CN104407361B - satellite search method and receiver - Google Patents
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- CN104407361B CN104407361B CN201410564546.XA CN201410564546A CN104407361B CN 104407361 B CN104407361 B CN 104407361B CN 201410564546 A CN201410564546 A CN 201410564546A CN 104407361 B CN104407361 B CN 104407361B
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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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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
This application discloses a kind of satellite search method and receiver.In the satellite search method, according to satellite relative to space-time grid set weighted average visibility search of satellite, wherein, the weights of the weighted average visibility are determined according to time space position information.By satellite search method disclosed in the present application and receiver, the search order of satellite can be determined according to the weighting visibility of satellite, the hit rate of capture is improve, so as to further improve satellite acquisition efficiency.
Description
Technical field
The application is related to satellite navigation positioning field, more particularly to satellite search method and receiver.
Background technology
With the development of satellite positioning navigation technology, for receiver search speed and search efficiency requirement increasingly
It is high.Especially, current various global navigational satellite system (for example, the GPS geo-location system in the U.S., the dipper system of China, Europe
The Galileo system in continent, Muscovite GLONASS etc.) fast development, more require receiver can using expand
A joint group of stars improving positioning precision and availability.But, a joint group of stars for expansion also implies that searcher receiver satellite is believed
Number complexity become big, limit the locating speed of receiver.
To improve locating speed, Kun-Tso Chen propose a kind of dynamic satellite searching algorithm.The algorithm is according to reception
The result of each search of satellite of machine, calculates the average visibility of satellite using space-time grid collection, and next search is defended for dynamic adjustment
The order of star.Merely with satellite average visibility adjusting the search order of satellite, can not meet to searcher receiver
The requirement of efficiency.For example, the algorithm of Chen wastes prior information.Additionally, the algorithm of Chen do not possess it is anti-block ability, when connecing
Receipts machine because ground obstacle is blocked attempt capture satellite failure after, the generation of " chain mistake " will be caused, the property of algorithm will be caused
Can deteriorate.
The content of the invention
The purpose of the application is to provide a kind of satellite search method and receiver, can determine satellite acquisition order, improves
Satellite acquisition efficiency.
According to the one side of the application, disclose a kind of satellite search method, in the method, according to satellite relative to
The weighted average visibility search of satellite of space-time grid set, wherein, the weights of the weighted average visibility are according to space-time
Confidence breath determines.
According to further aspect of the application, a kind of receiver is disclosed, the receiver includes：Processor, according to when
Empty position information determines the weights for calculating satellite relative to the weighted average visibility of space-time grid set, and according to institute
State weights and determine the weighted average visibility；And satellite acquisition device, according to the weighted average visibility search of satellite for determining.
By satellite search method disclosed in the present application and receiver, satellite can be determined according to the weighting visibility of satellite
Search order, improve the hit rate of capture, so as to further improve satellite acquisition efficiency.
Description of the drawings
Fig. 1 shows a kind of satellite search method flow chart of the embodiment according to the application.
Fig. 2 shows a kind of schematic diagram of the receiver of the embodiment according to the application.
Fig. 3 shows the schematic diagram of the receiver of the another embodiment according to the application.
Fig. 4 shows the satellite search method flow chart under a kind of concrete application scene according to the application.
Specific embodiment
With reference to the accompanying drawings satellite search method disclosed in the present application is described in detail.For simplicity's sake, the application
In the explanation of each embodiment, same or similar device has used same or analogous reference.
The flow chart that Fig. 1 shows a kind of satellite search method of the embodiment according to the application.As illustrated, in step
In rapid 110, according to time space position information, it is determined that for calculating satellite relative to the weighted average visibility of space-time grid set
Weights；In the step 120, according to the weights for determining, determine weighted average visibility；In step 130, according to the weighting for determining
Average visibility, search of satellite.As such, it is possible to the search order of search of satellite is determined according to weighted average visibility, or
Search priority.
In one embodiment, time space position information can be that receiver is located at certain space-time grid in space-time grid set
Probability, i.e. receiver be located at the space-time grid confidence level.
So, by time space position information, for example receiver is located at the confidence level of space-time grid, as weights, determines and adds
The average visibility of satellite of power, and the search order of satellite is determined therefrom that, the hit rate of capture can be improved, is searched so as to improve satellite
Rope efficiency.
When satellite navigation is positioned, receiver is by the satellite in search of satellite group.Generally, before positioning first, receiver institute
The time at place and space be it is unknown, but their value has certain scope.Such as, spatial dimension can be entirely
Ball surface.Time range can be the scope near receiver clock, for example, before and after receiver clock each hour it
It is interior.Time grid and space lattice can be divided into these times and space, and be mapped as space-time grid collection { G }.When space
Each space-time grid in subclass { G } was divided corresponding to certain time and space divides.
As the method for operation and track of each satellite in satellite group is, it is known that for each in receiver satellite to be searched
Satellite, it may be determined that whether the satellite is visible for certain space-time grid.For example, according to the orbital position of the satellite and can take
Fixed space-time grid, calculates the orbital position for the elevation angle of the space lattice, whether then judges the satellite according to elevation value
It is seen, for example, can represent that the satellite to the space-time grid visible for 1 with visibility, it is seen that spend for 0 represent the satellite to this when
Space is invisible.Traversal satellite list { S } to be searched and space-time grid set { G }, are just obtained and space-time grid collection phase
The satellite visibility answered, for example, can be designated as visibility matrix V, it is seen that degree matrix V does not change with the change of searching times.
For space-time grid collection, receiver is located at space-time grid and concentrates the probability of any space-time grid and differ, will
Which is referred to as receiver and is located at the confidence level that space-time grid concentrates each space-time grid.Receiver can be in space-time grid collection
Probability represented by confidence level Matrix C, when receiver be located at certain space-time grid probability it is higher when, confidence level matrix
In C to should space-time grid element value it is bigger.The confidence that space-time grid concentrates each space-time grid is located at by receiver
Degree and satellite visibility, determine the search priority of satellite to be searched.So, high to the confidence level visible satellite of grid,
The average visibility of its satellite " being lifted ", the grid sightless satellite high to confidence level, the average visibility of its satellite is by " pressure
It is low ".Thus, it is possible to obtain rational satellite acquisition order, improves satellite acquisition efficiency.
According to a kind of embodiment of the application, can be with according to whether searching between satellite and the visibility of the satellite
Matching relationship and satellite block probability, and confidence level is adjusted, according to after adjustment confidence level update satellite relative to when
The weighted average visibility of space subclass, and further according to the weighted average visibility search of satellite after renewal.
After i ＆ lt satellite acquisition is carried out, satellite s are updated in the following manner in space-time grid set { G }<i>In plus
Weight average visibility
Wherein, { G }<i>Expression has carried out the space-time grid set after i ＆ lt search, Gt,pFor the unit in space-time grid set
Element, the space-time grid of the mapped formation of p-th lattice point t-th in express time dimension, on Spatial Dimension；{S}<i>Represent i ＆ lt
The set of remaining satellite to be searched after search；Vt,p,sFor the element in visibility matrix V, value is that 0 (invisible) or 1 (can
See), expression numbering is the satellite of s for space-time grid Gt,pVisibility；C<i> t,pFor confidence level Matrix C<i>Element, represent
After i ＆ lt search, receiver is located at space-time grid Gt,pProbability；∑ () represents summing function, and Avg () is represented and is averaging
Function.
After obtaining the weighted average visibility of every satellite in the set of satellite to be searched, can be by weighted average visibility
Highest satellite is used as satellite next time to be searched：
Wherein s<i+1> searchThe numbering of satellite to be searched for when being i+1 time search,Represent and with s be
Parameter, makesThe maximum s values of value.
The Search Results of satellite are in addition to being affected by satellite visibility, it is also possible to hidden by receiver present position
The impact of gear situation.According to presently filed embodiment, can set satellite blocks probability e, and is tied according to the search of satellite
The probability e that blocks of fruit and satellite carrys out confidence level of the more new receiver positioned at each space-time grid on space-time grid collection.
The probability e that blocks of satellite can be set as fixed value.For example, can count possible and averagely block probability, and lead to
Cross and averagely block probability to calculate the confidence level of space-time grid.Or, probability can be blocked according to user experience setting fixation.
Satellite blocks probability e and can also be set according to space-time grid factor.It is believed that each satellite is relative to each space-time
What the elevation angle of grid was to determine.The elevation angle is bigger, then the probability being blocked to receiver this satellite in the space-time grid
It is less；Conversely, the probability being blocked is bigger.When therefore, it can be directed to each that space-time grid is concentrated to each satellite
Space is arranged and blocks probability.The probability e that blocks of satellite can be with the environmental factorss setting according to residing for receiver.For example, connect
Landform, landforms residing for receipts machine will affect satellite to block probability.Open space to block probability smaller；Urban canyons are (such as high level
Where building is than comparatively dense) to block likelihood ratio larger.
In one embodiment, it is located at come more new receiver according to the probability e that blocks of the Search Results and satellite of satellite
On space-time grid collection, the method for the confidence level of each space-time grid includes：
As i+1 time, the Search Results s of satellite<i+1> searchDuring to search for successfully,
Wherein, e blocks probability for satellite；Represent that numbering is s<i+1> searchSatellite for space-time grid Gt,p
Visibility.
So, if searching satellite, and corresponding space-time grid is 1 to the observability of the satellite, then by the space-time grid pair
The confidence level answered is multiplied by the probability that the satellite is not blocked；If searching satellite, and corresponding space-time grid being to the visible of the satellite
Property is 0, then the corresponding confidence level of space-time grid is set to 0.
As the Search Results s of i+1 time satellite<i+1> searchWhen failing for search,
So, if not searching satellite, and corresponding space-time grid is 1 to the observability of the satellite, then the space-time grid pair
The confidence level answered is multiplied by the satellite of the satellite and blocks probability；If do not search satellite, and corresponding space-time grid to the satellite can
Opinion property is 0, then maintain the corresponding confidence level of space-time grid constant.
According to present embodiment, this result will not be failed because capturing certain satellite-signal and mismatch all this and catch
The space-time grid for obtaining result is rejected, but reduces the confidence level of these space-time grid.For the when space matched with capture result
Son, will raise its confidence level.If being because really there occurs blocking and causing capture failure, so as to some space-time grid
Confidence level is lowered, as long as confidence level is not 0, in next round search, the grid also has an opportunity to regain high confidence.
Although it is unpredictable to block, it can be correction to block the consequence for causing.So as to avoid when receiver because ground hinders
Hinder thing to block and attempt capture satellite failure after institute caused by " chain mistake ".
According to a kind of embodiment, space-time grid set can be updated according to the confidence level after adjustment, for example, by confidence level
Space-time grid for 0 is deleted from space-time grid set：
{G}<i+1>={ Gt,p|Gt,p∈{G}<i>,C<i> t,p≠ 0 },
As such, it is possible to space-time grid set is reduced, so as to reduce amount of calculation.
According to a kind of embodiment of the application, search of satellite can be deleted from the set of satellite to be searched.Also
It is to say, is not searched again for the satellite searched for.Additionally, when the number of satellite satisfaction for searching is required, then stopping satellite
Search.
According to a kind of embodiment of the application, the initial value of confidence level priori time and spatial information according to receiver
It is determined that.For example, receiver has the understanding of certain priori to oneself position and time, and the current location of such as receiver is very
May be just in the vicinity of last time position location, so as to improve priori spatial information.When the clock of receiver also can provide priori
Between information.
Fig. 2 shows a kind of schematic diagram of the receiver 200 of the embodiment according to the application.Receiver 200 receive and
Process satellite-signal to realize positioning and the navigation of receiver.Generally, receiver 200 receives all visible defend by antenna 201
The radiofrequency signal of star.The radiofrequency signal is premenstrual to put wave filter 202 and after preamplifier 203 amplifies, into low-converter 204.
Low-converter 204 carries out down coversion to the radiofrequency signal after amplification using the signal hybrid frequency that frequency synthesizer 205 synthesizes and obtains
To intermediate-freuqncy signal or baseband signal.Wherein, the reference clock signal needed for 205 composite signal hybrid frequency of frequency synthesizer is by shaking
Swing device 206 to provide.Intermediate-freuqncy signal that down coversion is obtained or baseband signal are number from analog-signal transitions through A/D converter 207
Word signal.Said process can be considered as the major function of receiver radio frequency module 210.Radio-frequency module 210 is carried out at radiofrequency signal
The digital signal obtained after reason generally comprises the signal of multi-satellite, and it is unknown to include which satellite-signal.According to this Shen
Receiver please can determine search order, effective search satellite.
According to presently filed embodiment, receiver 200 includes processor 220 and satellite acquisition device 230.Processor 220
Weights can be determined according to time space position information, and according to the weights determining weighted average visibility, so that it is determined that search is preferred
Level.Satellite acquisition device 230 can be according to the weighted average visibility for determining come search of satellite.
In one embodiment, time space position information can be that receiver is located at certain space-time grid in space-time grid set
Probability, i.e. receiver be located at the space-time grid confidence level.
According to a kind of embodiment of the application, processor 220 can be according to whether to search satellite visible with the satellite
Matching relationship and satellite between degree blocks probability, and confidence level is adjusted, and updates satellite according to the confidence level after adjustment
Relative to the weighted average visibility of space-time grid set, and further defended according to the weighted average visibility search after renewal
Star, to realize satellite News Search.
According to a kind of embodiment, as shown in figure 3, processor 220 can include visibility computing module 221.Carry out
After i ＆ lt satellite acquisition, it is seen that degree computing module 221 updates satellite s in the following manner in space-time grid set { G }<i>In
Weighted average visibility
Wherein, { G }<i>Expression has carried out the space-time grid set after i ＆ lt search, Gt,pFor the unit in space-time grid set
Element, the space-time grid of the mapped formation of p-th lattice point t-th in express time dimension, on Spatial Dimension；{S}<i>Represent i ＆ lt
The set of remaining satellite to be searched after search；Vt,p,sFor the element in visibility matrix V, value is that 0 (invisible) or 1 (can
See), expression numbering is the satellite of s for space-time grid Gt,pVisibility；C<i> t,pFor confidence level Matrix C<i>Element, represent
After i ＆ lt search, receiver is located at space-time grid Gt,pProbability；∑ () represents summing function, and Avg () is represented and is averaging
Function.
After obtaining the weighted average visibility of every satellite in the set of satellite to be searched, satellite acquisition device 230 can be by
Weighted average visibility highest satellite is used as satellite next time to be searched：
Wherein s<i+1> searchThe numbering of satellite to be searched for when being i+1 time search,Represent and with s be
Parameter, makesThe maximum s values of value.
The Search Results of satellite are in addition to being affected by satellite visibility, it is also possible to hidden by receiver present position
The impact of gear situation.According to a kind of embodiment of the application, what processor 220 can set satellite blocks probability e, and according to
The probability e that blocks of the Search Results and satellite of satellite carrys out confidence of the more new receiver positioned at each space-time grid on space-time grid collection
Degree.
According to a kind of embodiment, processor 220 can adopt the fixed confidence level for blocking probability calculation space-time grid.
Processor 220 can also block probability e according to space-time grid factor setting satellite.According to another embodiment, processor
220 can block probability e to set satellite according to receiver local environment factor.
According to a kind of embodiment, the ambient parameter residing for receiver can be obtained by information collector 240.Information
Device can be information input unit, directly input ambient parameter by user.Information collector can also be disposed in receiver
Sensor unit, for example image it is first-class, by sense ambient condition information obtain ambient parameter.Information collector can be with
It is parameter storage unit, stores the ambient parameter of acquiescence.Information collector can also be communication module, beyond receiving by receiver
Information source issue or transmit ambient parameter.
According to a kind of embodiment of the application, processor 220 further includes confidence level adjusting module 222.Processor
220 confidence level adjusting module is according to Search Results (acquisition success or capture failure), satellite correspondence in visibility matrix V
Visibility (1 or 0) and satellite block probability e to be updated confidence level.
As the Search Results s of i+1 time satellite<i+1> searchDuring to search for successfully,
Wherein, e blocks probability for satellite；Represent that numbering is s<i+1> searchSatellite for space-time grid Gt,p
Visibility.
So, if searching satellite, and corresponding space-time grid is 1 to the observability of the satellite, then by the space-time grid pair
The confidence level answered is multiplied by the probability that the satellite is not blocked；If searching satellite, and corresponding space-time grid being to the visible of the satellite
Property is 0, then the corresponding confidence level of space-time grid is set to 0.
As the Search Results s of i+1 time satellite<i+1> searchWhen failing for search,
So, if not searching satellite, and corresponding space-time grid is 1 to the observability of the satellite, then the space-time grid pair
The confidence level answered is multiplied by the satellite of the satellite and blocks probability；If do not search satellite, and corresponding space-time grid to the satellite can
Opinion property is 0, then maintain the corresponding confidence level of space-time grid constant.
According to a kind of embodiment, the space-time grid that confidence level is 0 can be concentrated from space-time grid and be deleted by processor 220
Remove.As such, it is possible to space-time grid set is reduced, so as to reduce amount of calculation.
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, specifically satellite acquisition device 230 is not searched again for the satellite searched for.
According to a kind of embodiment of the application, when the result of search of satellite is acquisition success, processor 220 will determine that
Whether the number of satellite for capturing meets requirement, if meet required, stops satellite acquisition.
According to a kind of embodiment of the application, the initial value of confidence level can be according to the priori time of receiver and space
Information determines.The priori time of receiver and spatial information can be provided by the information collector 240 of receiver 200.
Further describe the application's as a example by a concrete application of satellite acquisition is carried out below with reference to receiver
Searching method.It is appreciated that as needed or various different scenes, searching method disclosed in the present application can have various differences
Concrete application.
In this application, as shown in figure 4, pretreatment parameter can be set in the step 310, to determine space-time grid set
{ G }, the initial value of confidence level Matrix C, and visibility matrix V.It is appreciated that above-mentioned parameter can be set by the user, also may be used
To prestore in receivers.Or, above-mentioned parameter can also be by receiver setting themselves, for example, by the receiver
Integrated communicaton link, inertial navigation, photographic head, thermometer and/or barometer etc. are carrying out parameter setting.
Set parameter includes space-time unique, and space-time grid divides parameter and prior information.Space-time unique refers to user
Think the time residing for receiver possibility and spatial dimension.Space-time grid divides parameter can include the step-length of space-time grid.When
When being evenly dividing to space-time grid, the step-length of space-time grid is definite value；When uneven division is carried out to space-time grid, when
The step-length of space can set different step values as needed.For configuring the size of the space-time grid of division；Priori is believed
Breath, refers to the time space position information of user's priori before scanning for.
Parameter is divided according to space-time grid to divide space-time unique, space-time grid set { G } is constituted.For example, if referring to
Fixed spatial dimension is global seismic, and 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 each 1h before and after the time that the time range specified is receiver clock, the step of division
A length of 30min, then time range will be divided into 2*60/30=4 time grid.Time grid and space lattice can be entered
Row intersects to be expanded, and so as to obtain 648*4=2592 space-time grid, they constitute space-time grid set { G }.For every in { G }
One grid all distributes a corresponding time point and spatial point, for example, can take midpoint and the space lattice of time grid
Midpoint.
Prior information gives the time residing for receiver possibility and space, such that it is able to arrange confidence according to prior information
The initial value of degree matrix.The assignment mode of confidence level Matrix C can be made to meet the possibility when receiver in certain space-time grid
Property it is higher when, in confidence level Matrix C, the correspondence corresponding element value of grid is bigger.Can be according to prior information, according to above-mentioned assignment
Method gives confidence level Matrix C assignment.When no prior information, it is also possible to which each element in confidence level Matrix C is assigned identical
Nonzero value.
Receiver the satellite of treatable GNSS constitute satellite list { S } to be searched.Satellite to be searched is arranged
Each satellite in table { S }, calculates its visibility to each space-time grid in space-time grid set { G }.For this purpose, first
The almanac of specified satellite is read, and is obtained its orbital tracking, the satellite is calculated corresponding to space-time grid according still further to certain model
Time point on orbital position, combine and this orbital position and take the spatial point included by fixed space-time grid, can calculate
The elevation value of the spatial point is compared this elevation value and closed with the size of the elevation angle threshold being previously set errant position
If system --- it judges the satellite visible (being labeled as numerical value 1) more than the elevation angle threshold being previously set, if it is less than setting in advance
Fixed elevation angle threshold then judges the satellite-invisible (being labeled as numerical value as 0).Traversal satellite list { S } to be searched and when space
Subclass { G }, obtains visibility matrix V.
Determining space-time grid set { G }, after the initial value of confidence level Matrix C, and visibility matrix V, Ke Yijin
The News Search of row satellite.In this application, satellite-signal can be set probability is blocked as e.It is appreciated that in different rings
Probability e is blocked in border and different space-time grid can different values.
Step 320, calculates satellite weighted average visibility.To each satellite s in satellite list { S } to be searched,
Calculate its satellite weighted average visibility：
To specified satellite, visibility matrix V is retrieved, its visibility to each space-time grid can be obtained, and it is every
One space-time grid can find its corresponding weights in confidence level Matrix C, the weights distribution provided according to confidence level Matrix C
By visibility weighted average of the specified satellite to these space-time grid, the weighted average of each satellite in satellite set to be searched is obtained
Visibility.
Step 330, determines epicycle satellite-signal to be searched for.Can select to take defending for satellite weighted average visibility maximum
Star：
Step 340, receiver attempt the signal for capturing the satellite, return capture result.If acquisition success, in step
Judge in 350 whether the satellite-signal number for capturing is enough, if enough, terminate satellite acquisition process；Otherwise, execution step
360.If capture failure, execution step 360.
Step 360, updates confidence level Matrix C.In satellite s<i+1> searchWhen searching for successfully,
In satellite s<i+1> searchDuring search failure,
Step 370, reduces space-time grid set { G }.Each element in retrieval confidence level Matrix C, by 0 value element correspondence in C
Space-time grid eliminate from space-time grid set { G }.
Step 380, updates satellite list { S } to be searched.The satellite for attempting capturing during epicycle is captured is defended to be captured
Eliminate in star：{G}<i+1>={ Gt,p|Gt,p∈{G}<i>,C<i> t,p≠0}。
Repeat the above steps 320 to 380, until stopping satellite acquisition process after searching sufficient amount of satellite.
The exemplary embodiment of the application is described above by reference to accompanying drawing.Those skilled in the art should manage
Solution, the purpose that the embodiment above is merely to illustrate that and the example lifted, rather than be used for being limited, it is all in the application
Teaching and claims under made any modification, equivalent etc., should be included in this application claims
In the range of.
Claims (10)
1. a kind of method of search of satellite, according to satellite relative to space-time grid set weighted average visibility search of satellite,
Wherein, the weights of the weighted average visibility according to time space position information determine, wherein, the time space position information includes connecing
The confidence level of receipts machine contained space-time grid in the space-time grid set,
Wherein, it is according to whether the matching relationship and satellite that search between satellite and the visibility of the satellite block probability, right
Confidence level is adjusted, and updates weighted average visibility of the satellite relative to space-time grid set according to the confidence level after adjustment,
And further according to the weighted average visibility search of satellite after renewal,
Wherein, after i ＆ lt satellite acquisition is carried out, update in satellite set to be searched in the following manner each satellite when space
Subclass { G }<i>In weighted average visibility
Wherein, { G }<i>Expression has carried out the space-time grid set after i ＆ lt search, Gt,pFor the element in space-time grid set,
The space-time grid of the mapped formation of p-th lattice point t-th in express time dimension, on Spatial Dimension；{S}<i>Represent that i ＆ lt is searched
The set of remaining satellite to be searched after rope；Vt,p,sFor the element in visibility matrix V, value is 0 or 1, represents that numbering is s's
Satellite is for space-time grid Gt,pVisibility；C<i> t,pFor confidence level Matrix C<i>Element, represent i ＆ lt search after receive
Machine is located at space-time grid Gt,pProbability；∑ () represents summing function, and Avg () is represented and is averaging function.
2. the method for search of satellite as claimed in claim 1, wherein, searched for according to weighted average visibility in the following manner
Satellite：
Wherein s<i+1> searchThe numbering of satellite to be searched for when being i+1 time search,Represent with s as parameter,
MakeThe maximum s values of value.
3. the method for search of satellite as claimed in claim 2, wherein, according to whether searching the visibility of satellite and the satellite
Between matching relationship and satellite block probability, in the following manner confidence level is adjusted：
In satellite s<i+1> searchWhen searching for successfully,
In satellite s<i+1> searchDuring search failure,
Wherein, e blocks probability for satellite；Represent that numbering is s<i+1> searchSatellite for space-time grid Gt,pCan
Degree of opinion.
4. the method for search of satellite as claimed in claim 3, wherein, updated according to the confidence level after adjustment in the following manner
Space-time grid set, the space-time grid that confidence level is 0 is deleted from space-time grid set：
{G}<i+1>={ Gt,p|Gt,p∈{G}<i>,C<i> t,p≠0}。
5. the method for search of satellite as claimed in claim 1, wherein, the priori of the initial value of the confidence level according to receiver
Time and spatial information determine.
6. a kind of receiver, the receiver include：
Processor, determines the weighted average visibility for calculating satellite relative to space-time grid set according to time space position information
Weights, and determine the weighted average visibility according to the weights；And
Satellite acquisition device, according to the weighted average visibility search of satellite for determining, wherein, the time space position information includes receiving
The confidence level of machine contained space-time grid in the space-time grid set,
Wherein, the processor is according to whether search matching relationship and satellite between satellite and the visibility of the satellite
Probability is blocked, confidence level is adjusted, weighting of the satellite relative to space-time grid set is updated according to the confidence level after adjustment
Average visibility；The satellite acquisition device further according to the weighted average visibility search of satellite after renewal,
Wherein, the processor includes visibility computing module, and after i ＆ lt satellite acquisition is carried out, the visibility computing module leads to
Each satellite is crossed during in the following manner updates satellite set to be searched in space-time grid set { G }<i>In weighted average visibility
Wherein, { G }<i>Expression has carried out the space-time grid set after i ＆ lt search, Gt,pFor the element in space-time grid set,
The space-time grid of the mapped formation of p-th lattice point t-th in express time dimension, on Spatial Dimension；{S}<i>Represent that i ＆ lt is searched
The set of remaining satellite to be searched after rope；Vt,p,sFor the element in visibility matrix V, value is 0 or 1, represents that numbering is s's
Satellite is for space-time grid Gt,pVisibility；C<i> t,pFor confidence level Matrix C<i>Element, represent i ＆ lt search after receive
Machine is located at space-time grid Gt,pProbability；∑ () represents summing function, and Avg () is represented and is averaging function.
7. receiver as claimed in claim 6, wherein, the satellite acquisition device is visible according to weighted average in the following manner
Degree search of satellite：
Wherein s<i+1> searchThe numbering of satellite to be searched for when being i+1 time search,Represent with s as parameter,
MakeThe maximum s values of value.
8. receiver as claimed in claim 7, wherein, the processor further includes confidence level adjusting module, described to put
Reliability adjusting module is according to whether the matching relationship and satellite that search between satellite and the visibility of the satellite are blocked generally
Rate, is adjusted to confidence level in the following manner：
In satellite s<i+1> searchWhen searching for successfully,
In satellite s<i+1> searchDuring search failure,
Wherein, e blocks probability for satellite；Represent that numbering is s<i+1> searchSatellite for space-time grid Gt,pCan
Degree of opinion.
9. receiver as claimed in claim 8, wherein, the processor in the following manner according to the confidence level after adjustment more
New space-time grid set, the space-time grid that confidence level is 0 is deleted from space-time grid set：
{G}<i+1>={ Gt,p|Gt,p∈{G}<i>,C<i> t,p≠0}。
10. receiver as claimed in claim 6, wherein, the receiver also includes information collector, obtains the elder generation of receiver
Test time and spatial information, wherein, the priori time of the receiver obtained according to described information catcher by the receiver and
Spatial information, determines that the satellite blocks the initial value of probability and the confidence level.
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