CN104407361A - Satellite searching method and receiver - Google Patents
Satellite searching method and receiver Download PDFInfo
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- CN104407361A CN104407361A CN201410564546.XA CN201410564546A CN104407361A CN 104407361 A CN104407361 A CN 104407361A CN 201410564546 A CN201410564546 A CN 201410564546A CN 104407361 A CN104407361 A CN 104407361A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
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Abstract
The application discloses a satellite searching method and a receiver. In the satellite searching method, satellites are searched according to the weighted average visibility of the satellites relative to a time and space grid set, wherein the weight of the weighted average visibility is confirmed according to time and space position information. With application of the satellite searching method and the receiver disclosed by the application, searching sequence of the satellites can be confirmed according to the weighted visibility of the satellites so that capture hit rate is enhanced and thus satellite searching efficiency is further enhanced.
Description
Technical field
The application relates to satellite navigation positioning field, particularly relates to satellite search method and receiver.
Background technology
Along with the development of satellite positioning navigation technology, for the search speed of receiver and the requirement of search efficiency more and more higher.Especially, current various global navigational satellite system (such as, the GPS GPS of the U.S., the dipper system of China, the Galileo system in Europe, Muscovite GLONASS (Global Navigation Satellite System) etc.) fast development, more require that receiver can utilize an associating group of stars for expansion to improve positioning precision and availability.But an associating group of stars for expansion also means that the complexity of searcher receiver satellite-signal becomes large, limits the locating speed of receiver.
For improving locating speed, Kun-Tso Chen proposes a kind of dynamic satellite searching algorithm.This algorithm, according to the result of each search of satellite of receiver, utilizes space-time grid collection to calculate the average visibility of satellite, the order of the following search of satellite of dynamic conditioning.Only utilize the average visibility of satellite to adjust the search order of satellite, the requirement to receiver search efficiency can not be met.Such as, the algorithm of Chen wastes prior imformation.In addition, the algorithm of Chen does not possess and anti-ly blocks ability, after receiver attempts catching satellite failure because ground obstacle blocks, will cause the generation of " chain mistake ", and cause the penalty of algorithm.
Summary of the invention
The object of the application is to provide a kind of satellite search method and receiver, can determine satellite acquisition order, improve satellite acquisition efficiency.
According to an aspect of the application, disclose a kind of satellite search method, in the method, according to the weighted mean visibility search of satellite of satellite relative to the set of space-time grid, wherein, the weights of described weighted mean visibility are determined according to time space position information.
According to another aspect of the application, disclose a kind of receiver, described receiver comprises: processor, determines calculating the weights of satellite relative to the weighted mean visibility of space-time grid set, and determine described weighted mean visibility according to described weights according to time space position information; And satellite acquisition device, according to the weighted mean visibility search of satellite determined.
By satellite search method disclosed in the present application and receiver, according to the search order of the weighting visibility determination satellite of satellite, the hit rate of catching can be improve, thus improve satellite acquisition efficiency further.
Accompanying drawing explanation
Fig. 1 shows the satellite search method process flow diagram of a kind of embodiment according to the application.
Fig. 2 shows the schematic diagram of the receiver of a kind of embodiment according to the application.
Fig. 3 shows the schematic diagram of the receiver of the another kind of embodiment according to the application.
Fig. 4 shows according to the satellite search method process flow diagram under a kind of embody rule scene of the application.
Embodiment
With reference to the accompanying drawings satellite search method disclosed in the present application is described in detail.For simplicity's sake, in the explanation of each embodiment of the application, same or similar device employs same or analogous Reference numeral.
Fig. 1 shows the process flow diagram of the satellite search method of a kind of embodiment according to the application.As shown in the figure, in step 110, according to time space position information, determine calculating the weights of satellite relative to the weighted mean visibility of space-time grid set; In the step 120, according to the weights determined, determine weighted mean visibility; In step 130, according to the weighted mean visibility determined, search of satellite.Like this, the search order of search of satellite can be determined according to weighted mean visibility, or search priority.
In one embodiment, time space position information can be the possibility that receiver is arranged in certain space-time grid of space-time grid set, that is, receiver is positioned at the degree of confidence of this space-time grid.
Like this, by time space position information, such as receiver is positioned at the degree of confidence of space-time grid, as weights, determines the average visibility of the satellite of weighting, and determines the search order of satellite accordingly, can improve the hit rate of catching, thus improves satellite acquisition efficiency.
When satellite navigation is located, receiver is by the satellite in search of satellite group.Usually, first before location, the Time and place residing for receiver is unknown, but their value has certain scope.Such as, spatial dimension can be whole earth surface.Time range can be the scope near receiver clock, such as, before and after receiver clock within each one hour.These Time and place can be divided into time grid and space lattice, and be mapped as space-time grid collection { G}.{ each the space-time grid in G} corresponds to the division of certain time and spatial division to the set of space-time grid.
Due to the method for operation of satellite each in satellite group and track known, for each satellite in receiver satellite to be searched, can determine that whether this satellite visible for certain space-time grid.Such as, according to the orbital position of this satellite and fixed space-time grid can be got, calculate the elevation angle of this orbital position for this space lattice, then judge that whether this satellite is visible according to elevation value, such as, can be 1 represent that this satellite is visible to this space-time grid by visibility, visibility be that this satellite of 0 expression is invisible to this space-time grid.{ { G}, just can obtain the satellite visibility corresponding to space-time grid collection, and such as, can be designated as visibility matrix V, visibility matrix V does not change with the change of searching times for S} and the set of space-time grid to travel through satellite list to be searched.
For space-time grid collection, receiver is positioned at space-time grid and concentrates the possibility of any space-time grid not identical, is referred to as receiver and is positioned at the degree of confidence that space-time grid concentrates each space-time grid.The possibility that receiver can be in space-time grid collection is represented by degree of confidence Matrix C, when the possibility that receiver is positioned at certain space-time grid is higher, in degree of confidence Matrix C to should the element value of space-time grid larger.Be positioned at by receiver degree of confidence and the satellite visibility that space-time grid concentrates each space-time grid, determine the search priority of satellite to be searched.Like this, to the visible satellite of the grid that degree of confidence is high, the average visibility of its satellite " has been lifted ", and to the sightless satellite of the grid that degree of confidence is high, the average visibility of its satellite " has been forced down ".Therefore, rational satellite acquisition order can be obtained, improve satellite acquisition efficiency.
According to a kind of embodiment of the application, probability can be blocked according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, degree of confidence is adjusted, the weighted mean visibility of satellite relative to the set of space-time grid is upgraded according to the degree of confidence after adjustment, and further according to the weighted mean visibility search of satellite after renewal.
After carrying out i-th satellite acquisition, upgrade satellite s in the following manner at space-time grid set { G}
<i>in weighted mean visibility
Wherein, { G}
<i>represent the space-time grid set after having carried out i-th search, G
t,pfor the element in the set of space-time grid, to represent on time dimension t, on Spatial Dimension p lattice point map the space-time grid of formation; { S}
<i>the set of satellite to be searched remaining after representing i-th search; V
t, p, sfor the element in visibility matrix V, value is 0 (invisible) or 1 (visible), represents that the satellite being numbered s is for space-time grid G
t,pvisibility; C
<i> t,pfor degree of confidence Matrix C
<i>element, represent i-th time search after receiver be positioned at space-time grid G
t,ppossibility; ∑ () represents summing function, and Avg () expression is averaging function.
After obtaining the weighted mean visibility of every satellite in the set of satellite to be searched, can using satellite the highest for weighted mean visibility as satellite next time to be searched:
Wherein s
<i+1> searchthe numbering of the satellite will searched for when being the i-th+1 time search,
represent with s to be parameter, make
be worth maximum s value.
The Search Results of satellite, except the impact being subject to satellite visibility, is also likely subject to the impact of the circumstance of occlusion of receiver present position.According to the embodiment of the application, what can set satellite blocks probability e, and carrys out according to the Search Results of satellite and the probability e that blocks of satellite the degree of confidence that more new receiver is positioned at each space-time grid on space-time grid collection.
The blocking probability e and can be set as fixed value of satellite.Such as, can add up possible and on average block probability, and calculate the degree of confidence of space-time grid by average blocking probability.Or that can fix according to user experience setting blocks probability.The blocking probability e and also can set according to space-time grid factor of satellite.Can think, each satellite is determined relative to the elevation angle of each space-time grid.The elevation angle is larger, then the probability be blocked to this satellite of receiver be in this space-time grid is less; Otherwise the probability be blocked is larger.Therefore, probability can be blocked to each space-time grid setting that each satellite is concentrated for space-time grid.The probability e that blocks of satellite can also the environmental factor residing for receiver set.Such as, residing for receiver, landform, landforms block probability by affecting satellite.Open space to block probability smaller; Urban canyons (if high-rise is than the place of comparatively dense) to block likelihood ratio larger.
In one embodiment, carry out the method that more new receiver is positioned at the degree of confidence of each space-time grid on space-time grid collection comprise according to the probability e that blocks of the Search Results of satellite and satellite:
When the i-th+1 time, the Search Results s of satellite
<i+1> searchduring for searching for successful,
Wherein, e is that satellite blocks probability;
represent and be numbered s
<i+1> searchsatellite for space-time grid G
t,pvisibility.
Like this, if search satellite, and corresponding space-time grid is 1 to the observability of this satellite, then degree of confidence corresponding for this space-time grid is multiplied by the probability that this satellite is not blocked; If search satellite, and corresponding space-time grid is 0 to the observability of this satellite, then degree of confidence corresponding for this space-time grid is set to 0.
As the Search Results s of the i-th+1 time satellite
<i+1> searchduring for searching for failed,
Like this, if do not search satellite, and corresponding space-time grid is 1 to the observability of this satellite, then the satellite that the degree of confidence that this space-time grid is corresponding is multiplied by this satellite blocks probability; If do not search satellite, and corresponding space-time grid is 0 to the observability of this satellite, then the degree of confidence maintaining this space-time grid corresponding is constant.
According to the present embodiment, because catching certain satellite-signal this result of failure, all this space-time grid of catching result that do not mate can not be rejected, but reduce the degree of confidence of these space-time grid.For with the space-time grid of catching result and mating, will its degree of confidence be raised.If really because there occurs to block to cause and catch unsuccessfully, thus the degree of confidence of some space-time grid is lowered, as long as degree of confidence is not 0, in next round search, this grid also has an opportunity to regain high confidence.Although it is unpredictable for blocking, blocking the consequence caused can correct.Thus avoid " the chain mistake " that cause after receiver attempts catching satellite failure because ground obstacle blocks.
According to a kind of embodiment, can upgrade the set of space-time grid according to the degree of confidence after adjustment, such as, be that the space-time grid of 0 is deleted from the set of space-time grid by degree of confidence:
{G}
<i+1>＝{G
t,p|G
t,p∈{G}
<i>,C
<i> t,p≠0}，
Like this, the set of space-time grid can be reduced, thus reduce calculated amount.
According to a kind of embodiment of the application, search of satellite can be deleted from the set of satellite to be searched.That is, the satellite searched for will no longer be searched for.In addition, when the number of satellite searched meets the demands, then satellite acquisition is stopped.
According to a kind of embodiment of the application, the initial value of degree of confidence is determined according to the priori Time and place information of receiver.Such as, receiver has the understanding of certain priori to the position of oneself and time, and the position that such as receiver is at present residing is probably just near last time position location, thus raising priori spatial information.The clock of receiver also can provide priori temporal information.
Fig. 2 shows the schematic diagram of the receiver 200 of a kind of embodiment according to the application.Receiver 200 receives and processes satellite-signal to realize location and the navigation of receiver.Usually, receiver 200 receives the radiofrequency signal of all visible satellites by antenna 201.This radiofrequency signal, after prefilter 202 and prime amplifier 203 amplify, enters low-converter 204.The signal hybrid frequency that low-converter 204 utilizes frequency synthesizer 205 to synthesize is carried out down coversion to the radiofrequency signal after amplification and is obtained intermediate-freuqncy signal or baseband signal.Wherein, the reference clock signal needed for frequency synthesizer 205 composite signal hybrid frequency is provided by oscillator 206.The intermediate-freuqncy signal that down coversion obtains or baseband signal are digital signal through A/D converter 207 from analog-signal transitions.Said process can be considered as the major function of receiver radio frequency module 210.The digital signal obtained after radio-frequency module 210 carries out radiofrequency signal process generally comprises the signal of multi-satellite, and to comprise which satellite-signal be unknown.Receiver according to the application can determine search order, effective search satellite.
According to the embodiment of the application, receiver 200 comprises processor 220 and satellite acquisition device 230.Processor 220 according to time space position information determination weights, and can determine weighted mean visibility according to these weights, thus determines to search for priority.Satellite acquisition device 230 can carry out search of satellite according to the weighted mean visibility determined.
In one embodiment, time space position information can be the possibility that receiver is arranged in certain space-time grid of space-time grid set, that is, receiver is positioned at the degree of confidence of this space-time grid.
According to a kind of embodiment of the application, processor 220 can block probability according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, degree of confidence is adjusted, the weighted mean visibility of satellite relative to the set of space-time grid is upgraded according to the degree of confidence after adjustment, and further according to the weighted mean visibility search of satellite after renewal, to realize satellite News Search.
According to a kind of embodiment, as shown in Figure 3, processor 220 can comprise visibility computing module 221.After carrying out i-th satellite acquisition, visibility computing module 221 upgrades satellite s in the following manner at space-time grid set { G}
<i>in weighted mean visibility
Wherein, { G}
<i>represent the space-time grid set after having carried out i-th search, G
t,pfor the element in the set of space-time grid, to represent on time dimension t, on Spatial Dimension p lattice point map the space-time grid of formation; { S}
<i>the set of satellite to be searched remaining after representing i-th search; V
t, p, sfor the element in visibility matrix V, value is 0 (invisible) or 1 (visible), represents that the satellite being numbered s is for space-time grid G
t,pvisibility; C
<i> t,pfor degree of confidence Matrix C
<i>element, represent i-th time search after receiver be positioned at space-time grid G
t,ppossibility; ∑ () represents summing function, and Avg () expression is averaging function.
After obtaining the weighted mean visibility of every satellite in the set of satellite to be searched, satellite acquisition device 230 can using satellite the highest for weighted mean visibility as satellite next time to be searched:
Wherein s
<i+1> searchthe numbering of the satellite will searched for when being the i-th+1 time search,
represent with s to be parameter, make
be worth maximum s value.
The Search Results of satellite, except the impact being subject to satellite visibility, is also likely subject to the impact of the circumstance of occlusion of receiver present position.According to a kind of embodiment of the application, what processor 220 can set satellite blocks probability e, and carrys out according to the Search Results of satellite and the probability e that blocks of satellite the degree of confidence that more new receiver is positioned at each space-time grid on space-time grid collection.
According to a kind of embodiment, processor 220 can adopt the fixing degree of confidence of blocking probability calculation space-time grid.Processor 220 also can according to space-time grid factor setting satellite block probability e.According to another kind of embodiment, processor 220 can also according to residing for receiver environmental factor setting satellite block probability e.
According to a kind of embodiment, the environmental parameter residing for receiver can be obtained by information collector 240.Information collector can be information input unit, by the direct input environment parameter of user.Information collector also can be the sensor unit be arranged in receiver, such as, make a video recording first-class, obtains environmental parameter by sensing ambient condition information.Information collector can also be parameter storage unit, stores the environmental parameter of acquiescence.Information collector can also be communication module, receives the environmental parameter that the information source beyond by receiver is issued or transmitted.
According to a kind of embodiment of the application, processor 220 comprises degree of confidence adjusting module 222 further.The degree of confidence adjusting module of processor 220 upgrades degree of confidence according to the probability e that blocks of the visibility (1 or 0) corresponding in visibility matrix V of Search Results (acquisition success or catch unsuccessfully), satellite and satellite.
As the Search Results s of the i-th+1 time satellite
<i+1> searchduring for searching for successful,
Wherein, e is that satellite blocks probability;
represent and be numbered s
<i+1> searchsatellite for space-time grid G
t,pvisibility.
Like this, if search satellite, and corresponding space-time grid is 1 to the observability of this satellite, then degree of confidence corresponding for this space-time grid is multiplied by the probability that this satellite is not blocked; If search satellite, and corresponding space-time grid is 0 to the observability of this satellite, then degree of confidence corresponding for this space-time grid is set to 0.
As the Search Results s of the i-th+1 time satellite
<i+1> searchduring for searching for failed,
Like this, if do not search satellite, and corresponding space-time grid is 1 to the observability of this satellite, then the satellite that the degree of confidence that this space-time grid is corresponding is multiplied by this satellite blocks probability; If do not search satellite, and corresponding space-time grid is 0 to the observability of this satellite, then the degree of confidence maintaining this space-time grid corresponding is constant.
According to a kind of embodiment, degree of confidence can be that the space-time grid of 0 is from the concentrated deletion of space-time grid by processor 220.Like this, the set of space-time grid can be reduced, thus reduce calculated amount.
According to a kind of embodiment of the application, processor 220 will delete search of satellite from satellite list to be searched.That is, receiver, satellite acquisition device 230 will no longer search for the satellite searched for particularly.
According to a kind of embodiment of the application, when the result of search of satellite is acquisition success, processor 220 will judge whether the number of satellite captured meets the demands, if met the demands, then stops satellite acquisition.
According to a kind of embodiment of the application, the initial value of degree of confidence can be determined according to the priori Time and place information of receiver.The priori Time and place information of receiver can be provided by the information collector 240 of receiver 200.
Carry out of satellite acquisition below with reference to receiver and have particular application as the searching method that example further describes the application.Be appreciated that as required or various different scene, searching method disclosed in the present application can have various different embody rule.
In this application, as shown in Figure 4, pretreatment parameter can be set in the step 310, to determine the set of space-time grid { G}, the initial value of degree of confidence Matrix C, and visibility matrix V.Be appreciated that above-mentioned parameter can be set by the user, also can prestore in receivers.Or above-mentioned parameter also can by receiver setting themselves, such as, by integrated communicaton link, inertial navigation, camera, thermometer and/or barometer etc. carry out setting parameter on the receiver.
Set parameter comprises space-time unique, and space-time grid divides parameter and prior imformation.Space-time unique refer to user think receiver may residing for Time and place scope.Space-time grid divides the step-length that parameter can comprise space-time grid.When evenly dividing space-time grid, the step-length of space-time grid is definite value; When carrying out uneven division to space-time grid, the step-length of space-time grid can set different step values as required.Be used for configuring the size of space-time grid divided; Prior imformation, refers at the time space position information carrying out searching for front user's priori.
Divide parameter according to space-time grid to divide space-time unique, form space-time grid set { G}.Such as, if the spatial dimension of specifying is global seismic, the step-length longitude and latitude of division is 10 °, then spatial dimension will be divided into 180/10*360/10=648 space lattice; If the time range of specifying be receiver clock time before and after each 1h, the step-length of division is 30min, then time range will be divided into 2*60/30=4 time grid.Can carry out intersection to time grid and space lattice to expand, thus obtain 648*4=2592 space-time grid, they constitute space-time grid set { G}.Such as, for { in G}, each grid distributes a corresponding time point and spatial point, can get the mid point of time grid and the mid point of space lattice.
Prior imformation gives the Time and place residing for receiver possibility, thus can arrange the initial value of degree of confidence matrix according to prior imformation.The assignment mode of degree of confidence Matrix C can be made to meet when the possibility that receiver is in certain space-time grid is higher, and the element value that in degree of confidence Matrix C, corresponding grid is corresponding is larger.Can according to prior imformation, according to above-mentioned assignment way to degree of confidence Matrix C assignment.When there is no prior imformation, also each element in degree of confidence Matrix C can be composed identical nonzero value.
Receiver the satellite of treatable GNSS constitute satellite list { S} to be searched.To satellite list to be searched, { each satellite in S} calculates it to the space-time grid set { visibility of each space-time grid in G}.For this reason, first the almanac of specified satellite is read, obtain its orbital tracking, the orbital position of this satellite on the time point corresponding to space-time grid is calculated again according to certain model, combine this orbital position and get the spatial point that fixed space-time grid comprises, the elevation value of orbital position for this spatial point can be calculated, if relatively the magnitude relationship of this elevation value and the prior elevation angle threshold set---it is greater than the elevation angle threshold set in advance, then judge this satellite visible (being labeled as numerical value 1), if it is less than the elevation angle threshold of setting in advance, judge this satellite-invisible (being labeled as numerical value as 0).{ { G} obtains visibility matrix V for S} and the set of space-time grid to travel through satellite list to be searched.
Determining the set of space-time grid { G}, the initial value of degree of confidence Matrix C, and after visibility matrix V, the News Search of satellite can be carried out.In this application, can set the satellite-signal probability that is blocked is e.Be appreciated that in different environment and different space-time grid, block probability e can have different values.
Step 320, calculates satellite weighted mean visibility.To satellite list to be searched each satellite s in S}, calculates its satellite weighted mean visibility:
To the satellite of specifying, retrieval visibility matrix V, its visibility to each space-time grid can be obtained, and each space-time grid can find the weights of its correspondence in degree of confidence Matrix C, the weights distribution provided according to degree of confidence Matrix C, by the visibility weighted mean of specified satellite to these space-time grid, obtains the weighted mean visibility of each satellite in satellite set to be searched.
Step 330, determines the satellite-signal that epicycle will be searched for.Can select to get the maximum satellite of satellite weighted mean visibility:
Step 340, the signal of catching this satellite attempted by receiver, returns and catches result.If acquisition success, then judge that whether the satellite-signal number of catching is abundant in step 350, if abundant, terminate satellite acquisition process; Otherwise, perform step 360.If catch unsuccessfully, then perform step 360.
Step 360, upgrades degree of confidence Matrix C.In satellite s
<i+1> searchwhen searching for successfully,
In satellite s
<i+1> searchwhen searching for unsuccessfully,
Step 370, reduces space-time grid set { G}.Each element in retrieval degree of confidence Matrix C, { eliminates space-time grid corresponding for 0 value element in C G} from the set of space-time grid.
Step 380, upgrades satellite list { S} to be searched.Epicycle is caught the satellite that middle trial catches to eliminate from satellite to be captured: { G}
<i+1>={ G
t,p| G
t,p∈ { G}
<i>, C
<i> t,p≠ 0}.
Repeat above-mentioned steps 320 to 380, until stop satellite acquisition process after searching the satellite of sufficient amount.
Be described with reference to the exemplary embodiment of accompanying drawing to the application above.Those skilled in the art should understand that; above-mentioned embodiment is only used to the object that illustrates and the example of lifting; instead of be used for limiting; the any amendment done under all instructions in the application and claims, equivalently to replace, all should be included in and this application claims in the scope of protection.
Claims (16)
1. a method for search of satellite, according to the weighted mean visibility search of satellite of satellite relative to the set of space-time grid, wherein, the weights of described weighted mean visibility are determined according to time space position information.
2. the method for search of satellite as claimed in claim 1, wherein, described time space position information comprises the degree of confidence that receiver is in contained space-time grid in the set of described space-time grid.
3. the method for search of satellite as claimed in claim 2, wherein, probability is blocked according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, degree of confidence is adjusted, the weighted mean visibility of satellite relative to the set of space-time grid is upgraded according to the degree of confidence after adjustment, and further according to the weighted mean visibility search of satellite after renewal.
4. the method for search of satellite as claimed in claim 3, wherein, after carrying out i-th satellite acquisition, to upgrade in satellite set to be searched each satellite in the following manner at space-time grid set { G}
<i>in weighted mean visibility
Wherein, { G}
<i>represent the space-time grid set after having carried out i-th search, G
t,pfor the element in the set of space-time grid, to represent on time dimension t, on Spatial Dimension p lattice point map the space-time grid of formation; { S}
<i>the set of satellite to be searched remaining after representing i-th search; V
t, p, sfor the element in visibility matrix V, value is 0 or 1, represents that the satellite being numbered s is for space-time grid G
t,pvisibility; C
<i> t,pfor degree of confidence Matrix C
<i>element, represent i-th time search after receiver be positioned at space-time grid G
t,ppossibility; ∑ () represents summing function, and Avg () expression is averaging function.
5. the method for search of satellite as claimed in claim 4, wherein, in the following manner according to weighted mean visibility search of satellite:
Wherein s
<i+1> searchthe numbering of the satellite will searched for when being the i-th+1 time search,
represent with s to be parameter, make
be worth maximum s value.
6. the method for search of satellite as claimed in claim 5, wherein, block probability according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, in the following manner degree of confidence is adjusted:
In satellite s
<i+1> searchwhen searching for successfully,
In satellite s
<i+1> searchwhen searching for unsuccessfully,
Wherein, e is that satellite blocks probability;
represent and be numbered s
<i+1> searchsatellite for space-time grid G
t,pvisibility.
7. the method for search of satellite as claimed in claim 6, wherein, upgrading the set of space-time grid according to the degree of confidence after adjustment in the following manner, is that the space-time grid of 0 is deleted from the set of space-time grid by degree of confidence:
{G}
<i+1>＝{G
t,p|G
t,p∈{G}
<i>,C
<i> t,p≠0}。
8. the method for search of satellite as claimed in claim 2, wherein, the initial value of described degree of confidence is determined according to the priori Time and place information of receiver.
9. a receiver, described receiver comprises:
Processor, determines calculating the weights of satellite relative to the weighted mean visibility of space-time grid set according to time space position information, and determines described weighted mean visibility according to described weights; And
Satellite acquisition device, according to the weighted mean visibility search of satellite determined.
10. receiver as claimed in claim 9, wherein, described time space position information comprises the degree of confidence that receiver is in contained space-time grid in the set of described space-time grid.
11. receivers as claimed in claim 10, wherein, described processor blocks probability according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, degree of confidence is adjusted, upgrades the weighted mean visibility of satellite relative to the set of space-time grid according to the degree of confidence after adjustment; Described satellite acquisition device is further according to the weighted mean visibility search of satellite after renewal.
12. receivers as claimed in claim 11, wherein, described processor comprises visibility computing module, and after carrying out i-th satellite acquisition, described visibility computing module to upgrade in satellite set to be searched each satellite in the following manner at space-time grid set { G}
<i>in weighted mean visibility
Wherein, { G}
<i>represent the space-time grid set after having carried out i-th search, G
t,pfor the element in the set of space-time grid, to represent on time dimension t, on Spatial Dimension p lattice point map the space-time grid of formation; { S}
<i>the set of satellite to be searched remaining after representing i-th search; V
t, p, sfor the element in visibility matrix V, value is 0 or 1, represents that the satellite being numbered s is for space-time grid G
t,pvisibility; C
<i> t,pfor degree of confidence Matrix C
<i>element, represent i-th time search after receiver be positioned at space-time grid G
t,ppossibility; ∑ () represents summing function, and Avg () expression is averaging function.
13. receivers as claimed in claim 12, wherein, described satellite acquisition device is in the following manner according to weighted mean visibility search of satellite:
Wherein s
<i+1> searchthe numbering of the satellite will searched for when being the i-th+1 time search,
represent with s to be parameter, make
be worth maximum s value.
14. receivers as claimed in claim 13, wherein, described processor comprises degree of confidence adjusting module further, described degree of confidence adjusting module blocks probability according to the matching relationship whether searched between satellite and the visibility of this satellite and satellite, adjusts in the following manner to degree of confidence:
In satellite s
<i+1> searchwhen searching for successfully,
In satellite s
<i+1> searchwhen searching for unsuccessfully,
Wherein, e is that satellite blocks probability;
represent and be numbered s
<i+1> searchsatellite for space-time grid G
t,pvisibility.
15. receivers as claimed in claim 14, wherein, described processor upgrades the set of space-time grid according to the degree of confidence after adjustment in the following manner, is that the space-time grid of 0 is deleted from the set of space-time grid by degree of confidence:
{G}
<i+1>＝{G
t,p|G
t,p∈{G}
<i>,C
<i> t,p≠0}。
16. receivers as claimed in claim 10, wherein, described receiver also comprises information collector, obtain the priori Time and place information of receiver, wherein, the priori Time and place information of the receiver that described receiver obtains according to described information collector, determines that described satellite blocks the initial value of probability and described degree of confidence.
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