Detailed Description
The terms first and second and the like in the description and in the claims, are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order of the objects;
"and/or" in embodiments of the present application indicates a relationship between objects, for example, an ionospheric delay bias and/or a tropospheric delay bias may indicate three cases where an ionospheric delay bias alone, a tropospheric delay bias alone, and both an ionospheric delay bias and a tropospheric delay bias;
In embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration, any embodiment or design described as "exemplary" or "such as" in embodiments of the present application should not be interpreted as preferred or advantageous over other embodiments or designs;
in the description of the present invention, unless otherwise indicated, the meaning of "plurality" refers to two or more, for example, a plurality of navigation satellites refers to two or more navigation satellites;
the method and the device provided by the embodiment of the application relate to positioning user equipment based on a global navigation satellite system (GNSS for short), wherein the core function of the GNSS is to measure the distance between a satellite and a receiver based on the propagation time of radio waves and calculate the accurate position of the receiver by using a triangulation method;
By way of example, FIG. 1 is a schematic diagram of a GNSS architecture, as shown in FIG. 1, the GNSS may comprise three parts, namely a space part, a ground control part and a user equipment part, wherein the space part comprises a plurality of navigation satellites 101, the ground control part (i.e. the ground control system) comprises a plurality of monitoring stations 102 and at least one operation control center 103, the user equipment part comprises a user equipment 104, and links for transmitting radio waves are established between the parts of the GNSS (the links in FIG. 1 may represent links);
Wherein a plurality of navigation satellites 101 in the satellite navigation system are distributed on different orbits to ensure continuous coverage in the global scope, satellite signals transmitted by the navigation satellites 101 can comprise ranging codes and data codes, the ranging codes are used for measuring distances between the navigation satellites 101 and ground devices (such as a monitoring station 102, an operation control center 103, a user device 104 and the like) receiving satellite signals of the navigation satellites 101;
The monitoring station 102 (provided with a GNSS receiver therein) in the ground control system is used for monitoring the navigation satellite 101 and collecting satellite signals emitted by the satellite, processing the received satellite signals to obtain the observation data of the navigation satellite 101, and sending the observation data to the operation control center 103, wherein a plurality of monitoring stations 102 are deployed in the GNSS and distributed in different areas;
the observation data comprises a pseudo-range observation value and the like, and the monitoring station 102 calculates the product of the time required for the ranging code transmitted by the navigation satellite 101 to reach the monitoring station 102 and the speed of light to obtain the pseudo-range observation value;
The operation control center 103 in the ground control system can obtain positioning enhancement information (also called navigation positioning enhancement information) according to the observation data of the navigation satellite 101 and the satellite ephemeris data of the navigation satellite 101 obtained by the monitoring station 102, wherein the positioning enhancement information is used for reducing or eliminating satellite clock errors, orbit errors, atmospheric delays (especially ionosphere and troposphere delays), multipath effects and the like, so that a GNSS receiver can calculate a more accurate position;
The operation control center 103 may also send positioning enhancement information to the user equipment 104 for GNSS positioning of the user equipment 104 through a backhaul link, which may include an uplink (a link in which the operation control center 103 sends positioning enhancement information to the navigation satellite 101), an inter-satellite link (a link in which the navigation satellite 101 forwards the positioning enhancement information to the navigation satellite 101), and a downlink (a link in which the navigation satellite 101 forwards the positioning enhancement information to the user equipment 104);
Optionally, the positioning enhancement information may also be transmitted through a Satellite-based enhancement system (Satellite-Based Augmentation System, SBAS), and in particular, reference may be made to the prior art, and the SBAS is not described in the embodiment of the present application;
The user equipment 104 is configured to determine a transmission time of a satellite signal (a receiving time of the satellite signal minus a transmitting time of the satellite signal) after receiving satellite signals of at least four navigation satellites 101, and take a product of a signal propagation speed and the transmission time of the signal as a distance (i.e., a pseudo-range observation value) between the user equipment 104 and the navigation satellites 101;
by way of example, the user device 104 includes various terminals having positioning functions (i.e., a GNSS receiver is mounted), such as a cell phone, a traffic device (e.g., an automobile, an airplane, a ship, etc.), a camera, a wearable device, etc.;
In order to solve the problem that the bandwidth resources of a satellite navigation system in the background art are limited, and the positioning service requirements of more user equipment cannot be met at the same time, the embodiment of the application provides a positioning method and a positioning device, wherein a management and control device receives a request for acquiring positioning enhancement information from at least two navigation satellites (the request is sent to the navigation satellites by the user equipment and then sent to the management and control device), determines the distance from the user equipment to at least two navigation satellites, further determines the position of the user equipment, calculates the altitude angle of the navigation satellites relative to the user equipment based on the position of the user equipment, screens out first positioning enhancement information corresponding to the navigation satellites with the altitude angle meeting the observation conditions from a positioning enhancement information base, and obtains second positioning enhancement information corresponding to the position of the user equipment, thereby obtaining positioning enhancement information required by the user equipment, in the positioning enhancement information providing process for the user equipment, firstly screens the navigation satellites, then obtains first positioning enhancement information related to the navigation satellites with good observation effect from the positioning enhancement information base, simultaneously reduces the occupation of the user equipment with the corresponding positioning enhancement information of the navigation satellites in the limited capacity of the user equipment, and simultaneously reduces the occupation of the positioning enhancement information to the user equipment in the limited capacity of the positioning system, thereby meeting the positioning service demands of more user equipment;
optionally, the positioning method provided by the embodiment of the application can be a Global Positioning System (GPS), a GLONASS satellite navigation system (GLONASS), a Galileo satellite navigation system (Galileo), a beidou satellite navigation system (BDS) and the like;
Referring to fig. 1, fig. 2 is a schematic architecture diagram of a satellite navigation system according to an embodiment of the present application, where the satellite navigation system includes a plurality of navigation satellites 101, a control center 103, a user device 104, and a positioning enhancement information base 105 disposed in the control center 103;
Referring to fig. 3, a module supporting RDSS service, a module supporting RNSS service, and a data processing module for performing GNSS positioning on the ue are disposed in the ue 104; the user equipment 104 can also receive satellite signals of at least four Navigation satellites 101 (the satellite signals are used for positioning the user equipment) through a module supporting RNSS service, wherein RNSS (Radio Navigation SATELLITE SYSTEM), namely a satellite Radio Navigation system, is a service system which allows the user equipment 104 to receive satellite Radio Navigation signals and autonomously complete distance measurement to at least four Navigation satellites;
The plurality of navigation satellites 101 are all navigation satellites capable of providing RDSS service, the plurality of navigation satellites 101 are used for receiving a request sent by the user equipment 104 for acquiring positioning enhancement information and sending the received request and satellite identifications of the navigation satellites 101 to the operation control center 103, wherein RDSS (Radio Determination SATELLITE SERVICE) is a satellite radiometry service which allows a user to perform distance measurement and position calculation through bidirectional communication with the satellites;
The operation control center 103 is configured to determine a distance between the user equipment 104 and each of the at least two navigation satellites 101 according to a ranging code carried in a request sent by the navigation satellite 101 and a satellite identifier of each of the at least two navigation satellites 101, and calculate a position of the user equipment 104 (i.e., a schematic position of the user equipment) according to a distance between the user equipment 104 and each of the at least two navigation satellites 101 and a geodetic altitude of the user equipment 104 as a three-sphere intersection positioning condition, where the geodetic altitude of the user equipment 104 refers to a distance between the user equipment 104 and a sphere center of the earth;
The positioning enhancement information base 105 is used for storing positioning enhancement information, wherein the positioning enhancement information base 105 comprises first type positioning enhancement information corresponding to satellite identifications of a plurality of navigation satellites 101 and second type positioning enhancement information corresponding to a plurality of position information;
The operation control center 103 is further configured to determine target positioning enhancement information for positioning a certain user equipment 104 from the positioning enhancement information base 105, and send the target positioning enhancement information to the user equipment 104 through a backhaul link;
After receiving satellite signals of at least four navigation satellites 101, the user equipment 104 determines the distance (namely pseudo-range observation value) between the user equipment 104 and the navigation satellites 101, and the user equipment 104 corrects the pseudo-range observation value based on the target positioning enhancement information, and combines the corrected pseudo-range observation value with ephemeris data in the satellite signals of the navigation satellites 101 to position the user equipment 104 so as to obtain the accurate position of the user equipment;
Alternatively, the positioning enhancement information base 105 may not be disposed inside the operation center 103, and the operation center 103 may access/obtain the positioning enhancement information base 105 through interfaces such as a data interface and a network interface;
In the embodiment of the present application, the hardware structure of the control device is introduced by taking the control device as an example of the computer, and the hardware part of the computer may include a processor, a memory, a network interface, a user interface, a communication bus, and the like;
The processor is used for controlling the computer to execute relevant processing and calculation tasks, for example, the processor can determine the position of the user equipment, determine the altitude angle of the navigation satellite relative to the user equipment and determine target positioning enhancement information; the processor may include a central processing unit (central processing unit, CPU) or other processor, which may be single or multi-core, e.g., the processor may include multiple CPUs;
The memory is used to store computer instructions and related data, such as the location enhancement information base 105, object location enhancement information, etc., and may be random access memory (random access memory, RAM), read Only Memory (ROM), erasable programmable read only memory (erasable programmable read-only memory), flash memory, or optical memory, magnetic disk storage media or other magnetic storage device, or any other medium capable of storing program code or data that is accessible by a computer, and optionally, the memory may be integrated within the processor, the memory may also be independent of the processor;
The network interface is used for the computer to communicate with other devices (such as navigation satellite) or communication networks, and can be a transceiver with a transceiver function, and can comprise a standard wired interface, a wireless interface (such as WI-FI interface, bluetooth interface and 5G interface);
the communication bus is used to enable connection communication between the various components, such as the processor, memory, network interface, and user interface described above, which may be interconnected by the communication bus;
The user interface may comprise a display screen, an input unit (e.g. a keyboard) and optionally a standard wired interface, a wireless interface;
Those skilled in the art will appreciate that the above-described computer may also include more or fewer components, or may combine certain components, or may have different arrangements of components, and that embodiments of the present application are not limited in this respect;
In connection with the architecture and related description of the satellite navigation system shown in fig. 2, the positioning method provided by the embodiment of the present application is described in detail below from the perspective of interaction among the user equipment, the navigation satellite and the management and control device (i.e. the operation and control center 103);
s101, user equipment determines at least two navigation satellites from GNSS;
Taking GNSS as an example of a Beidou satellite navigation system, user equipment firstly searches and identifies navigation satellites which are visible to the user equipment and support RDSS/Beidou short message service, and selects at least two navigation satellites which are closer to the user equipment and have stronger signal strength from navigation positions meeting the conditions so as to request the at least two navigation satellites to acquire positioning enhancement information for positioning the user equipment;
s102, the user equipment sends a request for acquiring positioning enhancement information of the user equipment to at least two navigation satellites;
for convenience of description, in the following embodiments, the request for obtaining the positioning enhancement information of the user equipment is simply referred to as a positioning enhancement information request;
It should be understood that, in the following embodiments, the ranging codes in the positioning enhancement information request refer to the ranging codes at the time when the ue sends the request for obtaining the positioning enhancement information;
s103, at least two navigation satellites send a positioning enhancement information request and satellite identifications of the navigation satellites to the management and control equipment;
The satellite signals sent by each of the at least two navigation satellites to the management and control equipment comprise a request code representing a request for obtaining positioning enhancement information, a ranging code and a satellite identification of the navigation satellite;
The user equipment sends a positioning enhancement information request to the management and control equipment through two navigation satellites (satellite identifiers of the two navigation satellites are U1 and U2 respectively), wherein the content of the request sent by the first navigation satellite is { U1, request code 1 and ranging code 1}, and the content of the request sent by the second navigation satellite is { U2, request code 1 and ranging code 1};
Optionally, after receiving the positioning enhancement information request from the user equipment, the navigation satellite may directly send the positioning enhancement information request to the management and control equipment, or when the management and control equipment is out of the visible range of the navigation satellite (at this time, the management and control equipment cannot receive signals sent by the navigation satellite), the navigation satellite may forward the request to the management and control equipment through other navigation satellites (the management and control equipment is located in the visible range of other navigation satellites);
S104, after receiving a request for acquiring positioning enhancement information of the user equipment sent by at least two navigation satellites, the management and control equipment determines the position of the user equipment according to a ranging code carried in the request and a satellite identifier of each of the at least two navigation satellites;
positioning enhancement information may include a variety of information including, but not limited to, satellite orbit bias, satellite clock bias, satellite phase bias, code pseudorange bias, ionospheric delay bias, and tropospheric delay bias; in the embodiment of the application, the positioning enhancement information is divided into two types according to the relation between the positioning enhancement information and the navigation satellite and the relation between the positioning enhancement information and the position, wherein the positioning enhancement information comprises first type positioning enhancement information related to the navigation satellite and second type positioning enhancement information related to the position;
optionally, the first type of positioning enhancement information may include at least one of satellite orbit bias, satellite clock bias, satellite phase bias, or code pseudo-range bias;
in one implementation, S104 includes S1041-S1042;
S1041, determining the distance between the user equipment and each navigation satellite of at least two navigation satellites according to the ranging code carried in the positioning enhancement information request and the ranging code when the management and control equipment receives the positioning enhancement information request;
taking a navigation satellite as an example, the process of determining the distance between the user equipment and the navigation satellite by the management and control device includes:
step 1, a management and control device determines the transmission distance of a positioning enhancement information request;
Determining the transmission distance of the positioning enhancement information request according to the transmission time of the positioning enhancement information request, wherein the transmission distance is the product of the transmission time and the light speed, and the distance between the user equipment and the navigation satellite plus the distance between the navigation satellite and the management and control equipment is the transmission distance of the positioning enhancement information request;
step 2, the control equipment determines the distance from the navigation satellite to the control equipment;
It should be appreciated that the management and control device continuously receives signals transmitted by the navigation satellites and generates and stores ephemeris of the navigation satellites based on the generated signals, the ephemeris including orbit information (e.g., orbit parameters, etc.) of the navigation satellites;
step 3, the control equipment determines the distance between the user equipment and the navigation satellite according to the transmission distance of the positioning enhancement information request and the distance between the navigation satellite and the control equipment;
Subtracting the distance between the navigation satellite and the management and control equipment from the transmission distance of the positioning enhancement information request to obtain the distance between the user equipment and the navigation satellite;
S1042, the control device obtains the position of the user device by calculating according to the distance between the user device and each of at least two navigation satellites and the height of the earth where the user device is located as the condition of three-sphere intersection positioning, and the position of the user device determined by using the three-sphere positioning method is the probability position of the user device;
It can be understood that three-sphere intersection positioning is a positioning method based on distance measurement, and the method takes the intersection point of three spheres with known positions as the position of an unknown point (such as user equipment), in the embodiment of the application, two navigation satellites (the navigation satellite 1 and the navigation satellite 2) are taken as examples, wherein the three spheres respectively take the navigation satellite 1 as a sphere center, the distance from the navigation satellite 1 to the user equipment as a radius sphere, the navigation satellite 2 as a sphere center, the distance from the navigation satellite 2 to the user equipment as a radius sphere center, and the earth center point as a sphere center, and the distance from the earth center point to the user equipment as a radius sphere;
Alternatively, the location of the user device may be represented by coordinates of a point in cgcs2000 coordinate system (China Geodetic Coordinate System 2000), e.g., the location of the user device is represented as (x, y, z);
s105, the control equipment determines the altitude angle of each navigation satellite in a plurality of navigation satellites of the satellite navigation system relative to the user equipment according to the position of the user equipment;
the altitude angle of the navigation satellite relative to the user device refers to the angle between the line from the user device to the navigation satellite and the horizon, such as the altitude angle h in fig. 5;
Taking a navigation satellite as an example, in one implementation, a method for determining an altitude of the navigation satellite relative to a user device includes S1051-S1052;
S1051, the control equipment establishes a station rectangular coordinate system by taking the position of user equipment as an origin, and determines the position coordinates of a navigation satellite in the station rectangular coordinate system;
Referring to fig. 6, a station center rectangular coordinate system is established by taking the position of the user equipment as an origin (point Or), the station center rectangular coordinate system comprises an N axis, a U axis and an E axis, the N axis of the station center rectangular coordinate system points to a meridian line passing through the user equipment, the north direction is a positive direction of the N axis, the U axis coincides with a normal line of a WGS84 ellipsoid on the user equipment, the direction of the WGS84 ellipsoid normal line points to the outside of the WGS84 ellipsoid is the positive direction of the U axis, the E axis, the N axis and the U axis form a right-hand rectangular coordinate system, wherein the WGS84 ellipsoid normal line refers to a straight line passing through any point on the earth surface in the WGS84 coordinate system (World Geodetic System 1984), the straight line is tangent to the earth ellipsoid surface and is perpendicular to the equatorial plane of the earth ellipsoid, and the WGS84 coordinate system is a common general knowledge in the art and is not further limited herein;
taking one of a plurality of navigation satellites as an example, the position coordinates of the navigation satellite in a station-center coordinate systemThe method meets the following conditions: Wherein, the method comprises the steps of,The rotation matrix is represented by a matrix of rotations,Representing the coordinates of the navigation satellite in cgcs2000,2000 coordinates,Representing coordinates of the user device in cgcs's 2000 coordinate system;
the above-mentioned rotation matrixThe method meets the following conditions: Wherein, the method comprises the steps of, wherein,Representing the geodetic latitude of the user device,A geodetic longitude representing the user device;
Geodetic latitude of the above-mentioned user equipmentGeodetic longitude with user equipmentThe coordinates of the user equipment in the cgcs2000 coordinate system are converted into coordinates of the user equipment in a geocentric Fixed coordinate system (ECEF), which is common knowledge in the field and is not further described herein;
S1052, the management and control equipment determines the altitude angle of the navigation satellite relative to the user equipment according to the position coordinates of the navigation satellite in the station center rectangular coordinate system;
The position coordinates of the navigation satellite in the station center coordinate system areThe altitude of the navigation satellite relative to the user device satisfies:;
s106, the management and control equipment determines target positioning enhancement information from the positioning enhancement information base;
the positioning enhancement information base comprises first type positioning enhancement information corresponding to satellite identifications of a plurality of navigation satellites and second type positioning enhancement information corresponding to a plurality of position information;
Optionally, in the embodiment of the application, the management and control equipment can construct a positioning enhancement information base, and the target positioning enhancement information is not required to be calculated after the request is received through the pre-constructed positioning enhancement information base, so that the management and control equipment can quickly provide the target positioning enhancement information for the user equipment;
Specifically, the management and control equipment acquires real-time observation data of a plurality of monitoring stations, position information of the plurality of monitoring stations and ephemeris data of a plurality of navigation satellites in the GNSS, and obtains first type positioning enhancement information corresponding to satellite identifications of the plurality of navigation satellites and second type positioning enhancement information corresponding to the position information of the plurality of monitoring stations through state domain modeling;
The calculation formula of the state domain modeling satisfies the following conditions:
;
;
in the above equation, i denotes the receiver number (i.e., the receiver code in the monitoring station), k denotes the satellite identification of the navigation satellite,Indicating that the receiver i observed the phase observations of the navigation satellite k at the moment of reception,The position information indicating that the receiver i observed the navigation satellite k at the reception time,Representing the ionospheric error experienced by the satellite signal as it travels from the navigation satellite k to the receiver i,Representing the tropospheric error experienced by the satellite signals as they are transmitted from the navigation satellites k to the receiver i,Representing the propagation velocity of the satellite signal in vacuum (equal to the speed of light),Representing the receiver clock difference when the satellite signal arrives at the receiver i antenna,Satellite antenna satellite Zhong Zhongcha indicating that the satellite signal left navigation satellite k,Representing the carrier wavelength(s),Representing the unknown integer ambiguity of the carrier phase from navigation satellite k to receiver i,Indicating that receiver i contains a residual error of the non-mode phase offset,Indicating that navigation satellite k contains a residual error of non-mode phase offset,Representing the phase error caused by the multipath effect,Representing carrier phase noise error between navigation satellite k to receiver i; Representing pseudorange observations indicative of a receiver i observing a navigation satellite k at a time of reception,Representing the pseudorange measurement residuals between navigation satellite k to receiver i, where,,,Indicating the reference momentThe initial phase observations of the receiver i,Representing the receiver-side phase hardware delay error when the satellite signal arrives at the receiver i antenna,Indicating the reference momentThe initial phase observations of navigation satellite k,Representing satellite end phase hardware delay errors of satellite signals leaving the navigation satellite k;
From the above, in the first type of positioning enhancement information, the satellite orbit bias, the satellite clock error, the satellite phase bias, and the code pseudo-range bias can be determined by、、AndThe ionospheric delay bias and the tropospheric delay bias in the second type of positioning enhancement information can be obtained byAndObtaining;
Taking a Beidou satellite navigation system as an example, the storage formats of first-type positioning enhancement information and second-type positioning enhancement information in a positioning enhancement information base are shown in table 1;
TABLE 1
Referring to Table 1, for the first type of positioning enhancement information, the storage format of the satellite orbit bias and the satellite clock bias may further include a standard deviation of the satellite orbit bias and a standard deviation of the satellite clock bias, wherein the L1C signal, the L2W signal and the L5W signal in the storage format of the satellite phase bias and the code pseudo-range bias are signals used for positioning in a Beidou No. three system;
For the second type of positioning enhancement information, the ionosphere delay deviation can firstly establish an ionosphere square graph with square size of 1 degree multiplied by 1 degree by a global ionosphere TEC modeling method based on spherical harmonics, and store the ionosphere delay deviation corresponding to four points of each square by a positioning enhancement information base 105;
Specifically, the second type of positioning enhancement information may include ionosphere delay deviations corresponding to four points of a square in an ionosphere square in which the position of the user equipment is located, and/or troposphere delay deviations corresponding to four points of a square in a troposphere square in which the position of the user equipment is located;
As for the global ionosphere TEC modeling method based on spherical harmonic function and the regional precise troposphere delay model constructed based on improved BP neural network, both are the prior art, and the embodiment of the present application is not further described;
In the embodiment of the invention, in target positioning enhancement information for positioning user equipment, the first type of positioning enhancement information is positioning enhancement information corresponding to a navigation satellite with a height angle meeting an observation condition in a positioning enhancement information base, and the second type of positioning enhancement information is positioning enhancement information corresponding to the position of the user equipment in the positioning enhancement information base;
optionally, the observation condition is that the altitude angle of the navigation satellite relative to the user equipment is greater than zero, and it is understood that when the altitude angle of the user equipment and the navigation satellite is greater than zero, the path of the satellite signal passing through the atmosphere to the user equipment is relatively short, the signal strength of the navigation satellite is high, and the accuracy and reliability of positioning the user equipment are improved based on the signals and positioning enhancement information of the navigation satellite;
The control equipment takes the satellite identification of the navigation satellite with the altitude angle larger than zero as a retrieval condition according to the altitude angle determined in the step S105, retrieves the first type of positioning enhancement information corresponding to the satellite identification from the positioning enhancement information base, and retrieves the second type of positioning enhancement information corresponding to the position of the user equipment from the positioning enhancement information base by taking the position of the user equipment determined in the step S104 as a retrieval condition, so as to obtain the target positioning enhancement information;
Under the condition that the requirements of the positioning service of the user equipment are increased year by year, the bandwidth resources of the existing satellite navigation system are limited (for example, the communication capacity of the Beidou III short message service in China is only 1750 bytes, and the communication capacity of the Beidou III short message service in foreign countries is only 80 bytes), so that more bandwidth resources of the satellite navigation system can be occupied to meet the positioning requirements of more users; correspondingly, when more users are involved, the positioning efficiency of the satellite navigation system is lower due to the limited bandwidth of the satellite navigation system, and the first type of positioning enhancement information related to the navigation satellite with better observation effect on the user equipment is screened out from the positioning enhancement information base and provided for the user equipment by the S106 of the embodiment of the application, the positioning enhancement information related to all the navigation satellites in the GNSS is not required to be sent to the user equipment, so that the information quantity of the target positioning enhancement information transmitted to the user equipment can be reduced, and the positioning enhancement information can be rapidly provided for the user under the limited bandwidth resource, thereby ensuring that the satellite navigation system has higher positioning efficiency;
In some implementations, to meet the positioning requirements of more users, the bandwidth of the satellite navigation system may be expanded, but the cost required for expanding the bandwidth is higher; the S106 of the embodiment of the application screens the positioning enhancement information without sending the positioning enhancement information related to all navigation satellites in the GNSS to the user equipment, thereby reducing the bandwidth resources occupied by transmitting the target positioning enhancement information and saving the cost of bandwidth expansion of the satellite navigation system;
s107, the management and control equipment sends target positioning enhancement information to the user equipment, wherein the target positioning enhancement information is used for positioning the user equipment;
In one implementation, before the control device sends the target positioning enhancement information to the user device, the positioning method further comprises the steps that the control device determines a transmission path for sending the target positioning enhancement information to the user device (namely, a return link for determining the positioning enhancement information) so as to smoothly and quickly send the target positioning enhancement information to the user device, wherein the return link can comprise an uplink (a link for sending the positioning enhancement information to a navigation satellite by a control center), an inter-satellite link (a link for forwarding the positioning enhancement information to the navigation satellite by the navigation satellite) and a downlink (a link for forwarding the positioning enhancement information to the user device by the navigation satellite);
In the embodiment of the application, after the user equipment receives the target positioning enhancement information, the user equipment determines the accurate position of the user equipment according to the target positioning enhancement information and the positioning signal received by the user equipment from the navigation satellite;
in one implementation, the user equipment determines the accurate position of the user equipment according to the positioning signals of the four navigation satellites, the first positioning enhancement information related to the at least four navigation satellites in the target positioning enhancement information, and the second type positioning enhancement information in the target enhancement information;
Specifically, the user equipment receives target positioning enhancement information sent by the management and control equipment through a module supporting RDSS service, and simultaneously receives positioning signals of four navigation satellites through a module supporting RNSS service;
Taking a navigation satellite as an example, the user equipment determines the transmission time of a positioning signal (the receiving time of the positioning signal of the navigation satellite minus the transmitting time of the positioning signal), takes the product of the propagation speed of the signal and the transmission time of the signal as the distance between the user equipment and the navigation satellite (namely a pseudo-range observation value);
The user equipment processes the correction distances of the four navigation satellites through GNSS data processing software to obtain the accurate position of the user equipment;
Alternatively, the GNSS data processing software may be Trimble Business Center (TBC), leica Geo Office (LGO), bernese GNSS Software, or the like;
In summary, in the positioning method provided by the embodiment of the present application, the control device obtains a request for positioning enhancement information from at least two navigation satellites (the request is sent to the navigation satellites by the user device and then sent to the control device by the navigation satellites), determines a distance from the user device to at least two navigation satellites, and further determines a position of the user device, and then the control device calculates a height angle of the navigation satellites relative to the user device based on the position of the user device; in the positioning method, in the process of providing positioning enhancement information for user equipment, a plurality of navigation satellites are screened, and then the first type of positioning enhancement information related to the navigation satellites with better observation effect on the user equipment is obtained from the positioning enhancement information base, and meanwhile, the second type of positioning enhancement information is determined according to the position of the user equipment, so that the information quantity of the positioning enhancement information is reduced, the bandwidth resources occupied by transmitting the positioning enhancement information to the user equipment are reduced, and the positioning enhancement information can be supported to be provided for more user equipment simultaneously under the condition of limited communication capacity of a satellite navigation system, thereby meeting the positioning service requirements of more user equipment;
Furthermore, compared with the existing method (namely, a foundation enhancement mode) for positioning by acquiring enhancement information by relying on a ground monitoring station, the positioning method provided by the embodiment of the application can realize higher-precision positioning without relying on the ground monitoring station, and compared with the existing method (namely, a satellite enhancement mode) for positioning by acquiring the enhancement information through a broadcast channel of a rented navigation satellite, the positioning method provided by the embodiment of the application can realize higher-precision positioning in an area which cannot be covered by the broadcast channel.
Correspondingly, an embodiment of the present application provides a positioning device, as shown in fig. 7, including a position determining module 801, an altitude angle determining module 802, an enhancement information determining module 803, and a sending module 804;
The location determining module 801 is configured to determine a location of the user equipment according to a ranging code carried in the request and a satellite identifier of each of the at least two navigation satellites after receiving a request sent by the at least two navigation satellites for obtaining location enhancement information of the user equipment, where the location enhancement information includes first type location enhancement information related to the navigation satellites and second type location enhancement information related to the location;
The altitude determining module 802 is configured to determine an altitude of each of a plurality of navigation satellites of the satellite navigation system relative to the user device according to a position of the user device;
The augmentation information determining module 803 is configured to determine target location augmentation information from a location augmentation information base, where the location augmentation information base includes first type location augmentation information corresponding to satellite identifications of a plurality of navigation satellites and second type location augmentation information corresponding to a plurality of location information, the first type location augmentation information in the target location augmentation information is location augmentation information corresponding to navigation satellites whose altitude angle satisfies an observation condition in the location augmentation information base, and the second type location augmentation information in the target location augmentation information is location augmentation information corresponding to a location of a user equipment in the location augmentation information base, for example, the augmentation information determining module 803 is configured to implement S105 of the above location method;
The system comprises a sending module 804, a S106, a receiving module, a transmitting module 804 and a positioning module, wherein the sending module 804 is used for sending target positioning enhancement information to user equipment;
optionally, in conjunction with fig. 7, as shown in fig. 8, the positioning device further includes a construction module 805 and a path optimization module 806;
The construction module 805 is configured to construct a positioning enhancement information base;
The path optimization module 806 is configured to determine a transmission path for transmitting the target positioning enhancement information to the user equipment.
The modules of the positioning device may also be used to perform other steps in the above method embodiments, and all relevant content related to each of the above method embodiments may be referred to the functional description of the corresponding functional module, which is not repeated herein.
The embodiment of the application also provides electronic equipment, which comprises a processor and a memory coupled with the processor, wherein the memory is used for storing computer instructions, when the electronic equipment runs, the processor executes the computer instructions stored in the memory to enable the electronic equipment to execute the method in the embodiment, the processor can realize the position determining module 801, the altitude angle determining module 802, the enhancement information determining module 803 and the path optimizing module 806, and the memory can also be used for storing a positioning enhancement information base, target positioning enhancement information and the like.
The embodiment of the application also provides a computer readable storage medium comprising a computer program to perform the method described in the above embodiment when the computer program is run on a computer.
Embodiments of the present application also provide a computer program product comprising computer program instructions for performing the method described in the above embodiments, when the computer program instructions are run on a computer.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.
It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present application, and not for limiting the same, and although the present application has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiment of the present application.