Terminal position determination method, apparatus, device and storage medium

Abstract

Provided in the embodiments of the present disclosure are a terminal position determination method, an apparatus, a device and a storage medium. The terminal position determination method is applied to a terminal, and comprises: receiving a navigation signal and a communication broadcast signal broadcast by an access device; on the basis of the received navigation signal or communication broadcast signal, determining a plurality of frequency offset estimated values; on the basis of the received communication broadcast signal, acquiring first position-related information of the access device; on the basis of the first position-related information and the plurality of frequency offset estimated values, determining initial position information of the terminal; on the basis of the received navigation signal, acquiring a navigation message; on the basis of the navigation message, acquiring second position-related information of the access device; and using the second position-related information to update the initial position information, so as to obtain position information of the terminal.

Description

A method, apparatus, device, and storage medium for determining the location of a terminal.

[0001] Cross-reference to related applications

[0002] This application is based on and claims priority to CN application number 2025101858624, filed on February 19, 2025, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to the field of communication technology, and in particular to a method, apparatus, device and storage medium for determining the location of a terminal. Background Technology

[0004] For terrestrial terminal communication and IoT services, traditional smart terminals and terrestrial IoT terminals can only support communication functions within the coverage area of ​​terrestrial base stations. However, in areas where terrestrial base stations are difficult to cover, such as deserts and seas, users cannot communicate with the outside world via terrestrial base stations. In such cases, to ensure that personnel in these areas can communicate with the outside world, it is particularly important for terminals to support satellite communication functions.

[0005] In satellite communication systems, low-Earth orbit (LEO) satellites transmit beams to cover ground areas, providing satellite communication services to terminals within those areas. LEO satellites typically use multi-beam coverage to provide service, requiring terminals to switch between different beams to ensure uninterrupted service. During this process, the terminal needs to send its location information to the LEO satellite. The LEO satellite then sends a beam set to the terminal, informing it of the available beams. The terminal selects the appropriate beam from the beam set and begins communication with the LEO satellite. Therefore, accurately determining the terminal's location information is crucial in satellite communication systems.

[0006] In related technologies, the terminal receives GPS or BeiDou signals through a built-in GPS (Global Positioning System) chip or BeiDou chip, and calculates the coordinates based on the GPS or BeiDou signals to obtain the terminal's location information. Summary of the Invention

[0007] In a first aspect, embodiments of this disclosure provide a method for determining the location of a terminal, applied to a terminal, the method comprising:

[0008] Receive navigation signals and communication broadcast signals broadcast by access devices;

[0009] Based on the received navigation signal or the communication broadcast signal, determine multiple frequency offset estimates;

[0010] Based on the received communication broadcast signal, the first location-related information of the access device is obtained;

[0011] Based on the first location-related information and the multiple frequency offset estimates, the initial location information of the terminal is determined;

[0012] Based on the received navigation signals, obtain the navigation message;

[0013] Based on the navigation message, the second location-related information of the access device is obtained;

[0014] The initial location information is updated using the second location-related information to obtain the location information of the terminal.

[0015] In some embodiments, before determining multiple frequency offset estimates based on the received navigation signal or the communication broadcast signal, the method further includes:

[0016] The received navigation signals and communication broadcast signals are demodulated to obtain navigation signal frames corresponding to each received navigation signal and communication broadcast signal frames corresponding to each received communication broadcast signal. Each navigation signal frame and communication broadcast signal frame includes: a preamble, an identification code, and data. The identification code is used to indicate whether the received signal is a navigation signal or a communication broadcast signal.

[0017] Based on the identification code, the received signal is identified as a navigation signal or a communication broadcast signal;

[0018] In some embodiments, determining multiple frequency offset estimates based on the received navigation signal or the communication broadcast signal includes:

[0019] Multiple frequency offset estimates are determined based on multiple received navigation signal frames or multiple communication broadcast signal frames.

[0020] In some embodiments, determining multiple frequency offset estimates based on multiple received navigation signal frames or multiple communication broadcast signal frames includes:

[0021] Acquire the preamble of a specified number of continuously received navigation signal frames or a specified number of received communication broadcast signal frames;

[0022] Based on the acquired specified number of preambles, a specified number of frequency offset estimates are determined.

[0023] In some embodiments, the first location-related information includes: the first current location information of the access device and the first speed information corresponding to the first current location information;

[0024] Determining the initial location information of the terminal based on the first location-related information and the plurality of frequency offset estimates includes:

[0025] Based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and the multiple frequency offset estimates, the position vector of the initial position of the terminal is calculated using a preset position calculation algorithm.

[0026] In some embodiments, obtaining the navigation message based on the received navigation signal includes:

[0027] Based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to a complete navigation message, determine whether the target number of navigation signal frames have been received.

[0028] Upon receiving a target number of navigation signal frames, the data of the continuously received navigation signal frames are spliced ​​together to obtain a navigation message.

[0029] In some embodiments, the second location-related information includes: the second current location information of the access device and the second speed information corresponding to the second current location information;

[0030] The step of updating the initial location information using the second location-related information to obtain the terminal's location information includes:

[0031] Based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and the multiple frequency offset estimates, the target position information of the terminal is determined.

[0032] The initial location information is updated using the target location information to obtain the location information of the terminal.

[0033] Secondly, embodiments of this disclosure provide a terminal location determination method, applied to an access device, the method comprising:

[0034] Based on the location-related information of the access device, a navigation signal is generated;

[0035] The communication broadcast signal and the navigation signal are broadcast to the terminal so that the terminal can determine its location information based on the navigation signal and the communication broadcast signal.

[0036] In some embodiments, generating navigation signals based on the location-related information of the access device includes:

[0037] A navigation message is generated based on the location-related information of the access device;

[0038] The navigation message is disassembled to obtain multiple navigation sub-messages;

[0039] Each navigation sub-message is modulated using preset modulation parameters to obtain multiple modulation signals; each modulation signal corresponds to one navigation sub-message.

[0040] The modulated signal is framed according to a preset navigation signal frame structure to generate a navigation signal.

[0041] In some embodiments, the disassembly of the navigation message to obtain multiple navigation sub-messages includes:

[0042] The navigation message is encoded to obtain the encoded navigation message;

[0043] The encoded navigation message is grouped based on preset modulation parameters, and multiple navigation sub-messages are obtained based on the grouped navigation messages.

[0044] In some embodiments, the preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; the identification code region includes a second preset number of second symbols; and the step of framing the modulated signal according to the preset navigation signal frame structure to generate a navigation signal includes:

[0045] At least one of the modulation signals is filled into the data area of ​​the preset navigation signal frame structure to generate a navigation signal.

[0046] In some embodiments, the modulation parameter is a spreading factor.

[0047] In some embodiments, broadcasting the communication broadcast signal and the navigation signal to the terminal includes:

[0048] The communication broadcast signal and the navigation signal are broadcast to the terminal in an alternating manner.

[0049] Thirdly, embodiments of this disclosure provide a terminal location determination device, applied to a terminal, the device comprising:

[0050] The signal receiving module is used to receive navigation signals and communication broadcast signals broadcast by the access device;

[0051] The frequency offset estimation module is used to determine multiple frequency offset estimates based on the received navigation signal or the communication broadcast signal;

[0052] The first information acquisition module is used to acquire first location-related information of the access device based on the received communication broadcast signal;

[0053] The first location calculation module is used to determine the initial location information of the terminal based on the first location-related information and the multiple frequency offset estimates.

[0054] The second information acquisition module is used to acquire navigation messages based on the received navigation signals;

[0055] The third information acquisition module is used to obtain the second location-related information of the access device based on the navigation message;

[0056] The second location calculation module is used to update the initial location information using the second location-related information to obtain the location information of the terminal.

[0057] In some embodiments, the apparatus further includes:

[0058] The signal demodulation module is used to demodulate the received navigation signal and the communication broadcast signal respectively, and obtain the navigation signal frame corresponding to each received navigation signal and the communication broadcast signal frame corresponding to each received communication broadcast signal; each navigation signal frame and the communication broadcast signal frame includes: a preamble, an identification code and data; the identification code is used to indicate whether the type of the received signal is a navigation signal or a communication broadcast signal;

[0059] The signal identification module is used to identify whether the received signal is a navigation signal or a communication broadcast signal based on the identification code;

[0060] In some embodiments, the frequency offset estimation module is specifically used to determine multiple frequency offset estimates based on multiple received navigation signal frames or multiple communication broadcast signal frames.

[0061] In some embodiments, the frequency offset estimation module is specifically used for:

[0062] Acquire the preamble of a specified number of continuously received navigation signal frames or a specified number of received communication broadcast signal frames;

[0063] Based on the acquired specified number of preambles, a specified number of frequency offset estimates are determined.

[0064] In some embodiments, the first location-related information includes: the first current location information of the access device and the first speed information corresponding to the first current location information;

[0065] The first position calculation module is specifically used to calculate the position vector of the initial position of the terminal based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and the multiple frequency offset estimates, using a preset position calculation algorithm, and use it as the initial position information of the terminal.

[0066] In some embodiments, the second information acquisition module is specifically used for:

[0067] Based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to a complete navigation message, determine whether the target number of navigation signal frames have been received.

[0068] Upon receiving a target number of navigation signal frames, the data of the continuously received navigation signal frames are spliced ​​together to obtain a navigation message.

[0069] In some embodiments, the second location-related information includes: the second current location information of the access device and the second speed information corresponding to the second current location information;

[0070] The second position calculation module is specifically used for:

[0071] Based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and the multiple frequency offset estimates, the target position information of the terminal is determined.

[0072] The initial location information is updated using the target location information to obtain the location information of the terminal.

[0073] Fourthly, embodiments of this disclosure provide a terminal location determination device, applied to an access device, the device comprising:

[0074] The signal generation module is used to generate navigation signals based on the location-related information of the access device;

[0075] The third location calculation module is used to broadcast the communication broadcast signal and the navigation signal to the terminal, so that the terminal can determine the location information of the terminal based on the navigation signal and the communication broadcast signal.

[0076] In some embodiments, the signal generation module includes:

[0077] A navigation message generation submodule is used to generate a navigation message based at least on the location-related information of the access device;

[0078] The navigation message decomposition submodule is used to decompose the navigation message to obtain multiple navigation sub-messages;

[0079] The navigation message modulation submodule is used to modulate each of the navigation sub-messages using preset modulation parameters to obtain multiple modulation signals; each modulation signal corresponds to one navigation sub-message.

[0080] The navigation signal generation submodule is used to frame the modulated signal according to a preset navigation signal frame structure to generate a navigation signal.

[0081] In some embodiments, the navigation message disassembly submodule is specifically used for:

[0082] The navigation message is encoded to obtain the encoded navigation message;

[0083] The encoded navigation message is grouped based on preset modulation parameters, and multiple navigation sub-messages are obtained based on the grouped navigation messages.

[0084] In some embodiments, the preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; the identification code region includes a second preset number of second symbols; the navigation signal generation submodule is specifically used to fill at least one of the modulation signals into the data region of the preset navigation signal frame structure to generate a navigation signal.

[0085] In some embodiments, the modulation parameter is a spreading factor.

[0086] In some embodiments, the third location calculation module is specifically used to broadcast communication broadcast signals and navigation signals to the terminal in an alternating manner, so that the terminal determines the location information of the terminal based on the navigation signals and the communication broadcast signals.

[0087] Fifthly, embodiments of this disclosure provide a terminal device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0088] Memory, used to store computer programs;

[0089] The processor, when executing a program stored in memory, implements the terminal location determination method described in the first aspect above.

[0090] In a sixth aspect, embodiments of this disclosure provide an access device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0091] Memory, used to store computer programs;

[0092] The processor, when executing a program stored in memory, implements the terminal location determination method described in the second aspect above.

[0093] In another aspect of this disclosure, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements the method described in any of the preceding claims.

[0094] This disclosure also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform any of the methods described above. Attached Figure Description

[0095] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these accompanying drawings.

[0096] Figure 1 is a schematic flowchart of a terminal location determination method provided in an embodiment of this disclosure;

[0097] Figure 2 is a schematic flowchart of another terminal location determination method provided in an embodiment of this disclosure;

[0098] Figure 3 is a schematic flowchart of another terminal location determination method provided in the embodiments of this disclosure;

[0099] Figure 4 is a schematic flowchart of another terminal location determination method provided in the embodiments of this disclosure;

[0100] Figure 5 is a schematic flowchart of another terminal location determination method provided in the embodiments of this disclosure;

[0101] Figure 6 is a schematic diagram of the frame structure of a navigation signal frame provided in an embodiment of this disclosure;

[0102] Figure 7 is a schematic flowchart of a navigation signal generation method provided in an embodiment of this disclosure;

[0103] Figure 8 is an interactive schematic diagram of a terminal location determination method provided in an embodiment of this disclosure;

[0104] Figure 9 is a schematic diagram of a terminal location determination device provided in an embodiment of this disclosure;

[0105] Figure 10 is a schematic diagram of another structure of the terminal location determination device provided in an embodiment of this disclosure;

[0106] Figure 11 is a schematic diagram of a terminal device provided in an embodiment of this disclosure;

[0107] Figure 12 is a schematic diagram of an access device provided in an embodiment of this disclosure. Detailed Implementation

[0108] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art based on this disclosure are within the scope of protection of this disclosure.

[0109] In related technologies, terminals receive GPS or BeiDou signals through built-in GPS or BeiDou chips, and then calculate coordinates based on the received GPS or BeiDou signals to obtain the terminal's location information. However, in some cases, the terminal does not have or cannot use a GPS or BeiDou chip. In such cases, determining the terminal's location information becomes a pressing technical problem that needs to be solved.

[0110] This disclosure provides a method, apparatus, device, and storage medium for determining the location of a terminal. The terminal location determination method provided in this disclosure is applied to a low-Earth orbit satellite communication system integrating communication and navigation. The terminal involved is a device with communication functions, such as a mobile phone, computer, or terrestrial IoT terminal; the access device can be a satellite, airport, etc.

[0111] This disclosure provides a terminal location determination method, apparatus, device, and storage medium. The terminal receives navigation signals and communication broadcast signals broadcast by an access device. Based on the received navigation signals or communication broadcast signals, multiple frequency offset estimates are determined. Then, based on first location-related information of the access device obtained from the received communication broadcast signals and the multiple frequency offset estimates determined from the received navigation signals or communication broadcast signals, the terminal's location information is calculated to obtain initial location information. Next, a navigation message is obtained based on the received navigation signals, and the initial location information is updated using second location-related information of the access device obtained from the navigation message to obtain the terminal's final location information. By combining the first location-related information of the access device obtained from the received communication broadcast signals and the second location-related information of the access device obtained from the received navigation signals to determine the terminal's location, this method enables location determination even when the terminal does not have or cannot use a GPS chip or a BeiDou chip. First, based on the first location-related information of the access device obtained from the communication broadcast signal received from the access device, and multiple frequency offset estimates determined from the navigation signal or communication broadcast signal received from the access device, the terminal's location information is calculated, achieving coarse positioning of the terminal. Then, based on the second location-related information of the access device obtained from the navigation signal received from the access device, the initial location information is updated, achieving fine positioning of the terminal. Moreover, compared to the first location-related information of the access device obtained from the communication broadcast signal received from the access device, the second location-related information of the access device obtained from the navigation signal received from the access device is more accurate, thus effectively improving the accuracy of the terminal's location information determination.

[0112] Of course, implementing any product or method of this disclosure does not necessarily require achieving all of the advantages described above at the same time.

[0113] The terminal location determination method provided in the embodiments of this disclosure will be described in detail below.

[0114] As shown in Figure 1, this disclosure provides a terminal location determination method, applied to a terminal, including:

[0115] S101, receives navigation signals and communication broadcast signals broadcast by the access device;

[0116] S102, determine multiple frequency offset estimates based on the received navigation signals or communication broadcast signals;

[0117] S103, Based on the received communication broadcast signal, obtain the first location-related information of the access device;

[0118] S104, Based on the first location-related information and multiple frequency offset estimates, the terminal's location information is calculated to obtain the initial location information, that is, the initial location information of the terminal is determined.

[0119] S105, Based on the received navigation signal, acquire the navigation message;

[0120] S106, Based on the navigation message, obtain the second location-related information of the access device;

[0121] S107, update the initial location information using the second location-related information to obtain the terminal's location information.

[0122] This embodiment of the disclosure combines first location-related information of the access device obtained from communication broadcast signals received from the access device and second location-related information of the access device obtained from navigation signals received from the access device to determine the terminal's location, thus enabling the determination of the terminal's location when the terminal does not have or cannot use a GPS chip or a Beidou chip. First, based on the first location-related information of the access device obtained from the communication broadcast signals received from the access device and multiple frequency offset estimates determined from the navigation signals or communication broadcast signals received from the access device, the terminal's location information is calculated, achieving coarse positioning. Then, based on the second location-related information of the access device obtained from the navigation signals received from the access device, the initial location information is updated, achieving fine positioning. Furthermore, compared to the first location-related information of the access device obtained from the communication broadcast signals received from the access device, the second location-related information of the access device obtained from the navigation signals received from the access device is more accurate, thereby effectively improving the accuracy of the terminal's location information determination.

[0123] In this embodiment of the disclosure, considering the periodicity and relatively strong signal power of the downlink broadcast signal, the communication broadcast signal and navigation signal are fused. The access device (such as a satellite) periodically broadcasts the communication broadcast signal to the terminal, and broadcasts the navigation signal in time slots when no communication broadcast signal is broadcast. In other words, the access device periodically and alternately broadcasts the communication broadcast signal and the navigation signal to the terminal. In this way, the terminal receives the navigation signal and the communication broadcast signal broadcast by the access device.

[0124] In the terminal location determination method shown in Figure 1, after the terminal is powered on, it searches for broadcast signals at the broadcast signal frequency. When a broadcast signal is found, it is received. Correspondingly, the access device periodically alternates between broadcasting communication broadcast signals and navigation signals, and the terminal periodically alternates between receiving navigation signals and communication broadcast signals broadcast by the access device. It is easy to understand that the broadcast period of the communication broadcast signal is longer than that of the navigation signal. For example, if the broadcast period of the communication broadcast signal is 3 seconds and the broadcast period of the navigation signal is 10 milliseconds, meaning the communication broadcast signal is broadcast once every 3 seconds, then during the 3-second time slot when the communication broadcast signal is not broadcast, the navigation signal is broadcast, and during the broadcast, the navigation signal is broadcast once every 10 milliseconds.

[0125] After receiving the communication broadcast signal and navigation signal broadcast by the access device, the terminal demodulates the received communication broadcast signal and navigation signal respectively to obtain the corresponding communication broadcast signal frame and navigation signal frame.

[0126] In one example, the terminal receives a navigation signal, which may contain multiple navigation signal frames or a single navigation signal frame. Similarly, the terminal receives a communication broadcast signal, which may contain multiple communication broadcast signal frames or a single communication broadcast signal frame. In this embodiment, the example of the terminal receiving a navigation signal containing a single navigation signal frame is used for illustration; the communication broadcast signal is similar to the navigation signal.

[0127] In the terminal location determination method shown in Figure 1, after the terminal demodulates the received navigation signal or communication broadcast signal to obtain the navigation signal frame or communication broadcast signal frame, it uses the preamble of the navigation signal frame or communication broadcast signal frame to perform frequency offset estimation to determine multiple frequency offset estimates.

[0128] Furthermore, the terminal obtains the first location-related information of the access device from the received communication broadcast signal. This first location-related information may be the ephemeris information of the access device, such as the access device's orbital parameters, position information, and speed information. Then, the terminal calculates its own position information based on the access device's position information, speed information, and multiple calculated frequency offset estimates, thus obtaining initial position information and initially achieving coarse positioning of the terminal.

[0129] In the terminal location determination method shown in Figure 1, the navigation signal is generated by the access device based on the navigation message. The navigation message contains the location information of the access device, etc. The terminal can then obtain the corresponding navigation message based on the received navigation signal, and obtain the location information of the access device from the navigation message. Further, the terminal uses the location information of the access device obtained from the navigation signal, combined with the multiple frequency offset estimates obtained above, to recalculate the terminal's location information. The initial location information obtained above is then updated using the terminal's location information obtained in this calculation, achieving precise positioning of the terminal and obtaining the terminal's location information.

[0130] As shown in Figure 2, another terminal location determination method provided in this embodiment of the present disclosure, applied to a terminal, includes:

[0131] S201 receives navigation signals and communication broadcast signals broadcast by the access device.

[0132] The access device periodically and alternately broadcasts communication and navigation signals, and the terminal periodically and alternately receives the navigation and communication signals broadcast by the access device.

[0133] S202, demodulate the received navigation signals and communication broadcast signals respectively, and obtain the navigation signal frame corresponding to each received navigation signal and the communication broadcast signal frame corresponding to each received communication broadcast signal.

[0134] After receiving a broadcast signal (including navigation signals and communication broadcast signals) from an access device, the terminal demodulates the received broadcast signal to obtain a broadcast signal frame. Specifically, after receiving a communication broadcast signal from an access device, the terminal demodulates the received communication broadcast signal to obtain a corresponding communication broadcast signal frame; after receiving a navigation signal from an access device, the terminal demodulates the received navigation signal to obtain a corresponding navigation signal frame. In this embodiment, the example of the terminal receiving a navigation signal once, demodulating the navigation signal, and obtaining a corresponding navigation signal frame is used for illustration. The processing procedure for the communication broadcast signal is the same as the processing procedure for the navigation signal.

[0135] Each navigation signal frame and communication broadcast signal frame has the same frame structure, including: Preamble, IW (Indentation Word), and Payload (data). The IW indicates whether the received signal is a navigation signal or a communication broadcast signal.

[0136] In one example, the preamble may include a first preset number of first symbols, and the IW may include a second preset number of second symbols. The first preset number can be set according to actual needs, such as 4, 6, or 8, etc. The second preset number can also be set according to actual needs, such as 2. The navigation signal frame and the communication broadcast signal frame contain the same preamble, but different IWs and data. In this embodiment, the navigation signal and the communication broadcast signal are signals processed using Chirp (Chirp Modulation, wideband linear frequency modulation) spread spectrum technology. Correspondingly, the first symbol can be a down-chirp symbol or an up-chirp symbol. A down-chirp symbol refers to a Chirp signal whose frequency changes from high to low over time, while an up-chirp symbol refers to a Chirp signal whose frequency increases linearly over time.

[0137] IW is used to indicate whether the received signal is a navigation signal or a communication broadcast signal. Specifically, when IW is set to two up-chirp symbols, it indicates that the received signal is a communication broadcast signal; when IW is set to one down-chirp symbol and one up-chirp symbol, it indicates that the received signal is a navigation signal. Alternatively, when IW is set to two up-chirp symbols, it indicates that the received signal is a navigation signal; when IW is set to one down-chirp symbol and one up-chirp symbol, it indicates that the received signal is a communication broadcast signal.

[0138] S203, based on the identification code, identifies the received signal as a navigation signal or a communication broadcast signal.

[0139] IW is used to indicate whether the received signal is a navigation signal or a communication broadcast signal. Then, the received signal can be identified as a navigation signal or a communication broadcast signal directly based on the identification code in the demodulated broadcast signal frame.

[0140] S204, based on multiple received navigation signal frames or multiple communication broadcast signal frames, determine multiple frequency offset estimates.

[0141] In some implementations, a specified number of preambles of continuously received navigation signal frames or a specified number of communication broadcast signal frames can be acquired; based on the acquired specified number of preambles, a specified number of frequency offset estimates can be determined.

[0142] For example, the terminal receives a navigation signal, demodulates the navigation signal to obtain a corresponding navigation signal frame, which contains a preamble. The preamble includes a first preset number of first symbols, corresponding to a preamble sequence. The preamble sequence is correlated with the terminal's local PSC (Primary Synchronization Code) sequence to determine a frequency offset estimate.

[0143] The frequency offset of the navigation signals received by the terminal at different times is different. Therefore, for a specified number of continuously received navigation signals, the frequency offset can be estimated using the preamble of the corresponding navigation signal frame, thus determining a specified number of frequency offset estimates. Similarly, the process of determining multiple frequency offset estimates using communication broadcast signals is consistent with the process of determining multiple frequency offset estimates using navigation signals, and they can be used as a reference for each other.

[0144] The specified number can be set according to actual needs, such as determining the terminal's location information based on the first location-related information of the access device and the frequency offset estimation value. For example, the specified number could be 4, etc.

[0145] In this embodiment of the disclosure, a specified number of preambles of continuously received navigation signal frames or a specified number of communication broadcast signal frames are acquired. Based on the acquired specified number of preambles, a specified number of frequency offset estimates are determined so that the terminal's location information can be accurately located by combining the determined specified number of frequency offset estimates with the first location-related information of the access device obtained from the received communication broadcast signals and the second location-related information of the access device obtained from the received navigation signals.

[0146] S205: Based on the received communication broadcast signal, obtain the first location-related information of the access device.

[0147] In one example, a communication broadcast signal may contain a number of signal frames corresponding to complete communication broadcast information. The terminal receives a communication broadcast signal, demodulates it to obtain a corresponding communication broadcast signal frame, and then compares the number of consecutively received communication broadcast signal frames with the number of signal frames corresponding to complete communication broadcast information to determine if the required number of communication broadcast signal frames corresponding to complete communication broadcast information have been received. If yes, it means that complete communication broadcast information can be obtained from the acquired communication broadcast signal frames. In this case, the data of the required number of consecutively received communication broadcast signal frames corresponding to complete communication broadcast information can be concatenated to obtain the communication broadcast information, and then the first location-related information of the access device can be obtained from the communication broadcast information. If not, it means that complete communication broadcast information cannot be obtained from the acquired communication broadcast signal frames, and the terminal continues to receive communication broadcast signals.

[0148] In some implementations, the first location-related information may include: the first current location information of the access device and the first speed information corresponding to the first current location information. Of course, it may also include track parameter information corresponding to the first current location information, etc.

[0149] S206, based on the first location-related information and multiple frequency offset estimates, calculate the terminal's location information to obtain the initial location information, that is, determine the terminal's initial location information.

[0150] In some implementations, the initial position vector of the terminal can be calculated using a preset position calculation algorithm based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and multiple frequency offset estimates.

[0151] For example, there are four frequency offset estimates. Based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and the multiple frequency offset estimates, the initial position vector of the terminal can be calculated using the following expression:

[0152] Where ρ1 = γf1, f1 represents the first frequency offset estimate, γ represents the wavelength, ρ1 represents the wave velocity corresponding to the frequency offset estimate f1, ρ2 = γf2, ρ3 = γf3, ρ4 = γf4, ρ2 represents the wave velocity corresponding to the frequency offset estimate f2, ρ3 represents the wave velocity corresponding to the frequency offset estimate f3, and ρ4 represents the wave velocity corresponding to the frequency offset estimate f4; t represents the first current time. v represents the location vector corresponding to the first current location information of the access device. t The velocity vector r represents the velocity information corresponding to the first velocity information of the access device.b The position vector r represents the initial position of the terminal. bx This represents the position vector along the x-axis corresponding to the initial position of the terminal. This represents the velocity vector along the x-axis corresponding to the first velocity information of the accessed device. This represents the x-axis position vector corresponding to the first current location information of the access device; r by This represents the initial position vector of the terminal along the y-axis. This represents the velocity vector along the y-axis corresponding to the first velocity information of the accessed device. This represents the position vector along the y-axis corresponding to the first current position information of the access device; r bz This represents the position vector along the z-axis corresponding to the initial position of the terminal. This represents the velocity vector along the z-axis corresponding to the first velocity information of the accessed device. στ represents the position vector along the z-axis corresponding to the first current position information of the access device; στ represents the time change.

[0153] When calculating the position vector of the initial position of the terminal using the above expression, the position vector of the initial position of the terminal is solved as an unknown, and then the final calculated position vector of the initial position of the terminal is obtained.

[0154] In this embodiment of the disclosure, the terminal's position information is calculated using the first current position information of the access device, the first speed information corresponding to the first current position information, and multiple frequency offset estimates, thereby obtaining initial position information and achieving coarse positioning of the terminal's position.

[0155] S207, based on the received navigation signals, acquire the navigation message.

[0156] In some implementations, it can be determined whether the target number of navigation signal frames has been received based on the number of consecutively received navigation signal frames and the target number of signal frames corresponding to the complete navigation message; if the target number of navigation signal frames has been received, the data of the consecutively received navigation signal frames are spliced ​​together to obtain the navigation message.

[0157] In one example, the navigation signal can contain a target number of signal frames corresponding to a complete navigation message. The terminal receives a navigation signal, demodulates it to obtain a corresponding navigation signal frame, and compares the number of consecutively received navigation signal frames with the target number of signal frames corresponding to a complete navigation message to determine if the target number of navigation signal frames has been received. If the target number of navigation signal frames has been received, it means that a complete navigation message can be obtained from the acquired navigation signal frames. In this case, the data from the consecutively received navigation signal frames corresponding to the target number of navigation signals can be concatenated to obtain the navigation message. If the target number of navigation signal frames has not been received, it means that a complete navigation message cannot be obtained from the acquired navigation signal frames. In this case, the terminal continues to receive navigation signals.

[0158] In this embodiment of the disclosure, based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to the complete navigation message, it is determined whether the target number of navigation signal frames have been received. If the target number of navigation signal frames have been received, the navigation message is obtained so that the second location-related information of the access device can be obtained from the acquired navigation message, and the terminal location can be precisely located.

[0159] S208, based on navigation messages, obtains second location-related information of the access device.

[0160] The second location-related information may include: the second current location information of the access device and the second speed information corresponding to the second current location information; of course, it may also include track parameter information corresponding to the second current location information, etc.

[0161] The satellite position information is obtained using navigation messages, and then Doppler positioning calculation is used to obtain the position information of the access device (i.e., the second position-related information).

[0162] S209, update the initial location information using the second location-related information to obtain the terminal's location information.

[0163] In some implementations, the terminal's position information can be calculated based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and multiple frequency offset estimates to obtain the target position information, that is, to determine the target position information of the terminal; the initial position information can be updated using the target position information to obtain the terminal's position information.

[0164] The process of calculating the terminal's position information based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and multiple frequency offset estimates to obtain the target position information can be referred to the above: the process of calculating the position vector of the terminal's initial position based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and multiple frequency offset estimates using a preset position calculation algorithm will not be repeated here.

[0165] In one example, after obtaining the target location information, the target location information can be replaced with the average or weighted average of the target location information and the initial location information. The replaced target location information is then determined as the updated terminal location information. Alternatively, the initial location information can be updated using the expression: temp = (1-a) × temp0 + a × temp, where temp represents the target location information, a is a set parameter, and temp0 represents the initial location information. a can be set according to actual needs, for example, to 0.03, 0.05, or 0.1, etc.

[0166] In this embodiment of the disclosure, the second location-related information of the access device obtained from the received navigation signal is combined with the multiple frequency offset estimates calculated above to calculate the target location information of the terminal. Then, the initial location information is updated using the target location information to obtain the terminal's location information. Since the second location-related information of the access device obtained from the navigation signal received from the access device is more accurate than the first location-related information of the access device obtained from the communication broadcast signal received from the access device, the accuracy of the determination of the terminal's location information is effectively improved.

[0167] In some implementations, multiple consecutive navigation messages can be acquired, and then the second location-related information of the access device can be acquired from the multiple consecutive navigation messages respectively. The initial location information can be updated by sequentially using the second location-related information of the access device from the multiple consecutive navigation messages to obtain the location information of the terminal.

[0168] For example, the initial position information of the terminal is updated sequentially using the second location-related information of the access device in multiple consecutive navigation messages through the expression: temp(n)=(1-a)×temp(n-1)+a×temp(n). Here, the left side of the expression represents the updated position information of the terminal, and the right side, temp(n), represents the terminal position information calculated using the second location-related information of the access device in the nth navigation message combined with multiple frequency offset estimates. temp(n-1) represents the terminal position information obtained after updating the terminal position information calculated in the previous iteration using the second location-related information of the access device in the (n-1)th navigation message. 'a' is a set parameter, and 'n' is a positive integer greater than 1. When 'n' is 1, temp(0) represents the initial position information mentioned above. 'a' can be set according to actual needs, such as 0.03, 0.05, or 0.1. The value of 'n' can be set as needed, such as 3, 5, or 8. 'n' can also be determined based on whether the difference between temp(n) and temp(n-1) meets a set threshold.

[0169] In this embodiment of the disclosure, the initial location information is updated by using the second location-related information of the access device in multiple consecutive navigation messages, which can further improve the accuracy of the determination of the terminal location information.

[0170] This embodiment of the disclosure combines first location-related information of the access device obtained from communication broadcast signals received from the access device and second location-related information of the access device obtained from navigation signals received from the access device to determine the terminal's location, thus enabling the determination of the terminal's location when the terminal does not have or cannot use a GPS chip or a Beidou chip. First, based on the first location-related information of the access device obtained from the communication broadcast signals received from the access device and multiple frequency offset estimates determined from the navigation signals or communication broadcast signals received from the access device, the terminal's location information is calculated, achieving coarse positioning. Then, based on the second location-related information of the access device obtained from the navigation signals received from the access device, the initial location information is updated, achieving fine positioning. Furthermore, compared to the first location-related information of the access device obtained from the communication broadcast signals received from the access device, the second location-related information of the access device obtained from the navigation signals received from the access device is more accurate, thereby effectively improving the accuracy of the terminal's location information determination.

[0171] For example, as shown in Figure 3, the implementation process of terminal location determination provided in this embodiment of the disclosure includes:

[0172] S301, Initialization: Set the counter for receiving navigation signal frames to j, with an initial value of 1 for j.

[0173] S302, after powering on, receives the communication broadcast signal broadcast by the access device, and obtains the first location-related information of the access device based on the received communication broadcast signal.

[0174] After the terminal is powered on, it first searches for broadcast signals on the broadcast signal frequency. When a broadcast signal is detected, it receives it. Upon detecting a broadcast signal, the terminal first receives the communication broadcast signal, then demodulates it to obtain the communication broadcast signal frame. Based on the obtained communication broadcast signal frame, it retrieves the first location-related information of the access device. This first location-related information can be the ephemeris information of the access device, such as its orbital parameters, position information, and speed information.

[0175] S303: Continue to receive downlink broadcast signals at the broadcast signal frequency, demodulate the received broadcast signals to obtain broadcast signal frames, and identify the category of the broadcast signal as a navigation signal or a communication broadcast signal according to the identification code of the broadcast signal frame; if the code identifies the category of the broadcast signal as a navigation signal, execute step S304; if the code identifies the category of the broadcast signal as a communication broadcast signal, return to execute step S303.

[0176] Corresponding to the periodic alternation of broadcast communication and navigation signals by the access device, the downlink broadcast signals received by the terminal include navigation signals and communication broadcast signals. Accordingly, the broadcast signal frames include navigation signal frames and communication broadcast signal frames. The navigation signal frames and communication broadcast signal frames have the same structure, both including: a preamble, an identification code, and data. The identification code indicates whether the received signal is a navigation signal or a communication broadcast signal; therefore, the category of the broadcast signal can be identified as a navigation signal or a communication broadcast signal based on the identification code of the broadcast signal frame.

[0177] S304, determine the counter j. If j≤4, proceed to step S305; if 4<j≤J, proceed to step S306; if j>J, proceed to step S307.

[0178] Where J represents the number of targets in the signal frames corresponding to a complete navigation message.

[0179] S305, acquire the preamble of the navigation signal frame, and use the preamble to estimate the frequency offset, obtaining the estimated frequency offset value f. j The system performs dechirp spread spectrum processing on the data in the navigation signal frame to obtain the navigation sub-message, increments the counter j of the navigation signal frame, and returns to step S303.

[0180] The process of obtaining the frequency offset estimate by using the preamble can be referred to the process of obtaining the frequency offset estimate above.

[0181] S306, perform dechirp spread spectrum processing on the data in the navigation signal frame to obtain the navigation sub-message, increment the counter j of the navigation signal frame, and return to step S303.

[0182] S307, based on the first location-related information and the four frequency offset estimates obtained, the terminal's location information is calculated to obtain the initial location information, that is, the initial location information of the terminal is determined.

[0183] The implementation of this step can refer to the implementation of step S206 above, and will not be repeated here in this embodiment.

[0184] S308, the acquired navigation sub-messages are spliced ​​together to obtain the navigation message.

[0185] After splicing the acquired navigation sub-messages, the spliced ​​navigation sub-messages are decoded and subjected to CRC (Cyclic Redundancy Check) verification to obtain the navigation message.

[0186] S309: Based on the navigation message, obtain the second location-related information of the access device, and use the second location-related information to update the initial location information to obtain the terminal's location information.

[0187] The implementation of this step can refer to the implementation of steps S208-S209 above, and will not be repeated here in the embodiments of this disclosure.

[0188] By applying the embodiments of this disclosure, the terminal's location information is first calculated based on a first location-related information of the access device obtained from a communication broadcast signal received from the access device and multiple frequency offset estimates determined based on a navigation signal received from the access device, achieving coarse positioning of the terminal's location. Then, the initial location information is updated based on a second location-related information of the access device obtained from the navigation signal received from the access device, achieving fine positioning of the terminal's location. Moreover, compared to the first location-related information of the access device obtained from the communication broadcast signal received from the access device, the second location-related information of the access device obtained from the navigation signal received from the access device is more accurate, thereby effectively improving the accuracy of determining the terminal's location information.

[0189] In some implementations, such as the embodiment shown in FIG3, multiple frequency offset estimates can also be determined based on communication broadcast signals received from the access device. The specific determination method can refer to the method of determining multiple frequency offset estimates based on navigation signals received from the access device.

[0190] As shown in Figure 4, another terminal location determination method provided in this embodiment of the present disclosure is applied to an access device, including:

[0191] S401 generates navigation signals based on location-related information from the access device.

[0192] In this embodiment, the access device (low-Earth orbit satellite) generates navigation messages using its own position-related information, beam information, etc., and then performs signal processing on the navigation messages to generate navigation signals. The position-related information may include, for example, the access device's orbital parameters, position information, and velocity information.

[0193] S402, broadcasts communication and navigation signals to the terminal so that the terminal can determine its location information based on the navigation and communication signals.

[0194] In some implementations, the access device broadcasts communication broadcast signals and navigation signals to the terminal in an alternating manner.

[0195] This disclosure applies to a low-Earth orbit satellite communication system integrating communication and navigation. Considering the periodicity and relatively strong signal power of the downlink broadcast signal, the communication broadcast signal and navigation signal are fused. While periodically broadcasting the communication broadcast signal to the terminal, the navigation signal is broadcast during time slots when no communication broadcast signal is being broadcast. The access device periodically and alternately broadcasts the communication broadcast signal and navigation signal to the terminal. Thus, the terminal receives the navigation signal and communication broadcast signal broadcast by the access device. It is understood that the communication broadcast signal and navigation signal are broadcast using the same broadcast signal frequency.

[0196] Considering the periodicity and relatively high power of downlink broadcast signals, the access device broadcasts communication and navigation signals to the terminal in an alternating manner, thereby achieving effective fusion of communication and navigation signals and improving the efficiency of the low-Earth orbit satellite communication system.

[0197] In this embodiment of the disclosure, the access device broadcasts communication and navigation signals to the terminal, enabling the terminal to determine its location information based on the navigation and communication signals. This achieves the determination of the terminal's location when the terminal does not have or cannot use a GPS chip or a Beidou chip.

[0198] As shown in Figure 5, another terminal location determination method provided in this embodiment of the present disclosure is applied to an access device, including:

[0199] S501, (at least) generates navigation messages based on location-related information of the access device.

[0200] In this embodiment of the disclosure, the access device is described using a low-Earth orbit (LEO) satellite as an example. In one example, the LEO satellite splices together its own position-related information, beam information, and frequency information of the transmitted navigation signals to form a navigation message.

[0201] S502, the navigation message is disassembled to obtain multiple navigation sub-messages.

[0202] Navigation messages typically contain a relatively large amount of information, meaning the data is quite long and cannot be transmitted in one go via navigation signals. Therefore, it is necessary to break down the navigation message and then transmit it through multiple navigation signals.

[0203] In some implementations, the navigation message is decomposed to obtain multiple navigation sub-messages, including: encoding the navigation message to obtain an encoded navigation message; grouping the encoded navigation message based on preset modulation parameters, and obtaining multiple navigation sub-messages based on the grouped navigation messages.

[0204] For example, the generated navigation message has a length of L bits. First, a CRC check is performed on the navigation message. Then, QC-LDPC (Quasi-Cydic Low-density Parity-check) codes are used to encode the CRC-checked navigation message, resulting in an encoded navigation message with a length of N bits. Next, a preset modulation parameter is used as the grouping basis. Specifically, the preset modulation parameter is used as the length interval of a group of navigation sub-messages to group the encoded navigation message. Each group of navigation messages is a navigation sub-message, resulting in multiple navigation sub-messages. For example, if the preset modulation parameter is M, the navigation message is divided into N / M groups. If the length of the last group of navigation sub-messages is less than M bits, zero padding can be applied.

[0205] In this embodiment, chirp spread spectrum technology is used to process the navigation message to obtain a navigation signal, effectively improving the processing gain of the navigation message. Accordingly, the preset modulation parameter in this embodiment can be SF (Spreading Factor). SF is the ratio of the chip rate after spread spectrum to the signal rate before spread spectrum, directly reflecting the spread spectrum gain. SF is the sequence number of the spreading code, indicating how many bits of chip are used to represent one information symbol (bit).

[0206] S503 modulates each navigation sub-message using preset modulation parameters to obtain multiple modulation signals.

[0207] The preset modulation parameter SF can be set according to requirements, such as 8, 9, 10 or 11.

[0208] For example, if the length of the encoded navigation message is N bits and the preset modulation parameter is SF, then the navigation message is divided into N / SF groups. Each group of navigation messages is a navigation sub-message, and the length of a navigation sub-message is SF bits. The binary number of each navigation sub-message (SF bits in length) is converted into a decimal number, and each decimal number is processed by chirp spread spectrum signal processing to obtain multiple modulation signals, that is, each modulation signal corresponds to a navigation sub-message.

[0209] S504: The modulated signal is framed according to the preset navigation signal frame structure to generate the navigation signal.

[0210] In some implementations, the preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; and the identification code region includes a second preset number of second symbols.

[0211] For example, as shown in Figure 6, the navigation signal frame structure includes a preamble area, an identification code area, and a data area. The preamble area includes a first preset number of first symbols, which can be set according to actual needs, such as 4, 6, or 8, etc. The first symbols can be down-chirp symbols or up-chirp symbols. The identification code area includes a second preset number of second symbols. The identification code corresponding to the identification code area is used to indicate whether the type of signal received by the terminal is a navigation signal or a communication broadcast signal. The second preset number can be set according to actual needs, for example, it can be 2. In one example, the identification code area can be set to include 2 up-chirp symbols to indicate that the type of signal received by the terminal is a communication broadcast signal, and the identification code area can be set to include one down-chirp symbol and one up-chirp symbol to indicate that the type of signal received by the terminal is a navigation signal; or, the identification code area can be set to include 2 up-chirp symbols to indicate that the type of signal received by the terminal is a navigation signal, and the identification code area can be set to include one down-chirp symbol and one up-chirp symbol to indicate that the type of signal received by the terminal is a communication broadcast signal. The length of the data area can be set according to actual needs, specifically a preset fixed length.

[0212] Accordingly, step S504 above, which frames the modulated signal according to the preset navigation signal frame structure to generate a navigation signal, includes: filling at least one modulated signal into the data area of ​​the preset navigation signal frame structure to generate a navigation signal.

[0213] In this embodiment, the correspondence between SF and K can be preset, such as SF being 8 corresponding to K being 4, SF being 9 corresponding to K being 8, and so on. Thus, knowing SF allows us to know K at the same time. K represents the number of navigation sub-messages that can be transmitted in one transmission of the navigation signal. Then, the K modulated signals are filled into the data area of ​​the navigation signal frame structure to generate the navigation signal.

[0214] When generating navigation signals, the navigation message is decomposed into multiple navigation sub-messages. Each navigation sub-message is modulated using a preset SF to obtain multiple modulated signals, thereby effectively improving the processing gain of the navigation message. Then, the modulated signals are framed according to a preset navigation signal frame structure, and at least one modulated signal is filled into the data area of ​​the preset navigation signal frame structure to generate the navigation signal. Since the signal generated using chirp spread spectrum technology has excellent sensing characteristics, the generated navigation signal can be used as a sensing signal to better realize the integration of communication and navigation.

[0215] S505 broadcasts communication and navigation signals to the terminal so that the terminal can determine its location information based on the navigation and communication signals.

[0216] The method for generating communication broadcast signals is the same as that for generating navigation signals, and can be implemented by referring to the above-mentioned navigation signal generation process. The embodiments disclosed herein will not be described in detail here.

[0217] In this embodiment, the signal generated using chirp spread spectrum technology has excellent sensing characteristics. Therefore, the generated communication broadcast signal or navigation signal can also serve as a sensing signal, better achieving integrated communication and navigation. The access device broadcasts the communication broadcast signal and navigation signal to the terminal, enabling the terminal to determine its location information based on the navigation signal and communication broadcast signal. This achieves location determination even when the terminal does not have or cannot use a GPS chip or a BeiDou chip.

[0218] For example, as shown in FIG7, the navigation signal generation method provided in this embodiment of the present disclosure includes:

[0219] S701, Initialization, setting the SF of chirp spread spectrum technology, and the number K of navigation sub-messages that can be transmitted in one transmission of navigation signals.

[0220] S702 splices together location-related information and beam information of low-orbit satellites to form navigation messages.

[0221] The generated navigation message has a length of L bits.

[0222] S703 performs a CRC check on the navigation message, and then encodes the CRC-checked navigation message using QC-LDPC code to obtain the encoded navigation message.

[0223] S704 uses SF to group the encoded navigation message to obtain multiple navigation sub-messages.

[0224] If the length of the encoded navigation message is N bits, the navigation message is divided into N / SF groups. Each group of navigation messages is a navigation sub-message, and the length of a navigation sub-message is SF bits. If the length of the last navigation sub-message is less than SF bits, zero padding is performed.

[0225] S705 performs data format conversion for each navigation sub-message.

[0226] Convert the binary number of each navigation sub-message (SF bits in length) into a decimal number.

[0227] S706 performs chirp spread spectrum signal processing on each navigation sub-message after data format conversion to obtain multiple modulated signals.

[0228] Each decimal number is processed by chirp spread spectrum signal processing to obtain multiple modulation signals, that is, each modulation signal corresponds to a navigation sub-message.

[0229] S707, according to the preset navigation signal frame structure, fills the data area of ​​the navigation signal frame structure with K modulation signals, and frames them with the preamble and the identification code corresponding to the navigation signal to generate the navigation signal.

[0230] The generated navigation signal contains K modulated signals in the data area, corresponding to the length of the navigation sub-message, specifically K×SF (bit), or N / SF×K (bit). The number of target signal frames corresponding to the transmission of a complete navigation message is J = N / SF / K.

[0231] Furthermore, navigation signals are broadcast in time slots where no communication broadcast signals are being broadcast.

[0232] For example, as shown in FIG8, an interactive demonstration method of the terminal location determination method provided in this embodiment of the present disclosure includes:

[0233] S801, the access device generates a navigation message based at least on the location-related information of the access device; the navigation message is decomposed to obtain multiple navigation sub-messages; each navigation sub-message is modulated using preset modulation parameters to obtain multiple modulation signals; the modulation signals are framed according to a preset navigation signal frame structure to generate a navigation signal.

[0234] S802, the access device broadcasts communication broadcast signals and navigation signals to the terminal in an alternating manner.

[0235] S803, the terminal receives navigation signals and communication broadcast signals broadcast by the access device; demodulates the received navigation signals and communication broadcast signals respectively to obtain navigation signal frames corresponding to each received navigation signal and communication broadcast signal frames corresponding to each received communication broadcast signal; identifies the received signal as a navigation signal or a communication broadcast signal based on the identification code; determines multiple frequency offset estimates based on the multiple received navigation signal frames or multiple communication broadcast signal frames; obtains the first location-related information of the access device based on the received communication broadcast signal; calculates the terminal's location information based on the first location-related information and the multiple frequency offset estimates to obtain initial location information; obtains a navigation message based on the received navigation signal; obtains the second location-related information of the access device based on the navigation message; updates the initial location information using the second location-related information to obtain the terminal's location information.

[0236] This disclosure also provides a terminal location determination device, applied to a terminal, as shown in Figure 9, including:

[0237] The signal receiving module 901 is used to receive navigation signals and communication broadcast signals broadcast by the access device;

[0238] The frequency offset estimation module 902 is used to determine multiple frequency offset estimates based on the received navigation signal or communication broadcast signal;

[0239] The first information acquisition module 903 is used to acquire first location-related information of the access device based on the received communication broadcast signal;

[0240] The first position calculation module 904 is used to calculate the position information of the terminal based on the first position-related information and multiple frequency offset estimates, to obtain the initial position information, that is, to determine the initial position information of the terminal.

[0241] The second information acquisition module 905 is used to acquire navigation messages based on the received navigation signals;

[0242] The third information acquisition module 906 is used to obtain second location-related information of the access device based on the navigation message;

[0243] The second location calculation module 907 is used to update the initial location information using the second location-related information to obtain the terminal's location information.

[0244] In some embodiments, the above-described apparatus further includes:

[0245] The signal demodulation module is used to demodulate the received navigation signals and communication broadcast signals respectively, and obtain the navigation signal frame corresponding to each received navigation signal and the communication broadcast signal frame corresponding to each received communication broadcast signal; each navigation signal frame and communication broadcast signal frame includes: a preamble, an identification code, and data; the identification code is used to indicate whether the type of the received signal is a navigation signal or a communication broadcast signal;

[0246] The signal recognition module is used to identify whether the received signal is a navigation signal or a communication broadcast signal based on the identification code.

[0247] In some implementations, the frequency offset estimation module 902 is specifically used to determine multiple frequency offset estimates based on multiple received navigation signal frames or multiple communication broadcast signal frames.

[0248] In some implementations, the frequency offset estimation module 902 described above is specifically used for:

[0249] Acquire the preamble of a specified number of continuously received navigation signal frames or a specified number of communication broadcast signal frames;

[0250] Based on the acquired preamble, determine a specified number of frequency offset estimates.

[0251] In some implementations, the aforementioned first location-related information includes: first current location information of the access device and first speed information corresponding to the first current location information; the aforementioned first location calculation module 904 is specifically used to calculate the location vector of the initial position of the terminal based on the location vector corresponding to the first current location information, the speed vector corresponding to the first speed information, and multiple frequency offset estimates, using a preset location calculation algorithm, as the initial location information of the terminal.

[0252] In some embodiments, the second information acquisition module 905 described above is specifically used for:

[0253] Based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to the complete navigation message, determine whether the target number of navigation signal frames have been received.

[0254] If the target number of navigation signal frames are received, the data of the continuously received navigation signal frames are spliced ​​together to obtain the navigation message.

[0255] In some embodiments, the aforementioned second location-related information includes: second current location information of the access device and second speed information corresponding to the second current location information; the aforementioned second location calculation module 907 is specifically used for:

[0256] Based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and multiple frequency offset estimates, the position information of the terminal is calculated to obtain the target position information, that is, to determine the target position information of the terminal.

[0257] The initial location information is updated using the target location information to obtain the terminal's location information.

[0258] This disclosure also provides a terminal location determination device, applied to an access device, as shown in Figure 10, including:

[0259] The signal generation module 1001 is used to generate navigation signals based on the location-related information of the access device;

[0260] The third position calculation module 1002 is used to broadcast communication broadcast signals and navigation signals to the terminal so that the terminal can determine its position information based on the navigation signals and communication broadcast signals.

[0261] In some embodiments, the signal generation module 1001 includes:

[0262] The navigation message generation submodule is used to generate navigation messages based at least on location-related information of the access device.

[0263] The navigation message decomposition submodule is used to decompose the navigation message into multiple navigation sub-messages;

[0264] The navigation message modulation submodule is used to modulate each navigation sub-message using preset modulation parameters to obtain multiple modulation signals; each modulation signal corresponds to one navigation sub-message.

[0265] The navigation signal generation submodule is used to frame the modulated signal according to the preset navigation signal frame structure to generate the navigation signal.

[0266] In some implementations, the above-mentioned navigation message disassembly submodule is specifically used for:

[0267] The navigation message is encoded to obtain the encoded navigation message;

[0268] The encoded navigation message is grouped based on preset modulation parameters, and multiple navigation sub-messages are obtained based on the grouped navigation messages.

[0269] In some embodiments, the preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; the identification code region includes a second preset number of second symbols; the navigation signal generation submodule is specifically used to fill at least one modulation signal into the data region of the preset navigation signal frame structure to generate a navigation signal.

[0270] In some implementations, the modulation parameters mentioned above are spreading factors.

[0271] In some implementations, the third location calculation module 1002 described above is specifically used to broadcast communication broadcast signals and navigation signals to the terminal in an alternating manner, so that the terminal can determine the terminal's location information based on the navigation signals and communication broadcast signals.

[0272] This disclosure also provides a terminal device, as shown in FIG11, including a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104, wherein the processor 1101, the communication interface 1102, and the memory 1103 communicate with each other through the communication bus 1104.

[0273] Memory 1103 is used to store computer programs;

[0274] When the processor 1101 executes the program stored in the memory 1103, it implements any of the methods described above applied to the terminal device to achieve the same technical effect.

[0275] This disclosure also provides an access device, as shown in FIG12, including a processor 1201, a communication interface 1202, a memory 1203, and a communication bus 1204, wherein the processor 1201, the communication interface 1202, and the memory 1203 communicate with each other through the communication bus 1204.

[0276] Memory 1203 is used to store computer programs;

[0277] When the processor 1201 executes the program stored in the memory 1203, it implements any of the methods described above applied to the access device to achieve the same technical effect.

[0278] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0279] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0280] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. In some embodiments, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0281] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be 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, or discrete hardware components.

[0282] In another embodiment provided in this disclosure, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements any of the above-described terminal location determination methods to achieve the same technical effect.

[0283] In another embodiment provided in this disclosure, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the terminal location determination methods in the above embodiments to achieve the same technical effect.

[0284] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0285] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0286] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0287] The above description is merely a preferred embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure are included within the scope of protection of this disclosure.

Claims

1. A method for determining the location of a terminal, applied to a terminal, the method comprising: Receive navigation signals and communication broadcast signals broadcast by access devices; Based on the received navigation signal or the communication broadcast signal, determine multiple frequency offset estimates; Based on the received communication broadcast signal, the first location-related information of the access device is obtained; Based on the first location-related information and the multiple frequency offset estimates, the initial location information of the terminal is determined; Based on the received navigation signals, obtain the navigation message; Based on the navigation message, the second location-related information of the access device is obtained; The initial location information is updated using the second location-related information to obtain the location information of the terminal.

2. The method according to claim 1, wherein, The method further includes: Before determining multiple frequency offset estimates based on the received navigation signal or the communication broadcast signal, the received navigation signal and the communication broadcast signal are demodulated respectively to obtain navigation signal frames corresponding to each received navigation signal and communication broadcast signal frames corresponding to each received communication broadcast signal; each navigation signal frame and each communication broadcast signal frame includes: a preamble, an identification code, and data; the identification code is used to indicate whether the type of the received signal is a navigation signal or a communication broadcast signal; Based on the identification code, the received signal is identified as a navigation signal or a communication broadcast signal.

3. The method according to claim 2, wherein, The determination of multiple frequency offset estimates based on the received navigation signal or communication broadcast signal includes: Multiple frequency offset estimates are determined based on multiple received navigation signal frames or multiple communication broadcast signal frames.

4. The method according to claim 3, wherein, The determination of multiple frequency offset estimates based on multiple received navigation signal frames or multiple communication broadcast signal frames includes: Acquire the preamble of a specified number of continuously received navigation signal frames or a specified number of received communication broadcast signal frames; Based on the acquired specified number of preambles, a specified number of frequency offset estimates are determined.

5. The method according to any one of claims 1-4, wherein, The first location-related information includes: the first current location information of the access device and the first speed information corresponding to the first current location information; Determining the initial location information of the terminal based on the first location-related information and the plurality of frequency offset estimates includes: Based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and the multiple frequency offset estimates, the position vector of the initial position of the terminal is calculated using a preset position calculation algorithm.

6. The method according to any one of claims 2-5, wherein, The step of obtaining the navigation message based on the received navigation signal includes: Based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to a complete navigation message, determine whether the target number of navigation signal frames have been received. Upon receiving a target number of navigation signal frames, the data of the continuously received navigation signal frames are spliced ​​together to obtain a navigation message.

7. The method according to any one of claims 1-6, wherein, The second location-related information includes: the second current location information of the access device and the second speed information corresponding to the second current location information; The step of updating the initial location information using the second location-related information to obtain the terminal's location information includes: Based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and the multiple frequency offset estimates, the target position information of the terminal is determined. The initial location information is updated using the target location information to obtain the location information of the terminal.

8. A terminal location determination method, applied to an access device, the method comprising: Based on the location-related information of the access device, a navigation signal is generated; The communication broadcast signal and the navigation signal are broadcast to the terminal so that the terminal can determine its location information based on the navigation signal and the communication broadcast signal.

9. The method according to claim 8, wherein, The step of generating navigation signals based on the location-related information of the access device includes: A navigation message is generated based on the location-related information of the access device; The navigation message is disassembled to obtain multiple navigation sub-messages; Each navigation sub-message is modulated using preset modulation parameters to obtain multiple modulation signals, each modulation signal corresponding to a navigation sub-message; The modulated signal is framed according to a preset navigation signal frame structure to generate a navigation signal.

10. The method according to claim 9, wherein, The navigation message is disassembled to obtain multiple navigation sub-messages, including: The navigation message is encoded to obtain the encoded navigation message; The encoded navigation message is grouped based on preset modulation parameters, and multiple navigation sub-messages are obtained based on the grouped navigation messages.

11. The method according to claim 9, wherein, The preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; the identification code region includes a second preset number of second symbols; the step of framing the modulated signal according to the preset navigation signal frame structure to generate a navigation signal includes: At least one of the modulation signals is filled into the data area of ​​the preset navigation signal frame structure to generate a navigation signal.

12. The method according to any one of claims 9-11, wherein, The modulation parameter is the spreading factor.

13. The method according to any one of claims 8-12, wherein, The step of broadcasting the communication broadcast signal and the navigation signal to the terminal includes: The communication broadcast signal and the navigation signal are broadcast to the terminal in an alternating manner.

14. A terminal location determination device, applied to a terminal, the device comprising: The signal receiving module is used to receive navigation signals and communication broadcast signals broadcast by the access device; The frequency offset estimation module is used to determine multiple frequency offset estimates based on the received navigation signal or the communication broadcast signal; The first information acquisition module is used to acquire first location-related information of the access device based on the received communication broadcast signal; The first location calculation module is used to determine the initial location information of the terminal based on the first location-related information and the multiple frequency offset estimates. The second information acquisition module is used to acquire navigation messages based on the received navigation signals; The third information acquisition module is used to obtain the second location-related information of the access device based on the navigation message; The second location calculation module is used to update the initial location information using the second location-related information to obtain the location information of the terminal.

15. The apparatus according to claim 14, wherein, The device further includes: The signal demodulation module is used to demodulate the received navigation signal and the communication broadcast signal respectively, and obtain the navigation signal frame corresponding to each received navigation signal and the communication broadcast signal frame corresponding to each received communication broadcast signal; each navigation signal frame and the communication broadcast signal frame includes: a preamble, an identification code and data; the identification code is used to indicate whether the type of the received signal is a navigation signal or a communication broadcast signal; The signal identification module is used to identify whether the received signal is a navigation signal or a communication broadcast signal based on the identification code.

16. The apparatus according to claim 15, wherein, The frequency offset estimation module is specifically used to determine multiple frequency offset estimates based on multiple received navigation signal frames or multiple communication broadcast signal frames.

17. The apparatus according to claim 16, wherein, The frequency offset estimation module is specifically used for: Acquire the preamble of a specified number of continuously received navigation signal frames or a specified number of received communication broadcast signal frames; Based on the acquired specified number of preambles, a specified number of frequency offset estimates are determined.

18. The apparatus according to claim 14, wherein, The first location-related information includes: the first current location information of the access device and the first speed information corresponding to the first current location information; The first position calculation module is specifically used to calculate the position vector of the initial position of the terminal based on the position vector corresponding to the first current position information, the velocity vector corresponding to the first velocity information, and the multiple frequency offset estimates, using a preset position calculation algorithm, and use it as the initial position information of the terminal.

19. The apparatus according to claim 15, wherein, The second information acquisition module is specifically used for: Based on the number of continuously received navigation signal frames and the target number of signal frames corresponding to a complete navigation message, determine whether the target number of navigation signal frames have been received. Upon receiving a target number of navigation signal frames, the data of the continuously received navigation signal frames are spliced ​​together to obtain a navigation message.

20. The apparatus according to claim 14, wherein, The second location-related information includes: the second current location information of the access device and the second speed information corresponding to the second current location information; The second position calculation module is specifically used for: Based on the position vector corresponding to the second current position information, the velocity vector corresponding to the second velocity information, and the multiple frequency offset estimates, the target position information of the terminal is determined. The initial location information is updated using the target location information to obtain the location information of the terminal.

21. A terminal location determination device, applied to an access device, the device comprising: The signal generation module is used to generate navigation signals based on the location-related information of the access device; The third location calculation module is used to broadcast the communication broadcast signal and the navigation signal to the terminal, so that the terminal can determine the location information of the terminal based on the navigation signal and the communication broadcast signal.

22. The apparatus according to claim 21, wherein, The signal generation module includes: A navigation message generation submodule is used to generate navigation messages based on the location-related information of the access device. The navigation message decomposition submodule is used to decompose the navigation message to obtain multiple navigation sub-messages; The navigation message modulation submodule is used to modulate each of the navigation sub-messages using preset modulation parameters to obtain multiple modulation signals; each modulation signal corresponds to one navigation sub-message. The navigation signal generation submodule is used to frame the modulated signal according to a preset navigation signal frame structure to generate a navigation signal.

23. The apparatus according to claim 22, wherein, The navigation message decomposition submodule is specifically used for: The navigation message is encoded to obtain the encoded navigation message; The encoded navigation message is grouped based on preset modulation parameters, and multiple navigation sub-messages are obtained based on the grouped navigation messages.

24. The apparatus according to claim 22, wherein, The preset navigation signal frame structure includes: a preamble region, an identification code region, and a data region; the preamble region includes a first preset number of first symbols; the identification code region includes a second preset number of second symbols; the navigation signal generation submodule is specifically used to fill at least one of the modulation signals into the data region of the preset navigation signal frame structure to generate a navigation signal.

25. The apparatus according to any one of claims 22-24, wherein, The modulation parameter is the spreading factor.

26. The apparatus according to any one of claims 22-24, wherein, The third location calculation module is specifically used to broadcast the communication broadcast signal and the navigation signal to the terminal in an alternating manner, so that the terminal can determine the location information of the terminal based on the navigation signal and the communication broadcast signal.

27. A terminal device, comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, communication interface, and memory communicate with each other through a communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 1-7.

28. An access device, comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, communication interface, and memory communicate with each other through a communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method described in any one of claims 8-13.

29. A computer-readable storage medium storing a computer program therein, which, when executed by a processor, implements the method of any one of claims 1-13.

30. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-13.

31. A computer program comprising: Instructions, when executed by a processor, cause the processor to perform the method described in any one of claims 1-13.

Images