by the first LEO satellite and the second LEO satellite.

[0005] According to a second aspect of the present disclosure, a navigation enhancement information transmission method is proposed, the method being applied to a low-Earth orbit satellite, the method comprising: receiving uplink data sent by a ground station, wherein the uplink data includes: navigation satellites and corresponding navigation enhancement information; and sending the navigation enhancement information of the navigation satellites in the uplink data to a navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

[0006] According to a third aspect of the present disclosure, a navigation enhancement information transmission method is proposed, the method being applied to a ground station. The method includes: sending uplink data to a low-Earth orbit (LEO) satellite, wherein the uplink data includes: navigation satellites and corresponding navigation enhancement information, wherein the uplink data is used by the LEO satellite to send the navigation enhancement information of the navigation satellites in the uplink data to a navigation terminal, and wherein the navigation enhancement information sent by the LEO satellite to the navigation terminal is used by the navigation terminal for positioning and / or timing.

[0007] According to a fourth aspect of the present disclosure, a navigation enhancement information transmission device is provided, the device being applied to a navigation terminal, the device comprising: a first receiving module for receiving navigation enhancement information of a navigation satellite transmitted by a first low-Earth orbit (LEO) satellite; a second receiving module for receiving navigation enhancement information of a navigation satellite transmitted by a second LEO satellite, wherein the navigation enhancement information of the navigation satellites transmitted by the first LEO satellite and the second LEO satellite is uploaded by a ground station, and the validity periods of the navigation enhancement information of the navigation satellites transmitted by the first LEO satellite and the second LEO satellite are different; and a processing module for performing positioning and / or timing based on the navigation enhancement information transmitted by the first LEO satellite and the second LEO satellite.

[0008] According to a fifth aspect of the present disclosure, a navigation enhancement information transmission device is provided, the device being applied to a low-Earth orbit satellite, the device comprising: a receiving module for receiving uplink data sent by a ground station, wherein the uplink data includes: navigation satellites and corresponding navigation enhancement information; and a sending module for sending the navigation enhancement information of the navigation satellites in the uplink data to a navigation terminal, wherein the navigation enhancement information sent by the low-Earth orbit satellite to the navigation terminal is used by the navigation terminal for positioning and / or timing.

[0009] According to a sixth aspect of the present disclosure, a navigation enhancement information transmission device is provided, the device being applied to a ground station, the device comprising: a transmission module for transmitting uplink data to a low-Earth orbit satellite, wherein the uplink data includes: a navigation satellite and corresponding navigation enhancement information, wherein the uplink data is used by the low-Earth orbit satellite to transmit the navigation enhancement information of the navigation satellite in the uplink data to a navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

[0010] According to a sixth aspect of the present disclosure, a computer-readable storage medium is provided, wherein computer-executable instructions are stored therein, which, when executed by a processor, are used to implement the navigation enhancement information transmission method disclosed in the embodiments of the present disclosure.

[0011] According to a seventh aspect of the present disclosure, a communication device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the navigation enhancement information transmission method disclosed in the embodiments of the present disclosure.

[0012] According to an eighth aspect of the present disclosure, a computer program product is provided, characterized in that it includes a computer program that, when executed by a processor, implements the navigation enhancement information transmission method disclosed in this embodiment.

[0013] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects:

[0014] The navigation terminal can receive navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite in parallel. The validity periods of the navigation enhancement information broadcast by the first low-Earth orbit satellite and the second low-Earth orbit satellite are different, which allows the navigation terminal to receive navigation enhancement information with different validity periods in parallel. This helps the navigation terminal to quickly obtain all the navigation enhancement information needed for positioning and / or timing.

[0015] Additional aspects and advantages of this disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0016] The above and / or additional aspects and advantages of this disclosure will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0017] Figure 1 This is a schematic diagram of the architecture of a satellite navigation and communication system provided in an embodiment of the present disclosure;

[0018] Figure 2 This is a schematic flowchart illustrating a navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0019] Figure 3 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0020] Figure 4 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0021] Figure 5 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0022] Figure 6 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0023] Figure 7 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0024] Figure 8 An example diagram illustrating the relationship between elevation angle, geocentric angle, and projection transformation;

[0025] Figure 9 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure;

[0026] Figure 10 This is the sequence of 110 information frames corresponding to the first satellite group;

[0027] Figure 11 This is the sequence of 110 information frames corresponding to the second satellite group;

[0028] Figure 12 This is a schematic diagram of the structure of a navigation enhancement information transmission device provided in an embodiment of the present disclosure;

[0029] Figure 13 This is a schematic diagram of the structure of another navigation enhancement information broadcasting device and navigation enhancement information transmission device provided in the embodiments of this disclosure;

[0030] Figure 14 This is a schematic diagram of another navigation enhancement information transmission device provided in an embodiment of the present disclosure;

[0031] Figure 15 This is a block diagram illustrating a communication device according to an exemplary embodiment. Detailed Implementation

[0032] Embodiments of this disclosure are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this disclosure, and should not be construed as limiting this disclosure.

[0033] To better understand the navigation enhancement information transmission method disclosed in this disclosure, the satellite communication system to which this disclosure applies will be described first.

[0034] Please see Figure 1 , Figure 1 This is a schematic diagram of the architecture of a satellite navigation and communication system provided in an embodiment of this disclosure. The satellite navigation and communication system may include multiple orbital planes, multiple navigation satellites, and a navigation terminal, wherein the multiple orbital planes include multiple low-Earth orbit (LEO) satellites. Figure 1 The number and form of the devices shown are for illustrative purposes only and do not constitute a limitation on the embodiments of this disclosure. Figure 1 The following is an illustration of a satellite navigation and communication system, which includes an orbital plane, a navigation terminal 102, and a navigation satellite 103, and the orbital plane includes four low-Earth orbit satellites 101.

[0035] The low-Earth orbit satellite 101 in this disclosure is an entity used for transmitting or receiving signals. This disclosure does not limit the specific technologies or equipment used in the low-Earth orbit satellite.

[0036] In this disclosure, the navigation terminal 102 refers to a processing device within the satellite coverage beam range for communicating with low-Earth orbit satellites. For example, the navigation terminal can be a car, smart car, mobile phone, wearable device, tablet computer, etc., equipped with satellite communication capabilities. This disclosure does not limit the specific technology or device form used in the navigation terminal.

[0037] In this embodiment, navigation satellite 103 refers to a node in a satellite navigation and communication system specifically designed to provide navigation and positioning services. This embodiment does not limit the specific technologies or equipment forms used in the navigation satellite.

[0038] It should be noted that the satellite navigation and communication system in this embodiment may further include: a ground station ( Figure 1 (Not shown in the example), the ground station can communicate with low-orbit satellite 101 and navigation satellites.

[0039] It is understood that the satellite navigation and communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions provided in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this disclosure are also applicable to similar technical problems.

[0040] In the aforementioned satellite navigation and communication system, low-Earth orbit (LEO) satellites sequentially send all navigation enhancement information required by the navigation terminal for positioning and / or timing. Although multiple LEO satellites send navigation enhancement information to the navigation terminal in parallel, the navigation enhancement information sent by these LEO satellites is all the same. Therefore, it takes a relatively long time for the navigation terminal to obtain all the navigation satellites required for navigation, positioning, or timing.

[0041] In this embodiment of the present disclosure, in order to solve the problem, the navigation terminal can receive navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite in parallel. The validity period of the navigation enhancement information broadcast by the first low-Earth orbit satellite and the second low-Earth orbit satellite is different, so that the navigation terminal can receive navigation enhancement information with different validity periods in parallel, which helps the navigation terminal to quickly obtain all the navigation enhancement information required for positioning and / or timing.

[0042] The navigation enhancement information transmission method, apparatus, and communication device of this disclosure are described below with reference to the accompanying drawings.

[0043] Figure 2 This is a schematic flowchart illustrating a navigation enhancement information transmission method provided in an embodiment of this disclosure.

[0044] It should be noted that the navigation enhancement information transmission method is executed by a navigation enhancement information transmission device. This device can be implemented in software and / or hardware, and can be a navigation terminal or configured within a navigation terminal. In this embodiment, a navigation terminal is used as an example for illustration.

[0045] like Figure 2 As shown, the navigation enhancement information transmission method may include the following steps:

[0046] Step 201: Receive navigation enhancement information from the navigation satellite transmitted by the first low-orbit satellite.

[0047] Among them, the navigation enhancement information of the navigation satellite transmitted by the first low-orbit satellite is transmitted to the first low-orbit satellite by the ground station.

[0048] It is understood that the navigation enhancement information transmitted by the first low-orbit satellite may be the navigation enhancement information of all navigation satellites uploaded by the ground station, or it may be the navigation enhancement information of some navigation satellites uploaded by the ground station. This embodiment does not specifically limit this.

[0049] Step 202: Receive navigation enhancement information from the navigation satellite transmitted by the second low-orbit satellite.

[0050] The navigation enhancement information transmitted by the second low-orbit satellite is provided to the second low-orbit satellite by the ground station.

[0051] It is understood that the navigation enhancement information transmitted by the second low-orbit satellite may be the navigation enhancement information of all navigation satellites uploaded by the ground station, or it may be the navigation enhancement information of some navigation satellites uploaded by the ground station. This embodiment does not specifically limit this.

[0052] In one embodiment of this disclosure, the first low-Earth orbit satellite and the second low-Earth orbit satellite may transmit navigation enhancement information at the same time, or the two satellites may transmit navigation enhancement information at relatively close times. For example, the time difference between the two satellites transmitting navigation enhancement information may be within a preset time range.

[0053] The preset time range is a time range that is set in advance according to actual needs.

[0054] In one embodiment of this disclosure, the validity period of the navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite is different.

[0055] The navigation enhancement information transmitted by the first and second low-Earth orbit satellites differs.

[0056] In one embodiment of this disclosure, one of the navigation enhancement information transmitted by the first low-Earth orbit (LEO) satellite and the second LEO satellite is: first navigation enhancement information with the shortest validity period; the other of the navigation enhancement information transmitted by the first LEO satellite and the second LEO satellite is: second navigation enhancement information. The validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information, so that the LEO satellite is always transmitting the first navigation enhancement information with the shortest validity period, ensuring that the navigation terminal can always receive the first navigation enhancement information with the shortest validity period.

[0057] Among them, the first navigation enhancement information can be a precise clock difference.

[0058] The second navigation enhancement information can be one of the following: precise orbit, code phase deviation, medium-precision almanac, and simplified history.

[0059] It should be noted that, in this embodiment, the first low-Earth orbit satellite and the second low-Earth orbit satellite can be low-Earth orbit satellites in different orbital planes.

[0060] In one embodiment of this disclosure, the first low-Earth orbit satellite and the second low-Earth orbit satellite may belong to different satellite groups.

[0061] It is understandable that the number of the first and second low-Earth orbit satellites can be one or more.

[0062] In one embodiment of this disclosure, the validity period of navigation enhancement information transmitted by low-Earth orbit satellites in the same satellite group at the same point in time is the same, while the validity period of navigation enhancement information transmitted by low-Earth orbit satellites in different satellite groups at the same point in time is different.

[0063] Step 203: Perform positioning and / or timing based on the navigation enhancement information sent by the first and second low-Earth orbit satellites.

[0064] The navigation enhancement information transmission method provided in this embodiment allows a navigation terminal to receive navigation enhancement information transmitted by a first low-Earth orbit satellite and a second low-Earth orbit satellite in parallel. The validity periods of the navigation enhancement information broadcast by the first low-Earth orbit satellite and the second low-Earth orbit satellite are different, thereby enabling the navigation terminal to receive navigation enhancement information with different validity periods in parallel. This helps the navigation terminal to quickly obtain all the navigation enhancement information required for positioning and / or timing.

[0065] To clearly understand the technical solution of this disclosure, the following is combined with... Figure 3 A further exemplary description of the navigation enhancement information transmission method is provided.

[0066] Figure 3 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure.

[0067] like Figure 3 As shown, the method may include:

[0068] Step 301: Receive the first information frame sent by the first low-orbit satellite, wherein the first information frame includes: first information, wherein the first information is obtained by the first low-orbit satellite splicing the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites uploaded by the ground station.

[0069] The satellite numbers can be arranged in ascending, descending, or other orders; this embodiment does not specifically limit this.

[0070] In this embodiment, the first navigation enhancement information can be a precision clock difference.

[0071] In this embodiment, the broadcast period of the first information frame is shorter than the validity period of the first navigation enhancement information. This allows the navigation terminal to receive first navigation enhancement information from multiple navigation satellites within the validity period of the first navigation enhancement information.

[0072] It can be understood that after receiving the first information frame, the terminal can parse the first information frame to obtain the first information carried by the first information frame, and obtain the first navigation enhancement information of N navigation satellites based on the first information.

[0073] Step 302: Receive the second information frame sent by the second low-orbit satellite. The second information frame includes: second information, which is obtained by the second low-orbit satellite splicing the second navigation enhancement information in the target information group according to the satellite number arrangement order of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites uploaded by the ground station.

[0074] The second navigation enhancement information can be one of the following: precise orbit, code phase deviation, medium-precision almanac, and simplified history.

[0075] It is understood that in this embodiment, the first low-Earth orbit satellite transmits the first information frame and the second low-Earth orbit satellite transmits the second information frame at the same time. That is, when the first low-Earth orbit satellite transmits the first information frame, the second low-Earth orbit satellite is transmitting the second information frame.

[0076] It can be understood that after receiving the second information frame, the terminal can parse the second information frame to obtain the second information carried by the second information frame, and obtain the second navigation enhancement information of N navigation satellites based on the second information.

[0077] It should be noted that, in order for the terminal to obtain the second navigation enhancement information of N navigation satellites within the validity period of the second navigation enhancement information, the second low-Earth orbit satellite can transmit multiple second information frames within the validity period of the second navigation enhancement. These multiple second information frames correspond to multiple information groups, and each second information frame includes a second information frame corresponding to an information group. Correspondingly, the terminal receives the multiple second information frames and determines the second navigation enhancement information of the N navigation satellites based on the second information in the multiple second information frames.

[0078] Step 303: Perform positioning and / or timing based on the first navigation enhancement information and the second navigation enhancement information.

[0079] To clearly understand the technical solution of this disclosure, the following is combined with... Figure 4 A further exemplary description of the navigation enhancement information transmission method is provided.

[0080] Figure 4 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure.

[0081] like Figure 4 As shown, the method may include:

[0082] Step 401: Receive the second information frame sent by the first low-orbit satellite. The second information frame includes: second information, which is obtained by the first low-orbit satellite splicing the second navigation enhancement information in the target information group according to the satellite number arrangement order of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites uploaded by the ground station.

[0083] The satellite numbers can be arranged in ascending, descending, or other orders; this embodiment does not specifically limit this.

[0084] The second navigation enhancement information can be one of the following: precise orbit, code phase deviation, medium-precision almanac, and simplified history.

[0085] In this embodiment, after receiving the second information frame, the terminal can parse the second information frame to obtain the second information carried by the second information frame, and obtain the second navigation enhancement information of N navigation satellites based on the second information.

[0086] It should be noted that, in order for the terminal to obtain the second navigation enhancement information of N navigation satellites within the validity period of the second navigation enhancement information, the first low-Earth orbit satellite can transmit multiple second information frames within the validity period of the second navigation enhancement. These multiple second information frames correspond to multiple information groups, and each second information frame includes a second information frame corresponding to an information group. Correspondingly, the terminal receives the multiple second information frames and determines the second navigation enhancement information of the N navigation satellites based on the second information in the multiple second information frames.

[0087] Step 402: Receive the first information frame sent by the second low-orbit satellite, wherein the first information frame includes: first information, wherein the first information is obtained by the second low-orbit satellite splicing the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites registered by the ground station.

[0088] In this embodiment, the first navigation enhancement information can be a precision clock difference.

[0089] In this embodiment, the broadcast period of the first information frame is shorter than the validity period of the first navigation enhancement information. This allows the navigation terminal to receive first navigation enhancement information from multiple navigation satellites within the validity period of the first navigation enhancement information.

[0090] It is understood that in this embodiment, the first low-Earth orbit satellite transmits the first information frame and the second low-Earth orbit satellite transmits the second information frame at the same time. That is, when the first low-Earth orbit satellite transmits the first information frame, the second low-Earth orbit satellite is transmitting the second information frame.

[0091] In this embodiment, after receiving the first information frame, the terminal can parse the first information frame to obtain the first information carried by the first information frame, and obtain the first navigation enhancement information of N navigation satellites based on the first information.

[0092] Step 403: Perform positioning and / or timing based on the first navigation enhancement information and the second navigation enhancement information.

[0093] To achieve the above embodiments, this disclosure also proposes a method for transmitting navigation enhancement information.

[0094] Figure 5 This is a schematic flowchart illustrating another navigation enhancement information transmission method provided in this embodiment. It should be noted that this navigation enhancement information transmission method is executed by a low-Earth orbit (LEO) satellite. Specifically, the LEO satellite in this embodiment can be either a first LEO satellite or a second LEO satellite. That is, the first LEO satellite and the second LEO satellite in the above embodiment can execute the following navigation enhancement information transmission method.

[0095] like Figure 5 As shown, the method may include:

[0096] Step 501: Receive uplink data sent by the ground station, wherein the uplink data includes navigation satellites and corresponding navigation enhancement information.

[0097] Step 502: Send navigation enhancement information of navigation satellites from the uploaded data to the navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

[0098] It should be noted that the navigation enhancement information of the navigation satellites sent by the low-orbit satellites to the navigation satellites can be the navigation enhancement information of all navigation satellites in the uplink data, or the navigation enhancement information of some navigation satellites in the uplink data. This embodiment does not specifically limit this.

[0099] In one embodiment of this disclosure, a possible implementation of sending navigation enhancement information of navigation satellites in the uplink data to the navigation terminal is as follows: N navigation satellites are determined from the navigation satellites in the uplink data, where N is an integer greater than 1 and less than M, and M is the total number of navigation satellites in the uplink data; and the navigation enhancement information of the N navigation satellites is sent to the navigation terminal.

[0100] As an example, N navigation satellites can be randomly selected from the navigation satellites in the above data.

[0101] As an example, in order for the navigation terminal to perform accurate navigation and positioning, the above-mentioned N can be greater than or equal to the number of navigation terminals required for navigation and positioning. For example, if the number of navigation terminals required for navigation and positioning is 4, then the above-mentioned N can be 5, 6, 7, 8, etc. This embodiment does not specifically limit this.

[0102] The navigation enhancement information transmission method provided in this embodiment allows a low-Earth orbit (LEO) satellite to acquire navigation enhancement information from a ground station and send the navigation enhancement information to a navigation terminal. This enables the LEO satellite to promptly send the navigation enhancement information uploaded by the ground station to the navigation terminal, facilitating the navigation terminal to perform positioning and / or timing based on the received navigation enhancement information.

[0103] To facilitate a clear understanding of this disclosure, the following will be combined with... Figure 6 The navigation enhancement information transmission method provided in this embodiment will be further described. It should be noted that the navigation enhancement information transmission method in this embodiment is executed by a low-Earth orbit satellite.

[0104] Figure 6 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure.

[0105] like Figure 6 As shown, the method may include:

[0106] Step 601: Receive uplink data sent by the ground station, wherein the uplink data includes navigation satellites and corresponding navigation enhancement information.

[0107] It should be noted that for a detailed description of step 601, please refer to the relevant descriptions in other embodiments, which will not be repeated here.

[0108] Step 602: Determine the elevation angles of the low-orbit satellites and each navigation satellite in the uplink data.

[0109] Step 603: From the navigation satellites in the above data, identify the N navigation satellites with the largest elevation angles relative to the low-Earth orbit satellites.

[0110] In this embodiment, by combining the elevation angles of each navigation satellite in the above-mentioned data, the N navigation satellites with the largest elevation angles relative to the low-Earth orbit satellites are accurately determined from the navigation satellites in the above-mentioned data.

[0111] Step 604: Send navigation enhancement information of N navigation satellites to the navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

[0112] In one embodiment of this disclosure, when the navigation enhancement information includes the first navigation enhancement information with the shortest validity period, a possible implementation of sending navigation enhancement information of N navigation satellites to the navigation terminal is as follows: according to the arrangement order of the satellite numbers of the N navigation satellites, the first navigation enhancement information of each of the N navigation satellites is spliced ​​to obtain the first information; the first information frame is broadcast to the navigation terminal, wherein the first information frame includes the first information.

[0113] Among them, the first navigation enhancement information can be a precise clock difference.

[0114] In this embodiment, the broadcast period of the first information frame is less than the validity period of the first navigation enhancement information, so that the terminal can obtain the first navigation enhancement information within the validity period of the first navigation enhancement information.

[0115] In one embodiment of this disclosure, when the navigation enhancement information further includes second navigation enhancement information, wherein the validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information, sending navigation enhancement information of N navigation satellites to the navigation terminal may further include: grouping the second navigation enhancement information of the N navigation satellites into L information groups, where L is an integer greater than 1; for any one of the L information groups, splicing the second navigation enhancement information in the information group according to the satellite numbering order of the navigation satellites in the information group to obtain second information; and sequentially broadcasting L second information frames to the navigation terminal, wherein the L second information frames correspond to L second information, and each second information frame includes one piece of second information. Thus, low-Earth orbit satellites can send not only the first navigation enhancement information but also the second navigation enhancement information to the navigation terminal.

[0116] In one embodiment of this disclosure, the number L of information groups to be obtained by grouping the second navigation enhancement information of N navigation satellites can be determined based on the amount of second navigation enhancement information that can be accommodated in an information frame and the validity period of the second navigation enhancement information; the second navigation enhancement information of N navigation satellites is grouped to obtain L information groups.

[0117] It should be noted that, in order for the terminal to receive the second navigation enhancement information from N navigation satellites within the validity period of the second navigation enhancement information, the low-orbit satellites can broadcast L second information frames within the validity period of the second navigation enhancement information.

[0118] In one embodiment of this disclosure, when the aforementioned low-Earth orbit (LEO) satellite belongs to the first satellite group among multiple satellite groups, in order to facilitate the LEO satellite in determining the information frames for transmitting the first and second information, the LEO satellite may further perform the following steps: receiving broadcast timing information sent by a ground station, wherein the broadcast timing information is used to indicate the information frames available for each satellite group in the multiple satellite groups to transmit the first and second information; determining, based on the broadcast timing information, the information frame available for the first satellite group to transmit the first information as the first information frame; and determining, based on the broadcast timing information, the information frame available for the first satellite group to transmit the second information as the second information frame. Thus, based on the broadcast timing information sent by the ground station, the information frames for transmitting the first and second information are quickly determined.

[0119] In one embodiment of this disclosure, to enable a low-Earth orbit (LEO) satellite to easily determine its satellite group, it receives grouping information sent by a ground station. This grouping information indicates the first satellite group to which the LEO satellite belongs among multiple satellite groups. Thus, the LEO satellite can easily determine its satellite group based on the grouping information sent by the ground station.

[0120] To achieve the above embodiments, this disclosure also proposes a method for transmitting navigation enhancement information.

[0121] Figure 7 This is a flowchart illustrating another navigation enhancement information transmission method provided in this embodiment of the disclosure. It should be noted that this navigation enhancement information transmission method is applied to a ground station.

[0122] like Figure 7 As shown, the method may include:

[0123] Step 701: Send uplink data to the low-Earth orbit satellite. The uplink data includes navigation satellites and corresponding navigation enhancement information. The uplink data is used by the low-Earth orbit satellite to send the navigation enhancement information of the navigation satellites in the uplink data to the navigation terminal. The navigation enhancement information sent by the low-Earth orbit satellite to the navigation terminal is used by the navigation terminal for positioning and / or timing.

[0124] It should be noted that the low-Earth orbit satellite can be either a first low-Earth orbit satellite or a second low-Earth orbit satellite.

[0125] As an example, the ground station can send the uploading data to the first LEO satellite and the second LEO satellite respectively.

[0126] The navigation enhancement information transmission method provided in this disclosure enables the ground station to promptly send the navigation enhancement information of the navigation satellite to the low-Earth orbit satellite, which in turn helps the low-Earth orbit satellite to promptly send the navigation enhancement information of the navigation satellite to the navigation terminal.

[0127] Based on the above embodiments, in this embodiment, the low-Earth orbit (LEO) satellite belongs to the first satellite group among multiple satellite groups, and the navigation enhancement information includes: first navigation enhancement information and second navigation enhancement information with the shortest validity period. If the validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information, the ground station can further perform the following steps: sending broadcast timing information to the LEO satellite. The broadcast timing information is used to indicate the available information frames for sending the first and second information to each satellite group in the multiple satellite groups. The first information is generated based on the first navigation enhancement information of N navigation satellites, and the second information is based on the second navigation enhancement information of N navigation satellites. The N navigation satellites are the N navigation satellites with the largest elevation angle to the LEO satellite, determined from the navigation satellites in the above-mentioned data. Therefore, by sending broadcast timing information to the LEO satellite, the LEO satellite can conveniently determine the information frames for sending the first and second information based on the broadcast timing information sent by the ground station, reducing the complexity of the LEO satellite determining the information frames for sending the first and second information.

[0128] In one embodiment of this disclosure, the ground station may further perform the following steps: sending packet information to the low-Earth orbit (LEO) satellites, wherein the packet information is used to indicate the first satellite to which the LEO satellite belongs in a plurality of satellite groups. Thus, by sending packet information to the LEO satellites, the LEO satellites can conveniently determine the satellite group to which they belong based on the packet information.

[0129] It should be noted that the aforementioned satellite groups are obtained by grouping low-Earth orbit satellites in the orbital plane.

[0130] In one embodiment of this disclosure, one possible way to obtain multiple satellite groups is as follows: determine the minimum satellite coverage weight of the orbital plane; based on the minimum satellite coverage weight, determine the number M of satellite groups that should be obtained by grouping the low-Earth orbit (LEO) satellites in the orbital plane, where M is an integer greater than 1, and the value of M is less than or equal to the minimum satellite coverage weight; group the LEO satellites in the orbital plane to obtain M satellite groups. Thus, by combining the minimum satellite coverage weight of the orbital plane, the number M of satellite groups that should be obtained by grouping the LEO satellites in the orbital plane is accurately determined, and based on M, the grouping of LEO satellites in the orbital plane is accurately achieved.

[0131] It should be noted that the methods for determining the minimum satellite coverage weight on the orbital plane differ in different application scenarios, as illustrated below:

[0132] As an example, the correspondence between a pre-saved orbital plane and a minimum satellite coverage weight can be obtained, and the minimum satellite coverage weight of the orbital plane can be obtained.

[0133] As another example, the geocentric angle between the navigation terminal and the low-Earth orbit (LEO) satellites in the orbital plane is obtained when the elevation angle between the navigation terminal and the LEO satellites in the orbital plane is taken as the cutoff elevation angle. Based on the orbital inclination of the orbital plane, the maximum angle between the navigation terminal and the orbital plane, the geocentric angle, and the number of satellites in the orbital plane, the minimum satellite coverage weight of the orbital plane is determined. Thus, the minimum satellite coverage weight of the orbital plane is accurately determined.

[0134] It should be noted that, in this embodiment, the cutoff elevation angle E el The relationship with the geocentric angle θ, such as Figure 8 As shown, through Figure 8 It can be seen that:

[0135]

[0136] r = R + h,

[0137] It should be noted that, Figure 8In this diagram, A represents the position of the low-Earth orbit satellite when the elevation angle between the navigation terminal and the low-Earth orbit satellite in the orbital plane is the cutoff elevation angle; B represents the navigation terminal; r represents the line connecting A and the Earth's center O; R represents the line connecting B to the Earth's center; it can be understood that the value of R is the same as the value of the Earth's radius; and h represents the orbital altitude of the low-Earth orbit satellite.

[0138] It should be noted that the value used to calculate the minimum satellite coverage weight X is... min The formula is:

[0139]

[0140] Where: [] is the rounding operator to zero, and θ' is the angle between r and the projection R' of R.

[0141] cosθ=cosθ'cosΔΩ'

[0142] According to the sine theorem for spherical triangles, we have:

[0143] It should be noted that R' represents the line connecting the point where the direction directly above the receiver of the navigation terminal intersects the orbital plane and the Earth's center O when the angle between the navigation terminal and the orbital plane is at its maximum; where i represents the orbital inclination; ΔΩ' represents the angle between R and R'; ΔΩ represents the ascending node interval of the orbital plane; and H represents the number of satellites in the orbital plane.

[0144] The number of satellites refers to the total number of low-Earth orbit satellites included in the orbital plane.

[0145] In one embodiment of this disclosure, a possible way to group low-Earth orbit satellites in the orbital plane to obtain M satellite groups is as follows: take the remainder of the broadcast number of the low-Earth orbit satellite in the orbital plane with respect to M to obtain the remainder result; based on the remainder result, divide the low-Earth orbit satellites in the orbital plane into M satellite groups, wherein the remainder result of the satellite number of the low-Earth orbit satellites in the same satellite group is the same.

[0146] In this embodiment, the broadcast number ranges from 1 to H, where H represents the number of satellites in the orbital plane.

[0147] To facilitate a clear understanding of this disclosure, the following will be combined with... Figure 9 The navigation enhancement information transmission method proposed in this disclosure is described by way of example.

[0148] Figure 9 This is a flowchart illustrating another navigation enhancement information transmission method provided in an embodiment of this disclosure.

[0149] like Figure 9 As shown, the navigation enhancement information transmission method may include the following steps:

[0150] Step 901: The ground station determines the broadcast number of the low-Earth orbit satellite in the orbital plane.

[0151] For example, if the orbital plane contains 72 satellites (i.e., 72 low-Earth orbit satellites), these 72 low-Earth orbit satellites can be assigned broadcast numbers in ascending order. The corresponding broadcast number R for these 72 low-Earth orbit satellites is... role (R role =1…72).

[0152] Step 902: The ground station obtains the geocentric angle between the navigation terminal and the low-Earth orbit satellite in the orbital plane when the elevation angle between the navigation terminal and the low-Earth orbit satellite in the orbital plane is the cutoff elevation angle.

[0153] Step 903: The ground station determines the minimum satellite coverage weight of the orbital plane based on the orbital inclination, the maximum angle between the navigation terminal and the orbital plane, the geocentric angle, the ascending node interval of the orbital plane, and the number of satellites in the orbital plane.

[0154] For example, taking a constellation with parameters i: T / P / F = 53:1584 / 22 / 17 and an orbital altitude of 550km as an example, the parameters show that the orbital inclination i = 55°, the total number of satellites in the constellation T = 1584, the number of orbital planes P = 22, the ascending node interval between orbital planes ΔΩ = 16.36, the number of satellites in each orbital plane N = 72, the phase interval between adjacent satellites within a plane is 5°, and the phase factor F = 17. Through calculation, the minimum satellite coverage weight can be obtained.

[0155] Step 904: The ground station determines the number M of satellite groups that should be obtained by grouping the low-orbit satellites in the orbital plane according to the minimum satellite coverage number. M is a positive integer and the value of M is less than or equal to the minimum satellite coverage number.

[0156] In this embodiment, the number of satellite groups M that should be obtained by grouping low-Earth orbit satellites in the orbital plane can be determined by comprehensively considering the minimum satellite coverage weight, the total number of types of navigation enhancement information, and the number of types of strong time-sensitive navigation enhancement information.

[0157] Among them, time-sensitive navigation enhancement information refers to navigation enhancement information with a validity period of less than or equal to a preset threshold. For example, the preset threshold is 100 seconds, and correspondingly, navigation enhancement information with a validity period of less than or equal to 100 seconds includes precise clock errors and precise orbits.

[0158] For example, the minimum satellite coverage weight is 3, the number of types of strong time-sensitive navigation enhancement information is 2, and the total number of types of navigation enhancement information is 5. Correspondingly, M can be 2.

[0159] Step 905: The ground station performs a remainder operation on M by dividing the broadcast number of the low-Earth orbit satellite in the orbital plane to obtain the remainder result.

[0160] Step 906: Based on the remainder result, the ground station divides the low-orbit satellites in the orbital plane into M satellite groups, wherein the satellite numbers of low-orbit satellites in the same satellite group have the same remainder result.

[0161] Step 907: The ground station determines the update frequency requirement for each navigation enhancement information based on its validity period.

[0162] Table 1 shows an example table of the validity period of navigation enhancement information.

[0163] Table 1 shows an example of the validity period of navigation enhancement information.

[0164] Information content <![CDATA[Nominal validity period * (s)]]> Precision clock difference 20 Precision Rail 96 Code phase deviation 86400 Medium precision calendar 86400×7 Simple Calendar 86400×7

[0165] For example, if the validity period of the precision clock difference is 20 seconds and the broadcast time of each frame of information is 15 seconds, then at least one group must be broadcasting the precision clock difference.

[0166] For example, if the validity period of the precision track is 96 seconds, then all groups must cover all precision tracks 1+2+3 within one round (90 seconds).

[0167] It should be noted that, for the navigation enhancement information shown in Table 1, the order of update frequency requirements from high to low is: precise clock error, precise orbit, code phase deviation, medium-precision almanac, and simplified history.

[0168] Step 908: The ground station determines the broadcast timing information based on the number of satellite groups and the update frequency requirements. The broadcast timing information is used to instruct each satellite group in multiple satellite groups to send information frames generated based on the information of each navigation enhancement information.

[0169] The method of generating corresponding information based on corresponding navigation enhancement information can be found in the relevant descriptions in other embodiments, and will not be repeated here.

[0170] Step 909: The ground station sends packet information to the low-Earth orbit satellite, wherein the packet information is used to indicate the first satellite group to which the low-Earth orbit satellite belongs among M satellite groups.

[0171] Here, "low-Earth orbit satellite" refers to any low-Earth orbit satellite in the orbital plane.

[0172] Step 910: The ground station sends uplink data to the low-Earth orbit satellite, which includes navigation satellites and corresponding navigation enhancement information.

[0173] As an example, the data may include navigation enhancement information for all navigation satellites.

[0174] It is understandable that ground stations can send uploading data to various low-orbit satellites in the orbital plane.

[0175] Step 911: The ground station sends broadcast timing information to the low-orbit satellite.

[0176] Step 912: The low-orbit satellite determines its elevation angle relative to the navigation satellites in the upper-level data.

[0177] Step 913: From the above data, select the N navigation satellites with the largest elevation angles from the low-orbit satellites.

[0178] Where N is greater than or equal to the number of navigation satellites required for the navigation terminal to perform positioning.

[0179] In this example, N is 9.

[0180] Step 914: The low-Earth orbit satellite generates information corresponding to each navigation enhancement information, and determines the information frames to be sent by the first satellite group based on the information generated by each navigation enhancement information from the broadcast timing information according to the first satellite group to which the low-Earth orbit satellite belongs.

[0181] For example, when N is 9, for broadcasting precise clock errors, all 9 selected satellites are broadcast at once; for broadcasting precise orbits, the 9 selected satellites are sorted in ascending order by navigation satellite number, and the precise orbits of every 3 navigation satellites are placed in one information frame, broadcasting them in 3 separate broadcasting orders; for medium-precision almanacs, the 9 satellites are arranged in ascending order by satellite number and then framed and broadcast sequentially; for code phase deviation, the 9 selected satellites are sorted in ascending order by navigation satellite number, and every 2 satellites are placed in one information frame, broadcasting them in 5 separate broadcasting orders; for simplified almanacs, the 9 selected satellites are sorted in ascending order by navigation satellite number, and every 5 satellites are placed in one information frame, broadcasting them in 2 separate broadcasting orders.

[0182] Step 915: The low-orbit satellite determines a multi-round information frame sequence based on the determined information frames, and sends the information frames to the navigation terminal in sequence according to the multi-round information frame sequence.

[0183] During the validity period of the second navigation enhancement information, at least one first satellite group among multiple satellite groups broadcasts the second navigation enhancement information. Specifically, the second navigation enhancement information is broadcast on the first target information frame in the information frame sequence of the first target wheel of the first satellite group, and the precision clock bias is broadcast on the first target information frame in the information frame sequence of the first target wheel of a non-first satellite group.

[0184] When broadcasting the precision clock bias on the second target information frame in the information frame sequence of the second target wheel of the first satellite group, the second navigation enhancement information is broadcast on the second target information frame in the information frame sequence of the second target wheel of a non-first satellite group.

[0185] For example, taking the validity period of navigation enhancement information shown in Table 1 as an example, M is 2, and the information frame sequence of 110 rounds corresponding to the satellites in the first satellite group is as follows: Figure 10 As shown, the sequence of 110 information frames corresponding to the satellites in the second satellite group is as follows: Figure 11 As shown in the diagram. Each box represents one information frame, and the number inside the box indicates the data content sequence number. Based on broadcasting data from 9 satellites, the broadcast requires 3 frames of precise orbit data (corresponding to Precision Orbit 1, Precision Orbit 2, and Precision Orbit 3 in the diagram), 1 frame of precise clock bias data, 5 frames of code phase deviation data (corresponding to Code Phase Deviation 1-5 in the diagram), 9 frames of medium-precision ephemeris data (corresponding to Medium-precision Ephemeris 1-9 in the diagram), and 2 frames of simplified ephemeris data (corresponding to Simplified Ephemeris 1-2 in the diagram). A broadcast cycle consists of 6 frames, with each information frame taking 15 seconds to broadcast, and each cycle lasting 90 seconds. Furthermore, the broadcast numbers of the low-Earth orbit satellites in the first satellite group are all odd numbers, while the broadcast numbers of the low-Earth orbit satellites in the second satellite group are all even numbers.

[0186] It is understandable that, for each broadcast cycle of the satellites in the first satellite group, the first, third, and fifth frames of the message only broadcast the precise clock difference, the second and fourth frames of the message only broadcast the precise orbit, the sixth frame of the message first broadcasts the code phase deviation data, after all the code phase deviation data has been broadcast, one frame of medium-precision almanac is inserted, after the medium-precision almanac has been broadcast, one frame of simplified almanac is inserted.

[0187] In each broadcast cycle of the satellites in the second satellite group, the 2nd, 4th, and 6th frames of the message broadcast the precise clock difference, the 1st and 3rd frames of the message broadcast the precise orbit, the 5th frame of the message first broadcasts the code phase deviation data, after all the code phase deviation data has been broadcast, one frame of medium-precision almanac is inserted, and after the medium-precision almanac has been broadcast, one frame of simplified almanac is inserted.

[0188] Correspondingly, the navigation terminal receives information frames sent by different satellite groups and obtains the required navigation enhancement information from the information frames.

[0189] For example, when signals from one odd-numbered satellite and one even-numbered satellite are received simultaneously, the update cycle of the precision clock difference is 15 seconds, which meets the 20-second timeliness limit and can support the needs of precision positioning and time synchronization.

[0190] In summary, the navigation enhancement information transmission method provided in this disclosure achieves rapid broadcasting of navigation enhancement information by grouping satellites, ensuring that different satellite groups broadcast different navigation enhancement information at the same time, and that at least one satellite group has broadcast the navigation enhancement information within the validity period of the navigation enhancement information.

[0191] To achieve the above embodiments, this disclosure also proposes a navigation enhancement information transmission device.

[0192] Figure 12 This is a schematic diagram of a navigation enhancement information transmission device provided in an embodiment of this disclosure. It should be noted that this device is applied to a navigation terminal.

[0193] like Figure 12 As shown, the navigation enhancement information transmission device 1200 includes:

[0194] The first receiving module 1201 is used to receive navigation enhancement information from the navigation satellite transmitted by the first low-orbit satellite;

[0195] The second receiving module 1202 is used to receive navigation enhancement information of navigation satellites transmitted by the second low-orbit satellite. The navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is uploaded by the ground station. The validity period of the navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is different.

[0196] The processing module 1203 is used to perform positioning and / or timing based on navigation enhancement information sent by the first and second low-Earth orbit satellites.

[0197] In one embodiment of this disclosure, one of the navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite is: the first navigation enhancement information with the shortest validity period, and the other of the navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite is: the second navigation enhancement information, wherein the validity period of the second navigation enhancement information is longer than the validity period of the first navigation enhancement information.

[0198] In one embodiment of this disclosure, the first receiving module 1201 is specifically used to: receive a first information frame sent by a first low-orbit satellite, wherein the first information frame includes: first information, wherein the first information is obtained by the first low-orbit satellite splicing the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites uploaded by the ground station;

[0199] The second receiving module 1202 is specifically used to receive a second information frame sent by the second low-orbit satellite. The second information frame includes second information, which is obtained by the second low-orbit satellite splicing the second navigation enhancement information in the target information group according to the satellite number arrangement order of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites registered by the ground station, where N is an integer greater than 1.

[0200] In one embodiment of this disclosure, the first receiving module 1201 is specifically used to: receive a second information frame sent by a first low-orbit satellite, wherein the second information frame includes: second information, which is obtained by the first low-orbit satellite splicing the second navigation enhancement information in the target information group according to the arrangement order of the satellite numbers of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites uploaded by the ground station.

[0201] The second receiving module 1202 is specifically used to receive a first information frame sent by the second low-orbit satellite. The first information frame includes first information, which is obtained by the second low-orbit satellite splicing the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites registered by the ground station.

[0202] It should be noted that the foregoing explanation of the navigation enhancement information transmission method embodiment also applies to the navigation enhancement information transmission device of this embodiment, and this embodiment will not repeat the above.

[0203] The navigation enhancement information transmission device of this disclosure can receive navigation enhancement information from navigation satellites transmitted by a first low-Earth orbit satellite and a second low-Earth orbit satellite in parallel. The validity periods of the navigation enhancement information broadcast by the first low-Earth orbit satellite and the second low-Earth orbit satellite are different, thereby enabling the navigation terminal to receive navigation enhancement information with different validity periods in parallel, which helps the navigation terminal to quickly obtain all the navigation enhancement information required for positioning and / or timing.

[0204] Figure 13 This is a schematic diagram of another navigation enhancement information transmission device provided in an embodiment of this disclosure. It should be noted that this device is applied to low-Earth orbit satellites.

[0205] like Figure 13 As shown, the navigation enhancement information transmission device 1300 includes:

[0206] The receiving module 1301 is used to receive uplink data sent by the ground station, wherein the uplink data includes navigation satellites and corresponding navigation enhancement information;

[0207] The transmitting module 1302 is used to transmit navigation enhancement information of navigation satellites in the uploaded data to the navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

[0208] In one embodiment of this disclosure, the sending module 1302 is specifically used to: determine N navigation satellites from the navigation satellites in the upper bound data, where N is an integer greater than 1 and less than M, and M is the total number of navigation satellites in the upper bound data; and send navigation enhancement information of the N navigation satellites to the navigation terminal.

[0209] In one embodiment of this disclosure, the specific method for determining N navigation satellites from the navigation satellites in the above-mentioned data is as follows: determine the elevation angle between the low-orbit satellites and each navigation satellite in the above-mentioned data; and determine the N navigation satellites with the largest elevation angle between them and the low-orbit satellites from the navigation satellites in the above-mentioned data.

[0210] In one embodiment of this disclosure, the navigation enhancement information includes: first navigation enhancement information with the shortest validity period. The sending module 1302 is specifically used to: splice the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites to obtain first information; and broadcast the first information frame to the navigation terminal, wherein the first information frame includes the first information.

[0211] In one embodiment of this disclosure, the broadcast period of the first information frame is less than the validity period of the first navigation enhancement information.

[0212] In one embodiment of this disclosure, the navigation enhancement information further includes: second navigation enhancement information, wherein the validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information. The sending module 1302 is further configured to: group the second navigation enhancement information of N navigation satellites to obtain L information groups, wherein L is an integer greater than 1; for any information group in the L information groups, perform splicing processing on the second navigation enhancement information in the information group according to the arrangement order of the satellite numbers of the navigation satellites in the information group to obtain second information; and sequentially broadcast L second information frames to the navigation terminal, wherein the L second information frames correspond to L second information, and each second information frame includes one piece of second information.

[0213] In one embodiment of this disclosure, L second information frames are broadcast within the validity period of the second navigation enhancement information.

[0214] In one embodiment of this disclosure, the low-orbit satellite belongs to a first satellite group among multiple satellite groups. The device may further include: a processing module, configured to: receive broadcast timing information sent by a ground station, wherein the broadcast timing information is used to indicate information frames available for each satellite group in the multiple satellite groups to send first information and second information; determine, based on the broadcast timing information, that the information frames available for the first satellite group to send first information are first information frames; and determine, based on the broadcast timing information, that the information frames available for the first satellite group to send second information are second information frames.

[0215] In one embodiment of this disclosure, the receiving module 1301 is further configured to: receive packet information sent by a ground station, wherein the packet information is used to indicate the first satellite group to which the low-orbit satellite belongs among multiple satellite groups.

[0216] The navigation enhancement information transmission device provided in this embodiment obtains navigation enhancement information of navigation satellites from a ground station and sends the navigation enhancement information of navigation satellites to a navigation terminal, thereby enabling low-orbit satellites to send the navigation enhancement information of navigation satellites uploaded by the ground station to the navigation terminal in a timely manner, so that the navigation terminal can perform positioning and / or timing based on the received navigation enhancement information.

[0217] Figure 14 This is a schematic diagram of another navigation enhancement information transmission device provided in an embodiment of this disclosure. It should be noted that this device is applied to a ground station.

[0218] like Figure 14 As shown, the navigation enhancement information transmission device 1400 includes:

[0219] The transmitting module 1401 is used to transmit uplink data to a low-Earth orbit satellite. The uplink data includes navigation satellites and corresponding navigation enhancement information. The uplink data is used by the low-Earth orbit satellite to transmit the navigation enhancement information of the navigation satellites in the uplink data to the navigation terminal. The navigation enhancement information transmitted by the low-Earth orbit satellite to the navigation terminal is used by the navigation terminal for positioning and / or timing.

[0220] In one embodiment of this disclosure, the low-Earth orbit (LEO) satellite belongs to a first satellite group among multiple satellite groups. The navigation enhancement information includes: first navigation enhancement information and second navigation enhancement information with the shortest validity period. The validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information. The transmitting module 1401 is further configured to: transmit broadcast timing information to the LEO satellite. The broadcast timing information is used to instruct each satellite group in the multiple satellite groups to transmit information frames available for the first information and the second information. The first information is generated based on the first navigation enhancement information of N navigation satellites, and the second information is based on the second navigation enhancement information of N navigation satellites. The N navigation satellites are the N navigation satellites with the largest elevation angle to the LEO satellite determined from the navigation satellites in the above data.

[0221] In one embodiment of this disclosure, the sending module 1401 is further configured to: send packet information to a low-Earth orbit satellite, wherein the packet information is used to indicate the first satellite group to which the low-Earth orbit satellite belongs among multiple satellite groups.

[0222] In one embodiment of this disclosure, multiple satellite groups are obtained by grouping low-Earth orbit satellites in the orbital plane.

[0223] In one embodiment of this disclosure, multiple satellite groups are obtained as follows:

[0224] Determine the minimum satellite coverage weight for the orbital plane;

[0225] Based on the minimum satellite coverage weight, determine the number M of satellite groups that should be obtained by grouping the low-Earth orbit satellites in the orbital plane, where M is an integer greater than 1, and the value of M is less than or equal to the minimum satellite coverage weight.

[0226] The low-Earth orbit satellites in the orbital plane are grouped to obtain M satellite groups.

[0227] In one embodiment of this disclosure, determining the minimum satellite coverage weight for the orbital plane includes:

[0228] The geocentric angle between the navigation terminal and the low-Earth orbit satellites in the orbital plane is obtained when the elevation angle between the navigation terminal and the low-Earth orbit satellites in the orbital plane is the cutoff elevation angle.

[0229] The minimum satellite coverage weight of the orbital plane is determined based on the orbital inclination, the maximum angle between the navigation terminal and the orbital plane, the geocentric angle, the ascending node interval of the orbital plane, and the number of satellites in the orbital plane.

[0230] In one embodiment of this disclosure, low-Earth orbit satellites in the orbital plane are grouped to obtain M satellite groups, including:

[0231] The broadcast numbers of low-Earth orbit satellites in the orbital plane are moduloed by M to obtain the remainder result;

[0232] Based on the remainder result, the low-Earth orbit satellites in the orbital plane are divided into M satellite groups, where the satellite numbers of low-Earth orbit satellites in the same satellite group have the same remainder result.

[0233] The navigation enhancement information transmission device provided in this embodiment of the present disclosure promptly transmits the navigation enhancement information of navigation satellites to low-Earth orbit satellites, which helps low-Earth orbit satellites to promptly transmit the navigation enhancement information of navigation satellites to navigation terminals.

[0234] To implement the above embodiments, this disclosure also proposes a communication device.

[0235] Figure 15 This is a block diagram illustrating a communication device according to an exemplary embodiment. It should be noted that the communication device in this embodiment can be a ground station, a low-Earth orbit satellite, or a navigation terminal.

[0236] like Figure 15 As shown, the aforementioned communication device 1500 includes:

[0237] One or more processors 1501. Processor 1501 can be a general-purpose processor or a special-purpose processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control communication devices (e.g., base stations, baseband chips, terminals, terminal chips, distributed units (DUs) or centralized units (CUs), execute programs, and process program data. Processor 1501 is used to invoke instructions to cause communication device 1500 to execute any of the above methods.

[0238] In some embodiments, the communication device 1500 further includes one or more memories 1502 for storing instructions. In some embodiments, all or part of the memories 1502 may also be located outside the communication device 1500. In some embodiments, the communication device 1500 further includes one or more transceivers 1503. When the communication device 1500 includes one or more transceivers 1503, the communication steps such as sending and receiving in the above method are performed by the transceivers 1503, and other steps are performed by the processor 1501.

[0239] In some embodiments, transceiver 1503 may include a receiver and a transmitter, which may be separate or integrated. In some embodiments, the terms transceiver, transceiver unit, transceiver, and transceiver circuit are interchangeable; the terms transmitter, transmitting unit, transmitter, and transmitting circuit are interchangeable; and the terms receiver, receiving unit, receiver, and receiving circuit are interchangeable. In some embodiments, communication device 1500 further includes one or more interface circuits 1504 connected to memory 1502. Interface circuits 1504 can be used to receive signals from memory 1502 or other devices, and can be used to send signals to memory 1502 or other devices. For example, interface circuit 1504 can read instructions stored in memory 1502 and send those instructions to processor 1501.

[0240] The communication device 1500 described in the above embodiments may be a network device or a space terminal, but the scope of the communication device 1500 described in this disclosure is not limited thereto, and the structure of the communication device 1500 may vary. Figure 15The limitations. Communication equipment can be a standalone device or part of a larger device. For example, communication equipment can be: (1) a standalone integrated circuit (IC), or chip, or chip system or subsystem; (2) a collection of one or more ICs, in some embodiments of which the collection of ICs may also include storage components for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal, smart terminal, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0241] It should be noted that the implementation process and technical principles of the communication device in this embodiment are explained in the foregoing description of the navigation enhancement information transmission method of this disclosure, and will not be repeated here.

[0242] To implement the above embodiments, this disclosure also proposes a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the navigation enhancement information transmission method disclosed in this embodiment.

[0243] To implement the above embodiments, this disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the navigation enhancement information transmission method disclosed in this embodiment.

[0244] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this disclosure, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically defined.

[0245] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. 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 may 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, as well as the features of different embodiments or examples.

[0246] Although embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present disclosure.

Claims

1. A method for transmitting navigation enhancement information, characterized in that, The method is applied to a navigation terminal, and the method includes: Receive navigation enhancement information from the navigation satellite transmitted by the first low-Earth orbit satellite; Receive navigation enhancement information of navigation satellites transmitted by the second low-orbit satellite, wherein the navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is uploaded by the ground station, and the validity period of the navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is different. Positioning and / or timing are performed based on navigation enhancement information transmitted by the first and second LEO satellites.

2. The method as described in claim 1, characterized in that, One of the navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite is the first navigation enhancement information with the shortest validity period, and the other of the navigation enhancement information transmitted by the first low-Earth orbit satellite and the second low-Earth orbit satellite is the second navigation enhancement information, wherein the validity period of the second navigation enhancement information is longer than the validity period of the first navigation enhancement information.

3. The method as described in claim 2, characterized in that, The receipt of navigation enhancement information from the navigation satellite transmitted by the first low-Earth orbit satellite includes: The system receives a first information frame sent by the first low-orbit satellite, wherein the first information frame includes: first information, wherein the first information is obtained by the first low-orbit satellite splicing together the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites uploaded by the ground station; Among them, receiving navigation enhancement information from navigation satellites transmitted by the second low-Earth orbit satellite includes: The system receives a second information frame sent by the second low-orbit satellite. The second information frame includes second information, which is obtained by the second low-orbit satellite splicing the second navigation enhancement information in the target information group according to the satellite number arrangement order of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites registered by the ground station, where N is an integer greater than 1.

4. The method as described in claim 2, characterized in that, The receipt of navigation enhancement information from the navigation satellite transmitted by the first low-Earth orbit satellite includes: The system receives a second information frame sent by the first low-orbit satellite, wherein the second information frame includes: second information, which is obtained by the first low-orbit satellite splicing the second navigation enhancement information in the target information group according to the arrangement order of the satellite numbers of the navigation satellites in the target information group. The target information group is one of multiple information groups obtained by grouping N navigation satellites in the navigation satellites uploaded by the ground station. Among them, receiving navigation enhancement information from navigation satellites transmitted by the second low-Earth orbit satellite includes: The system receives a first information frame sent by the second low-orbit satellite, wherein the first information frame includes: first information, wherein the first information is obtained by the second low-orbit satellite splicing the first navigation enhancement information of each of the N navigation satellites according to the arrangement order of the satellite numbers of the N navigation satellites registered by the ground station.

5. A method for transmitting navigation enhancement information, characterized in that, The method is applied to low-Earth orbit satellites, and the method includes: Receive uplink data sent by the ground station, wherein the uplink data includes: navigation satellites and corresponding navigation enhancement information; The navigation enhancement information of the navigation satellites in the uploaded data is sent to the navigation terminal, wherein the navigation enhancement information is used by the navigation terminal for positioning and / or timing.

6. The method as described in claim 5, characterized in that, Sending navigation enhancement information of navigation satellites from the uploaded data to the navigation terminal, including: From the navigation satellites in the above betting data, N navigation satellites are determined, where N is an integer greater than 1 and less than M, and M is the total number of navigation satellites in the above betting data; The navigation enhancement information of the N navigation satellites is sent to the navigation terminal.

7. The method as described in claim 6, characterized in that, The step of determining N navigation satellites from the above-mentioned navigation satellite data includes: Determine the elevation angles of the low-orbit satellites and each navigation satellite in the uplink data; From the navigation satellites in the above data, identify the N navigation satellites with the largest elevation angle relative to the low-orbit satellites.

8. The method as described in claim 6, characterized in that, The navigation enhancement information includes: the first navigation enhancement information with the shortest validity period, and the navigation enhancement information of the N navigation satellites sent to the navigation terminal, including: Based on the arrangement order of the satellite numbers of the N navigation satellites, the first navigation enhancement information of each of the N navigation satellites is spliced ​​together to obtain the first information; A first information frame is broadcast to the navigation terminal, wherein the first information frame includes the first information.

9. The method as described in claim 8, characterized in that, The broadcast period of the first information frame is shorter than the validity period of the first navigation enhancement information.

10. The method as described in claim 8, characterized in that, The navigation enhancement information further includes: second navigation enhancement information, wherein the validity period of the second navigation enhancement information is longer than the validity period of the first navigation enhancement information, and the step of sending the navigation enhancement information of the N navigation satellites to the navigation terminal further includes: The second navigation enhancement information of the N navigation satellites is grouped to obtain L information groups, where L is an integer greater than 1; For any one of the L information groups, the second navigation enhancement information in the information group is spliced ​​together according to the order of the satellite numbers of the navigation satellites in the information group to obtain the second information; The navigation terminal is sequentially broadcast with L second information frames, wherein the L second information frames correspond to L second information, and each second information frame includes one piece of second information.

11. The method as described in claim 10, characterized in that, The L second information frames were broadcast within the validity period of the second navigation enhancement information.

12. The method as described in claim 10, characterized in that, The low-orbit satellite belongs to the first satellite group in a series of satellite groups, and the method further includes: The system receives broadcast timing information sent by the ground station, wherein the broadcast timing information is used to instruct each satellite group in the plurality of satellite groups to send information frames available for the first information and the second information; Based on the broadcast timing information, the information frame available for the first satellite group to transmit the first information is determined to be the first information frame; Based on the broadcast timing information, the information frame available for the first satellite group to transmit the second information is determined to be the second information frame.

13. The method as described in claim 12, characterized in that, The method further includes: The system receives packet information sent by the ground station, wherein the packet information is used to indicate the first satellite group to which the low-orbit satellite belongs among the plurality of satellite groups.

14. A method for transmitting navigation enhancement information, characterized in that, The method is applied to a ground station, and the method includes: Upload data is sent to low-Earth orbit (LEO) satellites, wherein the upload data includes navigation satellites and corresponding navigation enhancement information, wherein the upload data is used by the LEO satellites to send the navigation enhancement information of the navigation satellites in the upload data to a navigation terminal, and wherein the navigation enhancement information sent by the LEO satellites to the navigation terminal is used by the navigation terminal for positioning and / or timing.

15. The method as described in claim 14, characterized in that, The low-Earth orbit satellite belongs to the first satellite group among multiple satellite groups. The navigation enhancement information includes: first navigation enhancement information and second navigation enhancement information with the shortest validity period, wherein the validity period of the second navigation enhancement information is longer than that of the first navigation enhancement information. The method further includes: The broadcast timing information is sent to the low-Earth orbit satellites, wherein the broadcast timing information is used to instruct each satellite group in the plurality of satellite groups to send information frames with available first information and second information, wherein the first information is generated based on the first navigation enhancement information of N navigation satellites, and the second information is based on the second navigation enhancement information of N navigation satellites, wherein the N navigation satellites are the N navigation satellites with the largest elevation angle to the low-Earth orbit satellites determined from the navigation satellites in the above-mentioned data.

16. The method as described in claim 15, characterized in that, The method further includes: Sending group information to the low-Earth orbit satellite, wherein the group information is used to indicate the first satellite group to which the low-Earth orbit satellite belongs among the plurality of satellite groups.

17. The method as described in claim 15 or 16, characterized in that, The multiple satellite groups are obtained by grouping low-Earth orbit satellites in the orbital plane.

18. The method as described in claim 17, characterized in that, The multiple satellite groups are obtained as follows: Determine the minimum satellite coverage weight for the orbital plane; Based on the minimum satellite coverage weight, determine the number M of satellite groups that should be obtained by grouping the low-Earth orbit satellites in the orbital plane, where M is an integer greater than 1, and the value of M is less than or equal to the minimum satellite coverage weight. The low-Earth orbit satellites in the orbital plane are grouped to obtain M satellite groups.

19. The method as described in claim 18, characterized in that, Determining the minimum satellite coverage weight for the orbital plane includes: The geocentric angle between the navigation terminal and the low-Earth orbit satellite in the orbital plane is obtained when the elevation angle between the navigation terminal and the low-Earth orbit satellite in the orbital plane is the cutoff elevation angle; The minimum satellite coverage weight of the orbital plane is determined based on the orbital inclination angle, the maximum angle between the navigation terminal and the orbital plane, the geocentric angle, the ascending node interval of the orbital plane, and the number of satellites in the orbital plane.

20. The method as described in claim 18, characterized in that, The process of grouping low-Earth orbit satellites in the orbital plane to obtain M satellite groups includes: The broadcast numbers of the low-Earth orbit satellites in the orbital plane are moduloed by M to obtain the remainder result; Based on the remainder result, the low-orbit satellites in the orbital plane are divided into M satellite groups, wherein the satellite numbers of low-orbit satellites in the same satellite group have the same remainder result.

21. A navigation enhancement information transmission device, characterized in that, The device is used in a navigation terminal, and the device includes: The first receiving module is used to receive navigation enhancement information from the navigation satellite transmitted by the first low-orbit satellite; The second receiving module is used to receive navigation enhancement information of navigation satellites transmitted by the second low-orbit satellite. The navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is uploaded by the ground station. The validity period of the navigation enhancement information of navigation satellites transmitted by the first low-orbit satellite and the second low-orbit satellite is different. The processing module is used to perform positioning and / or timing based on the navigation enhancement information sent by the first low-Earth orbit satellite and the second low-Earth orbit satellite.

22. A navigation enhancement information transmission device, characterized in that, The device is used in low-Earth orbit satellites, and the device includes: The receiving module is used to receive uplink data sent by the ground station, wherein the uplink data includes navigation satellites and corresponding navigation enhancement information; The transmitting module is used to transmit navigation enhancement information of navigation satellites in the uplink data to the navigation terminal, wherein the navigation enhancement information transmitted by the low-orbit satellites to the navigation terminal is used by the navigation terminal for positioning and / or timing.

23. A navigation enhancement information transmission device, characterized in that, The device is applied to a ground station, and the device includes: A transmitting module is used to transmit uplink data to a low-Earth orbit satellite. The uplink data includes navigation satellites and corresponding navigation enhancement information. The uplink data is used by the low-Earth orbit satellite to transmit the navigation enhancement information of the navigation satellites in the uplink data to a navigation terminal. The navigation enhancement information is used by the navigation terminal for positioning and / or timing.

24. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method of any one of claims 1-4, or the method of any one of claims 5-13, or the method of any one of claims 14-20.

25. A communication device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the method of any one of claims 1-4, or the method of any one of claims 5-13, or the method of any one of claims 14-20.

26. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the method of any one of claims 1-4, or the method of any one of claims 5-13, or the method of any one of claims 14-20.

Images