CN108680939A

CN108680939A - A kind of secondary satellite localization method, device and electronic equipment

Info

Publication number: CN108680939A
Application number: CN201810468050.0A
Authority: CN
Inventors: 邓中亮; 王玮; 林乐轩; 闫小涵; 刘雯; 焦继超
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2018-05-16
Filing date: 2018-05-16
Publication date: 2018-10-19
Anticipated expiration: 2038-05-16
Also published as: CN108680939B

Abstract

An embodiment of the present invention provides a kind of secondary satellite localization method, device and electronic equipment, methods to include：Obtain at least three corresponding satellite informations of satellite；Obtain the present level of equipment to be positioned and the reference position information of predeterminated position；Obtain the corresponding first position information of equipment previous moment to be positioned；Based on present level and preset coordinate transformation relation, it converts first position information to second position information；Based on the location information of pseudorange and corresponding satellite in each satellite information between corresponding satellite and equipment to be positioned, it is corresponding apart from observational equation to build each satellite；Based on second position information and reference position information, structure distance is with reference to equation；It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, determine the positioning position information of equipment to be positioned.To realize in the case where receiving the signal of at least 3 satellite launchs, the accuracy for the positioning for treating positioning device is improved.

Description

A kind of secondary satellite localization method, device and electronic equipment

Technical field

The present invention relates to field of locating technology, more particularly to a kind of secondary satellite localization method, device and electronic equipment.

Background technology

In daily life, since building block in city, cause in some places, equipment to be positioned is difficult to The signal of 4 or more satellite launchs is received, i.e., equipment to be positioned is difficult to determine that 4 or more satellites are corresponding Pseudorange, above-mentioned pseudorange are：Measure equipment to be positioned and the distance between target satellite of gained, wherein the target satellite is：It waits for The corresponding satellite of positioning device received signal.The above situation for the positioning system of positioning signal source, is waited for for using satellite When the lazy weight of the corresponding satellite of positioning device received signal 4, which is difficult to carry out position resolving, that is, is difficult to Positioning device is treated to be positioned.

Existing secondary satellite location technology to solve the above-mentioned problems, when receiving the signal of 3 satellite launchs, really Make the corresponding pseudorange of above-mentioned 3 satellites and location information；And then the distance between 2 points relationships are based on, utilization is above-mentioned The corresponding pseudorange of 3 satellites and location information, construct 3 pseudorange observation equations；Using difference barometric hypsometry, survey The height for being presently in position for measuring equipment to be positioned is fitted using the characteristic of the approximate ellipse of the earth based on the height The elliptic equation being fitted and above-mentioned 3 pseudorange observation equations are set up equation group, solve above-mentioned equation group by elliptic equation in turn To obtain the location information of equipment to be positioned.

Although however, existing secondary satellite location technology can in the case where receiving the signal of 3 satellite launchs, Realization treats the positioning of positioning device to get to the location information of equipment to be positioned.But the earth is not the ellipsoid of standard, Using based on the height fitted ellipse equation and above-mentioned 3 pseudorange observation equations, the location information of acquired equipment to be positioned is not It is enough accurate.

Invention content

The embodiment of the present invention is designed to provide a kind of secondary satellite localization method, device and electronic equipment, to realize In the case where receiving the signal of at least 3 satellite launchs, the accuracy for the positioning for treating positioning device is improved.Particular technique Scheme is as follows：

On the one hand, an embodiment of the present invention provides a kind of secondary satellite localization method, the method includes：

Obtain current time at least three corresponding satellite informations of satellite, wherein each satellite information includes：Institute is right Answer the location information of the pseudorange and corresponding satellite between satellite and equipment to be positioned；

The height that the equipment to be positioned is presently in position is obtained, as present level, and obtains predeterminated position Location information, as with reference to location information, wherein the predeterminated position and the equipment to be positioned are presently between position Distance is more than pre-determined distance threshold value；

The corresponding location information of the equipment previous moment to be positioned is obtained, as first position information, wherein before described One moment was：The previous moment at the current time；

Based on the present level and preset coordinate transformation relation, it converts the first position information to second Confidence ceases；

Based on the corresponding satellite included by each satellite information and the pseudorange between equipment to be positioned and corresponding satellite Location information, it is corresponding apart from observational equation to build each satellite；

Based on the second position information and the reference position information, structure distance is with reference to equation；

It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, it determines The location information of the equipment to be positioned, as positioning position information.

On the other hand, an embodiment of the present invention provides a kind of secondary satellite positioning device, described device includes：

First obtains module, for obtaining current time at least three corresponding satellite informations of satellite, wherein each Satellite information includes：The location information of pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned；

Second obtains module, and the height of position is presently in for obtaining the equipment to be positioned, as present level, with And the location information of predeterminated position is obtained, as with reference to location information；

Third obtains module, for obtaining the corresponding location information of the equipment previous moment to be positioned, as first Confidence ceases, wherein the previous moment is：The previous moment at the current time；

Conversion module believes the first position for being based on the present level and preset coordinate transformation relation Breath is converted into second position information；

First structure module, for based on the corresponding satellite included by each satellite information and between equipment to be positioned It is corresponding apart from observational equation to build each satellite for the location information of pseudorange and corresponding satellite；

Second structure module, for being based on the second position information and the reference position information, structure distance ginseng According to equation；

First determining module, for corresponding apart from observational equation and constructed based on constructed each satellite Distance determines the location information of the equipment to be positioned, as positioning position information with reference to equation.

On the other hand, an embodiment of the present invention provides a kind of electronic equipment, including processor, communication interface, memory and Communication bus, wherein processor, communication interface, memory complete mutual communication by communication bus；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes what the embodiment of the present invention was provided Any secondary satellite localization method step.

On the other hand, an embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storages Dielectric memory contains computer program, and times that the embodiment of the present invention is provided is realized when the computer program is executed by processor Secondary satellite localization method step described in one.

The embodiment of the present invention obtains current time at least three corresponding satellite informations of satellite, wherein each satellite Information includes：The location information of pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned；Obtain to be positioned set The standby height for being presently in position as present level, and obtains the location information of predeterminated position, believes as with reference to position Breath, wherein predeterminated position is presently in the distance between position with equipment to be positioned and is more than pre-determined distance threshold value；It obtains to be positioned The corresponding location information of equipment previous moment, as first position information, wherein previous moment is：Current time it is previous when It carves；Based on present level and preset coordinate transformation relation, it converts first position information to second position information；Based on every The location information of the pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned included by one satellite information, structure Each satellite is corresponding apart from observational equation；Based on second position information and reference position information, structure distance is with reference to equation； It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, determine to be positioned set Standby location information, as positioning position information.

In the embodiment of the present invention, it is corresponding apart from observational equation to be based at least three satellites, and based on waiting for The present level of positioning device and the corresponding first position information of equipment previous moment to be positioned, determination obtain the second position Information, and then it is based on second position information and reference position information, for constructed distance with reference to equation, realization, which is worked as, receives three When the signal of a satellite, the positioning of positioning device is treated, also, the present level based on equipment to be positioned and to be positioned set The standby corresponding first position information of previous moment and reference position information, structure distance, can be to a certain degree with reference to equation The upper accuracy for improving the positioning for treating positioning device, to realize in the case where receiving the signal of at least 3 satellite launchs, Improve the accuracy for the positioning for treating positioning device.Certainly, it implements any of the products of the present invention or method must be not necessarily required to together When reach all the above advantage.

Description of the drawings

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with Obtain other attached drawings according to these attached drawings.

A kind of flow diagram for secondary satellite localization method that Fig. 1 is provided by the embodiment of the present invention；

A kind of another flow diagram for secondary satellite localization method that Fig. 2 is provided by the embodiment of the present invention；

A kind of localization field that Fig. 3 A are positioned by the satellite information using three satellites that the embodiment of the present invention provides Scape schematic diagram；

Fig. 3 B are carried out positioning a kind of positioning result by the satellite information using three satellites that the embodiment of the present invention provides The schematic diagram of error；

One kind positioned using the satellite information of three or more satellites that Fig. 4 A are provided by the embodiment of the present invention is fixed Position schematic diagram of a scenario；

Fig. 4 B are carried out positioning a kind of positioning by the satellite information using three or more satellites that the embodiment of the present invention provides The schematic diagram of resultant error；

A kind of structural schematic diagram for secondary satellite positioning device that Fig. 5 is provided by the embodiment of the present invention；

The structural schematic diagram for a kind of electronic equipment that Fig. 6 is provided by the embodiment of the present invention.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a kind of secondary satellite localization method and device, defended with realizing receiving at least 3 In the case of the signal of star transmitting, the accuracy for the positioning for treating positioning device is improved.

As shown in Figure 1, an embodiment of the present invention provides a kind of secondary satellite localization method, the method includes：

S101：Obtain current time at least three corresponding satellite informations of satellite；

Wherein, each satellite information includes：Pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned Location information；

It is understood that the secondary satellite localization method that the embodiment of the present invention is provided, can be applied to it is any can be with The electronic equipment of the satellite information of at least three satellites is obtained, which can be computer and mobile phone etc..A kind of situation In, realize that the functional software for the secondary satellite localization method that the embodiment of the present invention is provided can be with special client software Form exists, and can also exist in the form of the plug-in unit of existing client software.

In the embodiment of the present invention, electronic equipment can obtain the corresponding satellite letter of current time at least three satellites Breath, wherein include in each satellite information：The position of pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned Information；Wherein, the pseudorange between above-mentioned satellite and equipment to be positioned can the passing time based on the signal transmitted by satellite with And signal transmission speed calculates gained, wherein the passing time of the signal transmitted by above-mentioned corresponding satellite is：Satellite launch is believed Number when time and equipment to be positioned receive when signal time between time absolute value of the difference；Above-mentioned signal transmission speed can Think the light velocity.The location information of above-mentioned corresponding satellite can be based on acquisition of tabling look-up, and the position of having time and satellite is stored in the table Correspondence between confidence breath determines the transmitting signal based on the time of corresponding satellite emission signal from above-mentioned table Time corresponding satellite location information.

Wherein, above-mentioned electronic equipment can be same physical equipment with equipment to be positioned, can also be with equipment to be positioned Different physical equipments, this is all possible.

S102：The height that equipment to be positioned is presently in position is obtained, as present level, and obtains predeterminated position Location information, as with reference to location information；

Wherein, predeterminated position and equipment to be positioned are presently in the distance between position and are more than pre-determined distance threshold value, i.e., on State predeterminated position：For the position of the distance between second position information and subsequent positioning position information can be ignored.

In oneainstance, above-mentioned electronic equipment and equipment to be positioned are different physical equipments, to be positioned are set at this point, above-mentioned It is standby to obtain the height for itself being presently in position based on barometric hypsometry measurement of checking the mark, as present level, and will deserve Preceding height is sent to electronic equipment, so that electronic equipment obtains the present level, and then executes subsequent secondary satellite positioning stream Journey.In another situation, above-mentioned electronic equipment is same physical equipment with equipment to be positioned, and electronic equipment can be based on air pressure of checking the mark Altimetry measurement obtains the height for itself being presently in position, as present level, and then executes subsequent secondary satellite positioning Flow.

S103：The corresponding location information of equipment previous moment to be positioned is obtained, as first position information；

Wherein, previous moment is：The previous moment at current time；

S104：Based on present level and preset coordinate transformation relation, it converts first position information to the second position Information；

Electronic equipment can continue to obtain the corresponding position of equipment previous moment to be positioned after obtaining above-mentioned present level Confidence ceases, and as first position information, and then present level and preset coordinate transformation relation is based on, by first position information It is converted into second position information.In order to execute subsequent secondary satellite positioning flow.

S105：Based on the corresponding satellite included by each satellite information and the pseudorange between equipment to be positioned and corresponding It is corresponding apart from observational equation to build each satellite for the location information of satellite；

S106：Based on second position information and reference position information, structure distance is with reference to equation；

S107：It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, The location information for determining equipment to be positioned, as positioning position information.

In the embodiment of the present invention, according to the distance between 2 points relationships, corresponding to included by each satellite information The location information of pseudorange and corresponding satellite between satellite and equipment to be positioned builds the corresponding distance observation side of each satellite Journey；And according to the distance between 2 points relationships, it is based on second position information and reference position information, structure distance reference side Journey；In turn, above-mentioned two class equation of simultaneous, solution obtains the location information of equipment to be positioned, as positioning position information.

Wherein, above-mentioned predeterminated position and equipment to be positioned are presently in the distance between position and are more than pre-determined distance threshold value, To a certain extent, it is believed that equipment to be positioned is presently in the distance between position and above-mentioned predeterminated position, and to be positioned The distance between equipment previous moment present position and above-mentioned predeterminated position, it is equal.

In the embodiment of the present invention, it is corresponding apart from observational equation to be based at least three satellites, and based on waiting for The present level of positioning device and the corresponding first position information of equipment previous moment to be positioned, determination obtain the second position Information, and then it is based on second position information and reference position information, for constructed distance with reference to equation, realization, which is worked as, receives three When the signal of a satellite, the positioning of positioning device is treated, also, the present level based on equipment to be positioned and to be positioned set The standby corresponding first position information of previous moment and reference position information, structure distance, can be to a certain degree with reference to equation The upper accuracy for improving the positioning for treating positioning device, to realize in the case where receiving the signal of at least 3 satellite launchs, Improve the accuracy for the positioning for treating positioning device.

In one implementation, above-mentioned preset coordinate transformation relation includes：Earth coordinates and pre-set space right angle Coordinate transformation relation between coordinate system；Above-mentioned first position information includes：First coordinate, the first coordinate are：Equipment to be positioned The default origin of coordinate of the previous moment under pre-set space rectangular coordinate system, pre-set space rectangular coordinate system is：Geodetic coordinates It is corresponding origin, the default vertical pivot of pre-set space rectangular coordinate system presets sky perpendicular to the corresponding equatorial plane of earth coordinates Between rectangular coordinate system default horizontal axis and the default longitudinal axis where plane be the equatorial plane；

It is above-mentioned to be based on present level and preset coordinate transformation relation, convert first position information to second confidence The step of breath may include：

Based on the coordinate transformation relation between earth coordinates and pre-set space rectangular coordinate system, by the first coordinate from default Rectangular coordinate system in space is converted to earth coordinates, and the second coordinate is obtained；

Present level is replaced into the height value in the second coordinate, obtains third coordinate；

Based on the coordinate transformation relation between earth coordinates and pre-set space rectangular coordinate system, by third coordinate from greatly Coordinate system is converted to pre-set space rectangular coordinate system, and 4-coordinate is obtained.

Wherein, above-mentioned earth coordinates are the coordinate systems that face is set up on the basis of reference ellipsoid in geodesic survey, Specially：Using the earth ellipsoid equatorial plane and the earth starting meridian plane as start of calculation face, and with earth ellipsoid face (i.e. reference ellipsoid) For the plane of reference, and the earth ellipsoid areal coordinate system established.It is the fundamental coordinate system of geodesic survey, and earth coordinates include the earth Longitude L, geodetic latitude B and H3 coordinate components of geodetic altitude.The geodetic longitude L of any on earth (i.e. reference ellipsoid) Greatly to originate the dihedral angle that meridian plane is constituted with the meridian plane where the point, wherein it is started by the earth starting meridian plane, to East is just, referred to as east longitude (0~180 degree), is westwards negative, referred to as west longitude (0~180 degree)；Geodetic latitude B is：The location The angle of the normal and the earth ellipsoid equatorial plane of ball ellipsoid, wherein started by the earth ellipsoid equatorial plane, northwards for just, referred to as North latitude (0~90 degree), to the south is negative, referred to as south latitude (0~90 degree)；Geodetic altitude H is：The point is along reference ellipsoid on earth Normal to reference ellipsoid distance.Wherein, above-mentioned reference ellipsoid is the surface of reference ellipsoid.Above-mentioned earth ellipsoid equator Face is the corresponding equatorial plane of earth coordinates that the embodiment of the present invention is carried.

In oneainstance, the direction of the default abscissa of above-mentioned pre-set space rectangular coordinate system can be directed to 0 degree of warp Line.

In the embodiment of the present invention, the corresponding first position information of previous moment of the equipment to be positioned obtained includes： Coordinate under pre-set space rectangular coordinate system, i.e. the first coordinate, in order to preferably utilize the obtained current institute of equipment to be positioned The present level for locating position treats positioning device to realize in the case where receiving the signal of at least three satellite launchs More accurate positioning.In the embodiment of the present invention, it is based on above-mentioned preset coordinate transformation relation, the first coordinate is straight from pre-set space Angular coordinate system converts to earth coordinates, obtains the second coordinate；In turn, present level is replaced to the height in above-mentioned second coordinate Value, obtains third coordinate, in turn, then is based on above-mentioned preset coordinate transformation relation, and third coordinate is converted from earth coordinates To pre-set space rectangular coordinate system, 4-coordinate is obtained to get to second position information.

It is in one implementation, above-mentioned to convert the first coordinate to earth coordinates from pre-set space rectangular coordinate system, The step of obtaining the second coordinate, utilized formula (1) are：

Wherein, above-mentioned (L ', B ', H ') identifies the second coordinate, above-mentionedThe first coordinate is identified, above-mentioned N marks are big The corresponding preset curvature radius of ground coordinate system, above-mentioned e identify the corresponding presupposed off-center rate of earth coordinates；

Above-mentioned R_eIdentify the length of the corresponding default major semiaxis of earth coordinates, above-mentioned R_PIt is corresponding to identify earth coordinates The length of default semi-minor axis；

The above-mentioned height value replaced present level in the second coordinate, the step of obtaining third coordinate, institute are using formula：

H '=h；

Wherein, the height value in above-mentioned the second coordinate of H ' marks, above-mentioned h identify present level；

It is above-mentioned to convert third coordinate to pre-set space rectangular coordinate system from earth coordinates, obtain the step of 4-coordinate Suddenly, utilized formula (2) is：

Wherein, above-mentionedIdentify 4-coordinate.

Wherein, the corresponding preset curvature radius N of above-mentioned earth coordinates is the radius of curvature of above-mentioned reference ellipsoid, above-mentioned big Coordinate system corresponding presupposed off-center rate e in ground is the eccentricity of above-mentioned reference ellipsoid, the corresponding default length of above-mentioned earth coordinates half The length R of axis_eFor the length of the major semiaxis of above-mentioned reference ellipsoid, the length R of the corresponding default semi-minor axis of above-mentioned earth coordinates_P For the length of the semi-minor axis of above-mentioned reference ellipsoid.

In one implementation, the above-mentioned corresponding satellite based on included by each satellite information and equipment to be positioned it Between pseudorange and corresponding satellite location information, build each satellite it is corresponding apart from observational equation the step of, use public affairs Formula (3) is：

ρ_j=| | s_j-u||+cδt(3)

Wherein, above-mentioned ρ_jIdentify the pseudorange between jth satellite and equipment to be positioned, above-mentioned s_jIdentify the position of jth satellite Confidence ceases, and above-mentioned u identifies the location information of equipment to be positioned, above-mentioned | | s_j- u | | mark jth satellite and equipment to be positioned it Between actual range, above-mentioned c identifies the light velocity, the clock correction between above-mentioned δ t mark satellites and equipment to be positioned, wherein above-mentioned j is Less than the positive integer of the quantity of the satellite information obtained；

Above-mentioned to be based on second position information and reference position information, structure distance uses public affairs with reference to the step of equation Formula (4) is：

ρ=| | s_v-u||+ε_ρ(4)

Wherein, above-mentionedIt is above-mentioned4-coordinate is identified, on State s_v=(v_x,v_y,v_z) mark reference position information, above-mentioned u=(u_x,u_y,u_z) mark location location information, it is above-mentioned | | s_v-u|| Identify the distance between reference position information and positioning position information, above-mentioned ε_ρMark presets altimetry error.

In oneainstance, for ease of calculation, the computation burden of electronic equipment is reduced, above-mentioned predeterminated position can be should The origin of pre-set space rectangular coordinate system, i.e., above-mentioned mark reference position information s_v=(v_x,v_y,v_z) can be s_v=(0,0,0).

In the embodiment of the present invention, by building above-mentioned distance of building with reference to equation, to a certain extent, it is possible to understand that be： It constructs a virtual satellite, and then builds that obtain the virtual satellite corresponding apart from observational equation.It is constructed can combine At least three satellites it is corresponding apart from observational equation, simultaneous obtains the location information of equipment to be positioned, realize receive to Under the premise of the signal of few 3 satellites, the accuracy for the positioning for treating positioning device is improved.

In oneainstance, when the satellite information obtained is 3, i.e., equipment to be positioned receives the letter of 3 satellites Number, i.e., above-mentioned j=1,2,3, at this point it is possible to obtain 3 apart from observational equation, by above-mentioned 3 apart from observational equation with it is above-mentioned away from , at an equation group, equation group is solved from reference to equations simultaneousness, wherein respectively fixed there are 4 unknown number in equation group Position location information u=(u_x,u_y,u_z) clock correction δ t between satellite and equipment to be positioned.When solving equation group, need Estimate u '=(u_x’,u_y’,u_z') and when δ t ', equation group is subjected to linearization process using Newton iteration method, treated knot Fruit, such as formula (5)：Wherein, above-mentioned u '=(u_x’,u_y’,u_z') be iterative process in positioning position information intermediate calculations, on The intermediate calculations of clock correction of the δ t ' between iterative process Satellite and equipment to be positioned are stated,

Wherein,

C is the light velocity；

Above-mentioned (Δ u_x, Δ u_y, Δ u_z) for, to the correction amount of positioning position information, above-mentioned Δ δ t are iteration in iterative process The correction amount of clock correction between satellite and equipment to be positioned in the process.

In one implementation, above-mentioned reference position information s_v=(v_x,v_y,v_z) it is the direct coordinate system of pre-set space Origin, i.e., above-mentioned s_v=(0,0,0), i.e., it is above-mentioned

In above-mentioned iterative process, when iteration result meet preset the condition of convergence when, export above-mentioned positioning position information and Clock correction between satellite and equipment to be positioned, wherein the above-mentioned default condition of convergence can be：Current iteration acquired results and last time Difference between iteration acquired results is less than predetermined threshold value, wherein can be positioning position information and last time obtained by current iteration The distance between positioning position information obtained by iteration is less than the first pre-determined distance, and satellite and equipment to be positioned obtained by current iteration Between clock correction (the first clock correction), and the clock correction (the second clock correction) between satellite and equipment to be positioned obtained by last iteration, between Difference be less than the first predetermined threshold value, i.e. difference between the first clock correction and the second clock correction is less than the first predetermined threshold value.On alternatively, Stating the default condition of convergence can also be：Iterations reach the first preset times.

In another scenario, when the satellite information obtained is at least four, i.e., equipment to be positioned receives at least 4 The signal of satellite, i.e., above-mentioned j takes the positive integer of the quantity less than the satellite information obtained, at this point it is possible to obtain at least four Apart from observational equation, above-mentioned at least four, at an equation group, is solved with above-mentioned apart from reference to equations simultaneousness apart from observational equation Equation group, wherein there are 4 unknown numbers, respectively positioning position information u=(u in equation group_x,u_y,u_z) and satellite with Clock correction δ t between equipment to be positioned.When solving equation group, need in estimation u '=(u_x’,u_y’,u_z') and δ t, when, profit Equation group is handled with least square method, treated as a result, such as formula (6)：Wherein, above-mentioned u '=(u_x’,u_y’, u_z') be positioning position information in iterative process intermediate calculations, above-mentioned δ t ' are iterative process Satellite and equipment to be positioned Between clock correction intermediate calculations,

Wherein,

C is the light velocity；

Above-mentioned (Δ u_x, Δ u_y, Δ u_z) for, to the correction amount of positioning position information, above-mentioned Δ δ t are iteration in iterative process The correction amount of clock correction between satellite and equipment to be positioned in the process.Above-mentioned n is the quantity of the satellite information obtained.

In above-mentioned iterative process, when iteration result meet preset the condition of convergence when, export above-mentioned positioning position information and Clock correction between satellite and equipment to be positioned, wherein the above-mentioned default condition of convergence can be：Current iteration acquired results and last time Difference between iteration acquired results is less than predetermined threshold value, wherein can be positioning position information and last time obtained by current iteration The distance between positioning position information obtained by iteration is less than the second pre-determined distance, and satellite and equipment to be positioned obtained by current iteration Between clock correction (third clock correction), and the clock correction (the 4th clock correction) between satellite and equipment to be positioned obtained by last iteration, between Difference be less than the second predetermined threshold value, i.e., the difference between third clock correction and the 4th clock correction be less than the second predetermined threshold value.On alternatively, Stating the default condition of convergence can also be：Iterations reach the second preset times.

As shown in Fig. 2, the secondary satellite localization method that the embodiment of the present invention is provided, may include steps of：

S201：Obtain current time at least three corresponding satellite informations of satellite；

S202：The height that equipment to be positioned is presently in position is obtained, as present level, and obtains predeterminated position Location information, as with reference to location information；

Wherein, predeterminated position is presently in the distance between position more than pre-determined distance threshold value with equipment to be positioned；

S203：The corresponding location information of equipment previous moment to be positioned is obtained, as first position information；

Wherein, previous moment is：The previous moment at current time；

S204：Based on present level and preset coordinate transformation relation, it converts first position information to the second position Information；

S205：Based on the corresponding satellite included by each satellite information and the pseudorange between equipment to be positioned and corresponding It is corresponding apart from observational equation to build each satellite for the location information of satellite；

S206：Based on second position information and reference position information, structure distance is with reference to equation；

S207：It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, The location information for determining the equipment to be positioned, as positioning position information；

Wherein, above-mentioned S201 is identical as S101 shown in Fig. 1, and above-mentioned S202 is identical as S102 shown in Fig. 1, above-mentioned S203 is identical as S103 shown in Fig. 1, and above-mentioned S204 is identical as S104 shown in Fig. 1, shown in above-mentioned S205 and Fig. 1 S105 is identical, and above-mentioned S206 is identical as S106 shown in Fig. 1, and above-mentioned S207 is identical as S107 shown in Fig. 1.

S208：Obtain the inertial navigation information acquired by inertial sensor；

Wherein, inertial sensor includes accelerometer and gyroscope：

S209：Based on the inertial navigation information and positioning position information obtained, final positioning position information is determined.

In the embodiment of the present invention, it is to be understood that target during exercise, has between corresponding each location information Continuity, in order to obtain the i.e. each location information of the better positioning result of continuity.Inertia can be provided in equipment to be positioned Sensor, such as accelerometer and gyroscope, wherein accelerometer can measure to obtain it is during equipment moving to be positioned plus Speed, gyroscope can measure to obtain the angular speed during equipment moving to be positioned.Pass through the above-mentioned inertia sensing obtained The inertial navigation information that device is acquired, can predict current time corresponding predicted position information, so based on it is above-mentioned really Fixed positioning position information and the predicted position information, obtain effect better position information, as final sprocket bit confidence Breath.

In one implementation, above-mentioned based on the inertial navigation information obtained and positioning position information, it determines most The step of whole positioning position information may include：

Using preset Unscented kalman filtering algorithm, based on the inertial navigation information and sprocket bit confidence obtained Breath, determines final positioning position information.

In the embodiment of the present invention, electronic equipment can based on the corresponding location information of previous moment obtained, i.e., first Location information and above-mentioned inertial navigation information determine current time corresponding predicted position information, and then based on preset Unscented kalman filtering algorithm melts corresponding predicted position information of above-mentioned current time and the positioning position information at current time It closes, to determine the final positioning position information of equipment to be positioned.At this point it is possible under default two-dimensional Cartesian coordinate system, base In preset Unscented kalman filtering algorithm, by the sprocket bit of corresponding predicted position information and current time of above-mentioned current time Confidence breath fusion, i.e., at this point it is possible to only consider default horizontal axis of the equipment to be positioned under pre-set space rectangular coordinate system and preset The coordinate of the longitudinal axis does not consider coordinate of the equipment to be positioned on vertical pivot.

In oneainstance, based on preset Unscented kalman filtering algorithm, above-mentioned current time, that is, k moment is corresponded to Predicted position information when being merged with the positioning position information at current time, the system for introducing a discrete control process.This is System can be described with a linear random differential equation, such as formula (7)：

Wherein, X_kIdentify the system mode at k moment, Z_kThe measured value at k moment is identified, i.e. the embodiment of the present invention is carried upper State positioning position information, X_k-1Identify the system mode at k-1 moment, u_k-1The controlled quentity controlled variable at k-1 moment is identified, W (k-1) identifies system Process (i.e. in the k-1 moment to k etching process) noise, V (k) measure the noise of gained when identifying the k moment.Wherein, f and h are Preset Nonlinear Vector function.

In the embodiment of the present invention, k is the positive integer more than or equal to 1.

In oneainstance, when determining corresponding predicted position information of above-mentioned current time, following formula can be passed through (8), it pushes over to obtain predicted position information：

Wherein, above-mentioned (x₂,y₂) mark current time corresponding predicted position information, above-mentioned (x₁,y₁) mark current time Previous moment location information；Above-mentioned S₁₂It identifies from the previous moment at current time to the walking displacement current time, θ₁Identify the direction of motion angle of the previous moment at current time.Above-mentioned walking displacement S₁₂It can be solved by cadence step-length model It obtains；Above-mentioned direction of motion angle can be obtained by gyroscope measurement.Wherein, above-mentioned cadence step-length model, can be identified as public affairs Formula (9)；

L_g=a × f+b (9)

Wherein, a and b is predetermined coefficient, can be set according to actual conditions；F is cadence, can be passed by inertia Sensor collects, such as accelerometer etc.；L_gFor step-length.Wherein, above-mentioned when determining from the k-1 moment to the step-length at k moment F is the cadence at k-1 moment, above-mentioned L_gFor the step-length at current time, that is, k moment.

Based on above-mentioned thought, preset system model can be obtained, such as formula (10)；

Wherein, above-mentioned X_kThe system mode at moment at current time k is identified, i.e. the moment at current time k of prediction gained corresponds to Predicted position information, above-mentioned (x_k-1,y_k-1) the mark k-1 moment location information, i.e. carried first of the embodiment of the present invention Confidence ceases；Above-mentioned θ_kMark measures the direction of motion angle at the k moment of gained, above-mentioned θ_k-1The direction of motion angle at k-1 moment is identified, It is above-mentionedThe direction of motion angle at the k moment of prediction is identified, above-mentioned s is the step-length at the k moment of mark prediction (i.e. from k-1 moment to k The displacement when moment), above-mentioned W_k-1Identify systematic procedure (i.e. in the k-1 moment to k etching process) noise.

Can obtain measurement equation is, such as formula (11)；

Wherein, above-mentioned (u_x,u_y) positioning position information obtained by the corresponding measurement of mark moment at current time k (do not consider Position in plotted), wherein above-mentioned u_xAnd u_yIt is the location information measured by the k moment；Above-mentioned S_kMark passes through above-mentioned Cadence step-length model calculates the step-length, that is, displacement at the k moment of gained；Above-mentioned Δ θ_kMark is acquired used by inertial sensor Property navigation information calculate gained k-1 moment to the k moment direction of motion angle variable quantity；Above-mentioned θ '_kWhen mark calculates the k of gained Direction of motion angle (location information, that is, first position information at the previous moment k-1 moment as obtained by measuring, and measurement institute at quarter Moment at current time k location information, that is, positioning position information, calculate gained), what when above-mentioned V (k) mark k moment, measured Noise, (x_k,y_k) it is moment at the current time k corresponding predicted position information for predicting gained, above-mentioned (x_k-1,y_k-1) mark k-1 when The location information at quarter, i.e. first position information；Above-mentioned θ_kMark measures the direction of motion angle at the k moment of gained, above-mentioned θ_k-1Mark The direction of motion angle at k-1 moment.

It is subsequent, by above-mentioned obtained preset system model and equation is measured, it is final fixed to be calculated Position location information.

As shown in Figure 3A, a kind of positioning scene schematic diagram to be positioned using the satellite information of three satellites, wherein Fig. 3 A cathetus identifies preset test route, and black circle is the secondary satellite that is provided using the embodiment of the present invention in Fig. 3 A Positioning, the positioning result positioned；Fig. 3 A intermediate cam shapes are to compare position, and above-mentioned comparison position is used for：Auxiliary determines the use of The accuracy that the secondary satellite that the embodiment of the present invention is provided is positioned has selected 10 ratio contrapositions as shown in Figure 3A It sets, is prerecorded with above-mentioned 10 actual position informations for comparing position.For each comparison position, by the above-mentioned comparison position Actual position information compares determining for position with obtained this of secondary satellite localization method provided using the embodiment of the present invention Position location information, is compared, and is positioned with to determine the use of the secondary satellite localization method that the embodiment of the present invention is provided Accuracy.Comparison result is as shown in Figure 3B, wherein in Fig. 3 B longitudinal axis mark in X meters of error value when can be accurately positioned and (obtain Location information) probability, horizontal axis identifies in Fig. 3 B：Obtained by the secondary satellite localization method provided using the embodiment of the present invention To the error value (unit between positioning position information, with corresponding actual position information：Rice).Shown in Fig. 3 B, in profit When being positioned with the satellite information of three satellites, the precision of the positioning result of the embodiment of the present invention is about 1.82 meters.

As shown in Figure 4 A, it is a kind of positioning scene schematic diagram positioned using the satellite information of at least four satellites, Wherein, Fig. 4 A cathetus identifies preset test route, and dark dot is auxiliary to be provided using the embodiment of the present invention in Fig. 4 A Satellite positioning is helped, the positioning result positioned；Fig. 4 A intermediate cam shapes are to compare position, and above-mentioned comparison position is used for：Auxiliary is true Surely the accuracy positioned using the secondary satellite that the embodiment of the present invention is provided has selected 10 as shown in Figure 4 A Position is compared, above-mentioned 10 actual position informations for comparing position are prerecorded with.For each comparison position, by the above-mentioned comparison The actual position information of position, with the secondary satellite localization method that is provided using the embodiment of the present invention it is obtained this than contraposition The positioning position information set, is compared, and is carried out with determining the use of the secondary satellite localization method that the embodiment of the present invention is provided The accuracy of positioning.Comparison result is as shown in Figure 4 B, wherein can be accurate when longitudinal axis mark is in X meters of error value in Fig. 4 B The probability of (acquisition location information) is positioned, horizontal axis identifies in Fig. 4 B：It is positioned using the secondary satellite that the embodiment of the present invention is provided Error value (unit between positioning position information obtained by method, with corresponding actual position information：Rice).By Fig. 4 B institutes Show, when the satellite information using at least four satellites is positioned, the precision of the positioning result of the embodiment of the present invention is about 1.44 rice.

The precision of positioning result obtained by the secondary satellite localization method that the embodiment of the present invention is provided, with existing auxiliary The precision of the positioning result of satellite positioning tech (as stated in the background art), and with using satellite as the positioning system of positioning signal source It unites the precision of (as stated in the background art) positioning result, is compared, does not cry that the results are shown in Table 1,

Table 1

Shown in upper table 1, in the case where equipment to be positioned receives the signal of 3 satellite launchs, the embodiment of the present invention The secondary satellite localization method provided can treat positioning device and be positioned, and precision is about 1.82 meters.Relative to existing Secondary satellite location technology, precision improve 27.63%.When receiving the signal of at least 4 satellites, institute of the embodiment of the present invention The secondary satellite localization method of offer, treating the positioning accuracy that positioning device is positioned can also be promoted therewith；Specifically, when connecing When receiving the signal of at least 4 satellites, the corresponding positioning accuracy of secondary satellite localization method that the embodiment of the present invention is provided is about It is 1.44 meters.Relative to using satellite as the positioning system of positioning signal source, precision improves 32.08%.

Corresponding to above method embodiment, an embodiment of the present invention provides a kind of secondary satellite positioning devices, such as Fig. 5 institutes Show, described device may include：

First obtains module 510, for obtaining current time at least three corresponding satellite informations of satellite, wherein Each satellite information includes：The location information of pseudorange and corresponding satellite between corresponding satellite and equipment to be positioned；

Second obtains module 520, the height of position is presently in for obtaining the equipment to be positioned, as current height Degree, and the location information of predeterminated position is obtained, as with reference to location information；

Third obtains module 530, for obtaining the corresponding location information of the equipment previous moment to be positioned, as first Location information, wherein the previous moment is：The previous moment at the current time；

Conversion module 540, for being based on the present level and preset coordinate transformation relation, by the first position Information is converted into second position information；

First structure module 550, for based on corresponding satellite and the equipment to be positioned included by each satellite information it Between pseudorange and corresponding satellite location information, it is corresponding apart from observational equation to build each satellite；

Second structure module 560 builds distance for being based on the second position information and the reference position information With reference to equation；

First determining module 570, for corresponding apart from observational equation and constructed based on constructed each satellite Distance with reference to equation, the location information of the equipment to be positioned is determined, as positioning position information.

In one implementation, the preset coordinate transformation relation includes：Earth coordinates and pre-set space right angle Coordinate transformation relation between coordinate system；The first position information includes：First coordinate, first coordinate are：It is described to wait for Coordinate of the positioning device previous moment under the pre-set space rectangular coordinate system, the pre-set space rectangular coordinate system are preset Origin is：The corresponding origin of the earth coordinates, the default vertical pivot of the pre-set space rectangular coordinate system, perpendicular to described big Plane where the corresponding equatorial plane of ground coordinate system, the default horizontal axis of the pre-set space rectangular coordinate system and the default longitudinal axis is described The equatorial plane；

The conversion module includes

First converting unit, for based on the coordinate conversion between the earth coordinates and pre-set space rectangular coordinate system First coordinate is converted from the pre-set space rectangular coordinate system to the earth coordinates, obtains the second coordinate by relationship；

Replacement unit obtains third coordinate for the present level to be replaced to the height value in second coordinate；

Second converting unit, for based on the coordinate conversion between the earth coordinates and pre-set space rectangular coordinate system The third coordinate is converted from the earth coordinates to the pre-set space rectangular coordinate system, obtains 4-coordinate by relationship.

In one implementation, the first converting unit institute is using formula：

Wherein, described (L ', B ', H ') identifies second coordinate, describedIdentify first coordinate, institute It states N and identifies the corresponding preset curvature radius of the earth coordinates, the e identifies the corresponding presupposed off-center of the earth coordinates Rate；

The R_eIdentify the length of the corresponding default major semiaxis of the earth coordinates, the R_PIdentify the geodetic coordinates It is the length of corresponding default semi-minor axis；

The replacement unit, institute are using formula：

H '=h；

Wherein, the height value in the H ' marks second coordinate, the h identify the present level；

Second converting unit, institute are using formula：

Wherein, describedIdentify the 4-coordinate.

In one implementation, it is described first structure module, institute the formula that uses for：

ρ_j=| | s_j-u||+cδt

Wherein, the ρ_jIdentify the pseudorange between jth satellite and the equipment to be positioned, the s_jIdentify jth satellite Location information, the u identifies the location information of the equipment to be positioned, described | | s_j- u | | mark jth satellite with it is described Actual range between equipment to be positioned, the c identify the light velocity, the clock between the δ t mark satellites and the equipment to be positioned Difference, wherein the j for the quantity less than the satellite information obtained positive integer；

It is described second structure module, institute the formula that uses for：

ρ=| | s_v-u||+ε_ρ

Wherein, describedIt is describedThe described 4th is identified to sit Mark, the s_v=(v_x,v_y,v_z) the mark reference position information, the u=(u_x,u_y,u_z) the mark sprocket bit confidence Breath, described | | s_v- u | | identify the distance between the reference position information and the positioning position information, the ε_ρMark is default Altimetry error.

In one implementation, described device further includes：

4th obtains module, for described corresponding apart from observational equation, Yi Jisuo based on constructed each satellite The distance of structure determines that the location information of the equipment to be positioned is passed through after positioning position information with reference to equation The inertial navigation information that inertial sensor is acquired, wherein the inertial sensor includes accelerometer and gyroscope：

Second determining module, for based on the inertial navigation information and the positioning position information obtained, determining most Whole positioning position information.

In one implementation, second determining module, is specifically used for

Using preset Unscented kalman filtering algorithm, based on the inertial navigation information and the position location obtained Information determines final positioning position information.

Corresponding to above method embodiment, the embodiment of the present invention additionally provides a kind of electronic equipment, as shown in fig. 6, including Processor 610, communication interface 620, memory 630 and communication bus 640, wherein processor 610, communication interface 620, storage Device 630 completes mutual communication by communication bus 640,

Memory 630, for storing computer program；

Processor 610 when for executing the computer program stored on memory 630, realizes institute of the embodiment of the present invention Any of the above-described secondary satellite localization method provided, may include step：

It is described to be based on the present level and preset coordinate transformation relation, the first position information is converted into the The step of two location informations, including：

Based on the coordinate transformation relation between the earth coordinates and pre-set space rectangular coordinate system, described first is sat Mark is converted from the pre-set space rectangular coordinate system to the earth coordinates, and the second coordinate is obtained；

The present level is replaced into the height value in second coordinate, obtains third coordinate；

Based on the coordinate transformation relation between the earth coordinates and pre-set space rectangular coordinate system, the third is sat Mark is converted from the earth coordinates to the pre-set space rectangular coordinate system, and 4-coordinate is obtained.

In one implementation, described to convert first coordinate to described from the pre-set space rectangular coordinate system Earth coordinates, the step of obtaining the second coordinate, institute are using formula：

The height value present level replaced in second coordinate, the step of obtaining third coordinate, institute's profit It is with formula：

H '=h；

It is described to convert the third coordinate to the pre-set space rectangular coordinate system from the earth coordinates, obtain The step of 4-coordinate, institute are using formula：

Wherein, describedIdentify the 4-coordinate.

In one implementation, the corresponding satellite based on included by each satellite information and equipment to be positioned it Between pseudorange and corresponding satellite location information, build each satellite it is corresponding apart from observational equation the step of, use public affairs Formula is：

ρ_j=| | s_j-u||+cδt

It is described to be based on the second position information and the reference position information, distance is built with reference to the step of equation, Institute the formula that uses for：

ρ=| | s_v-u||+ε_ρ

In one implementation, corresponding apart from observational equation, Yi Jisuo based on constructed each satellite described The distance of structure determines the location information of the equipment to be positioned with reference to equation, the step of as positioning position information after, institute The method of stating further includes：

Obtain the inertial navigation information acquired by inertial sensor, wherein the inertial sensor includes acceleration Meter and gyroscope：

Based on the inertial navigation information and the positioning position information obtained, final positioning position information is determined.

In one implementation, described based on the inertial navigation information obtained and the positioning position information, really The step of fixed final positioning position information, including：

The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, EISA) bus etc..The communication bus can be divided into address bus, data/address bus, controlling bus etc..For just It is only indicated with a thick line in expression, figure, it is not intended that an only bus or a type of bus.

Communication interface is for the communication between above-mentioned electronic equipment and other equipment.

Memory may include random access memory (RandomAccess Memory, RAM), can also include non-easy The property lost memory (Non-Volatile Memory, NVM), for example, at least a magnetic disk storage.Optionally, memory may be used also To be at least one storage device for being located remotely from aforementioned processor.

Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, CPU), network processing unit (Network Processor, NP) etc.；It can also be digital signal processor (Digital Signal Processing, DSP), it is application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing It is field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete Door or transistor logic, discrete hardware components.

Corresponding to above method embodiment, an embodiment of the present invention provides a kind of computer readable storage medium, the meter It is stored with computer program in calculation machine readable storage medium storing program for executing, realizes that the present invention is implemented when the computer program is executed by processor Any of the above-described secondary satellite localization method step that example is provided.

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Each embodiment in this specification is all made of relevant mode and describes, identical similar portion between each embodiment Point just to refer each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality For applying example, since it is substantially similar to the method embodiment, so description is fairly simple, related place is referring to embodiment of the method Part explanation.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims

1. a kind of secondary satellite localization method, which is characterized in that the method includes：

Obtain current time at least three corresponding satellite informations of satellite, wherein each satellite information includes：It is corresponding to defend The location information of pseudorange and corresponding satellite between star and equipment to be positioned；

The height that the equipment to be positioned is presently in position is obtained, as present level, and obtains the position of predeterminated position Information, as with reference to location information, wherein the predeterminated position is presently in the distance between position with the equipment to be positioned More than pre-determined distance threshold value；

The corresponding location information of the equipment previous moment to be positioned is obtained, as first position information, wherein when described previous Quarter is：The previous moment at the current time；

Based on the present level and preset coordinate transformation relation, it converts the first position information to second confidence Breath；

Position based on the corresponding satellite included by each satellite information and pseudorange and corresponding satellite between equipment to be positioned Confidence ceases, and it is corresponding apart from observational equation to build each satellite；

It is corresponding apart from observational equation and constructed distance is with reference to equation based on constructed each satellite, determine described in The location information of equipment to be positioned, as positioning position information.

2. according to the method described in claim 1, it is characterized in that, the preset coordinate transformation relation includes：Geodetic coordinates Coordinate transformation relation between system and pre-set space rectangular coordinate system；The first position information includes：First coordinate, described One coordinate is：Coordinate of the equipment previous moment to be positioned under the pre-set space rectangular coordinate system, the pre-set space The default origin of rectangular coordinate system is：The corresponding origin of the earth coordinates, the pre-set space rectangular coordinate system it is default Vertical pivot, perpendicular to the corresponding equatorial plane of the earth coordinates, the default horizontal axis of the pre-set space rectangular coordinate system and default Plane where the longitudinal axis is the equatorial plane；

It is described to be based on the present level and preset coordinate transformation relation, convert the first position information to second The step of confidence ceases, including：

Based on the coordinate transformation relation between the earth coordinates and pre-set space rectangular coordinate system, by first coordinate from The pre-set space rectangular coordinate system is converted to the earth coordinates, and the second coordinate is obtained；

Based on the coordinate transformation relation between the earth coordinates and pre-set space rectangular coordinate system, by the third coordinate from The earth coordinates are converted to the pre-set space rectangular coordinate system, and 4-coordinate is obtained.

3. according to the method described in claim 2, it is characterized in that, it is described by first coordinate from the pre-set space right angle Coordinate system is converted to the earth coordinates, the step of obtaining the second coordinate, and institute is using formula：

Wherein, described (L ', B ', H ') identifies second coordinate, describedIdentify first coordinate, the N marks Know the corresponding preset curvature radius of the earth coordinates, the e identifies the corresponding presupposed off-center rate of the earth coordinates；

The R_eIdentify the length of the corresponding default major semiaxis of the earth coordinates, the R_PIdentify the earth coordinates pair The length for the default semi-minor axis answered；

The height value present level replaced in second coordinate, utilizes public affairs at the step of obtaining third coordinate Formula is：

H '=h；

It is described to convert the third coordinate to the pre-set space rectangular coordinate system from the earth coordinates, obtain the 4th seat Target step, institute are using formula：

Wherein, describedIdentify the 4-coordinate.

4. according to the method described in claim 1, it is characterized in that, described based on defending corresponding to included by each satellite information The location information of pseudorange and corresponding satellite between star and equipment to be positioned, it is corresponding apart from observational equation to build each satellite The step of, institute the formula that uses for：

ρ_j=| | s_j-u||+cδt

Wherein, the ρ_jIdentify the pseudorange between jth satellite and the equipment to be positioned, the s_jIdentify the position of jth satellite Confidence ceases, and the u identifies the location information of the equipment to be positioned, described | | s_j- u | | mark jth satellite with it is described undetermined Actual range between the equipment of position, the c identify the light velocity, and the δ t identify the clock correction between satellite and the equipment to be positioned, Wherein, the j for the quantity less than the satellite information obtained positive integer；

Described to be based on the second position information and the reference position information, structure distance is adopted with reference to the step of equation It is with formula：

ρ=| | s_v-u||+ε_ρ

Wherein, describedIt is describedIdentify the 4-coordinate, institute State s_v=(v_x,v_y,v_z) the mark reference position information, the u=(u_x,u_y,u_z) the mark positioning position information, it is described ||s_v- u | | identify the distance between the reference position information and the positioning position information, the ε_ρMark is default to survey high miss Difference.

5. according to claim 1-4 any one of them methods, which is characterized in that described based on constructed each satellite pair Answer apart from observational equation and constructed distance with reference to equation, the location information of the equipment to be positioned is determined, as fixed After the step of position location information, the method further includes：

Obtain the inertial navigation information acquired by inertial sensor, wherein the inertial sensor include accelerometer and Gyroscope：

6. according to the method described in claim 5, it is characterized in that, described based on the inertial navigation information obtained and described Positioning position information, the step of determining final positioning position information, including：

Using preset Unscented kalman filtering algorithm, based on the inertial navigation information and the sprocket bit confidence obtained Breath, determines final positioning position information.

7. a kind of secondary satellite positioning device, which is characterized in that described device includes：

Second obtains module, and the height of position is presently in for obtaining the equipment to be positioned, as present level, and is obtained The location information for obtaining predeterminated position, as with reference to location information；

Third obtains module, for obtaining the corresponding location information of the equipment previous moment to be positioned, believes as first position Breath, wherein the previous moment is：The previous moment at the current time；

Conversion module turns the first position information for being based on the present level and preset coordinate transformation relation Turn to second position information；

First structure module, for based on the corresponding satellite included by each satellite information and the pseudorange between equipment to be positioned With the location information of corresponding satellite, it is corresponding apart from observational equation to build each satellite；

Second structure module, for being based on the second position information and the reference position information, structure distance reference side Journey；

First determining module, for corresponding apart from observational equation and constructed distance based on constructed each satellite With reference to equation, the location information of the equipment to be positioned is determined, as positioning position information.

8. device according to claim 7, which is characterized in that the preset coordinate transformation relation includes：Geodetic coordinates Coordinate transformation relation between system and pre-set space rectangular coordinate system；The first position information includes：First coordinate, described One coordinate is：Coordinate of the equipment previous moment to be positioned under the pre-set space rectangular coordinate system, the pre-set space The default origin of rectangular coordinate system is：The corresponding origin of the earth coordinates, the pre-set space rectangular coordinate system it is default Vertical pivot, perpendicular to the corresponding equatorial plane of the earth coordinates, the default horizontal axis of the pre-set space rectangular coordinate system and default Plane where the longitudinal axis is the equatorial plane；

The conversion module includes

First converting unit is closed for being converted based on the coordinate between the earth coordinates and pre-set space rectangular coordinate system System, first coordinate is converted from the pre-set space rectangular coordinate system to the earth coordinates, the second coordinate is obtained；

Second converting unit is closed for being converted based on the coordinate between the earth coordinates and pre-set space rectangular coordinate system System, the third coordinate is converted from the earth coordinates to the pre-set space rectangular coordinate system, 4-coordinate is obtained.

9. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing Device, communication interface, memory complete mutual communication by communication bus；

Memory, for storing computer program；

Processor when for executing the computer program stored on memory, realizes any auxiliary of claim 1-6 Satellite positioning method step.

10. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium Program realizes claim 1-6 any secondary satellite localization method steps when the computer program is executed by processor Suddenly.