Positioning method, user terminal, and low-earth-orbit satellite

Abstract

A positioning method, a user terminal, and a low-earth-orbit (LEO) satellite, which relate to the technical field of wireless communications. In the method, an LEO satellite serves as a reference station for transceiving GNSS navigation information differential data (operation orbit information, a first GNSS observation value and an atmospheric delay error), thus achieving the effect of moving a reference-station position from the ground in a conventional ground RTK positioning system to an LEO, thereby effectively solving the problem of a fixed ground reference station having a limited working distance and it thus being impossible to meet the service requirements for full-space coverage or large-range coverage and high-quality monitoring; and on the basis of an RTK positioning request of a user terminal, a ground processing station can also generate an atmospheric delay model for the vicinity of the user terminal, and in this way, during the process of a GNSS positioning the user terminal, a positioning measurement error corresponding to an atmospheric delay is accurately acquired, that is, the accuracy of satellite-ground RTK positioning is further ensured.

Description

A positioning method, user terminal and low-orbit satellite Technical Field

[0001] The present disclosure relates to the field of wireless communication technology, and in particular to a positioning method, a user terminal, and a low-orbit satellite. Background Art

[0002] With the continuous expansion of the large-scale application of the Global Navigation Satellite System (GNSS), a large number of user terminals are performing high-concurrency real-time positioning, which has put forward higher requirements for the positioning accuracy and timeliness of GNSS.

[0003] In order to improve the above situation, a real-time kinematic (RTK) high-precision positioning technology, namely, an RTK carrier phase differential positioning technology, has been proposed.

[0004] Specifically, the existing RTK positioning system uses a base station and a user terminal to respectively receive and observe the positioning data of navigation satellites, and corrects the user terminal's own positioning data through the differential data (i.e., positioning error) sent by the base station, ultimately achieving positioning accuracy below the meter level or even the centimeter level.

[0005] However, existing RTK positioning systems rely on building base stations on the ground. Therefore, the working distance of the base stations is relatively short (for example, usually between 10km and 20km). Therefore, if wide-area high-precision positioning services are to be met, a large number of base stations need to be built. In addition, there are problems such as being easily affected by extreme weather, poor robustness and anti-interference capabilities, and extremely inconvenient to build stations in remote areas.

[0006] It can be seen that the existing RTK positioning system cannot meet the service requirements of full spatial coverage or large-scale coverage and high-quality monitoring; therefore, how to achieve full spatial coverage or large-scale coverage and high-quality monitoring services of the RTK positioning system is a technical problem that needs to be solved at present.

[0007] Summary of the Invention

[0008] The embodiments of the present disclosure provide a positioning method, a user terminal, and a low-orbit satellite to achieve full spatial coverage or large-scale coverage and high-quality monitoring services of an RTK positioning system.

[0009] In a first aspect, an embodiment of the present disclosure provides a positioning method, applied to a user terminal, the method comprising:

[0010] Send real-time dynamic RTK positioning requests to low-orbit satellites;

[0011] Receiving an RTK data packet returned by a low-orbit satellite; wherein the RTK data packet is generated based on satellite orbit information of the low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal;

[0012] Based on the RTK data packet and the second GNSS observation value of the user terminal, a real positioning result of the user terminal is determined; wherein the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0013] In a second aspect, an embodiment of the present disclosure provides a positioning method applied to a low-orbit satellite, the method comprising:

[0014] Obtaining an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal; wherein the RTK data packet is generated based on satellite orbit information of a low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to an atmospheric delay when the GNSS positions the user terminal;

[0015] An RTK data packet is sent to the user terminal; wherein the RTK data packet is used by the user terminal to determine the actual positioning result of the user terminal based on the RTK data packet and the second GNSS observation value of the user terminal, and the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0016] In a third aspect, an embodiment of the present disclosure provides a user terminal, the user terminal comprising:

[0017] Satellite-to-ground communication equipment, configured to send real-time kinematic (RTK) positioning requests to low-orbit satellites and receive RTK data packets returned by low-orbit satellites; wherein the RTK data packets are generated based on satellite orbit information of the low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to an atmospheric delay when the GNSS positions a user terminal;

[0018] A dual-frequency GNSS receiver is configured to determine a true positioning result of a user terminal based on an RTK data packet and a second GNSS observation value of the user terminal, wherein the second GNSS observation value represents a GNSS positioning measurement result of the user terminal.

[0019] In an optional embodiment, the dual-frequency GNSS receiver is configured to receive a second GNSS observation value.

[0020] In an optional embodiment, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed from atmospheric delay model data.

[0021] In an optional embodiment, the GNSS precise ephemeris and atmospheric delay model data are determined by a ground processing station based on an RTK positioning request.

[0022] In an optional embodiment, the RTK data packet is generated by a low-orbit satellite in the following manner:

[0023] Receive GNSS precise ephemeris and atmospheric delay error from the ground processing station;

[0024] Generate RTK data packets based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0025] In an optional embodiment, the RTK data packet is generated by the ground processing station in the following manner:

[0026] Sending GNSS precise ephemeris to low-orbit satellites;

[0027] Receiving satellite orbit information and a first GNSS observation value corresponding to a GNSS precise ephemeris from a low-orbit satellite;

[0028] Generates RTK data packets based on satellite orbit information, first GNSS observations, and atmospheric delay errors.

[0029] In a fourth aspect, an embodiment of the present disclosure provides a low-orbit satellite, the low-orbit satellite comprising:

[0030] A dual-frequency GNSS precise orbit determination device, configured to obtain an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal; wherein the RTK data packet is generated based on satellite orbit information of a low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to an atmospheric delay when the GNSS positions the user terminal;

[0031] Satellite-to-ground communication equipment is used to send an RTK data packet to a user terminal; wherein the RTK data packet is used by the user terminal to determine the actual positioning result of the user terminal based on the RTK data packet and a second GNSS observation value of the user terminal, and the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0032] In an optional embodiment, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed from atmospheric delay model data.

[0033] In an optional embodiment, the GNSS precise ephemeris and atmospheric delay model data are determined by a ground processing station based on an RTK positioning request.

[0034] In an optional embodiment, when obtaining an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal, the dual-frequency GNSS precise orbit determination device is specifically configured to:

[0035] Receive GNSS precise ephemeris and atmospheric delay error from the ground processing station;

[0036] Generate RTK data packets based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0037] In an optional embodiment, upon obtaining an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal, the dual-frequency GNSS precise orbit determination device is specifically configured to:

[0038] Receive GNSS precise ephemeris from the ground processing station;

[0039] Determine satellite orbit information based on GNSS precise ephemeris, and send the satellite orbit information and the first GNSS observation value to a ground processing station;

[0040] Receive RTK data packets generated by a ground processing station based on satellite orbit information, first GNSS observation values, and atmospheric delay errors.

[0041] In a fifth aspect, an electronic device is proposed, comprising a processor and a memory, wherein the memory stores a program code, and when the program code is executed by the processor, the processor executes the steps of the positioning method described in the first aspect or the second aspect above.

[0042] In a sixth aspect, a computer-readable storage medium is proposed, which includes a program code. When the program code is run on an electronic device, the program code is used to enable the electronic device to execute the steps of the positioning method described in the first aspect or the second aspect above.

[0043] In a seventh aspect, a computer program product is provided. When the computer program product is called by a computer, the computer is caused to execute the positioning method steps as described in the first aspect or the second aspect.

[0044] The beneficial effects of the present disclosure are as follows:

[0045] In the positioning method provided in the embodiment of the present disclosure, a low-orbit satellite is used as a reference station for transmitting and receiving GNSS navigation information differential data (operating orbit information, first GNSS observation value and atmospheric delay error), thereby achieving the effect of moving the position of the ground reference station in the traditional ground RTK positioning system to LEO, effectively solving the problem that the fixed ground reference station has a limited working distance and cannot meet the service requirements of full space coverage or large-scale coverage and high-quality monitoring; in addition, the ground processing station can also generate an atmospheric delay model near the user terminal based on the RTK positioning request of the user terminal. In this way, the positioning measurement error corresponding to the atmospheric delay can be accurately obtained during the GNSS positioning of the user terminal, which further ensures the accuracy of the satellite-to-ground RTK positioning.

[0046] In addition, other features and advantages of the present disclosure will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present disclosure. The purposes and other advantages of the present disclosure can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described here are used to provide a further understanding of the present disclosure, constitute a part of the present disclosure, and do not constitute an improper limitation of the present disclosure. In the drawings:

[0048] FIG1 is a schematic diagram of the system architecture of an RTK positioning system provided by an embodiment of the present disclosure;

[0049] FIG2 is a schematic diagram of the structure of an RTK positioning system provided by an embodiment of the present disclosure;

[0050] FIG3 is a schematic diagram of an implementation flow of a method for positioning a user terminal provided in an embodiment of the present disclosure;

[0051] FIG4 is a schematic diagram of an implementation flow of a low-orbit satellite positioning method provided by an embodiment of the present disclosure;

[0052] FIG5 is a schematic diagram of signaling interaction of a positioning method provided by an embodiment of the present disclosure;

[0053] FIG6 is a schematic diagram of signaling interaction of a positioning method provided by an embodiment of the present disclosure;

[0054] FIG7 is a schematic diagram of a specific application scenario of RTK positioning provided by an embodiment of the present disclosure;

[0055] FIG8 is a schematic diagram of the structure of a user terminal provided in an embodiment of the present application;

[0056] FIG9 is a schematic structural diagram of a low-orbit satellite provided in an embodiment of the present application;

[0057] FIG10 is a schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the technical solutions of the present disclosure, but not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments described in this disclosure without making any creative efforts shall fall within the scope of protection of the technical solutions of the present disclosure.

[0059] It should be noted that in the description of this disclosure, "multiple" is understood to mean "at least two." "And / or" describes the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A and B are connected, which can mean: A and B are directly connected, and A and B are connected through C. In addition, in the description of this disclosure, words such as "first" and "second" are used only for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying an order.

[0060] Some technical terms in the embodiments of the present disclosure are explained below to facilitate understanding by those skilled in the art.

[0061] (1) Low Earth Orbit (LEO): The orbit altitude is about 400 to 2000 km; most earth observation satellites, geodetic satellites, space stations and some new communication satellite systems use low earth orbit.

[0062] (2) Medium Earth Orbit (MEO): The orbit altitude is between 2000 and 36000 km. Navigation satellites in GNSS usually belong to this type of orbit.

[0063] (3) Geostationary Transfer Orbit (GTO): refers to an elliptical orbit with a perigee below 1000 km and an apogee at the altitude of the geosynchronous orbit (about 36000 km).

[0064] (4) Precision ephemeris: It is the satellite orbit information used for precise satellite positioning, etc., which is calculated by post-processing the observation data of several satellite tracking stations.

[0065] Furthermore, based on the above-mentioned nouns and related terminology, the following briefly introduces the design concept of the embodiments of the present disclosure:

[0066] GNSS currently consists of four main parts: the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Beidou Navigation Satellite System (BDS) and the Galileo Satellite Navigation System (GSNS), providing global users with all-weather, high-precision positioning, navigation and timing services.

[0067] However, with the continuous expansion of large-scale applications of GNSS, the demand for high-concurrency real-time positioning of massive users has put forward higher requirements on the positioning accuracy and timeliness of GNSS.

[0068] To solve the above problems, RTK carrier phase differential positioning technology was proposed. It uses the base station and user terminal to respectively receive and observe the positioning data of navigation satellites in GNSS, and then corrects the positioning data of the user terminal itself through the differential data (i.e. positioning error) sent by the base station, ultimately achieving positioning accuracy below the meter level or even the centimeter level, that is, achieving high-precision positioning.

[0069] However, traditional ground-based RTK positioning systems rely on building base stations on the ground. The working distance of ground base stations is usually around 10km to 20km. In order to meet the demand for wide-area high-precision positioning services, a large number of ground base stations need to be built. At the same time, they are easily affected by extreme weather, have poor robustness and anti-interference capabilities, and are extremely inconvenient to build stations in remote areas. They cannot meet the service requirements of full spatial coverage or large-scale coverage and high-quality monitoring.

[0070] In view of this, and considering that the low-orbit satellite communication constellation has the characteristics of wide coverage, it is particularly suitable for forming a complementary coverage and collaborative service model with the ground reference station, and jointly serving the Internet, Internet of Vehicles, and Internet of Things. Therefore, in the embodiment of the present disclosure, a satellite-to-ground RTK positioning system based on a low-orbit (communication) satellite is proposed. Its main feature is: the low-orbit satellite is used as the reference station for sending and receiving GNSS navigation information differential data, which can be understood as moving the position of the ground reference station in the traditional ground RTK positioning system to LEO, which can effectively solve the problem of limited working distance of fixed ground reference stations.

[0071] In particular, the preferred embodiments of the present disclosure are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure and are not used to limit the present disclosure. In addition, the embodiments of the present disclosure and the features in the embodiments may be combined with each other if there is no conflict.

[0072] Referring to Figure 1 , which illustrates the system architecture of an RTK positioning system according to an embodiment of the present disclosure, the RTK positioning system includes a ground processing station 101, a low-orbit satellite 102, and a user terminal 103. Information exchange between the low-orbit satellite 102, the ground processing station 101, and the user terminal 103 can be performed via a communication network. Specifically, the communication network may utilize wireless communication.

[0073] Exemplarily, the low-orbit satellite 102 can access the network through cellular mobile communication technology to communicate with the ground processing station 101 and the user terminal 103, wherein the cellular mobile communication technology includes, for example, the fifth generation mobile communication (5th Generation Mobile Networks, 5G) technology.

[0074] The embodiments of the present disclosure do not impose any restrictions on the number of communication devices involved in the above system architecture. For example, there may be multiple user terminals, or there may be no user terminal, or other network devices may be included. As shown in Figure 1, only the ground processing station 101, the low-orbit satellite 102 and the user terminal 103 are described as examples. The following is a brief introduction to the above devices and their respective functions.

[0075] The ground processing station 101 is configured to receive an RTK positioning request from the user terminal 103, determine the GNSS precise ephemeris of the low-orbit satellite 102 and the atmospheric delay model data of the user terminal 103 based on the RTK positioning request, and send the GNSS precise ephemeris and atmospheric delay model data to the low-orbit satellite 102.

[0076] Among them, the GNSS precise ephemeris represents: the satellite orbit information of the low-orbit satellite 102's operating orbit, and the atmospheric delay model data is used to: construct a prediction model for the positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal 103. The prediction model is used to obtain the positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal 103, that is, the atmospheric delay error.

[0077] Therefore, if the ground processing station 101 can directly construct a prediction model of the atmospheric delay error based on the atmospheric delay model data, the atmospheric delay error can be directly sent to the low-orbit satellite 102.

[0078] Optionally, both the low-orbit satellite 102 and the user terminal 103 can construct a prediction model of the positioning measurement error corresponding to the atmospheric delay when GNSS positions the user terminal 103 based on the atmospheric delay model data, that is, both the low-orbit satellite 102 and the user terminal 103 can be used to obtain the atmospheric delay error corresponding to the user terminal 103.

[0079] It should be noted that in the traditional ground RTK positioning system, the position of the fixed ground reference station relative to the earth is unchanged, while the position of the low-orbit satellite in the satellite orbit is constantly changing over time. In order to solve the position reference problem of the low-orbit satellite, it is necessary to use the ground processing station 101 to regularly send GNSS precise ephemeris to the low-orbit satellite 102 to ensure that the low-orbit satellite 102 can operate in a precise satellite orbit, so that the spatial position coordinates of the low-orbit satellite 102 can be accurately obtained.

[0080] Low-orbit satellite 102 is used to determine the satellite orbit information corresponding to low-orbit satellite 102 based on the GNSS precise ephemeris from the ground processing station 101, generate an RTK data packet based on the satellite orbit information, the first GNSS observation value corresponding to the low-orbit satellite 102 and the atmospheric delay model data (or atmospheric delay error), and send the RTK data packet to the user terminal 103; wherein the first GNSS observation value represents: the GNSS positioning measurement result corresponding to the low-orbit satellite 102.

[0081] It should be noted that in the embodiment of the present disclosure, the altitude of the satellite orbit of the low-orbit satellite 102 must be lower than the altitude of the satellite orbit of the navigation satellite in the GNSS, and a certain distance must be maintained between the low-orbit satellite 102 and the navigation satellite, that is, the altitude of the satellite orbit of the low-orbit satellite 102 cannot be slightly less than the altitude of the satellite orbit of the navigation satellite in the GNSS.

[0082] In an optional embodiment, the low-orbit satellite 102 includes: a dual-frequency GNSS precise orbit determination device, which is used to parse the GNSS precise ephemeris to obtain satellite orbit information; and receive a first GNSS observation value from the GNSS; that is, the low-orbit satellite 102 can receive the GNSS navigation signal (that is, the first GNSS observation value) through the equipped dual-frequency GNSS precise orbit determination device, and realize its own precise orbit determination by solving the GNSS precise ephemeris sent by the ground processing station 101, that is, obtain satellite orbit information.

[0083] The user terminal 103 is a device that can provide voice and / or data connectivity to the user, and can be a device that supports wired and / or wireless connection.

[0084] Exemplarily, the user terminal 103 includes but is not limited to: mobile phones, tablet computers, laptop computers, PDAs, mobile Internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminal devices in industrial control, wireless terminal devices in unmanned driving, wireless terminal devices in smart grids, wireless terminal devices in transportation safety, wireless terminal devices in smart cities, or wireless terminal devices in smart homes, etc.

[0085] In addition, a related client may be installed on the user terminal 103. The client may be software, such as an application (APP), a browser, a short video software, or a web page, a mini-program, etc. In the embodiment of the present disclosure, the user terminal 103 may be configured to send a satellite-to-ground RTK positioning request to the low-orbit satellite 102 after establishing communication connectivity with the low-orbit satellite 102, so as to subsequently achieve high-precision positioning of the user terminal 103.

[0086] It is worth noting that in the embodiment of the present disclosure, after the user terminal 103 receives the RTK data packet from the low-orbit satellite 102, it determines the actual positioning result of the user terminal 103 based on the RTK data packet and the second GNSS observation value corresponding to the user terminal 103; wherein the second GNSS observation value represents: the GNSS positioning measurement result corresponding to the user terminal 103.

[0087] In an optional embodiment, the user terminal 103 includes: a dual-frequency GNSS receiver, the dual-frequency GNSS receiver is used to receive a second GNSS observation value from the GNSS, and determine the actual positioning result of the user terminal 103 based on the second GNSS observation value and the RTK data packet.

[0088] In an optional embodiment, the ground processing station 101, the low-orbit satellite 102 and the user terminal 103 also include: satellite-to-ground communication equipment, which is used for: the low-orbit satellite 102 to exchange information with the ground processing station 101 and the user terminal 103 respectively.

[0089] It should be noted that the satellite-to-ground communication equipment corresponding to the above-mentioned ground processing station 101, low-orbit satellite 102 and user terminal 103 can be improved according to their respective specific needs, that is, the specific functions of each satellite-to-ground communication equipment can be the same or different; in the embodiment of the present disclosure, there is no specific limitation on the satellite-to-ground communication equipment corresponding to the ground processing station 101, low-orbit satellite 102 and user terminal 103.

[0090] For example, the transmitting antenna of the satellite-to-ground communication equipment of the low-orbit satellite 102 may be in the form of a spot beam antenna with a specific pointing function to solve the problem of high satellite transmission power due to longer transmission distance.

[0091] It should also be noted that all or part of the functions of the low-orbit satellite 102 can also be implemented on the ground processing station 101. In an optional embodiment, the ground processing station 101 is also used to send the GNSS precise ephemeris to the low-orbit satellite 102; the low-orbit satellite 102 is also used to determine the satellite orbit information based on the GNSS precise ephemeris from the ground processing station 101; and, send the satellite orbit information and the first GNSS observation value to the ground processing station 101; further, the ground processing station 101 is also used to generate an RTK data packet based on the atmospheric delay model data (or atmospheric delay error), and the satellite orbit information and the first GNSS observation value from the low-orbit satellite 102, and the RTK data packet is sent to the user terminal 103 via the low-orbit satellite 102.

[0092] Obviously, in the above-mentioned RTK positioning system, the low-orbit satellite 102 is used as a reference station or forwarding station for sending and receiving GNSS navigation information differential data; the ground processing station 101 is used to upload GNSS precise ephemeris to the low-orbit satellite 102, and the low-orbit satellite 102 uses the equipped dual-frequency GNSS precise orbit determination equipment to receive the GNSS navigation signal (i.e., the first GNSS observation value), and calculates the precise orbit of the low-orbit satellite 102 (i.e., satellite orbit information) in real time on-orbit; the ground processing station 101 is used to upload atmospheric delay model data (or atmospheric delay error) and other information to the low-orbit satellite 102, and the low-orbit satellite 102 packages the calculated precise orbit (satellite orbit information), the first GNSS observation value received on-orbit by the dual-frequency GNSS precise orbit determination equipment, and the atmospheric delay model data (or atmospheric delay error) uploaded by the ground processing station 101 and other information into an RTK data packet on-orbit, and transmits it to the user terminal 103 through the satellite-to-ground communication equipment, thereby realizing satellite-to-ground RTK positioning solution and improving the positioning accuracy of the user terminal 103.

[0093] Optionally, after the low-orbit satellite 102 completes the real-time on-orbit solution of the precise orbit (satellite orbit information), it transmits the precise orbit (satellite orbit information), the first GNSS observation value received by the dual-frequency GNSS precise orbit determination equipment on-orbit and other data to the ground processing station 101, and the ground processing station 101 completes the RTK data packaging and uploads it to the low-orbit satellite 102, and the low-orbit satellite 102 forwards the RTK data packet to the user terminal 103, finally realizing the satellite-to-ground RTK positioning solution.

[0094] Furthermore, referring to FIG2 , the RTK positioning system is composed of three parts: a space segment, a ground segment, and a user segment, wherein:

[0095] 1. The space segment consists of one or more low-orbit satellites. Each low-orbit satellite needs to be equipped with satellite-to-ground communication equipment for communicating with ground processing stations and user terminals, as well as dual-frequency GNSS precise orbit determination equipment for determining the satellite's own precise orbit and receiving GNSS signals (i.e., first GNSS observation values).

[0096] 2. The ground segment consists of one or more ground processing stations. Each ground processing station needs to be equipped with satellite-to-ground communication equipment for communicating with low-orbit satellites. Its function is to upload information such as GNSS precise ephemeris and atmospheric delay model data (or atmospheric delay error) to low-orbit satellites.

[0097] 3. The user segment consists of one or more (ground) user terminals. Each user terminal needs to be equipped with satellite-to-ground communication equipment for communicating with low-orbit satellites, and a dual-frequency GNSS receiver for receiving GNSS signals (i.e., second GNSS observation values) and realizing RTK positioning solution.

[0098] It can be seen that the satellite-to-ground RTK positioning system based on low-orbit (communication) satellites is based on the typical satellite communication system. By adding dual-frequency GNSS precise orbit determination equipment to the low-orbit satellite in the space segment, adding GNSS precise ephemeris and atmospheric delay model data (or atmospheric delay error) and other information uploading functions to the ground processing station in the ground segment, and adding dual-frequency GNSS receivers to the user terminals in the user segment, it realizes the satellite-to-ground RTK positioning solution function, that is, completes the high-precision positioning of the user terminal.

[0099] Moreover, compared with the traditional RTK positioning system on the ground, the embodiment of the present disclosure uses low-orbit satellites as RTK positioning base stations, and its service range is tens to hundreds of times that of traditional ground base stations; for example, taking a low-orbit (communication) satellite with a satellite orbit altitude of 1000KM as an example, when the ground communication elevation angle is 25 degrees, the service radius of the low-orbit satellite can reach 1400KM.

[0100] In addition, the constellation system composed of low-orbit satellites will provide all-weather, full-coverage or large-area coverage communication services for the ground; moreover, on the basis of the low-orbit communication constellation, by adding limited payload equipment to realize the satellite-to-ground RTK information enhanced positioning function, it can solve the problem of difficulty in establishing ground RTK base stations in remote areas and the lack of coverage of ground network communications, resulting in the inability of ground RTK base stations to provide positioning services. Compared with traditional ground RTK positioning systems, it has higher robustness and anti-interference capabilities.

[0101] The positioning method provided by an exemplary embodiment of the present disclosure is described below in conjunction with the above-mentioned system architecture and with reference to the accompanying drawings. It should be noted that the above-mentioned system architecture is only shown to facilitate understanding of the spirit and principles of the present disclosure, and the embodiments of the present disclosure are not limited in this respect.

[0102] Referring to FIG. 3 , which is a schematic diagram of an implementation flow of a positioning method provided by an embodiment of the present disclosure, the execution subject is a user terminal, and the specific steps are as follows:

[0103] S301: Sending an RTK positioning request to a low-orbit satellite.

[0104] Exemplarily, when executing step S301, after the user terminal is connected to the low-orbit satellite, it can send an RTK positioning request to the low-orbit satellite through its own satellite-to-ground communication equipment.

[0105] S302: Receive RTK data packets returned by low-orbit satellites.

[0106] Specifically, when executing step S302, the RTK data packet is generated by the user terminal based on the satellite orbit information of the low-orbit satellite, the first GNSS observation value and the atmospheric delay error. The first GNSS observation value represents the GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents the positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal.

[0107] In an optional embodiment, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed by atmospheric delay model data; optionally, the GNSS precise ephemeris and atmospheric delay model data are determined by a ground processing station based on an RTK positioning request.

[0108] It should be noted that the above-mentioned RTK data packet can be generated by a low-orbit satellite based on satellite orbit information, the first GNSS observation value and atmospheric delay error, or it can be generated by a ground processing station based on satellite orbit information, the first GNSS observation value and atmospheric delay error.

[0109] Therefore, in an optional embodiment, assuming that the RTK data packet is generated by a low-orbit satellite, the above-mentioned RTK data packet is generated by the low-orbit satellite in the following manner: receiving the GNSS precise ephemeris and atmospheric delay error from the ground processing station, and then generating the RTK data packet based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0110] In another optional embodiment, assuming that the RTK data packet is generated by a ground processing station, a GNSS precise ephemeris is sent to a low-orbit satellite; then, the satellite orbit information and the first GNSS observation value corresponding to the GNSS precise ephemeris from the low-orbit satellite are received; finally, an RTK data packet is generated based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

[0111] S303: Determine a real positioning result of the user terminal based on the RTK data packet and the second GNSS observation value of the user terminal.

[0112] The second GNSS observation value represents a GNSS positioning measurement result of the user terminal; optionally, the second GNSS observation value is received by a dual-frequency GNSS receiver.

[0113] Referring to FIG. 4 , which is a schematic diagram of an implementation flow of another positioning method provided by an embodiment of the present disclosure, the execution subject is a low-orbit satellite, and the specific steps are as follows:

[0114] S401: Obtain an RTK data packet based on an RTK positioning request from a user terminal.

[0115] It should be noted that before executing step S401, after the user terminal is connected to the low-orbit satellite communication, it can send an RTK positioning request to the low-orbit satellite through its own satellite-to-ground communication equipment; and the low-orbit satellite can forward the RTK positioning request to the ground processing station, so that the ground processing station can determine the GNSS precise ephemeris and atmospheric delay model data based on the RTK positioning request.

[0116] Among them, the RTK data packet is generated based on the satellite orbit information of the low-orbit satellite, the first GNSS observation value and the atmospheric delay error. The first GNSS observation value represents the GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents the positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal; optionally, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed by atmospheric delay model data. The GNSS precise ephemeris and atmospheric delay model data are determined by the ground processing station based on the RTK positioning request.

[0117] In an optional embodiment, when executing step S401, the low-orbit satellite can receive GNSS precise ephemeris and atmospheric delay error from a ground processing station, thereby generating an RTK data packet based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0118] In addition, the RTK data packet can also be generated by a ground processing station. Therefore, in another optional embodiment, when executing step S402, the low-orbit satellite can receive the GNSS precise ephemeris from the ground processing station; then, determine the satellite orbit information based on the GNSS precise ephemeris, and send the satellite orbit information and the first GNSS observation value to the ground processing station; finally, receive the RTK data packet generated by the ground processing station based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

[0119] S402: Sending an RTK data packet to the user terminal.

[0120] The RTK data packet is used by the user terminal to determine a real positioning result of the user terminal based on the RTK data packet and a second GNSS observation value of the user terminal, and the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0121] 5 , which is a schematic diagram of signaling interaction of a positioning method provided by an embodiment of the present disclosure, the specific steps are as follows:

[0122] It should be noted that before step S501, the low-orbit satellite communicates with the ground processing station and the user terminal respectively, that is, the low-orbit satellite, the ground processing station and the user terminal realize information exchange among the three through their respective corresponding satellite-to-ground communication equipment.

[0123] S501: The low-orbit satellite sends the RTK positioning request from the user terminal to the ground processing station.

[0124] For example, when executing step S501, after the user terminal is connected to the low-orbit satellite communication, it can send an RTK positioning request to the low-orbit satellite through its own satellite-to-ground communication equipment. After receiving the RTK positioning request, the low-orbit satellite forwards the RTK positioning request to the ground processing station.

[0125] S502: The ground processing station determines the GNSS precise ephemeris of the low-orbit satellite and the atmospheric delay model data of the user terminal according to the RTK positioning request.

[0126] Among them, GNSS precise ephemeris represents: satellite orbit information of low-orbit satellite orbits, and atmospheric delay model data is used to: build a prediction model for positioning measurement error corresponding to atmospheric delay when GNSS locates user terminals.

[0127] It should be noted that the positioning measurement errors corresponding to the above-mentioned atmospheric delay mainly include: ionospheric delay and tropospheric delay, which have a certain degree of stability and can therefore be predicted by constructing a mathematical model (i.e., an atmospheric delay model). It should be noted that since the prediction model constructed using the above-mentioned atmospheric delay model data is used to obtain the positioning measurement error corresponding to the atmospheric delay when GNSS locates the user terminal, i.e., the atmospheric delay error; therefore, if the ground processing station can directly construct a prediction model for the atmospheric delay error based on the atmospheric delay model data, the atmospheric delay error can be directly sent to the low-orbit satellite.

[0128] S503: The low-orbit satellite receives GNSS precise ephemeris and atmospheric delay model data from the ground processing station.

[0129] For example, when executing step S503, after generating / determining the GNSS precise ephemeris of the low-orbit satellite and the atmospheric delay model data of the user terminal, the ground processing station can send the GNSS precise ephemeris and atmospheric delay model data to the low-orbit satellite through its own satellite-to-ground communication equipment.

[0130] S504: The low-orbit satellite determines the satellite orbit information corresponding to the low-orbit satellite based on the GNSS precise ephemeris.

[0131] For example, when executing step S504, after the low-orbit satellite receives the GNSS precise ephemeris, it can parse the GNSS precise ephemeris through the dual-frequency GNSS precise orbit determination equipment to obtain the satellite orbit information of the low-orbit satellite, that is, through the dual-frequency GNSS precise orbit determination equipment, the low-orbit satellite precise orbit (that is, satellite orbit information) can be solved in real time on orbit.

[0132] S505: The low-orbit satellite generates an RTK data packet according to the satellite orbit information, the first GNSS observation value corresponding to the low-orbit satellite, and the atmospheric delay model data.

[0133] For example, when executing step S505, the low-orbit satellite packages the calculated precise orbit (satellite orbit information), the GNSS observation values ​​received on-orbit by the dual-frequency GNSS precise orbit determination equipment (i.e., the first GNSS observation values), and the atmospheric delay model data uploaded by the ground processing station into an RTK data packet.

[0134] Similarly, if a low-orbit satellite receives an atmospheric delay error from a ground processing station, the low-orbit satellite can package the calculated precise orbit (satellite orbit information), the GNSS observation value received on-orbit by the dual-frequency GNSS precise orbit determination equipment (i.e., the first GNSS observation value), and the atmospheric delay error uploaded by the ground processing station into an RTK data packet.

[0135] S506: The low-orbit satellite sends the RTK data packet to the user terminal.

[0136] Illustratively, when executing step S306 , the low-orbit satellite may send the RTK data packet to the user terminal through its own satellite-to-ground communication equipment and the satellite-to-ground communication equipment of the user terminal.

[0137] S507: The user terminal determines a real positioning result of the user terminal according to the RTK data packet and the second GNSS observation value corresponding to the user terminal.

[0138] Exemplarily, when executing step S507, the user terminal can implement satellite-to-ground RTK positioning solution through the dual-frequency GNSS receiver based on the obtained RTK data packet and the GNSS observation value received by the dual-frequency GNSS receiver (i.e., the second GNSS observation value), that is, determine the actual positioning result of the user terminal.

[0139] In an optional embodiment, if the low-orbit satellite only receives the GNSS precise ephemeris from the ground processing station, that is, the ground processing station only sends the GNSS precise ephemeris to the low-orbit satellite, then referring to FIG6 , a signaling interaction diagram of a positioning method provided by an embodiment of the present disclosure is as follows:

[0140] Similarly, before step S601, the low-orbit satellite communicates with the ground processing station and the user terminal respectively, that is, the low-orbit satellite, the ground processing station and the user terminal realize information exchange among the three through their respective corresponding satellite-to-ground communication equipment.

[0141] S601: The low-orbit satellite sends the RTK positioning request from the user terminal to the ground processing station.

[0142] For example, when executing step S601, after the user terminal is connected to the low-orbit satellite communication, it can send an RTK positioning request to the low-orbit satellite through its own satellite-to-ground communication equipment. After receiving the RTK positioning request, the low-orbit satellite forwards the RTK positioning request to the ground processing station.

[0143] S602: The ground processing station determines the GNSS precise ephemeris of the low-orbit satellite and the atmospheric delay model data of the user terminal according to the RTK positioning request.

[0144] S603: The low-orbit satellite receives the GNSS precise ephemeris from the ground processing station.

[0145] For example, when executing step S603, after generating / determining the GNSS precise ephemeris of the low-orbit satellite and the atmospheric delay model data of the user terminal, the ground processing station can send the GNSS precise ephemeris to the low-orbit satellite through its own satellite-to-ground communication equipment, and save the atmospheric delay model data.

[0146] S604: The low-orbit satellite determines the satellite orbit information corresponding to the low-orbit satellite based on the GNSS precise ephemeris.

[0147] For example, when executing step S604, after the low-orbit satellite receives the GNSS precise ephemeris, it can parse the GNSS precise ephemeris through the dual-frequency GNSS precise orbit determination equipment to obtain the satellite orbit information of the low-orbit satellite, that is, through the dual-frequency GNSS precise orbit determination equipment, the low-orbit satellite precise orbit (that is, satellite orbit information) can be solved in real time on-orbit.

[0148] S605: The low-orbit satellite sends the satellite orbit information and the first GNSS observation value to the ground processing station.

[0149] For example, when executing step S605, the low-orbit satellite transmits data such as the precise orbit (i.e., satellite orbit information) and the GNSS observation values ​​(i.e., the first GNSS observation values) received by the dual-frequency GNSS precise orbit determination equipment in orbit to the ground processing station through its own satellite-to-ground communication equipment.

[0150] S606: The ground processing station generates an RTK data packet based on the atmospheric delay model data, satellite orbit information and the first GNSS observation value.

[0151] Exemplarily, when executing step S606, the ground processing station packages the low-orbit satellite precise orbit (satellite orbit information), the GNSS observation value received on orbit (first GNSS observation value), and the atmospheric delay model data near the user terminal into an RTK data packet.

[0152] It should be noted that since the above-mentioned prediction model is used to obtain the positioning measurement error corresponding to the atmospheric delay when GNSS positions the user terminal, that is, the atmospheric delay error; therefore, if the ground processing station can directly construct a prediction model of the atmospheric delay error based on the atmospheric delay model data, it can directly generate an RTK data packet based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

[0153] S607: The ground processing station sends the RTK data packet to the user terminal via the low-orbit satellite.

[0154] S608: The user terminal determines a real positioning result of the user terminal according to the RTK data packet and the second GNSS observation value corresponding to the user terminal.

[0155] Exemplarily, when executing step S608, the user terminal can implement satellite-to-ground RTK positioning solution through a dual-frequency GNSS receiver based on the obtained RTK data packet and the GNSS observation value received by the dual-frequency GNSS receiver (i.e., the second GNSS observation value), that is, determine the actual positioning result of the user terminal.

[0156] To summarize, based on the above positioning method, referring to FIG7 , in the embodiment of the present disclosure, a low-orbit satellite is used as a reference station for transmitting and receiving GNSS navigation information differential data, thereby achieving the effect of moving the position of the ground reference station in the traditional ground RTK positioning system to LEO, effectively solving the problem that the fixed ground reference station has a limited working distance and cannot meet the service requirements of full space coverage or large-scale coverage and high-quality monitoring; and, the ground processing station can also generate an atmospheric delay model near the user terminal based on the RTK positioning request of the user terminal. In this way, the positioning measurement error corresponding to the atmospheric delay can be accurately obtained during the GNSS positioning of the user terminal, thereby further ensuring the accuracy of the satellite-to-ground RTK positioning.

[0157] Furthermore, based on the same technical concept, an embodiment of the present application provides a user terminal, which is used to implement the above-mentioned method flow of the embodiment of the present application. Referring to FIG8 , the user terminal includes: a satellite-to-ground communication device 801 and a dual-frequency GNSS receiver 802, wherein:

[0158] Satellite-to-ground communication device 801 is configured to send a real-time kinematic (RTK) positioning request to a low-orbit satellite and receive an RTK data packet returned by the low-orbit satellite. The RTK data packet is generated based on the satellite orbit information of the low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error. The first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to atmospheric delay when the GNSS locates the user terminal.

[0159] The dual-frequency GNSS receiver 802 is configured to determine a true positioning result of the user terminal based on the RTK data packet and a second GNSS observation value of the user terminal, wherein the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0160] In an optional embodiment, the dual-frequency GNSS receiver 802 is configured to receive a second GNSS observation value.

[0161] In an optional embodiment, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed from atmospheric delay model data.

[0162] In an optional embodiment, the GNSS precise ephemeris and atmospheric delay model data are determined by a ground processing station based on an RTK positioning request.

[0163] In an optional embodiment, the RTK data packet is generated by a low-orbit satellite in the following manner:

[0164] Receive GNSS precise ephemeris and atmospheric delay error from the ground processing station;

[0165] Generate RTK data packets based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0166] In an optional embodiment, the RTK data packet is generated by the ground processing station in the following manner:

[0167] Sending GNSS precise ephemeris to low-orbit satellites;

[0168] Receiving satellite orbit information and a first GNSS observation value corresponding to a GNSS precise ephemeris from a low-orbit satellite;

[0169] Based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error, an RTK data packet is generated. Furthermore, based on the same technical concept, an embodiment of the present application provides a low-orbit satellite, which is used to implement the above-mentioned method flow of the embodiment of the present application. Referring to Figure 9, the low-orbit satellite includes: a dual-frequency GNSS precise orbit determination device 901 and a satellite-to-ground communication device 902, wherein:

[0170] Dual-frequency GNSS precise orbit determination equipment 901 is configured to obtain an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal. The RTK data packet is generated based on satellite orbit information of a low-orbit satellite, a first global navigation satellite system (GNSS) observation value, and an atmospheric delay error. The first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to atmospheric delay when the GNSS locates the user terminal.

[0171] Satellite-to-ground communication device 902 is configured to send an RTK data packet to a user terminal. The RTK data packet is used by the user terminal to determine the actual positioning result of the user terminal based on the RTK data packet and a second GNSS observation value of the user terminal. The second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

[0172] In an optional embodiment, the satellite orbit information is obtained based on the GNSS precise ephemeris, and the atmospheric delay error is obtained by a model constructed from atmospheric delay model data.

[0173] In an optional embodiment, the GNSS precise ephemeris and atmospheric delay model data are determined by a ground processing station based on an RTK positioning request.

[0174] In an optional embodiment, when obtaining an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal, the dual-frequency GNSS precise orbit determination device 901 is specifically configured to:

[0175] Receive GNSS precise ephemeris and atmospheric delay error from the ground processing station;

[0176] Generate RTK data packets based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

[0177] In an optional embodiment, upon obtaining an RTK data packet based on a real-time kinematic RTK positioning request from a user terminal, the dual-frequency GNSS precise orbit determination device 901 is specifically configured to:

[0178] Receive GNSS precise ephemeris from the ground processing station;

[0179] Determine satellite orbit information based on GNSS precise ephemeris, and send the satellite orbit information and the first GNSS observation value to a ground processing station;

[0180] Receive RTK data packets generated by a ground processing station based on satellite orbit information, first GNSS observation values, and atmospheric delay errors.

[0181] Based on the same technical concept, the embodiments of the present disclosure also provide an electronic device that can implement the positioning method process provided in the above embodiments of the present disclosure. In one embodiment, the electronic device can be a server, a terminal device, or other electronic device. Referring to Figure 10, the electronic device may include:

[0182] At least one processor 1001, and a memory 1002 connected to at least one processor 1001. The specific connection medium between the processor 1001 and the memory 1002 is not limited in the embodiments of the present disclosure. FIG10 takes the connection between the processor 1001 and the memory 1002 via the bus 1000 as an example. The bus 1000 is represented by a bold line in FIG10, and the connection between other components is only for schematic illustration and is not intended to be limiting. The bus 1000 can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, FIG10 only uses a bold line to represent it, but this does not mean that there is only one bus or one type of bus. Alternatively, the processor 1001 can also be called a controller, and there is no limitation on the name.

[0183] In the disclosed embodiment, memory 1002 stores instructions executable by at least one processor 1001. At least one processor 1001 can perform a positioning method discussed above by executing the instructions stored in memory 1002. Processor 1001 can implement the functions of each module in the user terminal corresponding to FIG8 or the low-orbit satellite corresponding to FIG9.

[0184] Among them, the processor 1001 is the control center of the device, which can use various interfaces and lines to connect the various parts of the entire control device, and monitor the device as a whole by running or executing instructions stored in the memory 1002 and calling data stored in the memory 1002, the various functions of the device and processing data.

[0185] In one possible design, processor 1001 may include one or more processing units. Processor 1001 may integrate an application processor and a modem processor. The application processor primarily processes the operating system, user interface, and application programs, while the modem processor primarily handles wireless communications. It is understood that the modem processor may not be integrated into processor 1001. In some embodiments, processor 1001 and memory 1002 may be implemented on the same chip. In some embodiments, they may also be implemented on separate chips.

[0186] Processor 1001 can be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. A general-purpose processor can be a microprocessor or any conventional processor. The steps of a positioning method disclosed in conjunction with the embodiments of this disclosure can be directly implemented and executed by a hardware processor, or by a combination of hardware and software modules in the processor.

[0187] The memory 1002 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules. The memory 1002 may include at least one type of storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a disk, an optical disk, etc. The memory 1002 is any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1002 in the embodiment of the present disclosure can also be a circuit or any other device that can realize a storage function, for storing program instructions and / or data.

[0188] By designing and programming the processor 1001, the code corresponding to a positioning method described in the aforementioned embodiment can be embedded in the chip, so that the chip can execute the steps of a positioning method in the embodiment shown in Figures 3, 4, 5, or 6 during operation. How to design and program the processor 1001 is well known to those skilled in the art and will not be described in detail here.

[0189] Based on the same inventive concept, an embodiment of the present disclosure further provides a storage medium storing computer instructions. When the computer instructions are executed on a computer, the computer executes a positioning method discussed above.

[0190] In some optional embodiments, the present disclosure also provides various aspects of a positioning method that can also be implemented in the form of a program product, which includes program code. When the program product is run on an apparatus, the program code is used to enable the control device to execute the steps of a positioning method according to various exemplary embodiments of the present disclosure described above in this specification.

[0191] It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more units described above may be embodied in a single unit. Conversely, the features and functions of a single unit described above may be further divided and embodied by multiple units.

[0192] Furthermore, although the operations of the disclosed method are described in a particular order in the accompanying drawings, this does not require or imply that the operations must be performed in this particular order, or that all illustrated operations must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0193] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0194] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a server, so that the instructions executed by the processor of the computer or other programmable data processing device generate a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0195] Program code for performing the operations of the present disclosure may be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may execute entirely on the user's computing device, partially on the user's device, as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0196] Where a remote computing device is involved, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0197] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0198] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0199] Obviously, those skilled in the art can make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents.

Claims

1. A positioning method, It is characterized in that Applied to user terminals, including: Send real-time dynamic RTK positioning requests to low-orbit satellites; Receive an RTK data packet returned by the low-orbit satellite; wherein the RTK data packet is generated based on satellite orbit information of the low-orbit satellite, a first global navigation satellite system GNSS observation value and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal; Based on the RTK data packet and the second GNSS observation value of the user terminal, a real positioning result of the user terminal is determined; wherein the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

2. The method according to claim 1, It is characterized in that The satellite orbit information is obtained based on GNSS precise ephemeris, and the atmospheric delay error is obtained from a model constructed by atmospheric delay model data.

3. The method according to claim 2, It is characterized in that The GNSS precise ephemeris and the atmospheric delay model data are determined by a ground processing station based on the RTK positioning request.

4. The method according to any one of claims 1 to 3, It is characterized in that The RTK data packet is generated by the low-orbit satellite in the following manner: Receiving GNSS precise ephemeris and the atmospheric delay error from a ground processing station; The RTK data packet is generated based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

5. The method according to any one of claims 1 to 3, It is characterized in that The RTK data packet is generated by the ground processing station in the following manner: Sending GNSS precise ephemeris to the low-orbit satellite; Receiving satellite orbit information corresponding to the GNSS precise ephemeris and the first GNSS observation value from the low-orbit satellite; The RTK data packet is generated based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

6. A positioning method, It is characterized in that Applied to low-orbit satellites, including: Obtaining an RTK data packet based on a real-time dynamic RTK positioning request from a user terminal; wherein the RTK data packet is generated based on satellite orbit information of a low-orbit satellite, a first global navigation satellite system GNSS observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to an atmospheric delay when the GNSS positions the user terminal; The RTK data packet is sent to the user terminal; wherein the RTK data packet is used by the user terminal to determine the real positioning result of the user terminal based on the RTK data packet and the second GNSS observation value of the user terminal, and the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

7. The method according to claim 6, It is characterized in that The satellite orbit information is obtained based on GNSS precise ephemeris, and the atmospheric delay error is obtained from a model constructed by atmospheric delay model data.

8. The method according to claim 7, It is characterized in that The GNSS precise ephemeris and the atmospheric delay model data are determined by the ground processing station based on the RTK positioning request.

9. The method according to any one of claims 6 to 8, It is characterized in that The obtaining of an RTK data packet based on a real-time dynamic RTK positioning request from a user terminal comprises: Receiving GNSS precise ephemeris and the atmospheric delay error from a ground processing station; The RTK data packet is generated based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

10. The method according to any one of claims 6 to 8, It is characterized in that The obtaining of an RTK data packet based on a real-time dynamic RTK positioning request from a user terminal comprises: Receive GNSS precise ephemeris from ground processing station; Determine the satellite orbit information based on the GNSS precise ephemeris, and send the satellite orbit information and the first GNSS observation value to the ground processing station; Receive the RTK data packet generated by the ground processing station based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

11. A user terminal, It is characterized in that include: Satellite-to-ground communication equipment, used to send real-time dynamic RTK positioning requests to low-orbit satellites; and receiving an RTK data packet returned by the low-orbit satellite; wherein the RTK data packet is generated based on satellite orbit information of the low-orbit satellite, a first global navigation satellite system GNSS observation value and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to the atmospheric delay when the GNSS positions the user terminal; A dual-frequency GNSS receiver is used to determine the real positioning result of the user terminal based on the RTK data packet and the second GNSS observation value of the user terminal; wherein the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

12. The user terminal according to claim 11, It is characterized in that The dual-frequency GNSS receiver is used to receive the second GNSS observation value.

13. The user terminal according to claim 11, It is characterized in that The satellite orbit information is obtained based on GNSS precise ephemeris, and the atmospheric delay error is obtained from a model constructed by atmospheric delay model data.

14. The user terminal according to claim 13, It is characterized in that The GNSS precise ephemeris and the atmospheric delay model data are determined by a ground processing station based on the RTK positioning request.

15. The user terminal according to any one of claims 11 to 14, It is characterized in that The RTK data packet is generated by the low-orbit satellite in the following manner: Receiving GNSS precise ephemeris and the atmospheric delay error from a ground processing station; The RTK data packet is generated based on the satellite orbit information corresponding to the GNSS precise ephemeris, the first GNSS observation value and the atmospheric delay error.

16. The user terminal according to any one of claims 11 to 14, It is characterized in that The RTK data packet is generated by the ground processing station in the following manner: Sending GNSS precise ephemeris to the low-orbit satellite; Receiving satellite orbit information corresponding to the GNSS precise ephemeris and the first GNSS observation value from the low-orbit satellite; The RTK data packet is generated based on the satellite orbit information, the first GNSS observation value and the atmospheric delay error.

17. A low-orbit satellite, It is characterized in that include: A dual-frequency GNSS precise orbit determination device, configured to obtain an RTK data packet based on a real-time dynamic RTK positioning request from a user terminal; wherein the RTK data packet is generated based on satellite orbit information of a low-orbit satellite, a first global navigation satellite system GNSS observation value, and an atmospheric delay error, wherein the first GNSS observation value represents a GNSS positioning measurement result of the low-orbit satellite, and the atmospheric delay error represents a positioning measurement error corresponding to an atmospheric delay when the GNSS positions the user terminal; The satellite-to-ground communication device is used to send the RTK data packet to the user terminal; wherein the RTK data packet is used by the user terminal to determine the real positioning result of the user terminal based on the RTK data packet and the second GNSS observation value of the user terminal, and the second GNSS observation value represents the GNSS positioning measurement result of the user terminal.

18. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method according to any one of claims 1 to 5 or the method according to any one of claims 6 to 10 is implemented.

19. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 or the steps of the method according to any one of claims 6 to 10 are implemented.

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