Satellite-based positioning method, electronic device, storage medium, radio frequency circuit, and terminal

Abstract

Provided are a satellite-based positioning method, an electronic device, a storage medium, a radio frequency circuit, and a terminal. The satellite-based positioning method is applied to the terminal, and the method comprises: determining at least one of multi-frequency positioning parameters, a positioning scenario, and a preset positioning precision requirement, wherein the multi-frequency positioning parameters comprise positioning performance parameters of each satellite-based positioning system among a plurality of satellite-based positioning systems on different frequency bands; on the basis of at least one of the multi-frequency positioning parameters, the positioning scenario, and the preset positioning precision requirement, determining a target adjustment strategy from among a plurality of adjustment strategies suitable for a multi-frequency satellite-based positioning scheme; and adjusting the multi-frequency satellite-based positioning scheme on the basis of the target adjustment strategy.

Description

Satellite positioning method, electronic device, storage medium, radio frequency circuit and terminal

[0001] This disclosure claims priority to Chinese patent application No. 202410318833.6, filed on March 15, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present disclosure relates to the field of communications, and in particular to a satellite positioning method, electronic equipment, storage medium, radio frequency circuit, and terminal. Background Art

[0003] In communications systems, with the advancement of mobile communications and positioning technologies, terminal positioning services have become a highly promising business. In satellite-based multi-frequency positioning technology, terminals simultaneously receive satellite signals at multiple frequencies. By leveraging the atmospheric propagation characteristics of satellite signals of different frequencies, as well as information such as signal phase, terminals can eliminate the impact of atmospheric delay on positioning accuracy, providing users with valuable positioning services. Summary of the Invention

[0004] In a first aspect, an embodiment of the present disclosure provides a satellite positioning method, applied to a terminal. The satellite positioning method includes:

[0005] determining at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement, wherein the multi-frequency positioning parameter includes positioning performance parameters of each satellite positioning system in different frequency bands of a plurality of satellite positioning systems;

[0006] Determining a target adjustment strategy from a plurality of adjustment strategies applicable to a multi-frequency satellite positioning solution based on at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement;

[0007] Adjust the multi-frequency satellite positioning solution based on the target adjustment strategy.

[0008] In a second aspect, an embodiment of the present disclosure provides a satellite positioning device, which is applied to a terminal. The satellite positioning device includes: a determination module and an adjustment module;

[0009] The determination module is configured to determine at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement, wherein the multi-frequency positioning parameter includes positioning performance parameters of each satellite positioning system in different frequency bands among multiple satellite positioning systems;

[0010] The determination module is further configured to determine a target adjustment strategy from a plurality of adjustment strategies applicable to the multi-frequency satellite positioning solution based on at least one of the multi-frequency positioning parameters, the positioning scenario, and a preset positioning accuracy requirement;

[0011] The adjustment module is used to adjust the multi-frequency satellite positioning solution based on the target adjustment strategy.

[0012] In a third aspect, an embodiment of the present disclosure provides a radio frequency circuit, which is used to adjust a multi-frequency satellite positioning scheme based on a target adjustment strategy; the target adjustment strategy is determined from multiple adjustment strategies applicable to the multi-frequency satellite positioning scheme based on at least one of the multi-frequency positioning parameters, the positioning scenario, and the preset positioning accuracy requirements; the multi-frequency positioning parameters include the positioning performance parameters of each satellite positioning system in multiple satellite positioning systems in different frequency bands.

[0013] In a fourth aspect, an embodiment of the present disclosure provides a terminal, comprising the radio frequency circuit described in the third aspect above.

[0014] In a fifth aspect, an embodiment of the present disclosure provides an electronic device comprising: a memory and a processor; the memory and the processor are coupled; the memory is configured to store a computer program; and the processor implements the method according to the first aspect when executing the computer program.

[0015] In a sixth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the method described in the first aspect above is implemented.

[0016] In a seventh aspect, an embodiment of the present disclosure provides a computer program product, which includes computer program instructions, and when the computer program instructions are executed by a processor, implements the method described in the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions of the present disclosure, the following briefly introduces the drawings required for use in some embodiments of the present disclosure. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure, and those skilled in the art can also derive other drawings based on these drawings.

[0018] FIG1 is a schematic diagram of a positioning technology according to some embodiments.

[0019] FIG2 is a schematic diagram of an IQ according to some embodiments.

[0020] FIG3 is a schematic diagram of the architecture of a communication system according to some embodiments.

[0021] FIG4 is a schematic diagram of a terminal according to some embodiments.

[0022] FIG5 is a schematic diagram of a positioning performance parameter according to some embodiments.

[0023] FIG6 is a schematic diagram of a positioning scenario according to some embodiments.

[0024] FIG7 is a schematic diagram of a radio frequency circuit according to some embodiments.

[0025] FIG8 is a schematic diagram of a first reconfigurable circuit according to some embodiments.

[0026] FIG9 is a schematic diagram of a second reconfigurable circuit according to some embodiments.

[0027] FIG10 is a schematic diagram of a third reconfigurable circuit according to some embodiments.

[0028] FIG11 is a schematic diagram of a fifth reconfigurable circuit according to some embodiments.

[0029] FIG12 is a schematic diagram of another fifth reconfigurable circuit according to some embodiments.

[0030] FIG13 is a schematic diagram of yet another fifth reconfigurable circuit according to some embodiments.

[0031] FIG14 is a flowchart of a satellite positioning method according to some embodiments.

[0032] FIG15 is a flowchart of another satellite positioning method according to some embodiments.

[0033] FIG16 is a flowchart of yet another satellite positioning method according to some embodiments.

[0034] FIG17 is a schematic structural diagram of a satellite positioning device according to some embodiments.

[0035] FIG18 is a schematic structural diagram of a communication device according to some embodiments. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions of this disclosure in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of this disclosure, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of this disclosure without inventive effort are within the scope of protection of this disclosure.

[0037] It should be noted that in this disclosure, expressions such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this disclosure as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of expressions such as "exemplarily" or "for example" is intended to present the relevant concepts in a detailed manner.

[0038] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0039] In the description of this disclosure, unless otherwise specified, " / " means "or." For example, A / B can mean A or B. "And / or" herein is simply a way to describe an association relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: only A, A and B, and only B. Furthermore, "at least one" means one or more, and "a plurality" means two or more.

[0040] To facilitate understanding, relevant concepts involved in the embodiments of the present disclosure are first briefly introduced.

[0041] 1. Global Navigation Satellite System (GNSS):

[0042] GNSS is a space infrastructure consisting of a constellation of satellites and ground control stations that provides precise positioning, navigation, and timing services to users worldwide. GNSS includes at least one of the following: the Global Positioning System (GPS), the Russian Global Navigation Satellite System (GLONASS), the European Galileo System, the Chinese Beidou Navigation System, the Japanese Quasi-Zenith Satellite System (QZSS), and the Indian Regional Navigation Satellite System / Navigation with Indian Constellation (IR NSS / NavIC). Each system includes its own set of satellite signals. Signals in different frequency bands correspond to different frequencies. For example, the L1 band has a frequency range of 1575.42 MHz ± 1.023 MHz, the L2 band has a frequency range of 1227.6 MHz ± 1.023 MHz, the L5 band has a frequency range of 1176.45 MHz ± 1.023 MHz, and the L6 band has a frequency range of 1278.75 MHz. This design maximizes positioning accuracy because the receiver can use two or more frequencies to minimize errors caused by the ionosphere. Multi-frequency signals also increase the likelihood that a signal will be available when the receiver needs it. Some systems use signals in the L2 and L5 bands in addition to the L1 band to provide correction data, further improving positioning accuracy.

[0043] 2. GNSS positioning method:

[0044] Traditional independent GNSS (such as GLONASS, Galileo, BeiDou, QZSS, etc.) usually relies on satellite signals for positioning. However, in some cases, the use of satellite signals alone may be affected by factors such as building obstruction and signal interference, resulting in reduced positioning accuracy and stability. To overcome these problems, the assisted global positioning system (AGPS) came into being. AGPS combines base station assistance and mobile network data to assist GNSS positioning by obtaining information from mobile network base stations, forming the current main positioning method based on AGPS positioning, with a positioning accuracy of generally 3-5 meters. With the increasing demand for in-vehicle navigation and autonomous driving, in order to meet the needs of high-precision positioning, the positioning accuracy of in-vehicle navigation and autonomous driving needs to be within the sub-meter level or even the centimeter level.

[0045] Traditional GNSS positioning is based on single-frequency positioning, meaning the terminal's single-frequency receiver can only receive GNSS signals in a single frequency band (for example, only the carrier signal in the L1 band) and measures the signal's carrier phase for positioning. Because this positioning method cannot effectively eliminate the effects of ionospheric delay, it is only suitable for precise positioning over short baselines (less than 15 km).

[0046] With technological advancements, multi-frequency receivers can simultaneously receive signals from multiple frequencies, such as those in the L1, L2, and L5 bands. For example, dual-frequency receivers can simultaneously receive carrier signals in both the L1 and L2 bands. By exploiting the differences in ionospheric delays between the L1 and L2 bands, the effect of the ionosphere on electromagnetic signal delay can be eliminated, enabling precise positioning over distances of up to several thousand kilometers.

[0047] 3. GPS positioning:

[0048] GPS consists of three parts: a satellite constellation, a ground monitoring system, and a terminal. The terminal observes and calculates the distance to at least four satellites. The following formula can be used to obtain the terminal's real-time position:

[0049] In the above formula, X i 、Y i and Z i represents the position coordinates of three satellites, X, Y and Z represent the position coordinates of the terminal, and Tu represents the clock deviation between the satellite and the terminal.

[0050] For example, Figure 1 is a schematic diagram of GPS positioning. As shown in Figure 1, the satellite reference station obtains satellite error, atmospheric error, and multipath error based on satellite signals, precise coordinates, and real-time positioning coordinates, and generates a comprehensive positioning error E. The satellite reference station then transmits the comprehensive positioning error E to the terminal via a wired network, wireless network, or wireless broadcast. The terminal can also receive the comprehensive positioning error E via a wired network, wireless network, or wireless broadcast, and combines the calibration data with satellite signals obtained by its own GNSS module to determine its exact location.

[0051] For terminals that support GPS positioning, the terminal includes a GPS receiving circuit. The GPS receiving circuit includes: a GPS receiving chip, a front-end filter, a low-noise amplifier (LNA), a post-stage filter, an antenna module, and a reference clock module. High-precision positioning requires strict time synchronization between the GPS and the base station wireless network. However, during the actual positioning process, the terminal may experience a delay or offset of several milliseconds. The time error caused by this non-time synchronization will increase the error of high-precision positioning and reduce positioning accuracy. The more severe the environmental conditions (such as mountainous areas or between high-rise buildings in cities), the higher the accuracy requirements for time synchronization.

[0052] 4. Frequency band used by GPS positioning:

[0053] When GPS was first constructed, it used two frequency bands (L1 and L2) to transmit signals. The L1 band is publicly available and free, and is the primary civilian band. The L2 band is reserved for the military and can only be used with encryption keys. Over the past four decades since its launch, GPS users have realized that modernizing satellite signals can improve civilian positioning accuracy while also meeting military needs. Therefore, to enhance the performance and accuracy of the satellite navigation system, GPS later added the L5 band, and satellites capable of transmitting in this band have been launched since 2009. The L5 band, as the third civilian GPS band, facilitates cycle slip detection, ionospheric delay error correction, and integer ambiguity resolution during GPS measurements, improving civilian positioning accuracy from 5 meters to 30 centimeters.

[0054] For example, Figure 2 shows the GPS IQ diagram. An IQ diagram is a graphical representation of the signal modulation and demodulation process, where I represents the real part (in-phase) and Q represents the imaginary part (quadrature). In a GPS receiver, the received GPS signal undergoes a series of processing operations and is divided into two signals, I and Q, with a 90-degree phase difference. These two signals represent the real and imaginary parts of the GPS signal, respectively. In the IQ diagram, each GPS signal point is represented as a coordinate point, whose position is determined by the amplitude and phase of the I and Q signals. By observing the IQ diagram, GPS signal characteristics such as amplitude, phase, and frequency deviation can be analyzed.

[0055] As shown in Figure 2, the GPS IQ diagram includes the amplitude and phase variations of GPS signals in the L1, L2, and L5 bands, respectively. In the GPS system, the L1 band can transmit a variety of different types of signals and data, including L1-P, L1C-I, L1-M, L1-C / A, and L1C-Q. L1-P represents a high-precision signal in the L1 band, commonly used for precision measurement and scientific research; L1C-I represents a new civilian signal in the L1 band, providing higher position and time accuracy; L1-M represents a military signal in the L1 band, commonly used for military applications and security purposes; L1-C / A represents a broadcast signal in the L1 band, used for general navigation and positioning applications; and L1C-Q represents a new civilian signal in the L1 band, providing higher accuracy and anti-interference capabilities.

[0056] In the GPS system, the L2 band can transmit a variety of different types of signals and data, including L2-M, L2-P, and L2-C. L2-M represents a signal type in the L2 band, commonly used in military applications and high-precision measurement; L2-P represents another signal type in the L2 band, commonly used for applications such as precise positioning and scientific research; and L2-C represents the broadcast signal in the L2 band, primarily used for general navigation and positioning applications.

[0057] In the GPS system, the L5 band can transmit a variety of different types of signals and data, including L5-I and L5-Q. L5-I represents a signal type in the L5 band, commonly used for civilian high-precision navigation and positioning applications; L5-Q represents another signal type in the L5 band, commonly used to transmit navigation messages and data.

[0058] The modern L5 band offers superior signal characteristics. Using both the L1 and L5 bands together can provide unprecedented positioning accuracy. The simultaneous use of multiple frequency bands (such as the L1 and L5 bands) for positioning is also known as multi-frequency positioning. When a terminal uses multi-frequency positioning, the receiver uses advanced methods to determine which satellite signal has the least errors, thereby increasing positioning accuracy.

[0059] When GPS operates in complex environments (such as tall buildings, elevated roads, tunnels, forests, and canyons), GPS signals are easily blocked. GPS signals must undergo reflection and refraction before they can be received by the terminal's receiver. The time wasted and the extra paths taken during reflection and refraction are factored into the positioning calculation, resulting in deviations in the positioning position and increased positioning accuracy. With the addition of multi-band positioning, the terminal's receiver can comprehensively determine GPS signal errors. In other words, using more frequency bands (or frequencies) in the positioning calculation allows the receiver to distinguish between true GPS signals and interference signals, thereby improving positioning accuracy. For example, multi-frequency positioning technology can be advantageous when GPS signals are receivable but severely attenuated (for example, in heavy cloud cover, rainy days, in the jungle, or in cities with tall buildings). In these harsh environmental conditions, the receiver needs to distinguish between reflected signals and line-of-sight signals (i.e., GPS signals that have not been reflected or refracted). During the positioning process, reflected signals can cause inaccurate satellite distances. When the terminal uses this inaccurate distance data, positioning can fluctuate, deviate from the route, or even become completely inaccurate. In these cases, multi-frequency positioning, which provides GPS signals on different frequency bands for cross-reference and compensation, is needed to improve positioning accuracy.

[0060] The above is an introduction to some concepts involved in the embodiments of the present disclosure, which will not be repeated below.

[0061] The technical solution disclosed herein can be applied to non-terrestrial network (NTN) systems such as satellite communication systems and high altitude platform station (HAPS) communications, for example, integrated communication and navigation (ICaN) systems, GNSS, etc.

[0062] Satellite communication systems can be integrated with traditional mobile communication systems. For example, mobile communication systems may include fourth-generation (4G) communication systems (e.g., long-term evolution (LTE) systems), worldwide interoperability for microwave access (WiMAX) communication systems, fifth-generation (5G) communication systems (e.g., new radio (NR) systems), and future mobile communication systems.

[0063] 3 is a schematic diagram illustrating the architecture of a communication system involved in a satellite positioning method according to some embodiments. As shown in FIG3 , the communication system includes a terminal 110 and a non-terrestrial network 120. The terminal 110 and the non-terrestrial network 120 are in communication connection.

[0064] In some embodiments, there may be one or more terminals 110 and one or more non-terrestrial networks 120, and the embodiments of the present disclosure do not limit the number.

[0065] Terminal 110 is used to determine at least one of the multi-frequency positioning parameters, positioning scenarios, and preset positioning accuracy requirements of terminal 110, and based on the multi-frequency positioning parameters, the positioning scenarios, and at least one of the preset positioning accuracy requirements, determine a target adjustment strategy from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution, and finally adjust the multi-frequency satellite positioning solution based on the target adjustment strategy.

[0066] The multi-frequency positioning parameters include positioning performance parameters of each satellite positioning system in multiple satellite positioning systems at different frequency bands.

[0067] Exemplarily, the terminal can be a mobile phone, a satellite phone, a tablet computer, a computer with wireless transceiver function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. The embodiments of the present disclosure do not limit the application scenarios. The terminal may sometimes also be referred to as a user, user equipment (UE), an access terminal, a UE unit, a UE station, a mobile station, a mobile station, a remote station, a remote terminal, a mobile device, a UE terminal, a wireless communication device, a UE agent or a UE device, etc., and the embodiments of the present disclosure do not limit this.

[0068] In some embodiments, FIG4 is a schematic diagram of a terminal 110. As shown in FIG4 , the terminal 110 includes, for example, a multi-frequency positioning parameter detection module 111, a multi-frequency positioning scenario detection module 112, a multi-frequency positioning control module 113, a multi-frequency point matching module 114, a multi-frequency positioning screening module 115, a multi-frequency positioning timing adjustment module 116, a multi-frequency positioning front-end reconfiguration module 117, and a multi-frequency positioning antenna reconfiguration module 118. The multi-frequency positioning parameter detection module 111, the multi-frequency positioning scenario detection module 112, the multi-frequency point matching module 114, the multi-frequency positioning screening module 115, the multi-frequency positioning timing adjustment module 116, the multi-frequency positioning front-end reconfiguration module 117, and the multi-frequency positioning antenna reconfiguration module 118 are respectively connected to the multi-frequency positioning control module 113.

[0069] In some embodiments, the multi-frequency positioning parameter detection module 111 is configured to detect the multi-frequency positioning parameters of the terminal 110 when performing multi-frequency GNSS positioning, and send information related to the multi-frequency positioning parameters of the terminal 110 to the multi-frequency positioning control module 113 .

[0070] In some embodiments, the multi-frequency positioning parameters include positioning performance parameters for each of multiple satellite positioning systems in different frequency bands. For example, FIG5 is a schematic diagram of positioning performance parameters. As shown in FIG5 , the positioning performance parameters include positioning performance parameters for each of multiple satellite positioning systems, such as GPS, GLONASS, Galileo, Beidou, QZSS, and IRNSS, in the L1, L2, L5, and L6 frequency bands, respectively.

[0071] In some embodiments, positioning performance parameters include: time to first fix (TTFF), cold start time, hot start time, positioning accuracy, positioning track offset, carrier-to-noise density ratio (CNO), number of satellites, positioning deviation, etc.

[0072] The time to first position fix (TFF) refers to the time it takes for the terminal 110 receiver to successfully acquire satellite signals and calculate a position solution for the first time. The cold start time refers to the time it takes for the receiver to re-search for satellite signals and establish ephemeris data after a complete power outage or prolonged inactivity. The hot start time refers to the time it takes for the receiver to perform only a small amount of ephemeris updates and signal searches after being powered on again within a short period of time (e.g., within a few hours).

[0073] In some embodiments, the above positioning performance parameters are transmitted via satellite, and pass through the GPS receiving antenna, GPS pre-filter, LNA, and GPS post-filter of the terminal 110 in sequence to the RF main chip of the terminal's built-in GPA receiver, and then transmitted to the baseband chip, and then to the application processor (AP) for processing, and the relevant parameter values ​​are directly displayed on the display interface of the terminal 110.

[0074] In some embodiments, the multi-frequency positioning parameter detection module 111 is also responsible for detecting the following parameters:

[0075] 1. Detect the positioning systems supported by the terminal 110 (including but not limited to GPS, GLONASS, Galileo, BeiDou, QZSS, IRNSS and other satellite systems);

[0076] 2. The detection terminal 110 supports single satellite system positioning or multi-satellite system joint positioning;

[0077] 3. Detect the type and number of frequency bands used for positioning;

[0078] 4. Detect whether the terminal 110 is using single-frequency positioning or multi-frequency positioning.

[0079] The multi-frequency positioning scenario detection module 112 is used to detect the positioning scenario of the terminal 110 and collect environmental parameters when the terminal 110 performs multi-frequency positioning.

[0080] In some embodiments, the multi-frequency positioning scenario detection module 112 is further configured to identify a preset positioning accuracy requirement when the terminal performs multi-frequency positioning based on the positioning scenario, and send the requirement to the multi-frequency positioning control module 113 .

[0081] In some embodiments, the multi-frequency positioning scene detection module 112 can identify the positioning scene through the GPS chip module, acceleration sensor, geomagnetism, gyroscope, front and rear cameras, RF modem chip, light sensor and other components built into the terminal 110, and obtain the position, speed, acceleration, angle, light, base station network cellular status, occlusion status and other information related to the positioning scene when the terminal 110 performs multi-frequency positioning.

[0082] In some embodiments, FIG6 is a schematic diagram of positioning scenarios. As shown in FIG6, positioning scenarios include, but are not limited to: non-high-precision navigation / positioning scenarios, high-precision navigation / positioning scenarios, general positioning scenarios, rapid positioning scenarios, stationary positioning scenarios (e.g., a terminal is in positioning or receiving or transmitting satellite signals), mobile positioning scenarios (e.g., in navigation or mobile satellite signal transmission and reception), full-sky positioning scenarios, half-sky positioning scenarios, canyon positioning scenarios and other different occlusion scenarios, indoor positioning scenarios, outdoor positioning scenarios, landmark scenarios such as elevated roads, tunnels, and bridges, independent GPS positioning scenarios, cellular base station-assisted GPS positioning scenarios, good antenna positioning scenarios, poor antenna positioning scenarios, single-satellite system positioning scenarios, multi-satellite system positioning scenarios, single-frequency positioning scenarios, and multi-frequency positioning scenarios.

[0083] It should be noted that the multi-frequency positioning control module 113 may also determine the preset positioning accuracy requirement through other means (for example, a user triggering operation on the terminal 110 interface). When the positioning accuracy of the terminal 110 does not meet the preset positioning accuracy requirement, the multi-frequency positioning control module 113 may directly determine the adjustment strategy of the terminal 110, or may also determine the adjustment strategy of the terminal 110 based on the positioning scenario detected by the multi-frequency positioning scenario detection module 112. In other words, the activation of the multi-frequency positioning scenario detection module 112 is not mandatory and is not limited in this regard in the present embodiment.

[0084] Multi-frequency positioning control module 113 is configured to receive relevant parameters and information sent by multi-frequency positioning parameter detection module 111 and multi-frequency positioning scenario inspection module 112. Based on preset positioning accuracy requirements, positioning scenarios, and other parameters, it matches and distinguishes characteristic correlation coefficients related to positioning accuracy for terminal 110. It also coordinates and controls the optimization and adjustment of various modules in terminal 110, determining a target adjustment strategy from multiple adjustment strategies applicable to multi-frequency satellite positioning solutions. For example, multi-frequency positioning control module 113 collects key parameter values ​​and, if the key parameter values ​​meet a threshold, determines that the current positioning accuracy has the highest correlation with a particular module and determines the control type.

[0085] In some embodiments, the control type includes a single adjustment type and a joint adjustment type. The single adjustment type improves the positioning accuracy of terminal 110 by controlling a single module for optimization and adjustment. The joint adjustment type improves the positioning accuracy of terminal 110 by controlling multiple modules for optimization and adjustment. The single adjustment type has a higher priority than the joint adjustment type. That is, terminal 110 preferentially uses a single adjustment type to optimize and adjust each module of terminal 110. If the positioning accuracy still does not meet the preset positioning accuracy requirement after adjustment using a single adjustment type, the joint adjustment type can be activated to simultaneously optimize and adjust multiple modules to meet the preset positioning accuracy requirement.

[0086] In some embodiments, when the multi-frequency positioning control module 113 detects a large positioning deviation or slow positioning speed of the terminal 110, and if the cause is poor single-frequency or multi-frequency signal quality, it controls multiple modules to perform optimization adjustments. The multi-frequency positioning control module 113 includes two control logics: one control logic incrementally calls each module of the terminal 110 from simple to complex; for example, the multi-frequency point matching module 114 is called first, followed by the multi-frequency positioning screening module 115, and then the multi-frequency positioning timing adjustment module 116, the multi-frequency positioning front-end reconstruction module 117, and the multi-frequency positioning antenna reconstruction module 118.

[0087] Another control logic is that the terminal 110 determines the module that best matches the multi-frequency positioning parameters based on the multi-frequency positioning parameters, and calls the module. For example, if the single satellite interference at the location of the terminal 110 is large and the signal is weak, the multi-frequency point matching module 114 can be called to match the frequency point with less interference and stronger signal, and dual-frequency or triple-frequency assisted positioning can be used. If the signal strength of the demodulated satellite is low when the terminal 110 is positioning, and the number of strong satellites is insufficient, the multi-frequency positioning screening module 115 can be preferentially called to screen the satellites participating in the positioning until the preset positioning accuracy requirements are met. If the terminal 110 requires a frequency band with stronger anti-interference performance, or the antenna performance of a certain frequency band is poor, or the signal quality on the current frequency band is poor, the terminal 110 can call the multi-frequency positioning timing adjustment module 116 to preferentially call positioning frequency bands with strong signal quality, good antenna performance, and strong anti-interference to participate in positioning. If the positioning accuracy of terminal 110 still fails to meet the preset positioning accuracy requirements after calling the above modules, terminal 110 can also call multi-frequency positioning front-end reconstruction module 117 to improve the signal strength of the frequency band from the circuit. If the positioning accuracy of terminal 110 still fails to meet the preset positioning accuracy requirements after calling multi-frequency positioning front-end reconstruction module 117, terminal 110 can also call multi-frequency positioning antenna reconstruction module 118 to adjust the antenna balance of terminal 110.

[0088] In some embodiments, the multi-frequency positioning control module 113 may also automatically identify the positioning scenario and the preset positioning accuracy requirement corresponding to the positioning scenario through a user terminal app (e.g., navigation software, entertainment software equipped with positioning functionality, etc.). For example, if the multi-frequency positioning control module 113 identifies the current conventional navigation scenario through the app, the preset positioning accuracy requirement is the conventional positioning accuracy requirement.

[0089] In some embodiments, the multi-frequency positioning control module 113 may also determine the current positioning scenario of the terminal 110 and the preset positioning accuracy requirement corresponding to the positioning scenario based on the scenario selected by the user. For example, the multi-frequency positioning control module 113 may identify the current positioning scenario and the preset positioning accuracy requirement corresponding to the positioning scenario based on a user's voice command or an indication by the user on a display interface of the terminal 110.

[0090] The multi-frequency matching module 114 is configured to adjust the frequency matching based on at least one of the multi-frequency mode, the positioning scenario, and a preset positioning accuracy requirement. For example, the multi-frequency matching module 114 may select positioning frequencies with corresponding characteristic attributes based on the positioning scenario and select the optimal satellite positioning frequency band or multi-frequency band combination.

[0091] The multi-frequency positioning screening module 115 is used to screen the detailed satellite numbers used for positioning based on the satellite frequencies, satellite signal strengths, satellite systems used by the terminal 110, and anti-interference levels of different frequencies when the terminal 110 performs multi-frequency positioning.

[0092] The multi-frequency positioning timing adjustment module 116 is configured to adaptively set the positioning sequence of different frequencies and adjust the time point of the multi-frequency positioning calculation according to the positioning accuracy of the terminal 110 and the preset positioning accuracy requirement.

[0093] The multi-frequency positioning front-end reconstruction module 117 is used to change the reconstructed GPS front-end circuit by determining the positioning scenario and calculating the trade-offs in positioning performance, changing the current front-end link from the GPS receiver to the antenna, adaptively and dynamically adjusting the signal strength of the multi-frequency GPS, and implementing a circuit balance optimization strategy based on accuracy priority to solve the problem of uneven multi-frequency GPS performance, so that the multi-frequency positioning control module 113 can perform high-precision calculation control and adjustment on the current positioning.

[0094] In some embodiments, the terminal 110 includes a radio frequency circuit. The radio frequency circuit is configured to adjust the multi-frequency satellite positioning solution based on a target adjustment strategy to adapt to the functions implemented by the multi-frequency positioning front-end reconstruction module 117. The target adjustment strategy is determined from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution based on at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement. The multi-frequency positioning parameter includes positioning performance parameters of each of the multiple satellite positioning systems in different frequency bands.

[0095] For example, Figure 7 is a schematic diagram of a radio frequency circuit. As shown in Figure 7, the radio frequency circuit includes radio frequency sub-circuits corresponding to multiple satellite frequency bands. For example, radio frequency sub-circuits corresponding to the L1 band, the L2 band, and the L5 and Ln bands. In some embodiments, the radio frequency circuit also includes a combiner to facilitate combining and connecting the radio frequency sub-circuits corresponding to the multiple satellite frequency bands.

[0096] In some embodiments, the RF subcircuit includes an antenna, a first filter, a low-noise amplifier, a second filter, and a receiver, connected in sequence. In the RF subcircuit, the filter closest to the receiver (or RF chip) is generally a post-filter, and the filter closest to the antenna is a pre-filter. The two filters are connected via a low-noise amplifier.

[0097] The low noise amplifier is a gain-variable low noise amplifier used to amplify satellite signals. The first filter and the second filter are used to filter noise in the satellite signals.

[0098] In some embodiments, the RF sub-circuit further includes a first reconfigurable circuit. The first reconfigurable circuit (also referred to as a bypass circuit) is used to control whether the satellite signal received by the antenna passes through the first filter and / or the second filter during transmission to the receiver based on the interference level value of the satellite signal received by the antenna. Exemplarily, FIG8 is a schematic diagram of the first reconfigurable circuit. As shown in FIG8, based on FIG7, the first reconfigurable circuit includes: a resistor R1, a resistor R2, a front-end adjustable control part, an adjustable capacitor A, and an adjustable capacitor B. The front-end adjustable control part includes a switch of the first reconfigurable circuit, which can selectively control whether the satellite signal received by the antenna passes through the first filter and / or the second filter during transmission to the receiver.

[0099] It should be noted that the RF sub-circuit corresponding to each satellite frequency band may include a first reconfigurable circuit. To simplify the description, FIG8 of the embodiment of the present disclosure only shows the first reconfigurable circuit included in the RF sub-circuit of the L2 / L5 frequency band, but does not mean that the RF sub-circuit corresponding to other frequency bands does not include the first reconfigurable circuit. The embodiment of the present disclosure does not limit this.

[0100] In some embodiments, the first reconfigurable circuit is used to control the satellite signal received by the antenna to be transmitted to the receiver without passing through the first filter and / or the second filter when the interference level value of the satellite signal is less than or equal to a threshold; or, when the interference level value of the satellite signal is greater than the threshold, control the satellite signal received by the antenna to be transmitted to the receiver after passing through the first filter and / or the second filter.

[0101] For example, the threshold value may be 0.8. If the satellite signal interference level is 0.92, which is greater than the threshold value of 0.8, the front-end adjustable control unit may control the satellite signal received by the antenna to pass through resistor R1, the front-end adjustable control unit, and resistor R2 during transmission to the receiver, as shown in FIG8 . In this case, the satellite signal does not pass through the first filter and the second filter during transmission.

[0102] It is understandable that if the satellite signal is subject to weak interference, the noise of the satellite signal is small and does not need to pass through the first filter or the second filter. However, in some technologies, the first filter, the second filter and the low-noise amplifier are relatively fixed (that is, the components cannot be removed, and the transmission of the satellite signal cannot skip the first filter or the second filter), which may affect the signal strength of the satellite signal. In the radio frequency circuit provided in the embodiment of the present disclosure, whether the satellite signal received by the antenna passes through the first filter and / or the second filter can be controlled according to the degree of interference received by the satellite signal, which can reduce the system insertion loss, improve the signal strength of the received satellite signal, and thus improve the positioning accuracy.

[0103] In some embodiments, the radio frequency subcircuit further includes a second reconfigurable circuit connected to an output terminal and an input terminal of the low noise amplifier, and configured to adjust the input and output of the low noise amplifier based on an interference level of a satellite signal received by the antenna.

[0104] For example, Figure 9 is a schematic diagram of a second reconfigurable circuit. As shown in Figure 9, based on Figure 8, the second reconfigurable circuit includes an adjustable capacitor C and an adjustable capacitor D. By adjusting the capacitance of adjustable capacitors C and D, the input and output of the low-noise amplifier can be adjusted.

[0105] In some embodiments, matching and tuning are required between the input and output of the low noise amplifier.

[0106] It should be noted that the RF sub-circuit corresponding to each satellite frequency band may include a second reconfigurable circuit. To simplify the description, Figure 9 of the embodiment of the present disclosure only shows the second reconfigurable circuit included in the RF sub-circuit of the L2 / L5 frequency band, but does not mean that the RF sub-circuit corresponding to other frequency bands does not include the second reconfigurable circuit. The embodiment of the present disclosure is not limited to this.

[0107] It is understandable that in order to improve the sensitivity of the received signal, a low-noise amplifier is generally configured at the front end of the receiver. The input signal of the low-noise amplifier comes from the antenna, and the output signal comes from the first filter close to the receiver. The noise figure and gain of the low-noise amplifier play a decisive role in the noise figure of the receiver. However, in some technologies, the input and output of the low-noise amplifier are not adjustable, which may cause the noise figure of the receiver to be large, thereby affecting the positioning accuracy. In the RF circuit provided in the embodiment of the present disclosure, the input and output of the low-noise amplifier are adjusted by the second reconfigurable circuit, so that the input and output of the low-noise amplifier can be matched and harmonized, and based on the CNO of the satellite signal, the minimum noise figure is determined to achieve the maximum gain and the highest positioning accuracy.

[0108] The multi-frequency positioning antenna reconfiguration module 118 is used to change the efficiency and gain of the GPS multi-frequency antenna of the terminal 110 by determining the positioning scenario and calculating the trade-off of positioning performance, adaptively and dynamically adjusting the signal strength of the multi-frequency GPS, and implementing an antenna balance optimization strategy based on accuracy priority.

[0109] In some embodiments, the RF circuit further includes an antenna reconfiguration circuit adapted for the functions implemented by the multi-frequency positioning antenna reconfiguration module. The antenna reconfiguration circuit is configured to adjust the antenna efficiency and / or gain of antennas corresponding to different frequency bands based on the positioning scenario and / or positioning performance parameters, thereby adjusting the signal strength of satellite signals received across multiple satellite frequency bands.

[0110] In some embodiments, the antenna reconfiguration circuit includes a third reconfigurable circuit connected to antennas in RF sub-circuits corresponding to different frequency bands, and the third reconfigurable circuit is used to adjust the gain of the antennas in the RF sub-circuit.

[0111] For example, Figure 10 is a schematic diagram of a third reconfigurable circuit. As shown in Figure 10, based on Figure 9, the third reconfigurable circuit includes variable resistors R3, R4, and R5. By adjusting the resistance values ​​of variable resistors R3, R4, and R5, the signal strength of the signal received from the antenna can be controlled to adjust the signal strength across different frequency bands. Variable resistors R3, R4, and R5 can be considered a variable attenuator, used to adjust the received signal to achieve a balanced signal strength across different frequency bands.

[0112] For example, if the current antenna gains of each satellite frequency band are L1>L2>L5, and the positioning accuracy requirement for each satellite frequency band is L1=L2=L5, the third reconfigurable circuit can increase the gains of L2 and L5 by controlling the low-noise amplifier to achieve antenna balance on each satellite frequency band.

[0113] In some embodiments, if a low-noise amplifier (LNA) cannot be used to increase the gain of a particular antenna to achieve antenna balance, a variable resistor can be used to attenuate the antenna with high efficiency but poor positioning accuracy. For example, if the antenna gains for each satellite frequency band are currently L1 > L2 > L5, and the positioning accuracy requirement is L1 = L2 > L5, the gain of L2 can be maximized. If the positioning accuracy requirement of L1 still cannot be equal to that of L2, L1 can be attenuated using a variable resistor until the antennas L1 and L2 are balanced.

[0114] In some embodiments, the antenna reconfiguration circuit includes a fourth reconfigurable circuit, which is connected to the antenna of the first satellite frequency band and also to the antenna of the second satellite frequency band or a wireless-fidelity (WI-FI) antenna. The fourth reconfigurable circuit is used to increase the antenna efficiency of the antenna of the first satellite frequency band by reducing the antenna efficiency of the antenna of the second satellite frequency band or the WI-FI antenna.

[0115] Exemplarily, the fourth reconfigurable circuit can be a tuning circuit, which can enhance the antenna efficiency of the first satellite frequency band (e.g., L5 band) by adjusting the antenna efficiency of the second satellite frequency band (e.g., L1 band) or the antenna efficiency of the WI-FI band.

[0116] It is understandable that in some technologies, the antenna corresponding to the L1 frequency band and the antenna corresponding to the L5 / L2 frequency band are often relatively close, or the antenna corresponding to the L1 frequency band and the WI-FI antenna are on the same branch, and there are parasitics and correlations between the two antennas. The method provided in the embodiment of the present disclosure determines the antenna that needs to enhance efficiency (for example, the antenna corresponding to L5) based on factors such as the current positioning scenario and positioning performance parameters. That is, in the RF circuit provided in the embodiment of the present disclosure, the antenna efficiency of the antenna of the second satellite frequency band or the WI-FI antenna can be reduced by the fourth reconfigurable circuit to increase the antenna efficiency of the antenna of the first satellite frequency band (for example, the L5 frequency band).

[0117] In some embodiments, the antenna reconfiguration circuit includes a fifth reconfigurable circuit, which is connected to antennas corresponding to at least two satellite frequency bands, or the fifth reconfigurable circuit is connected to an antenna corresponding to at least one satellite frequency band and an antenna corresponding to a cellular network; the fifth reconfigurable circuit is used to ensure a balance in antenna efficiency among the multiple antennas connected to the fifth reconfigurable circuit.

[0118] For example, Figure 11 is a schematic diagram of a fifth reconfigurable circuit. As shown in Figure 11, based on Figure 9, the fifth reconfigurable circuit includes a switch module. For example, the switch module can be a two-input two-output switch or a three-input three-output switch.

[0119] As an example, as shown in FIG11 , if the terminal uses two frequency bands for positioning, the switch module of the fifth reconfigurable circuit can be connected to the antenna corresponding to the first satellite frequency band (e.g., the L2 / L5 frequency band) and the antenna corresponding to the second satellite frequency band (e.g., the L1 frequency band). In this case, the antenna corresponding to the first satellite frequency band and the antenna corresponding to the second satellite frequency band can be shared, that is, the first satellite frequency band and the second satellite frequency band can each use the antenna corresponding to the other. As another example, as shown in FIG12 , based on FIG11 , if the terminal uses two frequency bands for positioning, the switch module of the fifth reconfigurable circuit can also be connected to the antenna corresponding to the third satellite frequency band (e.g., the Ln frequency band) and the antenna corresponding to the cellular network. In this case, the antenna corresponding to the third satellite frequency band and the antenna corresponding to the cellular network can be shared, that is, the third satellite frequency band and the cellular network frequency band can each use the antenna corresponding to the other.

[0120] In some embodiments, the fifth reconfigurable circuit can also be connected to antennas corresponding to three satellite frequency bands. For example, Figure 13 is another schematic diagram of the fifth reconfigurable circuit. As shown in Figure 13, based on Figure 9, the fifth reconfigurable circuit includes a switch module, which is a three-input, three-output switch. As shown in Figure 13, if the terminal uses three frequency bands for positioning, the switch module of the fifth reconfigurable circuit can be connected to the antenna corresponding to the first satellite frequency band, the antenna corresponding to the second satellite frequency band, and the antenna corresponding to the third satellite frequency band, respectively. In this case, the first satellite frequency band, the second satellite frequency band, and the third satellite frequency band can each use the antenna corresponding to each other.

[0121] It can be understood that in the radio frequency circuit provided in the embodiment of the present disclosure, by ensuring a balance in antenna efficiency between multiple antennas, the antenna efficiency can be optimized and improved after combination during multi-frequency positioning, thereby improving positioning accuracy.

[0122] In some embodiments, in addition to the antenna reconstruction through hardware circuits as described above, the terminal can also achieve antenna reconstruction through software adjustment. As an example, the terminal can perform tuning control on multiple satellite frequency bands. For example, the L1 frequency band corresponds to tuning code CODE1, the L2 frequency band corresponds to tuning CODE2, and the L5 frequency band corresponds to tuning CODE3. When it is determined that L2 has a higher priority based on the preset positioning accuracy requirements, CODE2 is optimized and adjusted, and CODE1 and CODE3 may not be adjusted. Alternatively, if the performance of L1 or L3 is better than that of L2, the CODEs corresponding to L1 and L3 can also be adjusted for frequency deviation to reduce the efficiency ratio of L1 and L3, with L2 serving as the dominant positioning antenna.

[0123] As another example, the terminal can classify positioning accuracy into different CEP confidence levels, such as CEP20, CEP50, CEP68, CEP80, and CEP95. Each of the five levels corresponds to a different positioning accuracy or error. When calculating the multi-frequency positioning accuracy, the terminal independently calculates the positioning accuracy of the antenna in each frequency band, selects the antenna with high confidence and high positioning accuracy as the main receiving antenna through software, and refuses to include antennas with low confidence and poor positioning accuracy in the positioning accuracy calculation, or only uses them as auxiliary correction main positioning antennas to improve the positioning accuracy of multi-frequency positioning.

[0124] The non-terrestrial network 120 is used to provide communication services and navigation services to the terminal 110 .

[0125] For example, the non-terrestrial network 120 may be a satellite communication network, a high-altitude airship network, an unmanned aerial vehicle network, an aerostat network, etc. The present disclosure does not impose any particular limitation on the specific form of the non-terrestrial network 120. The satellite may be a non-geostationary Earth orbit (NGEO) satellite or a geostationary Earth orbit (GEO) satellite.

[0126] In some embodiments, the non-terrestrial network 120 may send a downlink signal to the terminal 110 after receiving information from the terminal 110, so that the terminal 110 determines its own position and positioning accuracy based on the downlink signal.

[0127] It should be noted that the above scenarios are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. Ordinary technicians in this field can know that with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0128] In communication systems, with the development of mobile communications and positioning technologies, terminal positioning services (such as satellite-based multi-frequency positioning) have become highly promising businesses. In satellite-based multi-frequency positioning technology, terminals simultaneously receive satellite signals at multiple frequencies. This technology leverages the atmospheric propagation characteristics of satellite signals of different frequencies, as well as information such as signal phase, to eliminate the impact of atmospheric delay on positioning accuracy and provide users with valuable positioning services. With increasing user demand and the continuous expansion of positioning scenarios, satellite-based multi-frequency positioning technology is a key issue facing current terminals with GPS positioning capabilities and a major pain point in lane-level navigation and indoor positioning.

[0129] However, due to conflicts between satellite signals on different frequency bands, insufficient satellite numbers, low carrier-to-noise ratios, and limitations on positioning scenarios, most current terminals with satellite positioning capabilities have poor positioning accuracy, failing to meet the precision requirements for applications with poor satellite signals. This leads to poor positioning accuracy, slow positioning times, drifting positioning trajectories, and even the inability to locate a position. This creates significant uncertainty for users in positioning, navigation, emergency rescue, scientific research, and mountaineering expeditions. Improving the positioning accuracy, shortening positioning times, and preventing drifting positioning trajectory when terminals perform multi-frequency positioning based on satellites are pressing challenges.

[0130] To address the above issues, see Figure 14, which is a flow chart of a satellite positioning method according to some embodiments. As shown in Figure 14, the satellite positioning method provided by the embodiment of the present disclosure is applied to a terminal, including: S101 to S103.

[0131] S101. Determine at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement.

[0132] Multi-frequency positioning parameters include positioning performance parameters for each of multiple satellite positioning systems in different frequency bands. For example, the positioning performance parameters include positioning performance parameters for each of multiple satellite positioning systems, such as GPS, GLONASS, Galileo, Beidou, QZSS, and IRNSS, in the L1, L2, L5, and L6 frequency bands, respectively.

[0133] In some embodiments, the positioning performance parameter includes at least one of the following: positioning accuracy, positioning track offset, first fix time, cold start time, hot start time, CNO, number of satellites, and positioning deviation.

[0134] In some embodiments, the positioning scenario includes at least one of the following: indoor space occlusion scenario, outdoor space occlusion scenario, stationary scenario, motion scenario, cellular network positioning scenario, wireless network positioning scenario, multi-satellite positioning scenario, multi-frequency positioning scenario, and scenarios with different positioning accuracy requirements.

[0135] In some embodiments, the terminal may determine the preset positioning accuracy requirement based on a user's selection. For example, the terminal may determine the preset positioning accuracy requirement by recognizing a user's voice command. Alternatively, the terminal may also determine the preset positioning accuracy requirement by recognizing a user's triggering operation on the terminal interface.

[0136] In some embodiments, the terminal may also identify the positioning scenario in which the terminal is located, and determine a preset positioning accuracy requirement based on the positioning scenario.

[0137] For example, if the terminal identifies the current positioning scenario as a driving scene on an elevated highway, the preset accuracy requirement is the lane-level positioning accuracy requirement. If the terminal identifies the current positioning scenario as a static and open scene, the preset accuracy requirement is lower. If the terminal identifies the current positioning scenario as a scene with no cellular signal or a poor base station signal, the preset accuracy requirement is relatively higher.

[0138] Exemplarily, the terminal can also identify the current positioning scenario through an application (APP). For example, if a navigation app is currently running on the terminal and the navigation app is in the normal navigation scenario, the terminal is in normal positioning mode, and the preset accuracy requirement may be 3 meters. If an indoor object search app is currently running on the terminal, the terminal is in ultra-high-precision positioning mode, and the preset accuracy requirement may be 0.5 meters.

[0139] It should be noted that the above examples are only some methods of determining the preset positioning accuracy requirements given in the embodiments of the present disclosure. In actual applications, the methods of determining the preset positioning accuracy requirements of the terminal may be different, and the embodiments of the present disclosure do not limit this.

[0140] S102: Determine a target adjustment strategy from a plurality of adjustment strategies applicable to a multi-frequency satellite positioning solution based on at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement.

[0141] In some embodiments, the target adjustment strategy includes at least one of the following:

[0142] Adjustment strategies that match the positioning scenario;

[0143] The adjustment strategy with the greatest correlation with multi-frequency positioning parameters;

[0144] Adjustment strategy that matches preset positioning accuracy requirements.

[0145] In some embodiments, different positioning scenarios correspond to different adjustment strategies, and the terminal can determine the adjustment strategy that matches the positioning scenario based on the positioning scenario. For example, if positioning scenario A is a tunnel scene, positioning scenario B is a canyon scene between buildings, positioning scenario C is a basement scene, positioning scenario D is a rainy or cloudy scene, and positioning scenario E is a high-speed elevated road, different adjustment strategies can be used for these specific scenarios. For example, if the signal attenuation of scenario A is large, the adjustment strategy can be to match the terminal with a satellite with stronger signal strength to calculate the positioning accuracy. Scenario D can adjust the timing of each frequency band participating in the positioning calculation when the terminal is positioning, and give priority to using the L5 frequency band for positioning.

[0146] It is understood that the method provided by the embodiments of the present disclosure can proactively invoke the adjustment strategy corresponding to a specific positioning scenario when the terminal is identified by determining the positioning scenario. At this point, the terminal no longer needs to collect and calculate positioning accuracy, that is, the terminal does not need to obtain and determine positioning accuracy in real time. Instead, the terminal directly determines the adjustment strategy based on the positioning scenario, thereby improving the real-time performance of positioning adjustments. When the positioning scenario switches, the terminal can adjust the strategy based on the corresponding positioning scenario that has been switched to, increasing the flexibility of the solution.

[0147] In some embodiments, the adjustment strategy with the greatest correlation with the multi-frequency positioning parameters means that, in different positioning situations, each parameter in the multi-frequency positioning parameters has a different impact on the positioning accuracy. The terminal can determine a set of multi-frequency positioning parameters to participate in the positioning of the terminal by determining the impact of each parameter in the multi-frequency positioning parameters on the positioning accuracy.

[0148] In some embodiments, different preset positioning accuracy requirements correspond to different adjustment strategies. Based on the preset positioning accuracy requirements, the terminal can determine an adjustment strategy that matches the preset positioning accuracy requirements. For example, the terminal can determine the frequency band combination, signal processing algorithm, and error correction method used for positioning based on the preset positioning accuracy requirements.

[0149] S103: Adjust the multi-frequency satellite positioning solution based on the target adjustment strategy.

[0150] In some embodiments, the terminal adjusts the multi-frequency satellite positioning solution based on the target adjustment strategy, and performs positioning based on the adjusted multi-frequency satellite positioning solution to determine the current position and positioning accuracy of the terminal.

[0151] It can be understood that the terminal determines the target adjustment strategy from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution based on the multi-frequency positioning parameters (including the positioning performance parameters of each satellite positioning system in multiple satellite positioning systems in different frequency bands), positioning scenarios and at least one of the preset positioning accuracy requirements, so that the terminal can flexibly determine the target adjustment strategy based on different positioning performance parameters, positioning scenarios and preset accuracy requirements, thereby enabling the terminal to maintain optimal positioning performance, improve the positioning accuracy of the terminal and shorten the positioning time of the terminal.

[0152] In addition, based on the target adjustment strategy, the terminal can dynamically adjust the multi-frequency satellite positioning solution in real time to ensure that the terminal can provide accurate positioning services in various situations (such as extreme, harsh or weak signal satellite scenarios), improve the terminal's positioning performance, and reduce positioning offset.

[0153] In some embodiments, as shown in FIG. 15 , the above-mentioned S102 may be implemented as: S201 - S202 .

[0154] S201: Obtain positioning accuracy of a multi-frequency satellite positioning solution.

[0155] As an example, the terminal can use simulation software or tools to perform simulation based on relevant parameters of the multi-frequency satellite positioning solution (such as multi-frequency positioning parameters) and positioning scenarios. By analyzing the simulation results, the estimated value of the terminal's current positioning accuracy can be determined.

[0156] As another example, the terminal may perform statistical analysis on existing multi-frequency satellite positioning data, extract relevant information about positioning accuracy from the existing multi-frequency satellite positioning data, and use statistical methods or signal processing technology to evaluate the positioning accuracy.

[0157] S202: When the positioning accuracy does not meet the preset positioning accuracy requirement, determine a target adjustment strategy from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution based on the multi-frequency positioning parameters and / or the positioning scenario.

[0158] In some embodiments, when positioning accuracy does not meet preset positioning accuracy requirements, determining a target adjustment strategy may require consideration of multiple factors, including multi-frequency positioning parameters and / or positioning scenarios. For example, the terminal may select an adjustment strategy that matches the positioning scenario or an adjustment strategy that is most correlated with the multi-frequency positioning parameters as the target adjustment strategy.

[0159] It can be understood that when the positioning accuracy does not meet the preset positioning accuracy requirements, the method provided in the embodiment of the present disclosure determines the target adjustment strategy from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution based on the multi-frequency positioning parameters and / or positioning scenarios. This can make the multi-frequency satellite positioning solution used by the terminal for positioning more widely applicable to the terminal's positioning scenarios and environmental conditions, thereby improving the terminal's positioning accuracy.

[0160] In addition, the target adjustment strategy can enhance the stability of positioning, making the positioning results more reliable and stable. Through a reasonable adjustment strategy, the positioning performance of the terminal can be improved without increasing too much hardware cost.

[0161] In some embodiments, the multi-frequency positioning parameters further include: an interference level value of a received satellite signal. The above S103 may be implemented, for example, as follows: determining the interference level value of the received satellite signal, and adjusting the signal strength of the received satellite signal based on the interference level value of the received satellite signal.

[0162] In some embodiments, the terminal includes one or more filters. When the interference level of a received satellite signal is less than or equal to a threshold, the terminal may control the received satellite signal to be transmitted without passing through the one or more filters. Alternatively, when the interference level of the satellite signal is greater than the threshold, the terminal may control the received satellite signal to be transmitted after passing through the one or more filters. For example, the threshold may be 0.8.

[0163] It is understandable that if the satellite signal is subject to weak interference, the noise of the satellite signal is small and does not need to pass through the first filter. However, in some technologies, the filter and low-noise amplifier in the terminal are relatively fixed (that is, the hardware components cannot be removed, and the transmission of the satellite signal cannot skip the filter), which may affect the signal strength of the satellite signal. Based on this, the method provided in the embodiment of the present disclosure can control whether the received satellite signal passes through one or more filters according to the degree of interference received by the satellite signal, which can reduce system insertion loss, improve the signal strength of the received satellite signal, and thus improve positioning accuracy.

[0164] In some embodiments, the terminal further includes a low noise amplifier. The terminal can adjust the input and output of the low noise amplifier based on the interference level value of the received satellite signal, thereby adjusting the signal strength of the received satellite signal.

[0165] It is understandable that to improve the sensitivity of received signals, a low-noise amplifier is generally configured in the terminal. However, in some technologies, the input and output of the low-noise amplifier are not adjustable, which may result in a large noise factor of the received satellite signal, thereby affecting positioning accuracy. In the method provided in the embodiments of the present disclosure, by adjusting the input and output of the low-noise amplifier, the input and output of the low-noise amplifier can be matched and harmonized. Based on the CNO of the satellite signal, the minimum noise factor is determined to achieve maximum gain and the highest positioning accuracy.

[0166] In some embodiments, the implementation of adjusting the signal strength of the received satellite signal based on the interference level value of the received satellite signal can refer to the description of the first reconfigurable circuit and the second reconfigurable circuit in the above-mentioned communication system, and the embodiments of the present disclosure will not be repeated here.

[0167] In some embodiments, the above S103 may be implemented as: adjusting the antenna efficiency and / or gain of antennas corresponding to different frequency bands based on the positioning scenario and / or positioning performance parameters.

[0168] In some embodiments, the terminal can adjust the antenna efficiency and / or gain of the antennas corresponding to different frequency bands to adjust the signal strength of satellite signals received in multiple satellite frequency bands. For example, if the current antenna gains of each satellite frequency band are L1>L2>L5, and the positioning accuracy requirement for each satellite frequency band is L1=L2=L5, the terminal can achieve antenna balance on each satellite frequency band by increasing the gains of L2 and L5.

[0169] In some embodiments, the terminal may further increase the antenna efficiency of the antenna of the first satellite frequency band (eg, L2 frequency band) by reducing the antenna efficiency of the antenna of the second satellite frequency band (eg, L1 frequency band) or the WI-FI antenna.

[0170] It is understandable that in some technologies, the antenna corresponding to the L1 frequency band and the antenna corresponding to the L5 / L2 frequency band are often relatively close, or the antenna corresponding to the L1 frequency band and the Wi-Fi antenna are on the same branch, and there are parasitic and correlation between the two antennas. The method provided in the embodiment of the present disclosure determines the antenna that needs to enhance efficiency (for example, the antenna corresponding to L5) based on factors such as the current positioning scenario and positioning performance parameters. That is, the method provided in the embodiment of the present disclosure can reduce the antenna efficiency of the antenna of the second satellite frequency band or the Wi-Fi antenna through the fourth reconfigurable circuit to increase the antenna efficiency of the antenna of the first satellite frequency band (for example, the L5 frequency band).

[0171] In some embodiments, the terminal may also achieve a balance in antenna efficiency among multiple antennas of the terminal based on positioning scenarios and / or positioning performance parameters.

[0172] It can be understood that the method provided by the embodiment of the present disclosure can optimize and improve the antenna efficiency after combining multiple antennas during multi-frequency positioning by ensuring a balance in antenna efficiency, thereby improving positioning accuracy.

[0173] In some embodiments, the above-mentioned implementation of adjusting the antenna efficiency and / or gain of antennas corresponding to different frequency bands based on positioning scenarios and / or positioning performance parameters can refer to the description of the third reconfigurable circuit, the fourth reconfigurable circuit and the fifth reconfigurable circuit in the above-mentioned communication system, and the embodiments of the present disclosure will not be repeated here.

[0174] In some embodiments, the above S103 can be implemented as follows: determining at least one positioning frequency band used in the multi-frequency satellite positioning solution according to at least one of the signal strength of the received satellite signal, the positioning scenario, and the preset positioning accuracy requirement.

[0175] In some embodiments, when the signal strength is within the first signal strength range, at least one positioning frequency band includes the first frequency band; when the signal strength is within the second signal strength range, at least one positioning frequency band includes the first frequency band and the second frequency band; when the signal strength is within the third signal strength range, at least one positioning frequency band includes the first frequency band, the second frequency band and the third frequency band.

[0176] The lower limit value of the first signal strength range is greater than or equal to the upper limit value of the second signal strength range, and the lower limit value of the second signal strength range is greater than or equal to the upper limit value of the third signal strength range.

[0177] Exemplarily, the first frequency band may be an L1 frequency band, the second frequency band may be an L2 frequency band, and the third frequency band may be an L5 frequency band.

[0178] Exemplarily, when the signal strength is within the first signal strength range, at least one positioning frequency band used by the terminal in the multi-frequency satellite positioning scheme may be the L1 frequency band, that is, the terminal can only perform single-frequency positioning at this time. When the signal strength is within the second signal strength range (that is, the signal is weak or complex), at least one positioning frequency band used by the terminal in the multi-frequency satellite positioning scheme may be the L1 frequency band and the L5 frequency band, that is, the terminal can use dual-frequency positioning when the signal is complex. When the signal strength is within the third signal strength range (that is, the signal is very poor), at least one positioning frequency band used by the terminal in the multi-frequency satellite positioning scheme may be the L1, L2, and L5 frequency bands.

[0179] It is understandable that in some technologies, when a terminal is performing positioning, the multi-frequency positioning function is generally not enabled, or all functions are enabled, wasting power. The method provided in the embodiments of the present disclosure can match the corresponding positioning frequency band based on the strength of the signal, thereby providing the terminal with multi-frequency positioning capabilities, improving the terminal's positioning accuracy while reducing the terminal's power consumption.

[0180] In some embodiments, when the positioning scenario is a first type of positioning scenario, at least one positioning frequency band includes a first frequency band; when the positioning scenario is a second type of positioning scenario, at least one positioning frequency band includes a first frequency band and a second frequency band; when the positioning scenario is a third type of positioning scenario, at least one positioning frequency band includes a first frequency band, a second frequency band and a third frequency band.

[0181] For example, the first type of positioning scenario can be a scenario with relatively good conditions, such as a wide, full-antenna scenario with strong signals. The second type of positioning scenario can be a scenario with relatively poor conditions, such as a half-sky scenario. The third type of positioning scenario can be a scenario with extremely poor conditions, such as a canyon scenario.

[0182] For example, taking the surrounding obstacles of the terminal as an example, if the terminal's positioning scenario is a full-antenna scenario, at least one positioning frequency band includes the L1 band, and the terminal uses single-band positioning. If the terminal's positioning scenario is a half-sky scenario, at least one positioning frequency band includes the L1 band and the L2 band, and the terminal uses dual-frequency positioning. If the terminal's positioning scenario is a canyon scenario, at least one positioning frequency band includes the L1, L2, and L5 bands, and the terminal uses triple-frequency positioning.

[0183] It can be understood that in the method provided in the embodiment of the present disclosure, the terminal can call different positioning frequency points to participate in the calculation of positioning accuracy based on different positioning scenarios, and can dynamically adjust the positioning accuracy of the terminal in real time to improve the positioning accuracy of the terminal in poor environments.

[0184] In addition, based on the method provided in the embodiment of the present disclosure, when the terminal is located in a situation where the positioning conditions are good, as few positioning frequencies as possible are matched to the terminal; when the terminal is located in a situation where the positioning conditions are poor, as many positioning frequencies as possible are matched to the terminal. This allows the terminal to flexibly select the positioning frequencies to participate in the positioning based on different positioning scenarios, thereby improving the flexibility of the solution while reducing the power consumption of the terminal.

[0185] In some embodiments, when the preset positioning accuracy requirement is within a first accuracy range, the at least one positioning frequency band includes the first frequency band; when the positioning accuracy requirement is within a second accuracy range, the at least one positioning frequency band includes the first frequency band and the second frequency band; when the positioning accuracy requirement is within a third accuracy range, the at least one positioning frequency band includes the first frequency band, the second frequency band, and the third frequency band;

[0186] The lower limit value of the first precision range is greater than or equal to the upper limit value of the second precision range, and the lower limit value of the second precision range is greater than or equal to the upper limit value of the third precision range.

[0187] For example, the first accuracy range may be 3-5 meters, the second accuracy range may be 1-3 meters, and the third accuracy range may be within 1 meter.

[0188] For example, if the preset positioning accuracy requirement is 3-5 meters, at least one positioning frequency band can be the L1 band, and the terminal uses single-band positioning. If the preset positioning accuracy requirement is 1-3 meters, at least one positioning frequency band includes the L1 band and the L5 band, or the L1 band and the L2 band, and the terminal uses dual-frequency positioning. If the preset positioning accuracy requirement is within 1 meter, at least one positioning frequency band includes the L1 band, the L2 band, and the L5 band, and the terminal uses multi-frequency positioning.

[0189] It should be noted that GPS signals in the L1 band, including the coarse / acquisition (C / A) codes, have lower positioning accuracy when used for positioning due to scrambling. GPS signals in the L2 band are stronger and slower, designed for use in more challenging environments. A GPS receiver first locates the L1 band signal and then uses information from the L2 band signal to improve positioning accuracy. GPS signals in the L5 band were developed for aviation safety. The L5 band is faster than the precise codes in the L1 and L2 bands, and has higher power and a lower frequency. When a terminal performs multi-frequency positioning, the L5 band can significantly improve positioning accuracy. By using two to four frequency bands, a terminal can minimize errors caused by the ionosphere. Using signals in multiple frequency bands also increases signal availability. Some positioning systems can further improve positioning accuracy by using correction data provided by signals in multiple frequency bands.

[0190] It is understandable that to achieve higher positioning accuracy, the terminal's receiver needs to receive signals from as many satellites as possible. In the method provided in the embodiments of this disclosure, the terminal selects different positioning frequencies for positioning based on different preset positioning accuracy requirements. When the preset positioning accuracy requirement is higher, multi-frequency positioning can be used to receive signals from as many satellites as possible, thereby improving the terminal's positioning accuracy.

[0191] In some embodiments, the above S103 can be implemented as follows: based on the signal quality of each frequency band in the multiple frequency bands participating in multi-frequency satellite positioning, adjusting the positioning order of each frequency band participating in multi-frequency satellite positioning; or, based on the preset positioning accuracy requirements, determining the time point for the terminal to perform multi-frequency satellite positioning.

[0192] In some embodiments, the order in which each frequency band participates in multi-frequency satellite positioning is adjusted based on the signal quality of each frequency band. For example, this can be implemented by evaluating the signal quality of each frequency band and sequentially invoking each frequency band for multi-frequency satellite positioning in descending order of signal quality. In other words, the terminal prioritizes frequency bands with stronger signal quality earlier in the positioning order, and achieves higher positioning accuracy through multi-frequency differential correction.

[0193] It is understandable that the positioning order in some technologies is usually L1 band first, that is, after the signal demodulation on the L1 band is completed, the signal on the L5 band is demodulated. When the terminal has a need for high-precision positioning, the L2 band is called and the signal on the L2 band is demodulated. It can be seen that in some technologies, the signals on different frequency bands are not involved in demodulation and positioning at the same time, and the priority of different frequency bands participating in positioning is not considered during positioning, which leads to a large error in the positioning accuracy of the terminal. In the method provided in the embodiment of the present disclosure, by advancing the positioning order of the frequency band with strong signal quality, the priority of the frequency band with strong signal quality can be advanced, so that the terminal is positioned based on the satellite signal with strong signal quality, thereby improving the positioning accuracy of the terminal.

[0194] In some embodiments, the terminal can determine the time point for the terminal to perform multi-frequency satellite positioning based on the preset positioning accuracy requirement, that is, the terminal can readjust the time point for each frequency band in multiple frequency bands to participate in the positioning calculation based on the preset positioning accuracy requirement, and wait for the multi-frequency signals to be demodulated and stabilized before starting to calculate the positioning accuracy.

[0195] In some embodiments, the terminal can also eliminate error sources (such as atmospheric delay and multipath interference) by measuring the carrier phase difference of two, three or more GPS positioning frequency bands, and use small changes in the carrier phase difference to calculate the distance difference between the terminal and the satellite, thereby obtaining higher positioning accuracy through multi-frequency differential correction.

[0196] It is understandable that in some technologies, the time point for calculating positioning accuracy is often random, that is, when the number of satellites that meet the preset signal strength meets the requirement, the terminal starts calculating the positioning accuracy. However, at this time, often only the signal on the L1 frequency band is involved in the calculation of positioning accuracy, and the terminal has not yet used the signals on the L2 frequency band and the L5 frequency band, which may cause errors in the calculation of positioning accuracy. The method provided in the embodiment of the present disclosure, by re-adjusting the time point at which each frequency band in multiple frequency bands participates in the calculation, and waiting for the multi-frequency signals to be demodulated and stabilized before starting the calculation of positioning accuracy, can enable the terminal to calculate the positioning accuracy based on the signals on different frequency bands, thereby improving the positioning accuracy of the terminal.

[0197] It is understandable that in some technologies, the satellite-based multi-frequency positioning solutions are often the default algorithm, using traditional mechanisms, that is, they cannot perform adaptive adjustment of multi-frequency positioning according to the positioning scenario, the performance requirements of terminal positioning, the terminal's usage location, posture, the conductive performance of the terminal front-end link, the radiation characteristics of the terminal antenna, satellite quality, etc., resulting in poor positioning accuracy. The method provided in the embodiment of the present disclosure comprehensively considers the positioning scenario, the performance requirements of terminal positioning, the terminal's usage location, posture, the conductive performance of the terminal front-end link, the radiation characteristics of the terminal antenna, satellite quality, and other factors to adaptively adjust the satellite's multi-frequency positioning, which can effectively improve the terminal's positioning accuracy, shorten the terminal's positioning time, and reduce the terminal's positioning drift.

[0198] Referring to Figure 16, Figure 16 is a flow chart of a satellite positioning method according to some embodiments. As shown in Figure 16, the satellite positioning method provided by the embodiment of the present disclosure is applied to a terminal, and includes: S301 to S304.

[0199] S301: Determine the signal strength of each satellite in a first satellite set.

[0200] In some embodiments, the first set of satellites may be a set of satellites on multiple satellite frequency bands.

[0201] S302: Based on the signal strength of each satellite in the first satellite set, select satellites with signal strength greater than a threshold from the first satellite set to form a second satellite set.

[0202] Exemplarily, if the terminal needs to perform high-precision positioning, the threshold value may be CN0 = 35dB-Hz, that is, the signal strength of each satellite in the second satellite set is greater than 35dB-Hz; if the terminal needs to perform sub-meter or centimeter-level positioning, the threshold value may be CN0 = 40dB-Hz, that is, the signal strength of each satellite in the second satellite set is greater than 40dB-Hz.

[0203] It should be noted that the carrier frequency of the L1 band is approximately 1575.42 MHz, while the carrier frequency of the L5 band is approximately 1176.45 MHz. The wavelength of the L5 band is longer, and the free-space attenuation is lower. Therefore, under the same conditions, the power of the L5 band signal reaching the ground is higher. The power of the L5 band signal is 6 dB higher than that of the L1 band signal, which means that the power of the L5 band signal is approximately four times that of the L1 band signal.

[0204] S303: Determine a positioning attribute parameter of each satellite in the second satellite set, and select at least one satellite for positioning from the second satellite set based on the positioning attribute parameter of each satellite in the second satellite set.

[0205] Positioning attribute parameters include frequency and satellite positioning system.

[0206] In some embodiments, the terminal may filter out satellites corresponding to frequencies with poor positioning accuracy, and determine satellites corresponding to frequencies that meet preset positioning accuracy requirements (or select frequencies with high comprehensive performance) as at least one satellite for positioning.

[0207] It is understandable that due to the differences in frequency characteristics and positioning algorithms, different frequencies have a greater impact on the positioning precision and accuracy of the terminal. When the terminal is positioning, it is necessary to select a frequency with high comprehensive performance as the final frequency involved in terminal positioning.

[0208] In some embodiments, the terminal may filter out satellite positioning systems with poor positioning accuracy, determine satellites corresponding to satellite systems that meet preset positioning accuracy requirements as target satellites, and include them in the terminal's positioning calculation.

[0209] It should be noted that multiple satellite positioning systems can often be used in the same frequency band. For example, GPS uses the L1, L2, and L5 bands; BDS uses the B1I, B2I, B3I, B1C, B2a, and B2b bands; GLONASS uses the L1, L2, and L3 bands; GALILEO uses the E1, E5a, E5b, and E6 bands; QZSS uses the L1, L2, L5, and L6 bands; and IRNSS uses the L1 and L5 bands.

[0210] In some embodiments, the positioning attribute parameters further include: a weighting parameter, where the weighting parameter is used to characterize the anti-interference performance of the satellite signal.

[0211] Understandably, when performing positioning, a terminal may experience both internal and external interference. For example, interference factors include interference and glitches from other spectrums, intermodulation and harmonic characteristics, multipath effects, and ionospheric penetration. Current GPS positioning is often based on base station-assisted Assisted Global Positioning System (AGPS). Multiple signals (such as Global System for Mobile Communications, Wideband Code Division Multiple Access, Code Division Multiple Access, Long Term Evolution, New Radio, Wi-Fi, and Bluetooth) may operate simultaneously. Regardless of whether the cellular signal is idle or connected / traffic, these signals may affect GPS positioning. For high-precision positioning, the terminal needs to select GPS satellite frequencies with high interference immunity and relatively clean signal quality as the calculation frequency for final positioning accuracy. The C / A code length for the L1 band is 1023 pulses (chips) with a symbol rate of 1.023 MHz; the code length for the L5 band is 10230 chips with a symbol rate of 10.23 MHz. A tenfold increase in both the symbol period and symbol rate provides greater resistance to frequency-selective fading caused by multipath. From the perspective of single-satellite ranging error, the L5 band achieves ranging accuracy of 30 meters, while the C / A ratio of the L1 band is only 300 meters. Therefore, the L5 band improves position resolution accuracy. After foreseeing and collecting the aforementioned weighting parameters, when the terminal turns on a cellular or wireless module, detects interference from nearby obstacles causing multipath, or detects ionospheric obstruction due to cloudy or rainy weather, these weighting parameters are taken into account. These weighting parameters are then incorporated into satellite selection and final positioning calculations, improving the terminal's positioning accuracy.

[0212] S304: Perform positioning based on a satellite signal of at least one satellite.

[0213] It is understandable that the positioning accuracy of the terminal depends on factors such as the signal strength CN0 of the received satellite, the number of satellites that can demodulate the ephemeris, the stability of the demodulated satellite, the resistance to multipath effects, the resistance to ionospheric influences, and the terminal's own anti-interference ability. In some technologies, the terminal often does not screen the above factors when performing positioning, so the positioning accuracy is poor. In the method provided by the embodiment of the present disclosure, the terminal analyzes and screens the signal quality of the satellite (such as the signal strength of the satellite), filters out satellites that do not meet the requirements, and only retains at least one satellite that meets the conditions to participate in the positioning calculation (for example, the satellite signal of the satellite with the strongest signal strength is selected to participate in the terminal's positioning), which can improve the positioning accuracy and stability of the terminal.

[0214] The above mainly introduces the solution of the embodiment of the present disclosure from the perspective of method. It can be understood that in order to realize the above functions, the satellite positioning device includes at least one of the hardware structure and software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed herein, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiment of the present disclosure.

[0215] It is understandable that, in order to realize the above functions, the satellite positioning device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0216] The embodiments of the present disclosure can divide the functional modules of the positioning device according to the above-mentioned method embodiments. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one functional module. The above-mentioned integrated modules can be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. In actual implementation, other division methods can be used. The following is an example of dividing each functional module according to each function.

[0217] FIG17 is a schematic diagram of the structure of a satellite positioning device according to some embodiments. The satellite positioning device 300 is applied to a terminal and can execute the satellite positioning method provided by the above method embodiment. As shown in FIG17 , the satellite positioning device 300 includes: a determination module 301 and an adjustment module 302;

[0218] A determination module 301 is configured to determine at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement, wherein the multi-frequency positioning parameter includes positioning performance parameters of each satellite positioning system in different frequency bands of multiple satellite positioning systems;

[0219] The determination module 301 is further configured to determine a target adjustment strategy from a plurality of adjustment strategies applicable to the multi-frequency satellite positioning solution based on at least one of the multi-frequency positioning parameters, the positioning scenario, and a preset positioning accuracy requirement;

[0220] The adjustment module 302 is configured to adjust the multi-frequency satellite positioning solution based on the target adjustment strategy.

[0221] In some embodiments, the positioning performance parameter includes at least one of the following: positioning accuracy, positioning trajectory offset, first fix time, cold start time, hot start time, and carrier-to-noise ratio CNO.

[0222] In some embodiments, the positioning scenario includes at least one of the following: indoor space occlusion scenario, outdoor space occlusion scenario, stationary scenario, motion scenario, cellular network positioning scenario, wireless network positioning scenario, multi-satellite positioning scenario, multi-frequency positioning scenario, and scenarios with different positioning accuracy requirements.

[0223] In some embodiments, the target adjustment strategy includes at least one of the following:

[0224] Adjustment strategies that match the positioning scenario;

[0225] The adjustment strategy with the greatest correlation with multi-frequency positioning parameters;

[0226] Adjustment strategy that matches preset positioning accuracy requirements.

[0227] In some embodiments, the adjustment module 302 is configured to determine at least one positioning frequency band used in the multi-frequency satellite positioning solution according to at least one of the signal strength of the received satellite signal, the positioning scenario, and a preset positioning accuracy requirement.

[0228] In some embodiments, the adjustment module 302 is used to adjust the positioning order of each frequency band participating in the multi-frequency satellite positioning based on the signal quality of each frequency band in the multiple frequency bands participating in the multi-frequency satellite positioning; or, based on the preset positioning accuracy requirement, determine the time point when the terminal performs multi-frequency satellite positioning.

[0229] In some embodiments, the adjustment module 302 is configured to evaluate the signal quality on each frequency band; and sequentially call each frequency band to participate in multi-frequency satellite positioning in order of signal quality from strong to weak.

[0230] In some embodiments, the terminal includes a radio frequency circuit; the radio frequency circuit includes radio frequency sub-circuits corresponding to multiple satellite frequency bands; the radio frequency sub-circuit includes: an antenna, a first filter, a low-noise amplifier, a second filter and a receiver connected in sequence; the radio frequency sub-circuit also includes a first reconfigurable circuit, and the first reconfigurable circuit is used to control whether the satellite signal received by the antenna passes through the first filter and / or the second filter during transmission to the receiver.

[0231] In some embodiments, the first reconfigurable circuit is used to control the satellite signal received by the antenna to be transmitted to the receiver without passing through the first filter and / or the second filter when the interference level value of the satellite signal is less than or equal to a threshold; or, when the interference level value of the satellite signal is greater than the threshold, control the satellite signal received by the antenna to be transmitted to the receiver after passing through the first filter and / or the second filter.

[0232] In some embodiments, the low noise amplifier is a gain-variable low noise amplifier, and the radio frequency sub-circuit further includes a second reconfigurable circuit, which is connected to the output and input ends of the low noise amplifier, and the second reconfigurable circuit is used to adjust the input and output of the low noise amplifier.

[0233] In some embodiments, the RF circuit further includes an antenna reconstruction circuit, which is used to adjust the antenna efficiency and / or gain of antennas corresponding to each of the multiple satellite frequency bands to adjust the signal strength of the received satellite signals of the multiple satellite frequency bands.

[0234] In some embodiments, the antenna reconfiguration circuit includes a third reconfigurable circuit connected to antennas in radio frequency sub-circuits corresponding to respective ones of the plurality of satellite frequency bands, and the third reconfigurable circuit is used to adjust the gain of the antennas in the radio frequency sub-circuit.

[0235] In some embodiments, the antenna reconstruction circuit includes a fourth reconfigurable circuit, which is connected to the antenna of the first satellite frequency band and also connected to the antenna of the second satellite frequency band or the WI-FI antenna. The fourth reconfigurable circuit is used to increase the antenna efficiency of the antenna of the first satellite frequency band by reducing the antenna efficiency of the antenna of the second satellite frequency band or the WI-FI antenna.

[0236] In some embodiments, the antenna reconfiguration circuit includes a fifth reconfigurable circuit, which is connected to antennas corresponding to at least two satellite frequency bands, or the fifth reconfigurable circuit is connected to an antenna corresponding to at least one satellite frequency band and an antenna corresponding to a cellular network; the fifth reconfigurable circuit is used to ensure a balance in antenna efficiency among the multiple antennas connected to the fifth reconfigurable circuit.

[0237] In some embodiments, the determination module 301 is used to obtain the positioning accuracy of the multi-frequency satellite positioning solution; when the positioning accuracy does not meet the preset positioning accuracy requirements, based on the multi-frequency positioning parameters and / or positioning scenarios, determine the target adjustment strategy from multiple adjustment strategies applicable to the multi-frequency satellite positioning solution.

[0238] In some embodiments, the determination module 301 is further configured to determine a preset positioning accuracy requirement according to a positioning scenario.

[0239] In the case of implementing the functions of the above-mentioned integrated modules in hardware, the embodiments of the present disclosure provide a structure of the communication device involved in the above-mentioned embodiments. As shown in Figure 18, the communication device 400 includes: a processor 402 and a bus 404. In some embodiments, the communication device 400 may also include a memory 401; in some embodiments, the communication device 400 may also include a communication interface 403.

[0240] Processor 402 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. Processor 402 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Processor 402 may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. Processor 402 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0241] The communication interface 403 is used to connect to other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0242] The memory 401 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0243] As an implementation, the memory 401 can exist independently of the processor 402. The memory 401 can be connected to the processor 402 via a bus 404 to store instructions or program codes. When the processor 402 calls and executes the instructions or program codes stored in the memory 401, the satellite positioning method provided in the embodiment of the present disclosure can be implemented.

[0244] In another implementation, memory 401 may be integrated with processor 402. Bus 404 may be an Extended Industry Standard Architecture (EISA) bus, for example. Bus 404 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, FIG18 shows only one thick line, but this does not imply that there is only one bus or only one type of bus.

[0245] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which stores computer program instructions. When the computer program instructions are executed on a computer, the computer executes a satellite positioning method as described in any of the above embodiments.

[0246] For example, the computer-readable storage media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memories (EPROMs), cards, sticks, or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0247] An embodiment of the present disclosure provides a computer program product comprising instructions. When the computer program product is run on a computer, the computer is enabled to execute the satellite positioning method of any one of the above embodiments.

[0248] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or replacements within the technical scope disclosed in the present disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. A satellite positioning method, wherein: The method is performed by a terminal, and the method includes: determining at least one of a multi-frequency positioning parameter, a positioning scenario, and a preset positioning accuracy requirement, wherein the multi-frequency positioning parameter includes positioning performance parameters of each satellite positioning system in different frequency bands of a plurality of satellite positioning systems; Determining a target adjustment strategy from a plurality of adjustment strategies applicable to a multi-frequency satellite positioning solution based on at least one of the multi-frequency positioning parameter, the positioning scenario, and the preset positioning accuracy requirement; Based on the target adjustment strategy, the multi-frequency satellite positioning solution is adjusted.

2. The method according to claim 1, wherein The positioning performance parameters include at least one of the following: positioning accuracy, positioning trajectory offset, first fix time, cold start time, hot start time, and carrier-to-noise ratio CNO.

3. The method according to claim 1, wherein The positioning scenarios include at least one of the following: indoor space occlusion scenario, outdoor space occlusion scenario, stationary scenario, motion scenario, cellular network positioning scenario, wireless network positioning scenario, multi-satellite positioning scenario, multi-frequency positioning scenario, and scenarios with different positioning accuracy requirements.

4. The method according to claim 1, wherein The target adjustment strategy includes at least one of the following: An adjustment strategy that matches the positioning scenario; an adjustment strategy having the greatest correlation with the multi-frequency positioning parameter; An adjustment strategy that matches the preset positioning accuracy requirement.

5. The method according to claim 1, wherein The adjusting the multi-frequency satellite positioning solution based on the target adjustment strategy includes: At least one positioning frequency band used in the multi-frequency satellite positioning solution is determined according to at least one of the signal strength of the received satellite signal, the positioning scenario, and the preset positioning accuracy requirement.

6. The method according to claim 1, wherein The adjusting the multi-frequency satellite positioning solution based on the target adjustment strategy includes: Adjusting the positioning order of each frequency band participating in the multi-frequency satellite positioning based on the signal quality of each frequency band in the multiple frequency bands participating in the multi-frequency satellite positioning; or Based on the preset positioning accuracy requirement, a time point at which the terminal performs the multi-frequency satellite positioning is determined.

7. The method according to claim 6, wherein: The adjusting, based on the signal quality of each frequency band in the plurality of frequency bands participating in the multi-frequency satellite positioning, the positioning order of each frequency band participating in the multi-frequency satellite positioning includes: evaluating signal quality on each of the frequency bands; In order of the signal quality from strong to weak, each frequency band is called in turn to participate in the multi-frequency satellite positioning.

8. The method according to claim 1, wherein The multi-frequency positioning parameters also include: interference level values ​​of received satellite signals; The adjusting the multi-frequency satellite positioning solution based on the target adjustment strategy includes: Determining an interference level value of the received satellite signal; Based on the interference level value of the received satellite signal, the signal strength of the received satellite signal is adjusted.

9. The method according to claim 1, wherein The adjusting the multi-frequency satellite positioning solution based on the target adjustment strategy includes: Based on the positioning scenario and / or the positioning performance parameter, the antenna efficiency and / or gain of the antennas corresponding to the different frequency bands are adjusted.

10. The method according to claim 1, wherein The determining a target adjustment strategy from a plurality of adjustment strategies applicable to a satellite positioning solution based on at least one of the multi-frequency positioning parameter, the positioning scenario, and the preset positioning accuracy requirement includes: Obtaining the positioning accuracy of the multi-frequency satellite positioning solution; When the positioning accuracy does not meet the preset positioning accuracy requirement, a target adjustment strategy is determined from a plurality of adjustment strategies applicable to a multi-frequency satellite positioning solution based on the multi-frequency positioning parameters and / or positioning scenario.

11. The method according to claim 1 , further comprising: determining a signal strength for each satellite in the first set of satellites; Based on the signal strength of each satellite in the first satellite set, selecting satellites with signal strength greater than a threshold from the first satellite set to form a second satellite set; determining a positioning attribute parameter of each satellite in the second satellite set, and selecting at least one satellite from the second satellite set for positioning based on the positioning attribute parameter of each satellite in the second satellite set, wherein the positioning attribute parameter includes a frequency and a satellite positioning system to which the satellite belongs; Positioning is performed based on a signal from the at least one satellite.

12. The method according to claim 11, wherein The positioning attribute parameters also include: weighting parameters, which are used to characterize the anti-interference performance of satellite signals.

13. The method according to claim 1, further comprising: The preset positioning accuracy requirement is determined according to the positioning scenario.

14. An electronic device comprising: a processor and a memory for storing instructions executable by the processor; The processor is configured to execute the instructions so that the electronic device performs the method according to any one of claims 1 to 13.

15. A computer-readable storage medium, wherein: The computer-readable storage medium stores computer instructions for executing the method according to any one of claims 1 to 13.

16. A radio frequency circuit, wherein: The radio frequency circuit is used to adjust the multi-frequency satellite positioning scheme based on a target adjustment strategy; the target adjustment strategy is determined from multiple adjustment strategies applicable to the multi-frequency satellite positioning scheme based on at least one of the multi-frequency positioning parameters, the positioning scenario, and the preset positioning accuracy requirements; the multi-frequency positioning parameters include the positioning performance parameters of each satellite positioning system in different frequency bands among the multiple satellite positioning systems.

17. The radio frequency circuit according to claim 16, wherein: The RF circuit includes RF sub-circuits corresponding to multiple satellite frequency bands; the RF sub-circuit includes: an antenna, a first filter, a low-noise amplifier, a second filter and a receiver connected in sequence; the RF sub-circuit also includes a first reconfigurable circuit, which is used to control whether the satellite signal received by the antenna passes through the first filter and / or the second filter during transmission to the receiver based on the interference level value of the satellite signal received by the antenna.

18. The radio frequency circuit according to claim 17, wherein: The first reconfigurable circuit is specifically used to control the satellite signal received by the antenna to be transmitted to the receiver without passing through the first filter and / or the second filter when the interference level value of the satellite signal is less than or equal to a threshold; or to control the satellite signal received by the antenna to be transmitted to the receiver after passing through the first filter and / or the second filter when the interference level value of the satellite signal is greater than the threshold.

19. The radio frequency circuit according to claim 17, wherein: The low-noise amplifier is a low-noise amplifier with variable gain. The radio frequency sub-circuit also includes a second reconfigurable circuit, which is connected to the output and input ends of the low-noise amplifier. The second reconfigurable circuit is used to adjust the input and output of the low-noise amplifier based on the interference level value of the satellite signal received by the antenna.

20. The radio frequency circuit according to claim 17, wherein: The radio frequency circuit also includes an antenna reconstruction circuit, which is used to adjust the antenna efficiency and / or gain of the antennas corresponding to the different frequency bands based on the positioning scenario and / or the positioning performance parameters to adjust the signal strength of the satellite signals received in the multiple satellite frequency bands.

21. The radio frequency circuit according to claim 20, wherein: The antenna reconfiguration circuit includes a third reconfigurable circuit, which is connected to the antennas in the radio frequency sub-circuits corresponding to the different frequency bands. The third reconfigurable circuit is used to adjust the gain of the antennas in the radio frequency sub-circuits.

22. The radio frequency circuit according to claim 20, wherein: The antenna reconstruction circuit includes a fourth reconfigurable circuit, which is connected to the antenna of the first satellite frequency band and also connected to the antenna of the second satellite frequency band or the wireless fidelity WI-FI antenna. The fourth reconfigurable circuit is used to increase the antenna efficiency of the antenna of the first satellite frequency band by reducing the antenna efficiency of the antenna of the second satellite frequency band or the WI-FI antenna.

23. The radio frequency circuit according to claim 20, wherein: The antenna reconfiguration circuit includes a fifth reconfigurable circuit, which is connected to antennas corresponding to at least two satellite frequency bands, or connected to an antenna corresponding to at least one satellite frequency band and an antenna corresponding to a cellular network; the fifth reconfigurable circuit is used to ensure that the antenna efficiency of the multiple antennas connected to the fifth reconfigurable circuit is balanced.

24. A terminal comprising the radio frequency circuit according to any one of claims 16 to 23.

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