Method, apparatus and electronic device for transmitting a message for terminal positioning

Abstract

The application discloses a method and device for transmitting navigation messages for terminal positioning, and electronic equipment. The method comprises: generating modulated navigation messages based on N transmitters deployed in a target area, N being an integer greater than or equal to 2; each transmitter works in turn according to a preset transmission timing, wherein only one transmitter is in a signal transmission open state at the same time, and the remaining transmitters are in a signal transmission closed state; each transmitter performs a transmission operation in a sequence from the first to the Nth transmitter, and each transmitter transmits one bit of navigation message information of the corresponding navigation message in each cycle until all bits of navigation message information of the corresponding navigation message of each transmitter are transmitted; wherein the bit transition edge of each bit of navigation message information is between the start time and the end time of the corresponding transmitter signal transmission open state. Through the above method, the positioning accuracy of the user terminal is improved.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a message transmission method, apparatus, and electronic device for terminal positioning. Background Technology

[0002] The Global Positioning System (GPS), a high-precision radio navigation and positioning system based on artificial Earth satellites, has been widely used in navigation, surveying, and timing. This system typically consists of multiple navigation satellites distributed in space and ground-based user terminals. Each navigation satellite is equipped with a pseudo-random code that identifies it. This pseudo-random code is used to perform direct sequence spread spectrum processing on the baseband signal, and then modulates the spread signal onto a radio frequency carrier to generate a time-continuous positioning signal, which is continuously transmitted to the ground. After propagating through the atmosphere, the positioning signal reaches the user terminal. The device uses the pre-set pseudo-random codes corresponding to each navigation satellite to perform correlation despreading processing on the received signal to identify the navigation satellite that transmitted the positioning signal and to parse the corresponding navigation message and observation data. Finally, based on the data from multiple navigation satellites, it calculates its own three-dimensional spatial position.

[0003] However, the positioning signal becomes extremely weak after propagating through the atmosphere to the user terminal on the ground. Although direct sequence spread spectrum can provide some spread spectrum gain, it still cannot meet the sensitivity requirements of the user terminal in some complex scenarios, leading to increased positioning errors. In addition, the simultaneous and continuous transmission of positioning signals by multiple navigation satellites can generate cross-correlation phenomena at the user terminal, which can also affect the signal resolution and positioning of the user terminal. Summary of the Invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of this application is to provide a message transmission method, apparatus and electronic device for terminal positioning, which can improve the accuracy of terminal positioning.

[0005] To achieve the above objectives, this application adopts the following technical solution: In a first aspect, embodiments of this application provide a message transmission method for terminal positioning, comprising: Based on the N transmitters deployed in the target area, modulated navigation messages are generated respectively, where N is an integer greater than or equal to 2; Each transmitter operates in turn according to a preset transmission sequence. At any given time, only one transmitter is in the signal transmission on state, while the rest are in the signal transmission off state. Each transmitter performs the transmission operation in a cyclical manner from the 1st to the Nth transmitter. In each cycle, each transmitter transmits one bit of navigation message information of its corresponding navigation message in turn, until all bits of navigation message information of the corresponding navigation message of each transmitter have been transmitted. In this context, the bit transition edge of each bit of navigation message information lies between the start and end times of the corresponding transmitter signal transmission start state.

[0006] The message transmission method provided in this embodiment uses N transmitters to turn on sequentially, with only one transmitter operating at a time, eliminating mutual interference and power loss caused by the superposition of multiple signal power. Furthermore, the bit transition edge of each bit of navigation message information is limited to the start and end times of the corresponding transmitter's signal transmission on state, ensuring that the 0 / 1 state switching of each bit of navigation message information occurs during signal-enabled periods. This allows the terminal to continuously track the carrier phase, avoiding the carrier loop phase ambiguity problem caused by the transmitter being off, and significantly improving the carrier loop's accuracy in locking the carrier phase. Based on the improved carrier phase locking accuracy, the phase flipping problem that may occur due to signal interruption is effectively corrected, thereby reducing the terminal's demodulation error rate and ensuring reliable transmission of the navigation message.

[0007] In some embodiments, the duration of each bit of navigation message information is positively correlated with the number of transmitters.

[0008] In some embodiments, the duration t0 of each bit of navigation message information satisfies the following relationship: ; In the formula, N represents the number of transmitters, and T represents the duration during which each transmitter is in the signal transmission on state.

[0009] In some embodiments, the bit transition edge of each bit navigation message information has a deviation of T / 2 from the start time of the corresponding transmitter signal transmission on state; T represents the duration of each transmitter being in the signal transmission on state.

[0010] In some embodiments, before each transmitter operates in turn according to a preset transmission sequence, the method further includes: Align the local time of all transmitters within the target area; Each transmitter performs a self-check at a preset time interval to check its local time. Each self-check occurs before the transmitter enters the signal transmission start state. The preset time interval is no greater than the duration of the signal transmission on state.

[0011] In some embodiments, in each cycle, each transmitter sequentially transmits one bit of navigation message information corresponding to its navigation message, including: Determine whether the deviation between the bit transition edge of each bit of navigation message information and the start time of the corresponding transmitter signal transmission start state is less than T / 2; If the judgment result is yes, the transmitter transmits one bit of navigation message information corresponding to its navigation message; If the result is negative, the transmitter will perform a self-test at the start of the next cycle.

[0012] In some embodiments, the transmitter performs direct sequence spread spectrum and binary phase shift keying modulation on each bit of navigation message information and controls the timing of bit transition edges for each bit of navigation message information.

[0013] Secondly, embodiments of this application also provide a message transmitting device for terminal positioning, comprising: N transmitters are deployed in the target area, and each transmitter generates a modulated navigation message, where N is an integer greater than or equal to 2; Each transmitter operates in turn according to a preset transmission sequence. At any given time, only one transmitter is in the signal transmission on state, while the rest are in the signal transmission off state. Each transmitter performs the transmission operation in a cyclical manner from the 1st to the Nth transmitter. In each cycle, each transmitter transmits one bit of navigation message information of its corresponding navigation message in turn, until all bits of navigation message information of the corresponding navigation message of each transmitter have been transmitted. In this context, the bit transition edge of each bit of navigation message information lies between the start and end times of the corresponding transmitter signal transmission start state.

[0014] Thirdly, embodiments of this application also provide an electronic device, which includes a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the message transmission method in the first aspect.

[0015] Fourthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the message transmission method of the first aspect. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the first hardware architecture of the message transmission method in the embodiments of this application; Figure 2 This is a schematic diagram of a second hardware architecture for the message transmission method in this application embodiment; Figure 3 This is a flowchart of the first stage of the message transmission method in the embodiments of this application; Figure 4 This is a timing diagram showing how N transmitters are turned on and operated in turn in this embodiment of the application. Figure 5 This is a timing diagram of the transmitter transmitting two bits of navigation message information in the two-cycle phases of the present application embodiment; Figure 6 This is a flowchart of the second stage of the message transmission method in the embodiments of this application; Figure 7 This is a flowchart of the third stage of the message transmission method in the embodiments of this application; Figure 8 This is a schematic diagram of an electronic device in an embodiment of this application. Detailed Implementation

[0017] To enable those skilled in the art to better understand the present application, the technical solutions in specific embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0018] It should be noted that the terms "first," "second," and similar terms used in this application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. "A plurality" or "several" indicates at least two. "Comprising" or "including" and similar terms mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, and do not exclude other elements or objects. "Connected" or "linked" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect.

[0019] like Figure 1As shown, this application provides a message transmission method for terminal positioning. In one embodiment, the message transmission method can be applied to a message transmission device 100 deployed on the ground, which is used in conjunction with navigation satellites 200 distributed in space. Each navigation satellite 200 is equipped with a pseudo-random code that uniquely identifies itself. During signal transmission, each navigation satellite 200 uses its own pseudo-random code to perform direct sequence spread spectrum on the baseband signal and modulates the spread signal onto a radio frequency carrier to generate a time-continuous positioning signal, which is continuously transmitted to the ground. The message transmission device 100 includes a receiver 11, a signal processing device 12, and a transmitter 13. The receiver 11 receives the positioning signal and sends it to the signal processing device 12. The signal processing device 12 can calculate the current position of the message transmission device 100 based on the positioning signal and modulate the information indicating the current position of the message transmission device 100 into a navigation message that can be interpreted by the terminal 300, which is then transmitted to the terminal 300 via the transmitter 13. When transmitting a navigation message, transmitter 13 performs the method steps described in the following embodiments.

[0020] like Figure 2 As shown, in another embodiment, this message transmission method can be applied to a message transmission device 100, which acts as a "pseudo-satellite" and is equipped with a pseudo-random code that uniquely identifies itself. During signal transmission, the message transmission device 100 uses its own pseudo-random code to perform direct sequence spread spectrum on the baseband signal and modulates the spread signal onto a radio frequency carrier to generate a time-continuous positioning signal, which is then transmitted to the terminal 300 via transmitter 13. When transmitting navigation messages, transmitter 13 executes the method steps described in the following embodiments.

[0021] like Figure 3 As shown, this application provides a message transmission method for terminal positioning, which includes: Step S101: Generate modulated navigation messages based on the N transmitters 13 deployed in the target area.

[0022] Where N is an integer greater than or equal to 2.

[0023] Step S102: Each transmitter 13 takes turns operating according to the preset transmission sequence.

[0024] In this configuration, only one transmitter 13 is in the signal transmission on state at any given time, while the rest of the transmitters 13 are in the signal transmission off state. By having N transmitters 13 turn on in turn, only one transmitter 13 is working at any given time, thus eliminating mutual interference and power loss caused by the superposition of multiple signal power.

[0025] like Figure 4 As shown, each transmitter 13 is denoted as transmitter 1 to transmitter N, and the duration of each transmitter 13 in the signal transmission on state is T. Transmitter 1 switches to the signal transmission on state at time t1, that is, time t1 is the start time of transmitter 1 entering the signal transmission on state, and time t2 is the end time of transmitter 1 entering the signal transmission on state. At time t2, transmitter 1 switches to the off state, and at the same time, transmitter 2 switches to the signal transmission on state, that is, time t2 is the start time of transmitter 2 entering the signal transmission on state, and so on, with time tN being the end time of transmitter N-1's signal transmission on state. At time tN, transmitter N-1 switches to the off state, and at the same time, transmitter N switches to the signal transmission on state, that is, time tN is the start time of transmitter N entering the signal transmission on state.

[0026] Step S103: Each transmitter 13 performs the transmission operation in a cyclical manner from the 1st to the Nth transmitter. In each cycle, each transmitter 13 transmits one bit of navigation message information of its corresponding navigation message in turn, until all bits of navigation message information of the navigation message corresponding to each transmitter 13 have been transmitted.

[0027] The bit transition edge of each bit of navigation message information is between the start and end times of the corresponding transmitter 13 signal transmission start state.

[0028] Specifically, transmitter 13 performs direct sequence spread spectrum and binary phase shift keying modulation on each bit of navigation message information and controls the timing of bit transition edges of each bit of navigation message information.

[0029] like Figure 5 As shown, each transmitter 13 controls its operating state through a corresponding transmission switch. Taking one transmitter 13 as an example, when the transmitter 13 is in the first cycle of signal transmission on state, its signal transmission on state starts at time t1 and ends at time t2. The bit transition edge of one bit of navigation message information corresponding to this transmitter 13 is between time t1 and t2. The transmission power of the transmitter 13 remains unchanged. When the transmitter 13 is in the second cycle of signal transmission on state, its signal transmission on state starts at time t(N+1) and ends at time t(N+2). The bit transition edge of one bit of navigation message information corresponding to this transmitter 13 is between time t(N+1) and t(N+2).

[0030] The bit transition edge of each bit of navigation message information is limited to the start and end times of the corresponding transmitter 13's signal transmission on state. This ensures that the 0 / 1 state switching of each bit of navigation message information occurs during the signal-enabled period. Terminal 300 can continuously track the carrier phase, avoiding carrier ring phase ambiguity issues when transmitter 13 is in the signal transmission off state, and significantly improving the carrier ring's accuracy in locking the carrier phase. Based on the improved carrier phase locking accuracy, the phase flipping problem that may occur due to signal interruption is effectively corrected, thereby reducing the demodulation error rate of terminal 300 and ensuring reliable transmission of the navigation message.

[0031] In some embodiments, the duration of each bit of navigation message information is positively correlated with the number of transmitters 13.

[0032] Specifically, the duration t0 of each bit of navigation message information satisfies the following relationship: In the formula, N represents the number of transmitters 13, and T represents the duration for which each transmitter 13 is in the signal transmission on state.

[0033] This configuration ensures that the bit transition edge of each bit of navigation message information is limited to the start and end times of the corresponding transmitter 13's signal transmission on state, avoiding the carrier loop phase ambiguity problem caused by the transmitter 13 being off, and significantly improving the accuracy of the carrier loop's locking of the carrier phase. Furthermore, it effectively corrects the phase reversal problem that may occur due to signal interruption, thereby reducing the demodulation error rate of the terminal 300 and ensuring reliable transmission of the navigation message.

[0034] In some embodiments, the bit transition edge of each bit navigation message information has a deviation of T / 2 from the start time of the corresponding transmitter 13 signal transmission start state.

[0035] It should be noted that an optimal message transmission method is one where the deviation between the bit transition edge of each bit navigation message and the start time of the corresponding transmitter 13 signal transmission enable state is T / 2. Of course, the deviation between the bit transition edge of each bit navigation message and the start time of the corresponding transmitter 13 signal transmission enable state can also be set to be greater than T / 2 or less than T / 2. Even when the bit transition edge of each bit navigation message does not coincide with the start time of the transmitter 13 signal transmission enable state, the technical effect of improving the carrier loop's accuracy in locking the carrier phase can be achieved, and the phase flipping problem that may occur due to signal interruption can be resolved.

[0036] like Figure 6 As shown, in some embodiments, before each transmitter 13 operates in turn according to a preset transmission sequence, the method further includes: Step S201: Align the local time of all transmitters 13 within the target area.

[0037] Step S202: Perform a self-test on the local time of each transmitter 13 at preset time intervals.

[0038] The preset time interval is no greater than the duration of the signal transmission on state, and each self-test action is performed before the transmitter 13 executes the signal transmission on state. This ensures that the deviation between the bit transition edge of each bit navigation message information and the start time of the corresponding transmitter 13 signal transmission on state is consistent in the same cycle. The terminal 300 can continuously track the carrier phase, avoiding the carrier loop phase ambiguity problem caused by the transmitter 13 being off, and significantly improving the accuracy of the carrier loop locking the carrier phase.

[0039] like Figure 7 As shown, in some embodiments, in each cycle, each transmitter 13 sequentially transmits one bit of navigation message information corresponding to its navigation message, including: Step S1031: Determine whether the deviation between the bit transition edge of each bit navigation message information and the start time of the corresponding transmitter 13 signal transmission start state is greater than or equal to T / 2; if the determination result is yes, then proceed to step S1032; if the determination result is no, then proceed to step S1033.

[0040] Step S1032: Transmitter 13 transmits one bit of navigation message information corresponding to its navigation message.

[0041] Step S1033: Transmitter 13 performs a self-test at the start of the next cycle.

[0042] Based on the same concept, this application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the message transmission method in any of the above method embodiments.

[0043] like Figure 8As shown, in one embodiment, an electronic device is provided, including a memory and a processor. The electronic device may be a terminal 300. The electronic device includes a processor, memory, a communication interface, a display screen, and an input device connected via a system bus. The processor of the electronic device provides computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used for wired or wireless communication with an external terminal 300. Wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements the message transmission method in any of the above method embodiments. The display screen of the electronic device may be a liquid crystal display screen or an electronic ink display screen. The input device of the electronic device may be a touch layer covering the display screen, or buttons, a trackball, or a touchpad provided on the casing of the electronic device, or an external keyboard, touchpad, or mouse, etc.

[0044] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0045] Based on the same concept, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the message transmission method in any of the above method embodiments.

[0046] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0047] Optionally, a readable storage medium can be coupled to the processor, enabling the processor to read information from and write information to the readable storage medium. Alternatively, the readable storage medium can be an integral part of the processor. The processor and the readable storage medium can reside in application-specific integrated circuits (ASICs). Of course, the processor and the readable storage medium can also exist as discrete components in the device.

[0048] The computer-readable storage medium provided in the above embodiments can be used to implement the message transmission method in any of the above method embodiments. The implementation principle and technical effect are similar, and will not be repeated here.

[0049] Based on the same concept, this application also provides a computer program product that, when run on a computer, causes the computer to execute the message transmission method in any of the foregoing method embodiments.

[0050] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A message transmission method for terminal positioning, characterized in that, include: Based on the N transmitters deployed in the target area, modulated navigation messages are generated respectively, where N is an integer greater than or equal to 2; Each of the transmitters operates in turn according to a preset transmission sequence, wherein at any given time only one transmitter is in the signal transmission on state, while the other transmitters are in the signal transmission off state; Each of the transmitters performs the transmission operation in a cyclical manner from the first to the Nth transmitter. In each cycle, each transmitter transmits one bit of navigation message information of its corresponding navigation message in turn, until all bits of navigation message information of the navigation message corresponding to each transmitter have been transmitted. Wherein, the bit transition edge of each bit navigation message information is between the start and end times of the corresponding transmitter's signal transmission on state; The bit transition edge of each bit navigation message has a deviation of T / 2 from the start time of the corresponding transmitter signal's transmission on state; T represents the duration for which each transmitter is in the signal transmission on state. Determine whether the deviation between the bit transition edge of each bit navigation message and the start time of the corresponding transmitter's signal transmission start state is less than T / 2; If the determination result is yes, then the transmitter transmits one bit of navigation message information corresponding to the navigation message; If the result is negative, the transmitter will perform a self-test at the start of the next cycle.

2. The message transmission method according to claim 1, characterized in that, The duration t0 of each bit navigation message information satisfies the following relationship: ; In the formula, N represents the number of transmitters, and T represents the duration during which each transmitter is in the signal transmission on state.

3. The message transmission method according to claim 1, characterized in that, Before each of the transmitters operates in turn according to a preset transmission sequence, the method further includes: Align the local time of all transmitters within the target area; Each transmitter performs a self-check at a preset time interval to check its local time. Each self-check is performed before the transmitter executes the signal transmission start state. The preset time interval is no greater than the duration of the signal transmission on state.

4. The message transmission method according to claim 1, characterized in that, The transmitter performs direct sequence spread spectrum and binary phase shift keying modulation on each bit navigation message and controls the timing of the bit transition edges of each bit navigation message.

5. A message transmitting device for terminal positioning, characterized in that, include: N transmitters are deployed in the target area, and each transmitter generates a modulated navigation message, where N is an integer greater than or equal to 2; Each of the transmitters operates in turn according to a preset transmission sequence, wherein at any given time only one transmitter is in the signal transmission on state, while the other transmitters are in the signal transmission off state; Each of the transmitters performs the transmission operation in a cyclical manner from the first to the Nth transmitter. In each cycle, each transmitter transmits one bit of navigation message information of its corresponding navigation message in turn, until all bits of navigation message information of the navigation message corresponding to each transmitter have been transmitted. Wherein, the bit transition edge of each bit navigation message information is between the start and end times of the corresponding transmitter signal transmission start state; The bit transition edge of each bit navigation message has a deviation of T / 2 from the start time of the corresponding transmitter signal's transmission on state; T represents the duration for which each transmitter is in the signal transmission on state. Determine whether the deviation between the bit transition edge of each bit navigation message and the start time of the corresponding transmitter's signal transmission start state is less than T / 2; If the determination result is yes, then the transmitter transmits one bit of navigation message information corresponding to the navigation message; If the result is negative, the transmitter will perform a self-test at the start of the next cycle.

6. An electronic device, characterized in that, The device includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the message transmission method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the message transmission method as described in any one of claims 1-4.

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