CN103197327B - Method and system for updating global position system (GPS) ephemeris fast and reliably - Google Patents
Method and system for updating global position system (GPS) ephemeris fast and reliably Download PDFInfo
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Abstract
The invention relates to a method and system for updating a global position system (GPS) ephemeris fast and reliably. According to the method and system for updating the GPS ephemeris fast and reliably, a local GPS ephemeris server is established, and a virtual GPS ephemeris generating module is arranged inside the local GPS ephemeris server. Normally the local GPS ephemeris server acquires ephemeris data from a GPS official ephemeris server. When the local GPS ephemeris server is disconnected with the GPS official ephemeris server, the virtual GPS ephemeris generating module starts to work to generate an accurate virtual ephemeris, and GPS ephemeris data in the local GPS ephemeris server are instantly switched into internal virtual GPS ephemeris data to guarantee continuity and reliability of the GPS ephemeris data. According to the method and system for updating the GPS ephemeris fast and reliably, the time to first fix (TTFF) of a host computer of each A-GPS terminal is shorten obviously, the TTFF of a positioning system of each A-GPS terminal can be shortened to less than 20 seconds after cold start, and therefore fast and reliable positioning is achieved.
Description
Technical field
The present invention relates to the method and system that a kind of fast and reliable upgrades GPS ephemeris.
Background technology
When the application of GPS constantly advances the carry-on application of individual, just there is no small use bottleneck in traditional GPS locator meams.Adopt the free-standing GPS device of autonomous location (Autonomous Positioning), the satellite-signal of more than four must be received in the open skies that signal conditioning is good, and, the GPS of this equipment must gps satellite track information data be complete collects by these, then just can position calculating.
Startup positioning time after GPS first time start, depend on the mode of startup, generally can be divided into cold start-up, startup temperature and warm start three kinds:
Cold start-up (Cold Start): GPS is blanked all historical datas, or GPS receiver when not powering up work displacement more than 1000km, GPS can attempt location and locking satellite, owing to being blanked historical data, will need long time.GPS adopts the method for poll of being similar to, locking signal from all satellites, and this will than knowing that to need to search for which satellite a lot of slowly in advance.This class again obtains locking and wants the time spent very long.Different according to use GPS module, time from a few minutes again obtaining locking are not by one hour etc.
Warm (Warm Start): the GPS of startup preserves the position of the last satellite calculated, almanac and UTC time, but the content of preserving is not the data of current visible satellite.GPS can attempt after restarting obtaining present satellites and signal and calculating its reposition.GPS roughly can infer based on its last position and almanac the satellites in view that current sky is aerial.
Warm start (Hot Start): GPS preserves the position of the satellites in view that it finally calculates, almanac (almanac) and UTC time, after restarting, GPS obtains and calculates the latest position of present satellites based on the content of above-mentioned preservation, can quick position.
For carry-on navigation application, due to the existence of cold start-up, autonomous location (Time to first fix positioning time first time after powering, TTFF) oversize, and user is in the street that buildings stands in great numbers often, under overpass, or even in the environment of indoor, because the Signal reception condition in these places is very poor, user needs to wait until first time location for a long time, but also not necessarily can be successful.
In the case for single A-GPS end host, starting mode the most fast of locating is exactly warm start, and the auxiliary positioning mode of satellite information is obtained by another set of network, cold start-up is become warm start, namely A-GPS(and Aiding GPS), become the developmental inexorable trend of GPS.For this situation, there is the A-GPS solution that two kinds multi-form in the market, to help user to shorten the TTFF time, realize location fast.
One is online A-GPS mode (AssistNow Online), real-time obtain real-time satellite information by mobile communication system such as GSM, GPRS, CDMA or UMTS.Another kind adopts off-line A-GPS mode (AssistNow offline), by mobile network or directly download satellite data in advance by the Internet, just can play the effect of auxiliary positioning when needed.A-GPS involved in the present invention is online A-GPS.
The mobile terminal of traditional online A-GPS mode generally comes to communicate with traditional standard ephemeris server (also can be the mirror image (Mirror) of server or act on behalf of (Proxy) ephemeris server) by the protocol mode of TCP/IP, with obtain GPS locate needed for secondary satellite locator data.Almanac data on tradition ephemeris server is generally from GPS official ephemeris server, and namely said GPS root ephemeris server obtains.And the term of validity of almanac data is only several hours, after traditional ephemeris server and GPS root ephemeris server disconnect, each A-GPS end host main frame just cannot obtain up-to-date GPS ephemeris, cannot carry out quick position.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose the solution that a kind of fast and reliable upgrades A-GPS ephemeris.Even if help each A-GPS end host when local GPS ephemeris server cannot directly obtain up-to-date GPS ephemeris from GPS root ephemeris server, also up-to-date high precision virtual GPS ephemeris can be obtained at local GPS ephemeris server, to help user to shorten the TTFF time, realize location fast.Thus time shorten first time after the cold start-up of A-GPS end host positioning system can located is in 20 seconds.
The technical scheme that technical solution problem of the present invention is taked is:
The system that a kind of fast and reliable upgrades GPS ephemeris comprises multiple A-GPS end host and a local GPS ephemeris server.Described local GPS ephemeris server, inside comprises a virtual GPS ephemeris generation module.Described virtual GPS ephemeris generation module is the GPS ephemeris prediction module that local GPS ephemeris server runs.This prediction module uses history GPS almanac data, in conjunction with the operation characteristic of satellite, is inferred the satellite transit track of next several hours by the algorithm of difference ephemeris correction data, generates comparatively accurate satellite almanac data.
Each A-GPS end host is by the connected mode of GPRS or WIFI, and the local GPS ephemeris server on access internet, obtains up-to-date GPS almanac data.
The method utilizing said system to carry out upgrading GPS ephemeris comprises two processes, is that A-GPS end host obtains GPS ephemeris from local GPS ephemeris server respectively; Local GPS ephemeris server obtains ephemeris from GPS root ephemeris server.
A-GPS end host obtains GPS ephemeris process from local GPS ephemeris server, and step comprises:
101:A-GPS end host powers on, and carries out initialization to system components.
102: judge whether to need to upgrade the satellite ephemeris in GPS module, just perform step 107 if do not need to upgrade, if need to upgrade, just perform step 103.
103: judge whether GSM/GPRS or WIFI of terminal has accessed internet.If be connected to internet just perform step 104, if be not connected to internet just perform step 107.
104: local GPS ephemeris server can be connected to after terminal accessing Internet, after determining exact connect ion, perform step 105.
105: download up-to-date GPS almanac data to A-GPS end host from local GPS ephemeris server, execution step 106 after completing.
After 106:A-GPS end host obtains up-to-date GPS ephemeris, almanac data is converted to the discernible inner ephemeris format of unified GPS module, re-use the ephemeris more newer command of GPS module, almanac data is updated to A-GPS end host.Execution step 107 after completing.
107: system can wait for that A-GPS end host is located, until location is terminated, A-GPS end host ephemeris renewal process terminates.
(2) local GPS ephemeris server obtains the process of ephemeris from GPS root ephemeris server, and step comprises:
201: local GPS ephemeris server connected a GPS root ephemeris server at interval of 2 seconds, when timing reaches 2 seconds, perform step 202.
202: first local GPS ephemeris server can be attempted connecting first-selection first the GPS root ephemeris server in list, if can not connect, perform step 203.If can connect, perform step 206.
203: attempt connection second GPS root ephemeris for subsequent use server, if can not connect, can connect if just perform step 204., perform step 206.
204: attempt connection the 3rd GPS root ephemeris server for subsequent use, if can not connect, if perform step 205. can connect execution step 206.
205: attempt connection n-th GPS root for subsequent use ephemeris server, if can not connect, system will jump out connection task, performs step 206, if can connect, also performs step 206.
206: local GPS ephemeris server can judge whether can carry out communication with above-mentioned multiple GPS root ephemeris server, if can normal communication, perform step 208, if can not communication, notice system obtains the connection failure of GPS root ephemeris server.Perform step 207.
207: system can start virtual GPS ephemeris module, by the GPS almanac data obtained before, according to the algorithm of difference ephemeris correction data, obtain accurate GPS ephemeris, execution step 210 after completing.
208: after local GPS ephemeris server and (3,4,5,7) GPS root ephemeris server connect, whether system can inquire about GPS root ephemeris server the GPS almanac data that can upgrade.When systems axiol-ogy is to when having new almanac data to generate, perform step 209, if the new data upgraded do not detected, Data Update terminates, and waits for next data updating process, performs step 201.
209: enable almanac data and download, download to local GPS ephemeris server by complete for new almanac data.
210: after local GPS ephemeris server obtains new GPS almanac data from GPS root ephemeris server or virtual GPS ephemeris generation module, data can be changed, convert the ephemeris array that GPS module can identify to, be saved in local GPS ephemeris server, wait for that A-GPS end host reads, perform step 201, carry out next one circulation.
A-GPS end host, by using the more newer command of GPS ephemeris, is updated to A-GPS end host GPS almanac data, converts the Cold Start of system to warm start.
The present invention can assist each A-GPS end host, to lose with GPS root ephemeris server at local GPS ephemeris server and be connected, cannot obtain up-to-date GPS ephemeris from GPS root ephemeris server, can realize quick position equally, help each A-GPS end host to shorten the TTFF time (positioning time first time after start).
Accompanying drawing explanation
Fig. 1. GPS almanac data upgrades system principle diagram;
Fig. 2. from local GPS ephemeris server update A-GPS end host ephemeris process;
Fig. 3. local GPS ephemeris server obtains GPS root ephemeris server ephemeris process.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described
Fig. 1 is that GPS almanac data upgrades system principle diagram.GPS ephemeris upgrades that system is actual comprises an A-GPS end host 6 and a local GPS ephemeris server 2.A-GPS end host can have a lot of, and local GPS ephemeris server only has one.Local GPS ephemeris server internal comprises a virtual GPS ephemeris generation module 1.Local GPS ephemeris server is connected to internet, obtains up-to-date almanac data from each GPS root ephemeris server 3,4,5,7.When local GPS ephemeris server and each GPS root ephemeris server disconnect, inner almanac data source can be switched on internal virtual GPS ephemeris generation module immediately.Virtual GPS ephemeris generation module can when local GPS ephemeris server and GPS root ephemeris server is of short duration disconnect, according to the satellite ephemeris obtained before, by the algorithm of difference ephemeris correction data (Differential Almanac Correction Data), extrapolate next several hours, even tens hours comparatively accurate satellite almanac data, thus generate a high-precision virtual GPS ephemeris.This part of virtual satellite almanac data can depart from the isolated operation of GPS root ephemeris server, and under limiting case, the term of validity can reach 5 days.
Thus guarantee system can be reliable and stable GPS almanac data is provided.Each A-GPS end host is automatically selected the mode of GPRS or WIFI to be connected to local GPS ephemeris server according to current network connection and is downloaded up-to-date ephemeris.Access local GPS ephemeris server, obtain up-to-date GPS almanac data, thus accelerate GPS position fixing process first.
Local GPS ephemeris server rack is established on the internet, and almanac data wherein has two sources, data from GPS official ephemeris server, as IGS Global Reference Network, namely said GPS root ephemeris server 3,4,5,7.Another one is the virtual GPS ephemeris generation module of the built-in operation of local GPS ephemeris server.
Generally, local GPS ephemeris server, from GPS official ephemeris server Real-time Obtaining almanac data, ensures that the data of local GPS ephemeris server and the real time data synchronization of GPS official ephemeris server upgrade.When local GPS ephemeris server and GPS official ephemeris server are because of after some reason disconnects, the GPS almanac data of local GPS ephemeris server can switch to virtual GPS almanac data at once, to ensure continuity and the reliability of GPS almanac data.
The data of virtual GPS ephemeris obtain from the virtual GPS ephemeris generation module that local GPS ephemeris server is built-in.Can provide at most local GPS ephemeris server the almanac data of 5 days, until recover with the connection of GPS official GPS root ephemeris server.
Fig. 2 is that A-GPS end host obtains GPS ephemeris process from local GPS ephemeris server, and step comprises:
101:A-GPS end host powers on, and carries out initialization to system components.
102: judge whether to need to upgrade the satellite ephemeris in GPS module, just perform step 107 if do not need to upgrade, if need to upgrade, just perform step 103.
103: judge whether GSM/GPRS or WIFI of terminal has accessed internet.If be connected to internet just perform step 104, if be not connected to internet just perform step 107.
104: local GPS ephemeris server can be connected to after terminal accessing Internet, after determining exact connect ion, perform step 105.
105: download up-to-date GPS almanac data to (6) A-GPS end host, execution step 106 after completing from (2) local GPS ephemeris server.
After 106:(6) A-GPS end host obtains up-to-date GPS ephemeris, almanac data is converted to the discernible inner ephemeris format of unified GPS module, re-use the ephemeris more newer command of GPS module, almanac data is updated to (6) A-GPS end host.Execution step 107 after completing.
107: system can wait for that (6) A-GPS end host is located, until location is terminated, (6) A-GPS end host ephemeris renewal process terminates.
Fig. 3 is that local GPS ephemeris server obtains ephemeris process from (3,4,5,7) GPS root ephemeris server, and step comprises:
201: local GPS ephemeris server connected a GPS root ephemeris server at interval of 2 seconds, when timing reaches 2 seconds, perform step 202.
202: first local GPS ephemeris server can be attempted connecting the first-selected GPS root ephemeris server 3 in list, if can not connect, perform step 203.If can connect, perform step 206.
203: attempt connection second GPS root ephemeris for subsequent use server 4, if can not connect, just perform step 204.If can connect, perform step 206.
204: attempt connection the 3rd GPS root ephemeris server 5 for subsequent use, if can not connect, if perform step 205. can connect execution step 206.
205: attempt connection n-th GPS root for subsequent use ephemeris server 7, if can not connect, system will jump out connection task, performs step 206, if can connect, also performs step 206.
206: local GPS ephemeris server can judge whether can carry out communication with GPS root ephemeris server, if can normal communication, perform step 208, if can not communication, notice system obtains the connection failure of GPS root ephemeris server.Perform step 207.
207: system can start virtual GPS ephemeris module, by the GPS almanac data obtained before, according to the algorithm of difference ephemeris correction data, obtain accurate GPS ephemeris, execution step 210 after completing.
208: after local GPS ephemeris server and GPS root ephemeris server connect, whether system can inquire about GPS root ephemeris server the GPS almanac data that can upgrade.When systems axiol-ogy is to when having new almanac data to generate, perform step 209, if the new data upgraded do not detected, Data Update terminates, and waits for next data updating process, performs step 201.
209: enable almanac data and download, download to local GPS ephemeris server by complete for new almanac data.
210: after local GPS ephemeris server obtains new GPS almanac data from GPS root ephemeris server or virtual GPS ephemeris generation module, data can be changed, convert the ephemeris array that GPS module can identify to, be saved in local GPS ephemeris server, wait for that A-GPS end host reads, perform step 201, carry out next one circulation.
In connection with step 207, the course of work of (1) virtual GPS ephemeris generation module:
Virtual GPS ephemeris generation module is the GPS ephemeris forecasting software that local GPS ephemeris server runs.Software application history GPS almanac data, in conjunction with the operation characteristic of satellite, inferred the satellite transit track of next several hours by the algorithm of difference ephemeris correction data (Differential Almanac Correction Data), generate comparatively accurate satellite almanac data.
Infer that the virtual ephemeris generated can maintain several hours even effective ephemeris of tens hours by software, make also can obtain accurate almanac data when local GPS ephemeris server and GPS root ephemeris server disconnect.
Obtain from local GPS ephemeris server at A-GPS end host, and the almanac data one importing GPS module has two kinds, Almanac and Ephemeris.Chinese name is generally translated as broadcast ephemeris and accurate almanac:
Almanac (broadcast ephemeris) data are the more rough orbit parameters reflecting all satellite situations, and each satellite can broadcast the Almanac data of all satellites, and the relative out of true of this kind of data, is valid up to some months.
Ephemeris (accurate almanac) data are very accurate track and clock correction information by contrast, each satellite only can broadcast oneself Ephemeris data, and the term of validity of this kind of data is about several hours (depending on the content comprised of broadcast message).Ephemeris data break upgrades once for average 15 minutes, every broadcast in 30 seconds once.
In connection with step 210, the conversion method of almanac data:
The preferred server that almanac data obtains is IGS Global Reference Network.From the original Almanac almanac data that IGS obtains, before 6 gps satellite almanac datas explain as follows:
| Inside satellite is numbered | 1 | 2 | 3 | 4 | 5 | 6 |
| Satellite health degree | 0 | 0 | 0 | 0 | 0 | 0 |
| Satellite trajectory excentricity | 0.001639 | 0.012144 | 0.016019 | 0.010332 | 0.003056 | 0.007832 |
| The square root of major semi-axis | 5153.7 | 5153.6 | 5153.6 | 5153.7 | 5153.5 | 5153.6 |
| Right ascension of ascending node | -4.868 | -6.01 | -72.959 | -5.063 | 54.98 | -68.438 |
| Argument of perigee | 20.957 | -151.82 | 72.983 | 55.239 | 18.166 | -21.355 |
| Mean anomaly | 25.452 | 74.835 | 84.277 | -99.559 | -165.526 | -168.155 |
| The almanac moment | 61440 | 61440 | 61440 | 61440 | 61440 | 61440 |
| To 54 degree of dip migrations | 1.0451 | -0.1861 | -0.516 | -0.241 | 0.378 | -0.1305 |
| Equator I speed | -0.00044 | -0.00045 | -0.00049 | -0.00045 | -0.00047 | -0.00049 |
| Satellite clock correction | 0 | 0 | 0 | 0 | 0 | 0 |
| Satellite clock drifts about | 0 | 0 | 0 | 0 | 0 | 0 |
| GPS week | 1731 | 1731 | 1731 | 1731 | 1731 | 1731 |
These data are used to the critical data describing gps satellite orbit.
According to the original Almanac data of satellite, gps satellite can be doped at next several hours, the running orbit of even tens hours.
According to the original Almanac data of satellite, the observability prediction of gps satellite in following 24 hours can be obtained.
By using the more newer command of GPS ephemeris, by above-mentioned Almanac Data Update to A-GPS end host, the Cold Start of system will convert warm start to, thus the time of first time start can be shortened greatly.
Further, can by accurate for the Ephemeris(of gps satellite almanac) be updated to A-GPS end host, the process of first time start satellite positioning fix can be accelerated further, shorten the time of first time start.
Here is the accurate almanac of gps satellite Ephemeris(that 2013-03-10 0:30 in morning obtains from (3,4,5,7) GPS root ephemeris server) part
* 2013 3 10 0 30 0.00000000
PG01 -4238.806870 -14648.089913 -21767.768287 6.213531 9 10 9 185
PG02 -18430.600125 14005.325091 12734.023677 421.665203 7 7 9 185
PG03 8769.176587 -23998.363421 6301.471878 178.490494 8 6 8 170
PG04 -25956.152269 6264.296321 643.565173 156.746189 5 8 10 196
PG05 -6176.671099 15283.380947 20766.453950 -387.151521 10 6 7 215
PG06 13593.297005 -19504.175506 11565.689192 321.106033 8 6 6 197
PG07 -19608.594128 -7471.019306 16496.136938 189.380853 6 6 7 195
PG08 -25738.017560 -2100.714400 7523.575627 5.034836 8 10 8 188
The conversion of gps satellite almanac data form,
From the almanac data that GPS root ephemeris server obtains, be the ephemeris predict file current.alm of a Yuma form.Current.alm is the file of a plain text txt form, and the inside clearly describes the Almanac data of each satellite current.
Almanac data are made up of the data of 448 16 signeds, represent the relative status of 32 different satellites, every satellite 14 data.
The actual valid data of Almanac data are 896 bytes, and its timeliness phase is the several months.
In local GPS ephemeris server, need the data of ephemeris file to convert to the form that system can identify.
Below for the almanac data of the 3rd satellite in current.alm file:
******** Week 707 almanac for PRN-03 ********
ID: 03
Health: 000
Eccentricity: 0.1602125168E-001
Time of Applicability(s): 147456.0000
Orbital Inclination(rad): 0.9334536747
Rate of Right Ascen(r/s): -0.8617501811E-008
SQRT(A) (m 1/2): 5153.613281
Right Ascen at Week(rad): -0.1274126090E+001
Argument of Perigee(rad): 1.273876294
Mean Anom(rad): 0.1450665333E+001
Af0(s): 0.1792907715E-003
Af1(s/s): 0.3637978807E-011
week: 707
By the almanac data of these textual forms with IRN-200D-001 standard, change.
With the data instance of the 3rd satellite, the message body that the packet after changing is 30 (0x1E) byte containing a length, replys and is numbered 0x0E, i.e. Almanac data.The satellite data of No. 0x03 is: 97 C1....BB 3A, and last several is check code.
A0 A2 00 1E 0E 03 97 C1 43 73 78 63 F6 BD FD 22 00 A1 0C B9 CB 69 6D 2C 0F 4D 46 B3 D8 5C 00 23 BB E4 0D 4A B0 B3
Data after converting can be saved in local GPS ephemeris server, wait for that A-GPS end host reads.After A-GPS end host gets these data, then by performing 0x82 order, current Almanac data being written to GPS module with binary form, waiting for GPS module locking satellite and quick position.
Claims (2)
1. fast and reliable upgrades a method for GPS ephemeris, and the system used comprises multiple A-GPS end host (6) and a local GPS ephemeris server (2); Described local GPS ephemeris server (2), inside comprises a virtual GPS ephemeris generation module (1); Described virtual GPS ephemeris generation module (1) is the GPS ephemeris prediction module that local GPS ephemeris server runs; GPS ephemeris prediction module uses history GPS almanac data, in conjunction with the operation characteristic of satellite, is inferred the satellite transit track of next several hours by the algorithm of difference ephemeris correction data, generates comparatively accurate satellite almanac data; Each A-GPS end host (6) is by the connected mode of GPRS or WIFI, local GPS ephemeris server (2) on access internet, obtain up-to-date GPS almanac data, its feature comprises A-GPS end host (6) in the method and obtains GPS ephemeris from local GPS ephemeris server (2), local GPS ephemeris server (2) is from GPS root ephemeris server (3,4,5,7) ephemeris is obtained, two processes:
(1) A-GPS end host (6) obtains GPS ephemeris process from local GPS ephemeris server (2), and step comprises:
101:A-GPS end host (6) powers on, and carries out initialization to system components;
102: judge whether to need to upgrade the satellite ephemeris in GPS module, just perform step 107 if do not need to upgrade, if need to upgrade, just perform step 103;
103: judge whether GSM/GPRS or WIFI of terminal has accessed internet; If be connected to internet just perform step 104, if be not connected to internet just perform step 107;
104: local GPS ephemeris server (2) can be connected to after terminal accessing Internet, after determining exact connect ion, perform step 105;
105: download up-to-date GPS almanac data to A-GPS end host (6) from local GPS ephemeris server (2), execution step 106 after completing;
After 106:A-GPS end host (6) obtains up-to-date GPS ephemeris, almanac data is converted to the discernible inner ephemeris format of unified GPS module, re-use the ephemeris more newer command of GPS module, almanac data is updated to A-GPS end host (6); Execution step 107 after completing;
107: system can wait for A-GPS end host location (6), until location is terminated, A-GPS end host (6) ephemeris renewal process terminates;
(2) local GPS ephemeris server obtains the process of ephemeris from GPS root ephemeris server (3,4,5,7), and step comprises:
201: local GPS ephemeris server (2) connected a GPS root ephemeris server (3,4,5,7) at interval of 2 seconds, when timing reaches 2 seconds, perform step 202;
202: first local GPS ephemeris server (2) can attempt connecting first-selected GPS root ephemeris server (3) in list, if can not connect, performs step 203; If can connect, perform step 206;
203: attempt connection second GPS root ephemeris for subsequent use server (4), if can not connect, just perform step 204; If can connect, perform step 206;
204: attempt connection the 3rd GPS root ephemeris server (5) for subsequent use, if can not connect, perform step 205; Step 206 is performed if can connect;
205: attempt connection n-th GPS root for subsequent use ephemeris server (7), if can not connect, system will jump out connection task, perform step 206, if can connect, also perform step 206;
206: local GPS ephemeris server (2) can judge whether can with GPS root ephemeris server (3,4,5,7) communication is carried out, if can normal communication, perform step 208, if can not communication, notice system obtains GPS root ephemeris server (3,4,5,7) connection failure; Perform step 207;
207: system can start virtual GPS ephemeris production module, by the GPS almanac data obtained before, according to the algorithm of difference ephemeris correction data, obtain accurate GPS ephemeris, execution step 210 after completing;
208: after local GPS ephemeris server (2) and GPS root ephemeris server (3,4,5,7) connect, whether system can inquire about GPS root ephemeris server (3,4,5,7) the GPS almanac data that can upgrade; When systems axiol-ogy is to when having new almanac data to generate, perform step 209, if the new data upgraded do not detected, Data Update terminates, and waits for next data updating process, performs step 201;
209: enable almanac data and download, download to local GPS ephemeris server (2) by complete for new almanac data;
210: local GPS ephemeris server (2) is from GPS root ephemeris server (3,4,5,7) or after virtual GPS ephemeris generation module (1) obtains new GPS almanac data, data can be changed, convert the ephemeris array that GPS module can identify to, be saved in local GPS ephemeris server (2), wait for that A-GPS end host (6) reads, perform step 201, carry out next one circulation.
2. method according to claim 1, it is characterized in that: A-GPS end host (6) is by using the more newer command of GPS ephemeris, GPS almanac data is updated to A-GPS end host (6), converts the Cold Start of system to warm start.
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| CN105223597A (en) * | 2014-04-04 | 2016-01-06 | 马维尔国际有限公司 | Based on the method and apparatus of satellite determination communications device locations |
| FR3043789B1 (en) * | 2015-11-13 | 2019-05-03 | Parrot Drones | CHARGING OF EPHEMERID DATA IN A DRONE. |
| CN107783161A (en) * | 2016-08-30 | 2018-03-09 | 厦门雅迅网络股份有限公司 | A kind of method and system that GPS location effect is lifted using AGPS |
| CN108318899A (en) * | 2017-01-18 | 2018-07-24 | 中兴通讯股份有限公司 | A kind of ephemeris update method, device and mobile terminal |
| CN107147707A (en) * | 2017-04-26 | 2017-09-08 | 大唐终端技术有限公司 | Android platform Big Dipper ephemeris service control method and system |
| US10473790B2 (en) * | 2017-11-17 | 2019-11-12 | Swift Navigation, Inc. | Systems and methods for distributed dense network processing of satellite positioning data |
| CN109639341B (en) * | 2018-12-17 | 2021-01-01 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Method for autonomously accessing low-orbit broadcast satellite without ephemeris |
| CN111522045B (en) | 2019-02-02 | 2024-02-23 | 中兴通讯股份有限公司 | GPS module cold start method and device of terminal, terminal and storage medium |
| KR20210152549A (en) | 2019-05-01 | 2021-12-15 | 스위프트 내비게이션, 인크. | Systems and methods for high-integrity satellite positioning |
| CN110376618B (en) * | 2019-08-30 | 2020-08-28 | 北京航天宏图信息技术股份有限公司 | Positioning method, device and terminal based on Beidou third satellite-based augmentation |
| CN110727006A (en) * | 2019-10-14 | 2020-01-24 | 广东星舆科技有限公司 | GNSS observation data generation method, storage medium and device |
| CN111123313A (en) * | 2019-12-28 | 2020-05-08 | 北京华弘集成电路设计有限责任公司 | Positioning method, device and system of Internet of things equipment |
| CN111510198B (en) * | 2020-04-09 | 2022-03-25 | 中电科航空电子有限公司 | Ephemeris updating method for airborne low-orbit satellite communication terminal |
| CN111698347B (en) * | 2020-06-17 | 2022-09-02 | 阳光学院 | Article searching and positioning method and system |
| CN116261676A (en) | 2020-07-13 | 2023-06-13 | 斯威夫特导航股份有限公司 | System and method for determining GNSS positioning corrections |
| US11624838B2 (en) | 2020-07-17 | 2023-04-11 | Swift Navigation, Inc. | System and method for providing GNSS corrections |
| US11550067B2 (en) | 2020-12-17 | 2023-01-10 | Swift Navigation, Inc. | System and method for fusing dead reckoning and GNSS data streams |
| CN112764067B (en) * | 2020-12-23 | 2023-07-07 | 深圳创维数字技术有限公司 | GPS satellite ephemeris data acquisition method and device, vehicle-mounted and readable storage medium |
| US11733397B2 (en) | 2021-07-24 | 2023-08-22 | Swift Navigation, Inc. | System and method for computing positioning protection levels |
| WO2023167916A1 (en) | 2022-03-01 | 2023-09-07 | Swift Navigation, Inc. | System and method for detecting outliers in gnss observations |
| WO2023167899A1 (en) | 2022-03-01 | 2023-09-07 | Swift Navigation, Inc. | System and method for fusing sensor and satellite measurements for positioning determination |
| US12013468B2 (en) | 2022-09-01 | 2024-06-18 | Swift Navigation, Inc. | System and method for determining GNSS corrections |
| WO2024058999A1 (en) | 2022-09-12 | 2024-03-21 | Swift Navigation, Inc. | System and method for gnss correction transmission |
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| US6915210B2 (en) * | 2003-07-17 | 2005-07-05 | Motorola, Inc. | Method of updating GPS almanac data for satellites not in view |
| CN101153901A (en) * | 2006-09-25 | 2008-04-02 | 佛山市顺德区顺达电脑厂有限公司 | Method for updating ephemeris data of global positioning system |
| JP2010060489A (en) * | 2008-09-05 | 2010-03-18 | Seiko Epson Corp | Satellite orbital modeling propriety determination method, long term prediction orbital data supply method, and satellite orbital modeling propriety determination device |
| US7986267B2 (en) * | 2008-10-13 | 2011-07-26 | Broadcom Corporation | Method and system for customized full ephemeris compatible with standard AGPS network devices |
| CN101566678A (en) * | 2009-05-27 | 2009-10-28 | 刘建 | Method and system for updating ephemeris |
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