Method and apparatus for satellite-ground collaborative high-precision positioning, device, and storage medium

Abstract

A method and apparatus for satellite-ground collaborative high-precision positioning, a device, and a storage medium. The method comprises: receiving first observation data from ground-based reference stations in a target area, and performing parsing calculation on the first observation data to generate atmospheric correction data (S101); receiving second observation data from ground-based reference stations in a global wide area, and performing parsing calculation on the second observation data to generate precise correction data (S102); performing encoding and encryption on both the atmospheric correction data and the precise correction data, and compressing the encoded and encrypted atmospheric correction data and precise correction data to obtain first correction data and second correction data (S103); and broadcasting, by means of a communication satellite, the first correction data and the second correction data at a first period and a second period respectively, so that a target navigation satellite receives the first correction data and the second correction data for parsing, thereby enabling the target navigation satellite to determine the current position thereof (S104).

Description

A method, apparatus, equipment, and storage medium for high-precision positioning via satellite-ground coordination. Technical Field

[0001] This invention relates to the field of navigation and positioning technology, and in particular to a method, apparatus, device, and storage medium for high-precision positioning using a satellite-ground cooperative system. Background Technology

[0002] Currently, real-time kinematic (RTK) positioning services based on ground-based augmentation systems (GBAS) have been widely used in transportation, power and other fields in China. GBAS requires the establishment of a certain number of ground reference stations in specific areas and the transmission of positioning information through mobile communication. However, many railways and power lines in China are still located in remote mountainous areas, where public network signals are difficult to fully cover, making it difficult to realize the above technology.

[0003] To address the challenge of high-precision positioning in complex environments, domestic and international experts have proposed a positioning technology based on Satellite-Based Augmentation System (SBAS). SBAS utilizes a small number of globally distributed ground monitoring stations to continuously track and observe Global Navigation Satellite System (GNSS) satellites, processing the data to generate differential corrections and integrity information, which are then broadcast via geostationary orbit communication satellites. However, the corrections generated by this technology still suffer from a long convergence time (30 minutes) when used for centimeter-level high-precision positioning. Furthermore, due to limitations in communication resources of communication satellites in complex environments, it is impossible to uniformly broadcast large amounts of data in real time, and real-time broadcasting requires significant costs, resulting in low applicability.

[0004] Currently, there is an urgent need for a method that can improve the applicability, efficiency, and accuracy of satellite-ground cooperative positioning. Summary of the Invention

[0005] This invention provides a method, apparatus, device, and storage medium for high-precision positioning via satellite-ground collaboration, in order to solve the technical problem that existing technologies cannot independently support rapid and high-precision positioning in complex environments.

[0006] To address the aforementioned technical problems, embodiments of the present invention provide a method for high-precision positioning via satellite-ground coordination, comprising:

[0007] Receive the first observation data from ground reference stations within the target area, and perform analytical calculations on the first observation data to generate atmospheric corrections;

[0008] Receive second observation data from ground reference stations across a wide global area, and perform analytical calculations on the second observation data to generate precise corrections;

[0009] Both the atmospheric correction and the precise correction are encoded and encrypted, and the encoded and encrypted atmospheric correction and precise data are compressed to obtain the first correction and the second correction.

[0010] The first correction number and the second correction number are broadcast via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite can receive the first correction number and the second correction number, analyze them, and thus determine its current position.

[0011] As a preferred embodiment, the step of receiving first observation data from ground reference stations within the target area and analyzing and calculating the first observation data to generate atmospheric corrections specifically includes:

[0012] Receive the first observation data of the target navigation satellite from the ground reference station in the target area, and preprocess the first observation data;

[0013] The preprocessed first observation data is analyzed and calculated to generate the overall atmospheric correction for the target area;

[0014] The atmospheric correction is divided into grids to obtain the atmospheric correction for each grid within the target area.

[0015] As a preferred embodiment, the coordinates of each grid within the target area are:

[0016] Where N = m·n, N is the total number of region grids, and m and n are X and X, respectively. step and Y step First coefficient and second coefficient, X step Y represents the longitude of the center point of the target area. step X represents the latitude of the center point of the target area. min X is the minimum longitude of the region grid. max Y represents the maximum longitude of the regional grid. min Y is the minimum latitude of the region grid. max This represents the maximum latitude of the regional grid.

[0017] As a preferred embodiment, the step of receiving second observation data from global wide-area ground reference stations and performing analytical calculations on the second observation data to generate precise corrections specifically includes:

[0018] Receives secondary observation data for each navigation satellite from all ground reference stations within a wide global area;

[0019] Based on the attributes of each navigation satellite, the second observation data is analyzed and calculated to generate a precise correction number for each navigation satellite.

[0020] As a preferred embodiment, the process of encoding and encrypting both the atmospheric correction and the precise correction, and then compressing the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction, specifically includes:

[0021] Both the atmospheric corrections and the precision corrections are uniformly coded; wherein, the atmospheric corrections include: ionospheric delay error and tropospheric delay error, and the precision corrections include: precision orbital corrections, precision clock error corrections, and phase fractional deviation corrections;

[0022] The ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction, all after being uniformly coded, are encrypted. Based on a preset compression ratio, the encrypted ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction are all compressed to obtain a first correction number that includes the compressed ionospheric delay error and tropospheric delay error, and a second correction number that includes the precise orbit correction, precise clock error correction, and phase decimal deviation correction obtained after encryption and compression.

[0023] As a preferred embodiment, the step of broadcasting the first correction and the second correction via a communication satellite at a first period and a second period, respectively, specifically includes:

[0024] Using a communication satellite, with the precision orbit correction in the second correction as a reference, the broadcasting period of the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction is set as the second period, and the broadcasting period of the precision clock error correction and phase fractional deviation correction in the first correction is set.

[0025] The first cycle includes the broadcasting cycle of the precise clock error correction and the phase decimal deviation correction; the second cycle includes the broadcasting cycle of the precise orbit correction, the precise clock error correction, and the phase decimal deviation correction; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are the same; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are different from those of the phase decimal deviation correction; and the broadcasting cycles of the precise clock error correction and the phase decimal deviation correction are the same.

[0026] Based on the broadcasting cycles of the precision orbit correction, precision clock error correction, and phase fractional deviation correction, as well as the broadcasting cycles of the precision clock error correction and phase fractional deviation correction, the precision clock error correction and phase fractional deviation correction in the first correction number, and the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction number are broadcast via communication satellite.

[0027] As a preferred embodiment, the relationship between the data size of the first and second corrections and the satellite bandwidth when broadcasting via communication satellite is as follows:

[0028] Where P is the transmission bandwidth of the communication satellite, L is the preset compression ratio, T1 is the broadcasting period based on the precision orbit correction, d1 is the total amount of atmospheric correction data in the target area, d2 is the total amount of precision orbit correction data, d3 is the total amount of precision clock error correction data, and d4 is the total amount of phase fractional deviation correction data.

[0029] Accordingly, the present invention also provides a device for high-precision positioning via satellite-ground coordination, comprising: a regional atmospheric correction generation module, a precision data generation module, a data encoding module, and a data broadcasting module;

[0030] The regional atmospheric correction generation module is used to receive the first observation data from the ground reference station in the target area, and to analyze and calculate the first observation data to generate atmospheric corrections.

[0031] The precision data generation module is used to receive second observation data from ground reference stations in a wide global area, and to analyze and calculate the second observation data to generate precision correction numbers.

[0032] The data encoding module is used to encode and encrypt both the atmospheric correction and the precise correction, and to compress the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction.

[0033] The data broadcasting module is used to broadcast the first correction number and the second correction number via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite can receive the first correction number and the second correction number and then parse them, thereby determining its current position.

[0034] Accordingly, the present invention also provides a terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the satellite-ground cooperative high-precision positioning method as described in any of the above.

[0035] Accordingly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the satellite-ground cooperative high-precision positioning method as described above.

[0036] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0037] The technical solution of this invention generates atmospheric corrections by receiving first observation data from ground reference stations within the target area, and generates precise corrections by receiving second observation data from ground reference stations across a wide global area. Both atmospheric and precise corrections are then encoded, encrypted, and compressed, and broadcast via communication satellites at first and second cycles respectively. This achieves satellite positioning of the ground by combining and broadcasting the first and second corrections. Furthermore, broadcasting corrections with different importance and characteristics at different cycles optimizes satellite broadcasting resources, expands the applicability of high-precision positioning, and avoids limitations imposed by communication satellite resources in complex environments. This enables rapid, high-precision positioning by receiving broadcast data from the target satellite, thereby improving the applicability of broadcasting corrections to the target satellite at different cycles for positioning. Attached Figure Description

[0038] Figure 1: A flowchart of the steps of a satellite-ground cooperative high-precision positioning method provided in an embodiment of the present invention;

[0039] Figure 2: A structural diagram of a satellite-ground coordinated high-precision positioning device provided in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1

[0042] Please refer to Figure 1, which illustrates a satellite-ground cooperative high-precision positioning method provided by an embodiment of the present invention, including the following steps S101-S104:

[0043] Step S101: Receive the first observation data from the ground reference station in the target area, and perform analytical calculations on the first observation data to generate atmospheric corrections.

[0044] It should be noted that the first observation data from ground reference stations within the target area includes, but is not limited to: pseudorange observations, carrier phase observations, Doppler shift of satellite signals, ionospheric delay, tropospheric delay, antenna phase center offset, satellite ephemeris data, and satellite clock bias. Preferably, this embodiment mainly receives the ionospheric delay and tropospheric delay from the first observation data of ground reference stations (GBAS) within the target area, and analyzes and calculates the ionospheric delay and tropospheric delay to generate atmospheric corrections. Through the ground-based augmentation system, the first observation data can be acquired through ground reference stations within a specific target area, thereby realizing the transmission of positioning information.

[0045] In a preferred embodiment, the step of receiving first observation data from ground reference stations within the target area and analyzing and calculating the first observation data to generate atmospheric corrections specifically includes:

[0046] The system receives first observation data of the target navigation satellite from ground reference stations within the target area and preprocesses the first observation data; it then performs analytical calculations on the preprocessed first observation data to generate the overall atmospheric correction number within the target area; and finally divides the atmospheric correction number into grids to obtain the atmospheric correction number corresponding to each grid within the target area.

[0047] In this embodiment, ground reference station observation data within a specific area is first received, and atmospheric corrections, including ionospheric delay error and tropospheric delay error, are generated through parsing and calculation. The data is then divided into N regions using a grid.

[0048] As a preferred embodiment, the coordinates of each grid within the target area are:

[0049] Where N = m·n, N is the total number of region grids, and m and n are X and X, respectively. step and Y step First coefficient and second coefficient, X step Y represents the longitude of the center point of the target area. step X represents the latitude of the center point of the target area. min X is the minimum longitude of the region grid. max Y represents the maximum longitude of the regional grid. min Y is the minimum latitude of the region grid. max This represents the maximum latitude of the regional grid.

[0050] In this embodiment, the data byte size of a single grid partition is d within each communication satellite broadcast cycle. dq The unit is bits, and the total data size is d1 = N·d dq bit.

[0051] Step S102: Receive the second observation data from ground reference stations in the global wide area, and perform analytical calculations on the second observation data to generate precise corrections.

[0052] As a preferred embodiment, the step of receiving second observation data from global wide-area ground reference stations and performing analytical calculations on the second observation data to generate precise corrections specifically includes:

[0053] It receives second observation data for each navigation satellite from all ground reference stations in a wide global area; based on the attributes of each navigation satellite, it analyzes and calculates the second observation data to generate a precise correction number for each navigation satellite.

[0054] In this embodiment, observation data from global wide-area ground reference stations is received and analyzed to generate precise corrections, including precise orbit corrections, precise clock bias corrections, and phase fractional deviation corrections. The precise corrections include those for each satellite, including but not limited to those for GPS, GLO, GAL, BDS2, and BDS3 satellites. Preferably, within each broadcast cycle, the total data size for precise orbit corrections is d2 bits, the total data size for precise clock bias corrections is d3 bits, and the total data size for phase fractional deviation corrections is d4 bits.

[0055] Furthermore, through the Satellite-Based Augmentation System (SBAS), it is possible to continuously track and observe the satellites of the Global Navigation Satellite System using ground monitoring stations distributed around the world, thereby obtaining second observation data, which is then processed to form differential corrections and integrity information, and thus accurately obtaining the precision corrections for each navigation satellite.

[0056] In this embodiment, the precise orbital correction includes the radial, tangential, and normal components of the orbital correction vector. The orbital correction value is used to calculate the satellite position correction vector σX, and is also combined with the satellite position vector X calculated using the broadcast ephemeris. broadcast The corrected calculation formula is as follows: X orbit =X broadcast -σ X

[0057] In the formula: X orbit The satellite position obtained through orbit correction messages; X broadcast The satellite position calculated from the broadcast ephemeris; σ X To correct the satellite's position.

[0058] Among them, satellite position correction σ X The calculation method is as follows: e along =e cross ×eradial σ X =[e radial e along e cross ]·σ O

[0059] In the formula: r is X broadcast For broadcast ephemeris satellite position vectors; For X broadcast e is the satellite position vector for broadcast ephemeris; i The direction is the unit vector, i = [radial, along, cross] corresponding to the radial, tangential, and normal directions respectively; σ O The orbital correction vectors obtained for the service product are in the order of radial, tangential, and normal components.

[0060] The precision clock error correction is a correction parameter relative to the broadcast ephemeris clock error. The method for using this correction parameter is as follows:

[0061] In the formula: t broadcast The satellite clock bias parameters are calculated from the broadcast ephemeris; t satellite C0 represents the satellite clock error obtained after clock error correction message correction; c is the speed of light; and C0 is the clock error correction number obtained in the service product.

[0062] The phase fractional deviation correction is provided to the terminal in the form of wide-lane and narrow-lane corrections to restore its non-differential ambiguity integer characteristics. After calculating the floating-point ambiguity using precise single-point positioning, the wide-lane floating-point ambiguity and the narrow-lane floating-point ambiguity need to be corrected separately. The wide-lane ambiguity correction method is as follows:

[0063] In the formula: The inter-satellite single-difference wide-lane integer ambiguity; For inter-satellite single-difference wide-lane floating-point ambiguity; For reference star width and phase fractional deviation; The reference star width is determined by the fractional phase deviation.

[0064] The method for correcting ambiguity in narrow alleyways is as follows:

[0065] In the formula: For inter-satellite single-difference narrow-lane integer ambiguity; For inter-satellite single-difference wide-lane floating-point ambiguity; For the fractional phase deviation of the narrow lane of the non-reference star; This represents the fractional phase deviation of the narrow lane of the non-reference star.

[0066] Among them, the phase decimal deviations of GPS, GAL, and BDS in the wide lane and the phase decimal deviations in the narrow lane are relatively stable within a day. The phase decimal deviation correction does not need to be broadcast frequently; broadcasting at intervals of no more than 60 seconds is sufficient to meet the requirements of high-precision positioning.

[0067] Step S103: Encode and encrypt both the atmospheric correction number and the precise correction number, and compress the encoded and encrypted atmospheric correction number and precise data to obtain the first correction number and the second correction number.

[0068] In a preferred embodiment, the process of encoding and encrypting both the atmospheric correction and the precise correction, and then compressing the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction, specifically includes:

[0069] Both the atmospheric corrections and the precise corrections are uniformly encoded. The atmospheric corrections include ionospheric delay error and tropospheric delay error, and the precise corrections include precise orbital corrections, precise clock error corrections, and phase fractional deviation corrections. The uniformly encoded ionospheric delay error, tropospheric delay error, precise orbital corrections, precise clock error corrections, and phase fractional deviation corrections are encrypted. Based on a preset compression ratio, the encrypted ionospheric delay error, tropospheric delay error, precise orbital corrections, precise clock error corrections, and phase fractional deviation corrections are compressed to obtain a first correction including the compressed ionospheric delay error and tropospheric delay error, and a second correction including the encrypted and compressed precise orbital correction, precise clock error correction, and phase fractional deviation correction.

[0070] In this embodiment, the generated atmospheric corrections and precision corrections are uniformly encoded, and the atmospheric corrections, as well as the precision orbital corrections, precision clock error corrections, and phase fractional deviation corrections corresponding to the precision corrections, are encrypted and compressed respectively, with a uniform compression ratio of L.

[0071] In this embodiment, specific data formats such as NetCDF (Network Common Data Format) and HDF (Hierarchical Data Format) can be used to uniformly encode atmospheric corrections and precision corrections. SSL / TLS (Secure Sockets Layer / Transport Layer Security) encryption protocol is used to encrypt the encoded atmospheric corrections and precision corrections to prevent the data from being intercepted or tampered with during transmission.

[0072] Step S104: The first correction number and the second correction number are broadcast via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite receives the first correction number and the second correction number and analyzes them, thereby determining its current position.

[0073] In a preferred embodiment, the step of broadcasting the first correction and the second correction via a communication satellite at a first period and a second period, respectively, specifically includes:

[0074] Using a communication satellite, and based on the precise orbit correction in the second set of corrections, the broadcasting periods for the precise orbit correction, precise clock error correction, and phase fractional deviation correction in the second set of corrections are respectively set as a second period, and the broadcasting periods for the precise clock error correction and phase fractional deviation correction in the first set of corrections are also set; wherein, the first period includes the broadcasting period for the precise clock error correction and phase fractional deviation correction, and the second period includes the broadcasting period for the precise orbit correction, precise clock error correction, and phase fractional deviation correction; the broadcasting period between the precise orbit correction and the phase fractional deviation correction... The broadcasting cycles are all the same. The broadcasting cycles of the precise orbit correction and the phase fractional deviation correction are different from those of the phase fractional deviation correction. The broadcasting cycles of the clock difference correction and the phase fractional deviation correction are all the same. Based on the broadcasting cycles of the precise orbit correction, the precise clock difference correction, and the phase fractional deviation correction, as well as the clock difference correction and the phase fractional deviation correction, the clock difference correction and the phase fractional deviation correction in the first correction number, and the precise orbit correction, the precise clock difference correction, and the phase fractional deviation correction in the second correction number are broadcast via communication satellite.

[0075] In this embodiment, a broadcast cycle is determined based on different data types, and then uploaded to a communication satellite. The communication satellite broadcasts the data indiscriminately in a specific area. For example, the data broadcast cycle follows these rules: using the precise orbit correction broadcast cycle as a benchmark, the precise orbit correction broadcast cycle is set to T1; the precise clock error correction broadcast cycle is T2 = T1 / 6; the phase fractional deviation correction broadcast cycle is T3 = T1; and the atmospheric correction broadcast cycle is T4 = T1 / 2. T1 can be set between 1 and 60 seconds depending on satellite resources.

[0076] As a preferred embodiment, to ensure the stability of data transmission, when the transmission bandwidth of the communication satellite is P (in bps), the relationship between the data size of the first correction and the second correction and the satellite bandwidth during broadcasting via the communication satellite is as follows:

[0077] Where P is the transmission bandwidth of the communication satellite, L is the preset compression ratio, T1 is the broadcasting period based on the precision orbit correction, d1 is the total amount of atmospheric correction data in the target area, d2 is the total amount of precision orbit correction data, d3 is the total amount of precision clock error correction data, and d4 is the total amount of phase fractional deviation correction data.

[0078] In this embodiment, the target navigation satellite receives the corresponding first and second correction values, which correspond to GBAS and SBAS correction data, respectively. It then analyzes and calculates the data from both the ground-based and satellite-based augmentation systems, thereby achieving a positioning method that combines GBAS and SBAS technologies. This integrates the advantages of both technologies, enabling the target navigation satellite to perform high-precision positioning of itself, thus improving the accuracy of existing positioning technologies. Furthermore, based on this, the broadcast cycle is optimized according to the importance and characteristics of different correction data (corresponding to the first and second correction data from GBAS and SBAS technologies, respectively). This optimizes satellite broadcast resources, expands the applicable scenarios for high-precision positioning, avoids the problem of not being able to quickly achieve high-precision positioning in complex scenarios, and improves the adaptability of the positioning technology.

[0079] Implementing the above embodiments has the following effects:

[0080] The technical solution of this invention generates atmospheric corrections by receiving first observation data from ground reference stations within the target area, and generates precise corrections by receiving second observation data from ground reference stations across a wide global area. Both atmospheric and precise corrections are then encoded, encrypted, and compressed, and broadcast via communication satellites at first and second cycles respectively. This achieves satellite positioning of the ground by combining and broadcasting the first and second corrections. Furthermore, broadcasting corrections with different importance and characteristics at different cycles optimizes satellite broadcasting resources, expands the applicability of high-precision positioning, and avoids limitations imposed by communication satellite resources in complex environments. This enables rapid, high-precision positioning by receiving broadcast data from the target satellite, thereby improving the applicability of broadcasting corrections to the target satellite at different cycles for positioning.

[0081] Example 2

[0082] The present invention also provides a device for high-precision positioning with satellite-ground coordination, comprising: a regional atmospheric correction number generation module 201, a precision data generation module 202, a data encoding module 203, and a data broadcasting module 204;

[0083] The regional atmospheric correction generation module 201 is used to receive the first observation data from the ground reference station in the target area, and to analyze and calculate the first observation data to generate atmospheric corrections.

[0084] The precision data generation module 202 is used to receive second observation data from ground reference stations in a wide global area, and to analyze and calculate the second observation data to generate precision correction numbers.

[0085] The data encoding module 203 is used to encode and encrypt both the atmospheric correction and the precise correction, and to compress the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction.

[0086] The data broadcasting module 204 is used to broadcast the first correction number and the second correction number via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite can receive the first correction number and the second correction number and then parse them, thereby determining its current position.

[0087] As a preferred embodiment, the step of receiving first observation data from ground reference stations within the target area and analyzing and calculating the first observation data to generate atmospheric corrections specifically includes:

[0088] Receive the first observation data of the target navigation satellite from the ground reference station in the target area, and preprocess the first observation data;

[0089] The preprocessed first observation data is analyzed and calculated to generate the overall atmospheric correction for the target area;

[0090] The atmospheric correction is divided into grids to obtain the atmospheric correction for each grid within the target area.

[0091] As a preferred embodiment, the coordinates of each grid within the target area are:

[0092] Where N = m·n, N is the total number of region grids, and m and n are X and X, respectively. step and Y step First coefficient and second coefficient, X step Y represents the longitude of the center point of the target area. step X represents the latitude of the center point of the target area. min X is the minimum longitude of the region grid. max Y represents the maximum longitude of the regional grid. min Y is the minimum latitude of the region grid. max This represents the maximum latitude of the regional grid.

[0093] As a preferred embodiment, the step of receiving second observation data from global wide-area ground reference stations and performing analytical calculations on the second observation data to generate precise corrections specifically includes:

[0094] Receives secondary observation data for each navigation satellite from all ground reference stations within a wide global area;

[0095] Based on the attributes of each navigation satellite, the second observation data is analyzed and calculated to generate a precise correction number for each navigation satellite.

[0096] As a preferred embodiment, the process of encoding and encrypting both the atmospheric correction and the precise correction, and then compressing the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction, specifically includes:

[0097] Both the atmospheric corrections and the precision corrections are uniformly coded; wherein, the atmospheric corrections include: ionospheric delay error and tropospheric delay error, and the precision corrections include: precision orbital corrections, precision clock error corrections, and phase fractional deviation corrections;

[0098] The ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction, all after being uniformly coded, are encrypted. Based on a preset compression ratio, the encrypted ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction are all compressed to obtain a first correction number that includes the compressed ionospheric delay error and tropospheric delay error, and a second correction number that includes the precise orbit correction, precise clock error correction, and phase decimal deviation correction obtained after encryption and compression.

[0099] As a preferred embodiment, the step of broadcasting the first correction and the second correction via a communication satellite at a first period and a second period, respectively, specifically includes:

[0100] Using a communication satellite, with the precision orbit correction in the second correction as a reference, the broadcasting period of the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction is set as the second period, and the broadcasting period of the precision clock error correction and phase fractional deviation correction in the first correction is set.

[0101] The first cycle includes the broadcasting cycle of the precise clock error correction and the phase decimal deviation correction; the second cycle includes the broadcasting cycle of the precise orbit correction, the precise clock error correction, and the phase decimal deviation correction; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are the same; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are different from those of the phase decimal deviation correction; and the broadcasting cycles of the precise clock error correction and the phase decimal deviation correction are the same.

[0102] Based on the broadcasting cycles of the precision orbit correction, precision clock error correction, and phase fractional deviation correction, as well as the broadcasting cycles of the precision clock error correction and phase fractional deviation correction, the precision clock error correction and phase fractional deviation correction in the first correction number, and the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction number are broadcast via communication satellite.

[0103] As a preferred embodiment, the relationship between the data size of the first and second corrections and the satellite bandwidth when broadcasting via communication satellite is as follows:

[0104] Where P is the transmission bandwidth of the communication satellite, L is the preset compression ratio, T1 is the broadcasting period based on the precision orbit correction, d1 is the total amount of atmospheric correction data in the target area, d2 is the total amount of precision orbit correction data, d3 is the total amount of precision clock error correction data, and d4 is the total amount of phase fractional deviation correction data.

[0105] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0106] Implementing the above embodiments has the following effects:

[0107] The technical solution of this invention generates atmospheric corrections by receiving first observation data from ground reference stations within the target area, and generates precise corrections by receiving second observation data from ground reference stations across a wide global area. Both atmospheric and precise corrections are then encoded, encrypted, and compressed, and broadcast via communication satellites at first and second cycles respectively. This achieves satellite positioning of the ground by combining and broadcasting the first and second corrections. Furthermore, broadcasting corrections with different importance and characteristics at different cycles optimizes satellite broadcasting resources, expands the applicability of high-precision positioning, and avoids limitations imposed by communication satellite resources in complex environments. This enables rapid, high-precision positioning by receiving broadcast data from the target satellite, thereby improving the applicability of broadcasting corrections to the target satellite at different cycles for positioning.

[0108] Example 3

[0109] Accordingly, the present invention also provides a terminal device, comprising: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the satellite-ground cooperative high-precision positioning method as described in any of the above embodiments.

[0110] The terminal device of this embodiment includes a processor, a memory, and a computer program and computer instructions stored in the memory and executable on the processor. When the processor executes the computer program, it implements the various steps in Embodiment 1 above, such as steps S101 to S104 shown in FIG1. ​​Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in the above device embodiment, such as the data encoding module 203.

[0111] For example, the computer program can be divided into one or more modules / units, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the terminal device. For example, the data encoding module 203 is used to encode and encrypt both the atmospheric correction number and the precise correction number, and to compress the encoded and encrypted atmospheric correction number and precise data to obtain a first correction number and a second correction number.

[0112] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, the terminal device may also include input / output devices, network access devices, buses, etc.

[0113] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0114] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the terminal device by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, applications required for at least one function, etc.; the data storage area may store data created based on the use of the mobile terminal, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0115] Wherein, if the modules / units integrated in the terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, it can implement the steps of the various method embodiments described above. Wherein, the computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0116] Example 4

[0117] Accordingly, the present invention also provides a computer-readable storage medium comprising a stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the satellite-ground cooperative high-precision positioning method as described in any of the above embodiments.

[0118] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. In particular, it should be noted that any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention for those skilled in the art.

Claims

1. A method for high-precision positioning via satellite-ground coordination, characterized in that, include: Receive the first observation data from ground reference stations within the target area, and perform analytical calculations on the first observation data to generate atmospheric corrections; Receive second observation data from ground reference stations across a wide global area, and perform analytical calculations on the second observation data to generate precise corrections; Both the atmospheric correction and the precise correction are encoded and encrypted, and the encoded and encrypted atmospheric correction and precise data are compressed to obtain the first correction and the second correction. The first correction number and the second correction number are broadcast via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite can receive the first correction number and the second correction number, analyze them, and thus determine its current position.

2. The method for high-precision positioning via satellite-ground coordination as described in claim 1, characterized in that, The process of receiving first observation data from ground reference stations within the target area and analyzing and calculating the first observation data to generate atmospheric corrections specifically includes: Receive the first observation data of the target navigation satellite from the ground reference station in the target area, and preprocess the first observation data; The preprocessed first observation data is analyzed and calculated to generate the overall atmospheric correction for the target area; The atmospheric correction is divided into grids to obtain the atmospheric correction for each grid within the target area.

3. The method for high-precision positioning via satellite-ground coordination as described in claim 2, characterized in that, The coordinates of each grid within the target area are: Where N = m·n, N is the total number of region grids, and m and n are X and X, respectively. step and Y step First coefficient and second coefficient, X step Y represents the longitude of the center point of the target area. step X represents the latitude of the center point of the target area. min X is the minimum longitude of the region grid. max Y represents the maximum longitude of the regional grid. min Y is the minimum latitude of the region grid. max This represents the maximum latitude of the regional grid.

4. The method for high-precision positioning via satellite-ground coordination as described in claim 3, characterized in that, The process of receiving second observation data from global wide-area ground reference stations and performing analytical calculations on the second observation data to generate precise corrections specifically includes: Receives secondary observation data for each navigation satellite from all ground reference stations within a wide global area; Based on the attributes of each navigation satellite, the second observation data is analyzed and calculated to generate a precise correction number for each navigation satellite.

5. The method for high-precision positioning via satellite-ground coordination as described in claim 4, characterized in that, The process of encoding and encrypting both the atmospheric correction and the precise correction, and then compressing the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction, specifically includes: Both the atmospheric corrections and the precision corrections are uniformly coded; wherein, the atmospheric corrections include: ionospheric delay error and tropospheric delay error, and the precision corrections include: precision orbital corrections, precision clock error corrections, and phase fractional deviation corrections; The ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction, all after being uniformly coded, are encrypted. Based on a preset compression ratio, the encrypted ionospheric delay error, tropospheric delay error, precise orbit correction, precise clock error correction, and phase decimal deviation correction are all compressed to obtain a first correction number that includes the compressed ionospheric delay error and tropospheric delay error, and a second correction number that includes the precise orbit correction, precise clock error correction, and phase decimal deviation correction obtained after encryption and compression.

6. The method for high-precision positioning via satellite-ground coordination as described in claim 5, characterized in that, The step of broadcasting the first correction and the second correction via a communication satellite at a first period and a second period, respectively, specifically includes: Using a communication satellite, with the precision orbit correction in the second correction as a reference, the broadcasting period of the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction is set as the second period, and the broadcasting period of the precision clock error correction and phase fractional deviation correction in the first correction is set. The first cycle includes the broadcasting cycle of the precise clock error correction and the phase decimal deviation correction; the second cycle includes the broadcasting cycle of the precise orbit correction, the precise clock error correction, and the phase decimal deviation correction; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are the same; the broadcasting cycles of the precise orbit correction and the phase decimal deviation correction are different from those of the phase decimal deviation correction; and the broadcasting cycles of the precise clock error correction and the phase decimal deviation correction are the same. Based on the broadcasting cycles of the precision orbit correction, precision clock error correction, and phase fractional deviation correction, as well as the broadcasting cycles of the precision clock error correction and phase fractional deviation correction, the precision clock error correction and phase fractional deviation correction in the first correction number, and the precision orbit correction, precision clock error correction, and phase fractional deviation correction in the second correction number are broadcast via communication satellite.

7. The method for high-precision positioning via satellite-ground coordination as described in claim 6, characterized in that, The relationship between the data size of the first and second corrections and the satellite bandwidth when broadcasting via communication satellite is as follows: Where P is the transmission bandwidth of the communication satellite, L is the preset compression ratio, T1 is the broadcasting period based on the precision orbit correction, d1 is the total amount of atmospheric correction data in the target area, d2 is the total amount of precision orbit correction data, d3 is the total amount of precision clock error correction data, and d4 is the total amount of phase fractional deviation correction data.

8. A device for high-precision positioning via satellite-ground coordination, characterized in that, include: The system includes a regional atmospheric correction generation module, a precise data generation module, a data encoding module, and a data broadcasting module. The regional atmospheric correction generation module is used to receive the first observation data from the ground reference station in the target area, and to analyze and calculate the first observation data to generate atmospheric corrections. The precision data generation module is used to receive second observation data from ground reference stations in a wide global area, and to analyze and calculate the second observation data to generate precision corrections. The data encoding module is used to encode and encrypt both the atmospheric correction and the precise correction, and to compress the encoded and encrypted atmospheric correction and precise data to obtain the first correction and the second correction. The data broadcasting module is used to broadcast the first correction number and the second correction number via a communication satellite at a first period and a second period, respectively, so that the target navigation satellite can receive the first correction number and the second correction number and then parse them, thereby determining its current position.

9. A terminal device, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor, when executing the computer program, implements the method for high-precision satellite-ground coordinated positioning as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program, wherein, when the computer program is executed, it controls the device on which the computer-readable storage medium is located to perform the satellite-ground cooperative high-precision positioning method as described in any one of claims 1 to 7.

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