CN110673174B

CN110673174B - Ephemeris collection method and device, satellite navigation receiver and storage medium

Info

Publication number: CN110673174B
Application number: CN201911013227.9A
Authority: CN
Inventors: 赵岩; 李志成
Original assignee: Spreadtrum Communications Shanghai Co Ltd
Current assignee: Spreadtrum Communications Shanghai Co Ltd
Priority date: 2019-10-23
Filing date: 2019-10-23
Publication date: 2022-04-08
Anticipated expiration: 2039-10-23
Also published as: CN110673174A

Abstract

The present disclosure relates to the field of communications technologies, and in particular, to a method and an apparatus for ephemeris collection, a satellite navigation receiver, and a storage medium. The method is used in a satellite navigation receiver, and comprises the following steps: acquiring the ephemeris information of the nth round and the ephemeris information of the mth round, wherein both the ephemeris information of the nth round and the ephemeris information of the mth round have word check failure conditions; and collecting correct ephemeris content according to the n-th round ephemeris information and the m-th round ephemeris information. Under the condition of a certain error code, the correct ephemeris information is determined by the satellite navigation receiver by using the two-wheel ephemeris information with the same ephemeris content broadcast by the target satellite, so that the time for collecting the ephemeris is shortened to a considerable extent, the efficiency for collecting the ephemeris by the satellite navigation receiver is improved, and the first positioning time of cold start is greatly shortened.

Description

Ephemeris collection method and device, satellite navigation receiver and storage medium

Technical Field

The present disclosure relates to the field of communications technologies, and in particular, to a method and an apparatus for ephemeris collection, a satellite navigation receiver, and a storage medium.

Background

The speed of the satellite navigation receiver for collecting ephemeris is a key factor influencing the first positioning time of the cold start of the Beidou navigation positioning system.

In the related art, a satellite navigation receiver receives ephemeris information played by a satellite, where the ephemeris information includes three subframes, and each subframe includes ten words, word 1 to word 10. For each subframe, the satellite navigation receiver sequentially performs word check on ten words of the subframe, information of the subframe can be successfully collected only after all the word checks of the ten words pass, if the word check of one word fails, the subframe collection fails, and the information of the subframe can be collected again by waiting for a period of time.

When the satellite navigation receiver is in an urban canyon environment and the like, under the condition that satellite signals are weak, the error rate is increased along with the reduction of signal energy, the method can cause the time length for collecting ephemeris to be greatly increased, and the key index of the cold start first positioning time is seriously influenced.

Disclosure of Invention

In view of the above, the present disclosure provides an ephemeris collecting method, an ephemeris collecting device, a satellite navigation receiver, and a storage medium.

According to an aspect of the present disclosure, there is provided an ephemeris collection method for use in a satellite navigation receiver, the method including:

acquiring ephemeris information of an nth round and ephemeris information of an mth round, wherein the ephemeris information of the nth round and the ephemeris information of the mth round are two-round ephemeris information with the same ephemeris content broadcasted by a target satellite, both the ephemeris information of the nth round and the ephemeris information of the mth round have a word check failure condition, and both n and m are positive integers;

and collecting correct ephemeris content according to the n-th round ephemeris information and the m-th round ephemeris information.

In a possible implementation manner, the collecting the correct ephemeris content according to the nth-round ephemeris information and the mth-round ephemeris information includes:

and for each subframe, comparing the subframe information in the ephemeris information of the nth round with the subframe information in the ephemeris information of the mth round to determine correct subframe information.

In another possible implementation manner, the comparing, for each subframe, subframe information in the ephemeris information of the nth round with subframe information in the ephemeris information of the mth round to determine correct subframe information includes:

for each subframe, initializing and setting a current detection word of the subframe to be 1, wherein the current detection word is used for indicating an nth-round detection word in subframe information in the nth-round ephemeris information and an mth-round detection word in subframe information in the mth-round ephemeris information;

determining correct bit information of the current detection word according to original bit information corresponding to the nth detection word and the mth detection word respectively;

obtaining the correct subframe information of the subframe when the current detection word is equal to a maximum current detection word;

and when the current detection word is not equal to the maximum current detection word, adding one to the current detection word, and continuously executing the step of determining the correct bit information of the current detection word according to the original bit information corresponding to the nth detection word and the mth detection word.

In another possible implementation manner, the determining, according to original bit information corresponding to each of the n-th detection word and the m-th detection word, correct bit information of the current detection word includes:

determining a polarity parameter corresponding to each of the n-th round detection word and the m-th round detection word, wherein the polarity parameter is used for indicating whether the polarity of the word is known or not;

and when the polarity of at least one of the n-th round detection word and the m-th round detection word is known, determining correct bit information of the current detection word according to the original bit information corresponding to the n-th round detection word and the m-th round detection word respectively.

In another possible implementation, the polarity parameter includes one of a first polarity value for indicating that the polarity of the word is known and positive, a second polarity value for indicating that the polarity of the word is known and negative, and a third polarity value for indicating that the polarity of the word is unknown.

In another possible implementation manner, the determining the polarity parameter corresponding to each of the nth round detection word and the mth round detection word includes:

when the word check parameter of the nth round detection word is a first check value, assigning the polarity value of the nth round detection word to the polarity parameter of the nth round detection word according to the synchronous code information of the nth round detection word;

when the word check parameter of the nth round detection word is a second check value, assigning the third polarity value to the polarity parameter of the nth round detection word;

when the word check parameter of the mth round detection word is the first check value, assigning the polarity value of the mth round detection word to the polarity parameter of the mth round detection word according to the synchronous code information of the mth round detection word;

when the word check parameter of the m-th round detection word is the second check value, assigning the third polarity value to the polarity parameter of the m-th round detection word;

wherein the word check parameter comprises one of the first check value and the second check value, the first check value is used for indicating that the word check is successful, and the second check value is used for indicating that the word check is failed.

In another possible implementation manner, when the polarity of at least one of the nth round detection word and the mth round detection word is known, determining correct bit information of the current detection word according to original bit information corresponding to each of the nth round detection word and the mth round detection word includes:

judging whether the nth round detection word and the mth round detection word meet a first preset condition or not;

when the nth round detection word and the mth round detection word do not meet the first preset condition, judging whether the nth round detection word and the mth round detection word meet a second preset condition;

when the nth round detection word and the mth round detection word meet the second preset condition, re-assigning the polarity parameters of the words corresponding to the third polarity value according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively; determining the correct bit information of the current detection word according to the original bit information and the polarity parameters corresponding to the nth detection word and the mth detection word respectively;

when the nth round detection word and the mth round detection word do not meet the second preset condition, determining the correct bit information of the current detection word according to the original bit information and the polarity parameter corresponding to the nth round detection word and the mth round detection word respectively;

wherein the first preset condition comprises: the polarity parameters corresponding to the nth detection word and the mth detection word are the third polarity values; the second preset condition includes: the polarity parameter of the nth round detection word or the polarity parameter of the mth round detection word is the third polarity value, and the word check parameter of the nth round detection word and the word check parameter of the mth round detection word are both the first check value.

In another possible implementation manner, the method further includes:

and when the nth detection word and the mth detection word meet the first preset condition, determining that the collection of the subframe information of the subframe fails.

In another possible implementation manner, when the nth round detection word and the mth round detection word satisfy the second preset condition, reassigning the polarity parameter of the word corresponding to the third polarity value according to the original bit information corresponding to each of the nth round detection word and the mth round detection word, including:

when the nth detection word and the mth detection word meet the second preset condition and the original bit information of the nth detection word is the same as the original bit information of the mth detection word, assigning the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value;

when the nth detection word and the mth detection word meet the second preset condition and the original bit information of the nth detection word is opposite to the original bit information of the mth detection word, assigning the difference between 1 and the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value;

wherein the target word is a word of which the polarity parameter is not the third polarity value in the nth round detection word and the mth round detection word.

In another possible implementation manner, the determining the correct bit information of the current detection word according to the original bit information and the polarity parameter corresponding to each of the nth detection word and the mth detection word includes:

when the polarity parameter of the nth detection word is the first polarity value, determining that the correct bit information of the current detection word is the original bit information of the nth detection word;

when the polarity parameter of the nth round detection word is the second polarity value, determining that the correct bit information of the current detection word is the content of negation of the original bit information of the nth round detection word;

when the polarity parameter of the nth round detection word is the third polarity value and the polarity parameter of the mth round detection word is the first polarity value, determining that the correct bit information of the current detection word is the original bit information of the mth round detection word;

and when the polarity parameter of the nth round detection word is the third polarity value and the polarity parameter of the mth round detection word is the second polarity value, determining that the correct bit information of the current detection word is the content of negation of the original bit information of the mth round detection word.

In another possible implementation manner, the step of, when the current detection word is not equal to the maximum current detection word, adding one to the current detection word, and continuing to determine correct bit information of the current detection word according to the original bit information corresponding to each of the n-th detection word and the m-th detection word includes:

when the current detected word is not equal to the maximum detected word value, adding one to the current detected word;

judging whether the word check parameters corresponding to the nth detection word and the mth detection word are the second check value or not;

when the word check parameter of the nth round detection word is the second check value, reassigning the polarity parameter of the nth round detection word to the third polarity value;

when the word check parameter of the m-th round detection word is the second check value, reassigning the polarity parameter of the m-th round detection word to be the third polarity value;

and after the judgment is finished, continuing to execute the step of judging whether the nth round detection word and the mth round detection word meet a first preset condition.

In another possible implementation manner, the ephemeris information of the n-th round and the ephemeris information of the m-th round are both ephemeris information of a D1 navigation message of a B1I signal.

According to another aspect of the present disclosure, there is provided an ephemeris collection apparatus for use in a satellite navigation receiver, the apparatus including:

the acquisition module is used for acquiring the ephemeris information of an nth round and the ephemeris information of an mth round, wherein the ephemeris information of the nth round and the ephemeris information of the mth round are two-round ephemeris information with the same ephemeris content broadcasted by a target satellite, both the ephemeris information of the nth round and the ephemeris information of the mth round have word check failure conditions, and both n and m are positive integers;

and the collection module is used for collecting correct ephemeris content according to the nth round ephemeris information and the mth round ephemeris information.

In a possible implementation manner, the ephemeris information of the nth round and the ephemeris information of the mth round both correspond to a plurality of subframes, and the collection module is further configured to compare, for each subframe, subframe information in the ephemeris information of the nth round with subframe information in the ephemeris information of the mth round, and determine correct subframe information.

In another possible implementation manner, the collection module is further configured to:

In another possible implementation manner, the current detection word is 1, and the collection module is further configured to:

In another possible implementation manner, the collection module is further configured to determine that the collection of the subframe information of the subframe fails when the nth round detection word and the mth round detection word satisfy the first preset condition.

According to another aspect of the present disclosure, there is provided a satellite navigation receiver including:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method.

The embodiment of the disclosure provides an ephemeris collecting method, wherein an nth round of ephemeris information and an mth round of ephemeris information are obtained through a satellite navigation receiver, the nth round of ephemeris information and the mth round of ephemeris information are two rounds of ephemeris information with the same ephemeris content broadcasted by a target satellite, and both the nth round of ephemeris information and the mth round of ephemeris information have a word check failure condition; correct ephemeris content is collected according to the nth round ephemeris information and the mth round ephemeris information, so that the satellite navigation receiver determines the correct ephemeris information by using the two rounds of ephemeris information with the same ephemeris content broadcasted by the target satellite under the condition of a certain error code, the ephemeris collection time is shortened to a considerable extent, the ephemeris collection efficiency of the satellite navigation receiver is improved, and the cold-start first-time positioning time is greatly shortened.

Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

Fig. 1 and 2 are diagrams illustrating a word check case and a polarity case of a subframe in the related art;

FIG. 3 is a flow chart illustrating an ephemeris collection method provided by an exemplary embodiment of the disclosure;

FIG. 4 illustrates a flow chart of a method of ephemeris collection provided by another exemplary embodiment of the disclosure;

FIG. 5 is a flow chart illustrating an ephemeris collection method provided by another exemplary embodiment of the disclosure;

FIG. 6 is a flow chart illustrating an ephemeris collection method provided by another exemplary embodiment of the disclosure;

FIG. 7 is a flowchart illustrating a polarity setting method involved in ephemeris collection provided by another exemplary embodiment of the disclosure;

FIG. 8 is a flow chart illustrating a recording method involved in ephemeris collection methods provided by another exemplary embodiment of the disclosure;

FIG. 9 is a schematic diagram illustrating a polarity setting involved in an ephemeris collection method provided by another exemplary embodiment of the disclosure;

fig. 10 is a schematic structural diagram of an ephemeris collection apparatus provided in an exemplary embodiment of the disclosure.

Detailed Description

Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.

First, terms related to the embodiments of the present disclosure will be described.

1. Cold start first fix time: in the case that the time of the satellite navigation receiver is unknown, and the current almanac and ephemeris are unknown, the satellite navigation receiver lasts for a period from power-on to outputting the first valid fix.

2. A satellite navigation receiver: and a device for receiving satellite navigation signals played by the satellite. For example, the Satellite Navigation receiver is a BeiDou Navigation Satellite System (BDS) receiver, which is referred to as a BeiDou Satellite Navigation receiver for short.

3. B1I signal: is an open service signal between the BDS spatial constellation and the user terminal, including satellite navigation messages, ranging codes and carriers. The satellite navigation messages comprise D1 navigation messages and D2 navigation messages. D1 navigation message rate is 50dps, and the content comprises basic navigation information; the D2 navigation message rate is 500dps, the content comprises basic navigation information and enhanced service information, wherein the basic navigation information comprises basic navigation information of the satellite, all satellite calendar information and other system time synchronization information, and the enhanced service information comprises difference and integrity information of the BDS and grid point ionosphere information.

4. The satellite navigation message is a message which is broadcast by the navigation satellite to the user terminal and is used for describing the operation state parameters of the navigation satellite. The satellite navigation message generally adopts a frame structure formatting format and broadcasts the satellite navigation message according to a subframe or page sequence, and the data content mainly comprises satellite ephemeris, satellite clock error, ionospheric delay correction parameters, almanac data, time synchronization parameters and the like.

The satellite navigation message includes parameters required for user positioning services, and generally, there are four types of parameters required for positioning through a navigation satellite, including ephemeris, clock correction parameters, navigation service parameters, and almanac.

Ephemeris is orbital parameters in satellite navigation messages that represent the precise position of the satellite and may provide the user with information for calculating the position of the satellite in motion.

The almanac is a rough orbit parameter of all orbit satellites in a satellite navigation message, and is helpful for shortening the acquisition time of navigation signals.

The time system is based on the main atomic clock of the ground master control station. Due to the instability of the clocks of the navigation satellites, there is a certain difference between the satellite clocks and the system clock. The ground monitoring system monitors and determines the difference and broadcasts the difference to the user terminal through satellite navigation telegraph messages. The difference between the satellite's clock relative to the system time needs to be corrected, which is the satellite clock correction parameter.

The navigation service parameters comprise parameters such as satellite identifiers, data period numbers, navigation data validity, signal health states and the like.

It should be noted that the satellite navigation message provided by the embodiment of the present disclosure is a D1 navigation message of a B1I signal, and the ephemeris information is ephemeris information of a D1 navigation message of a B1I signal.

The speed of the satellite navigation receiver for collecting ephemeris is a key factor influencing the first positioning time of the cold start of the Beidou navigation positioning system. The D1 navigation message of the B1I signal consists of subframes 1 to 5, 6s broadcast per subframe, and 10 words, respectively, per subframe. The ephemeris is broadcasted from the subframe 1 to the subframe 3, the almanac is broadcasted from the subframe 4 to the subframe 5, the ephemeris is repeated every 30 seconds, and the ephemeris is updated every whole hour. And if all three subframes from subframe 1 to subframe 3 are collected, the ephemeris of the satellite is successfully collected, and the ephemeris of the satellite can be solved.

Each subframe includes ten words, labeled word 1 through word 10. Each word consists of 30 bits and is independently checked. If no error code occurs in 30 bits contained in the word, the word check is passed, and the word check parameter is a first parameter; if the word check fails, the word check parameter is the second parameter. For example, the first parameter is P and the second parameter is F.

Depending on the D1 navigation message format of the B1I signal, word 1 may pass the synchronization code to obtain the polarity of the current data bit, which is known if the word 1 check passes. If the polarity parameter is positive, marking the polarity parameter as 0; if negative, the flag is a polarity parameter equal to 1. The polarity of the raw data bits passed to the ephemeris collection block is continuous due to the receiver baseband design. If the word 2 parity that is subsequently broadcast also passes, the polarity parameter of word 2 and the polarity parameter of word 1 remain the same since their polarities are consecutive. If word 3 is in error code and the word check fails, its polarity becomes unknown, marked as the polarity parameter of word 3 equals 2. And whether the word check of the next broadcast word 4 through word 10 passes or not, the polarity of word 4 through word 10 is unknown, marked as a polarity parameter equal to 2.

Because of the design of the D1 navigation message, the polarity of the current original data bit is not known only in word 1, and if there is an error in words 2 to 10, the polarity of the next received original data bit is unknown until the next word 1 can be determined.

In an illustrative example, ten words of a subframe have no error, that is, word check of the ten words passes, and the polarity of word 1 is negative, that is, the polarity parameter of word 1 is equal to 1, then the word check condition and the polarity condition corresponding to each of the ten words of the subframe are as shown in fig. 1. The word check parameters of ten words of the subframe are all P, and the polarity parameters of the ten words are all 1.

In another illustrative example, word 1 to word 3 of a subframe are not error-coded, word check is passed, the polarity of word 1 is positive, i.e. the polarity parameter of word 1 is 0, word 4 fails word check, and word 5 to word 10 passes word check, and the word check condition and the polarity condition corresponding to each of the ten words of the subframe are shown in fig. 2 (a). The word check parameters from word 1 to word 3 of the subframe are all P, and the polarity parameters are all 0; the word check parameter of word 4 is F, and the polarity parameter is 2; the word check parameters for words 5 through 10 are all P and the polarity parameters are all 2.

In another illustrative example, word 1 through word 5 of 1 in a subframe are not error-coded, word check passes, the polarity of word 1 is negative, i.e. the polarity parameter of word 1 is 1, word check of word 6 and word 7 fails, word check of word 8 through word 10 passes, and the word check condition and polarity condition corresponding to each of the ten words in the subframe are shown in fig. 2 (b). The word check parameters from word 1 to word 5 of the subframe are all P, and the polarity parameters are all 1; the word checking parameters of the word 6 and the word 7 are both F, and the polarity parameters are both 2; the word check parameters for words 8 through 10 are all P and the polarity parameters are all 2.

In the related art, the satellite navigation receiver must ensure that all word checks of the ten words from word 1 to word 10 pass continuously, and then the data of the subframe can be successfully collected, if the word check of one word fails, the subframe collection fails, and then 30 seconds are needed to wait until the information of the subframe can be collected again.

Under the condition of relatively strong signal power, error codes basically do not occur, the time for collecting the ephemeris is not greatly influenced, and the ephemeris can be collected within 30 seconds. However, when the receiver is in an urban canyon environment and the like, and the satellite signals are weak, the error rate increases with the reduction of the signal energy, the method can cause the ephemeris collecting time to be 60 seconds, 90 seconds, 120 seconds, 180 seconds or even longer, and the key index of the cold start first positioning time is seriously influenced.

Therefore, the present disclosure provides an ephemeris collecting method, an ephemeris collecting apparatus, a satellite navigation receiver, and a storage medium to solve the above-mentioned problems in the related art. Because ephemeris information is broadcast repeatedly every 30 seconds, it is updated every hour. Therefore, the ephemeris broadcast in the first round and the ephemeris broadcast in the second round are the same, and the broadcast content is not updated until the whole hour. Under the condition of a certain error code, the technical scheme provided by the disclosure collects correct ephemeris content by using two-wheel ephemeris information with the same ephemeris content broadcasted by a target satellite through the satellite navigation receiver, shortens the time for collecting the ephemeris to a considerable extent, improves the efficiency for collecting the ephemeris by the satellite navigation receiver, and greatly shortens the first positioning time of cold start.

Referring to fig. 3, a flowchart of an ephemeris collection method provided by an exemplary embodiment of the disclosure is shown. The embodiments of the present disclosure are illustrated with the ephemeris collection method applied to a satellite navigation receiver. The ephemeris collection method comprises the following steps:

step 301, acquiring the n-th round ephemeris information and the m-th round ephemeris information, where the n-th round ephemeris information and the m-th round ephemeris information are two-round ephemeris information with the same ephemeris content broadcast by the target satellite, both the n-th round ephemeris information and the m-th round ephemeris information have a word check failure, and n and m are positive integers.

Optionally, the target satellite broadcasts the ephemeris information repeatedly for multiple times within a preset time period, that is, the target satellite broadcasts the ephemeris information repeatedly at specified time intervals within the preset time period. Correspondingly, the satellite navigation receiver receives ephemeris information which is repeatedly broadcast by a target satellite at specified time intervals within a preset time period.

The ephemeris contents corresponding to the multiple rounds of ephemeris information played in the preset time period are the same.

Optionally, the target satellite updates the ephemeris information every preset time period, and the updated ephemeris information is the same as or different from the ephemeris information before updating.

For example, the predetermined time period is one hour, and the specified time interval is 30 seconds. The target satellite repeatedly broadcasts the ephemeris information every 30 seconds within one hour, and the ephemeris information is updated every hour. This embodiment is not limited thereto.

The ephemeris information of the nth round and the ephemeris information of the mth round are the two-round ephemeris information with the same ephemeris content broadcasted by the target satellite. That is, the ephemeris contents corresponding to the ephemeris information of the nth round and the ephemeris information of the mth round are the same.

Optionally, the nth round of ephemeris information and the mth round of ephemeris information are any two rounds of ephemeris information in multiple rounds of ephemeris information broadcast by the target satellite within a preset time period, or the nth round of ephemeris information is ephemeris information broadcast by the target satellite within the preset time period, and the mth round of ephemeris information is ephemeris information broadcast by the target satellite within the preset time period, where n is not equal to m.

Illustratively, the m-th round ephemeris information is the n + 1-th round ephemeris information. For example, n is 1, the nth round ephemeris information is the first round ephemeris information, and the mth round ephemeris information is the second round ephemeris information. In this embodiment, specific values of n and m are not limited.

Optionally, the satellite navigation receiver receives the nth round of ephemeris information broadcast by the target satellite at a first time, and receives the mth round of ephemeris information broadcast by the target satellite at a second time, where the first time and the second time are two times within a preset time period, and an absolute value of a difference between the first time and the second time is a specified time interval.

For example, within one hour, the satellite navigation receiver receives the nth round ephemeris information broadcast by the target satellite at the time 1, and receives the mth round ephemeris information broadcast by the target satellite at the time 2 at an interval of 30 seconds.

Step 302, collecting correct ephemeris content according to the nth round ephemeris information and the mth round ephemeris information.

Because the n-th-wheel ephemeris information and the m-th-wheel ephemeris information are two-wheel ephemeris information with the same ephemeris content broadcast by the target satellite, and both the n-th-wheel ephemeris information and the m-th-wheel ephemeris information have the condition of word check failure, the satellite navigation receiver can collect correct ephemeris content according to some commonality of the n-th-wheel ephemeris information and the m-th-wheel ephemeris information.

Optionally, if the satellite navigation receiver fails to collect correct ephemeris content according to the nth-round ephemeris information and the mth-round ephemeris information, re-determining the nth-round ephemeris information and the mth-round ephemeris information, and repeating the

steps

301 and 302. That is, if the nth round ephemeris information and the mth round ephemeris information are respectively the nth round ephemeris information and the n +1 th round ephemeris information broadcast by the target satellite received within the preset time period, if the satellite navigation receiver fails to collect correct ephemeris content according to the nth round ephemeris information and the mth round ephemeris information, the n +1 th round ephemeris information is re-determined as the nth round ephemeris information, the n +2 th round ephemeris information is re-determined as the mth round ephemeris information, and the

steps

301 and 302 are repeatedly performed to collect ephemeris, where n is a positive integer.

For example, in the embodiment of the present disclosure, an example of comparing first round ephemeris information, that is, nth round ephemeris information, and second round ephemeris information, that is, mth round ephemeris information, broadcast by a target satellite received within one hour is taken as an example for explanation, in practical application, ephemeris collection may be performed by using more rounds of information, and the principle is the same, and is not described herein again.

In summary, in the embodiment of the present disclosure, the satellite navigation receiver acquires the ephemeris information of the nth round and the ephemeris information of the mth round, where the ephemeris information of the nth round and the ephemeris information of the mth round are two-round ephemeris information with the same ephemeris content broadcast by the target satellite, and both the ephemeris information of the nth round and the ephemeris information of the mth round have a word check failure; correct ephemeris content is collected according to the nth round ephemeris information and the mth round ephemeris information, so that the satellite navigation receiver determines the correct ephemeris information by using the two rounds of ephemeris information with the same ephemeris content broadcasted by the target satellite under the condition of a certain error code, the ephemeris collection time is shortened to a considerable extent, the ephemeris collection efficiency of the satellite navigation receiver is improved, and the cold-start first-time positioning time is greatly shortened.

The n-th round ephemeris information and the m-th round ephemeris information are ephemeris information of the D1 navigation message of the B1I signal. Optionally, the nth wheel ephemeris information and the mth wheel ephemeris information both correspond to a plurality of subframes, and the nth wheel ephemeris information and the mth wheel ephemeris information both include subframe information corresponding to the plurality of subframes.

Optionally, the collecting, by the satellite navigation receiver, the correct ephemeris content according to the nth-round ephemeris information and the mth-round ephemeris information includes: and for each subframe, comparing the subframe information in the ephemeris information of the nth round with the subframe information in the ephemeris information of the mth round to determine correct subframe information.

Optionally, for each subframe in the multiple subframes, the satellite navigation receiver compares the nth wheel frame information in the nth wheel ephemeris information with the mth wheel frame information in the mth wheel ephemeris information to determine correct subframe information.

And the number of the subframe corresponding to the nth wheel frame information in the nth wheel ephemeris information is the same as the number of the subframe corresponding to the mth wheel frame information in the mth wheel ephemeris information. For example, the nth round frame information is subframe information corresponding to subframe 1 in the nth round ephemeris information, and the mth round frame information is subframe information corresponding to subframe 1 in the mth round ephemeris information. This embodiment is not limited thereto.

Each subframe comprises a plurality of words, each word comprises a plurality of bits, subframe information of each subframe comprises original bit information corresponding to the plurality of words, and word check needs to be independently carried out on each word.

For example, a round of ephemeris information corresponds to three subframes, each subframe comprising ten words, each word comprising thirty bits. This embodiment is not limited thereto.

The nth wheel frame information and the mth wheel frame information both include original bit information corresponding to a plurality of words, and for each subframe, the satellite navigation receiver compares the nth wheel frame information in the nth wheel ephemeris information with the mth wheel frame information in the mth wheel ephemeris information to determine correct subframe information, including but not limited to the following steps, as shown in fig. 4:

step 401, for each subframe, initializing a current detection word of the subframe to 1.

The current detection word is used for indicating the nth detection word in the subframe information in the nth ephemeris information and the mth detection word in the subframe information in the mth ephemeris information.

Optionally, the nth round frame information and the mth round frame information each include a plurality of words and original bit information corresponding to each of the plurality of words. For convenience of distinction, a current detection word in subframe information in the ephemeris information of the nth round is called an nth round detection word, and a current detection word in subframe information in the ephemeris information of the mth round is called an mth round detection word.

It should be noted that, in the embodiment of the present disclosure, only an example that each subframe includes ten words is described, and the embodiment does not limit this.

For each subframe, the satellite navigation receiver initializes a current detection word for the subframe to 1. For example, the current detection word is marked as currword, the initial value of currword is 1, the maximum current detection word is 10, and currword needs to be circulated from 1 to 10.

And step 402, determining correct bit information of the current detection word according to the original bit information corresponding to the nth detection word and the mth detection word respectively.

Optionally, the satellite navigation receiver determines respective corresponding polarity parameters of the nth detection word and the mth detection word, where the polarity parameters are used to indicate whether the polarity of the words is known; and when the polarity of at least one word in the nth round detection word and the mth round detection word is known, determining correct bit information of the current detection word according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively.

The correct bit information of the current detection word is the final used text content of the current detection word.

Optionally, one word includes thirty bits, the original bit information corresponding to each of the n-th detection word and the m-th detection word includes thirty bit values, and the correct bit information of the current detection word includes thirty bit values.

The polarity parameter includes one of a first polarity value, a second polarity value and a third polarity value, the first polarity value is used for indicating that the polarity of the word is known and the polarity is positive, the second polarity value is used for indicating that the polarity of the word is known and the polarity is negative, and the third polarity value is used for indicating that the polarity of the word is unknown.

For example, the first polarity value is 0, indicating that the polarity of the word is known and the polarity of the word is positive; a second polarity value of 1 to indicate that the polarity of the word is known and that the polarity of the word is negative; the third polarity value is 2 for indicating that the polarity of the word is unknown.

Optionally, the word check parameter of the current detection word includes one of a first check value and a second check value, the first check value is used for indicating that the word check is successful, and the second check value is used for indicating that the word check is failed.

When the word check parameter of the nth round detection word is a first check value, assigning the polarity value of the nth round detection word to the polarity parameter of the nth round detection word according to the synchronous code information of the nth round detection word; and when the word check parameter of the nth round detection word is the second check value, determining the polarity parameter of the nth round detection word as a third polarity value. When the word check parameter of the mth round detection word is the first check value, assigning the polarity value of the mth round detection word to the polarity parameter of the mth round detection word according to the synchronous code information of the mth round detection word; and when the word check parameter of the m-th round detection word is the second check value, determining the polarity parameter of the m-th round detection word as a third polarity value.

Optionally, the synchronization code information of the word is used to indicate the polarity value of the word.

Illustratively, the synchronization code information of the nth detection word is used to indicate the polarity value of the nth detection word. That is, when the word check parameter of the nth round of detection words is the first check value, the polarity value of the nth round of detection words is obtained through the synchronous code information of the nth round of detection words, and the polarity value of the nth round of detection words is assigned to the polarity parameter of the nth round of detection words.

Illustratively, the synchronization code information of the m-th round of detection words is used to indicate the polarity value of the m-th round of detection words. That is, when the word check parameter of the mth round detection word is the first check value, the polarity value of the mth round detection word is obtained through the synchronization code information of the mth round detection word, and the polarity value of the mth round detection word is assigned to the polarity parameter of the mth round detection word.

And the satellite navigation receiver determines the correct bit information of the current detection word according to the original bit information corresponding to the detection word of the nth round and the detection word of the mth round, and then executes the subsequent steps. And if the correct bit information of the current detection word cannot be determined according to the original bit information corresponding to the nth detection word and the mth detection word, ending the process and failing to collect the current subframe.

It should be noted that, the process of determining the correct bit information of the current detection word by the satellite navigation receiver according to the original bit information corresponding to each of the n-th detection word and the m-th detection word may refer to the following details in the following embodiments, which are not described herein first.

At step 403, it is determined whether the current test word is equal to the maximum current test word.

The satellite navigation receiver judges whether the current detection word is equal to the maximum current detection word, if the current detection word is equal to the maximum current detection word, the step 404 is executed; if the current detected word is not equal to the maximum current detected word, step 405 is performed.

Step 404, when the current detection word is equal to the maximum current detection word, obtaining the correct subframe information of the subframe.

If the current detection word is equal to the maximum current detection word, the current subframe is successfully collected, and correct subframe information of the subframe is obtained.

Step 405, when the current detected word is not equal to the maximum current detected word, adding one to the current detected word.

If the current detection word is not equal to the maximum current detection word, adding one to the current detection word, and continuing to execute the step of determining the correct bit information of the current detection word according to the respective corresponding original bit information of the nth detection word and the mth detection word, i.e., continuing to execute step 402.

In summary, in the embodiment of the present disclosure, the current detection word of a subframe is initialized to 1 for each subframe, the correct bit information of the current detection word is determined according to the respective original bit information corresponding to the nth detection word and the mth detection word, if the current detection word is not equal to the maximum current detection word, the current detection word is incremented by one, and the step of determining the correct bit information of the current detection word according to the respective original bit information corresponding to the nth detection word and the mth detection word is continuously performed until it is determined that the current subframe is failed to be collected or successfully collected, so as to further ensure the collection efficiency of each subframe in the ephemeris information.

Referring to fig. 5, a flowchart of an ephemeris collection method provided by another exemplary embodiment of the disclosure is shown. The embodiments of the present disclosure are illustrated with the ephemeris collection method applied to a satellite navigation receiver. The ephemeris collection method comprises the following steps:

step 501, for each subframe, initializing a current detection word of the subframe to 1.

The current detection word is used to indicate the nth detection word in the nth frame information and the mth detection word in the mth frame information.

It should be noted that, for each subframe, the process of the satellite navigation receiver initializing the current detection word of the subframe to 1 may refer to relevant details in the foregoing embodiments, and details are not described herein again.

Step 502, determining the polarity parameters corresponding to the n-th detection word and the m-th detection word respectively.

Optionally, when the current detection word is 1, the satellite navigation receiver determines whether the word check parameter of the nth detection word is the first check value. And when the word check parameter of the nth round detection word is the first check value, assigning the polarity value of the nth round detection word to the polarity parameter of the nth round detection word according to the synchronous code information of the nth round detection word. And when the word check parameter of the nth round detection word is the second check value, assigning the third polarity value to the polarity parameter of the nth round detection word.

Illustratively, the polarity value of the nth round detection word is the first polarity value or the second polarity value. The first polarity value is used to indicate that the polarity of the word is known and the polarity of the word is positive, and the second polarity value is used to indicate that the polarity of the word is known and the polarity of the word is negative.

Illustratively, the third polarity value is used to indicate that the polarity of the word is unknown.

And after the satellite navigation receiver judges whether the word check parameter of the nth round detection word is the first check value, judging whether the word check parameter of the mth round detection word is the first check value. And when the character checking parameter of the mth round detection character is the first checking value, assigning the polarity value of the mth round detection character to the polarity parameter of the mth round detection character according to the synchronous code information of the mth round detection character. And when the word check parameter of the m-th round detection word is the second check value, assigning the third polarity value to the polarity parameter of the m-th round detection word.

Illustratively, the polarity value of the m-th round detection word is the first polarity value or the second polarity value.

Step 503, determining whether the nth round detection word and the mth round detection word satisfy a first preset condition.

And the satellite navigation receiver judges whether the nth detection word and the mth detection word meet a first preset condition. Wherein, the first preset condition comprises: and the polarity parameters corresponding to the n-th round detection word and the m-th round detection word are third polarity values.

If the nth detection word and the mth detection word meet the first preset condition, determining that the subframe information collection of the subframe fails, and ending the process; if the nth and mth detection words do not satisfy the first predetermined condition, step 504 is executed.

And step 504, when the nth round detection word and the mth round detection word do not meet the first preset condition, judging whether the nth round detection word and the mth round detection word meet the second preset condition.

And the satellite navigation receiver judges whether the nth detection word and the mth detection word meet a second preset condition. Wherein the second preset condition comprises: the polarity parameter of the nth round detection word or the polarity parameter of the mth round detection word is a third polarity value, and the word check parameter of the nth round detection word and the word check parameter of the mth round detection word are both first check values.

If the nth round detection word and the mth round detection word satisfy the second preset condition, executing step 505; if the nth and mth detection words do not satisfy the second predetermined condition, step 506 is executed.

And 505, when the nth round detection word and the mth round detection word meet a second preset condition, re-assigning the polarity parameter of the word corresponding to the third polarity value according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively.

Optionally, when the nth round detection word and the mth round detection word satisfy a second preset condition, the satellite navigation receiver performs a polarity setting process, that is, performs reassignment on the polarity parameter of the word corresponding to the third polarity value according to the original bit information corresponding to each of the nth round detection word and the mth round detection word.

Optionally, the re-assigning, by the satellite navigation receiver, the polarity parameter of the word corresponding to the third polarity value according to the original bit information corresponding to each of the n-th round detection word and the m-th round detection word, includes: and when the nth detection word and the mth detection word meet a second preset condition and the original bit information of the nth detection word is the same as the original bit information of the mth detection word, assigning the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value. And when the nth detection word and the mth detection word meet a second preset condition and the original bit information of the nth detection word is opposite to the original bit information of the mth detection word, assigning the difference between 1 and the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value.

And the target word is a word of which the polarity parameter is not the third polarity value in the nth detection word and the mth detection word.

Under the condition that the nth detection word and the mth detection word meet a second preset condition, if the polarity of the nth detection word is known, namely the numerical value of the polarity parameter is not a third polarity value, setting the polarity parameter of the mth detection word by adopting the polarity value of the nth detection word; and if the polarity of the m-th detection word is known, namely the value of the polarity parameter is not the third polarity value, setting the polarity parameter of the n-th detection word by using the polarity value of the m-th detection word.

In a possible implementation manner, if the polarity of the nth round detection word is known and the original bit information of the nth round detection word is the same as the original bit information of the mth round detection word, it indicates that the polarity of the nth round detection word is the same as that of the mth round detection word, and the polarity parameter of the nth round detection word is assigned to the polarity parameter of the mth round detection word. And if the polarity of the nth detection word is known and the original bit information of the nth detection word is opposite to the original bit information of the mth detection word, indicating that the polarity of the nth detection word is opposite to that of the mth detection word, and assigning the difference value between the polarity parameters of the 1 and the nth detection word to the polarity parameter of the mth detection word.

In another possible implementation manner, if the polarity of the m-th round detection word is known and the original bit information of the n-th round detection word is the same as the original bit information of the m-th round detection word, it indicates that the polarity of the n-th round detection word is the same as that of the m-th round detection word, and the polarity parameter of the m-th round detection word is assigned to the polarity parameter of the n-th round detection word. And if the polarity of the m-th detection word is known and the original bit information of the n-th detection word is opposite to the original bit information of the m-th detection word, indicating that the polarity of the n-th detection word is opposite to that of the m-th detection word, and assigning the difference value between the polarity parameters of the 1 and the m-th detection word to the polarity parameter of the n-th detection word.

In another possible implementation manner, if the original bit information of the nth round of detection words is not the same as or opposite to the original bit information of the mth round of detection words, it indicates that the current system has an operation error or a word check error, and returns a failure, and the current subframe check fails.

Optionally, the satellite navigation receiver performs step 506 after re-assigning the polarity parameter of the word corresponding to the third polarity value.

Step 506, according to the original bit information and the polarity parameter corresponding to the nth detection word and the mth detection word, determining the correct bit information of the current detection word.

Optionally, after the satellite navigation receiver re-assigns the polarity parameter of the word corresponding to the third polarity value, or when the nth detection word and the mth detection word do not satisfy the second preset condition, the satellite navigation receiver performs a recording process, that is, according to the original bit information and the polarity parameter corresponding to the nth detection word and the mth detection word, the correct bit information of the current detection word is determined.

Optionally, when the nth round detection word and the mth round detection word satisfy the second preset condition, step 505 and step 506 may be executed in parallel, which is not limited in this embodiment.

Optionally, the determining, by the satellite navigation receiver, correct bit information of the current detection word according to the original bit information and the polarity parameter corresponding to each of the n-th detection word and the m-th detection word includes: and when the polarity parameter of the nth detection word is the first polarity value, determining that the correct bit information of the current detection word is the original bit information of the nth detection word. And when the polarity parameter of the nth detection word is the second polarity value, determining that the correct bit information of the current detection word is the content of negation of the original bit information of the nth detection word. And when the polarity parameter of the nth detection word is the third polarity value and the polarity parameter of the mth detection word is the first polarity value, determining that the correct bit information of the current detection word is the original bit information of the mth detection word. And when the polarity parameter of the nth round detection word is the third polarity value and the polarity parameter of the mth round detection word is the second polarity value, determining that the correct bit information of the current detection word is the content of negation of the original bit information of the mth round detection word.

Step 507, determine whether the current detected word is equal to the maximum detected word value.

The satellite navigation receiver judges whether the current detection word is equal to the maximum detection word value or not, and if the current detection word is equal to the maximum detection word value, the current subframe is successfully collected; if the current detected word is not equal to the maximum detected word value, proceed to step 508.

Step 508, add one to the current detected word when the current detected word is not equal to the maximum detected word value.

If the current detected word is not equal to the maximum detected word value, the current detected word is incremented by one.

In step 509, it is determined whether the word check parameter of the nth round of detection words is the second check value.

After adding one to the current detection word, the satellite navigation receiver determines whether the word check parameter of the nth round detection word is the second check value, and if the word check parameter of the nth round detection word is the second check value, step 510 is executed; if the word check parameter of the nth round of detection words is not the second check value, step 511 is performed.

And step 510, when the word check parameter of the nth round detection word is the second check value, reassigning the polarity parameter of the nth round detection word to be the third polarity value.

Step 511, determine whether the word check parameter of the m-th round of detection words is the second check value.

The satellite navigation receiver judges whether the word check parameter of the m-th round detection word is a second check value, if the word check parameter of the m-th round detection word is the second check value, the step 512 is executed; if the word check parameter of the m-th round of detection words is not the second check value, step 503 is executed, that is, after the judgment is completed, the step of judging whether the n-th round of detection words and the m-th round of detection words satisfy the first preset condition is continuously executed.

And step 512, when the word check parameter of the m-th round detection word is the second check value, reassigning the polarity parameter of the m-th round detection word to be the third polarity value.

In an illustrative example, the current detection word is currword, the initial value of currword is 1, the maximum current detection word is 10, the current detection word in the nth round of frame information is the nth round of detection word currword _1, and the current detection word in the mth round of frame information is the mth round of detection word currword _ 2. The word check parameter is P for indicating that the word check is passed, and the word check parameter is F for indicating that the word check is failed. The polarity parameter of the nth round of detection words is Pola _1, and the polarity parameter of the mth round of detection words is Pola _ 2. The first polarity value is 0 for indicating that the polarity of the word is positive; a second polarity value of 1 for indicating that the polarity of the word is negative; the third polarity value is 2 for indicating that the polarity of the word is unknown. The ephemeris collection method provided by the embodiment of the present disclosure includes, but is not limited to, the following steps, as shown in fig. 6:

step 601, setting the initial value of currword to 1.

The satellite navigation receiver sets currword to an initial value of 1, i.e. starts checking from word 1.

Step 602, determine whether the word check parameter of currword _1 is P.

The satellite navigation receiver judges whether the word check parameter of currword _1 is P, if the word check parameter of currword _1 is P, then step 603 is executed; if the word check parameter of curWord _1 is not P, go to step 604.

Step 603, if the word check parameter of currword _1 is P, then the polarity value of currword _1 is assigned to polic _ 1.

If the word check parameter of curWord _1 is P, and its polarity is positive, Pola _1 is set to 0. If the word check of curWord _1 is P and its polarity is reversed, Pola _1 is set to 1.

In step 604, if the word check parameter of currword _1 is not P, Pola _1 is set to 2.

If the word check of curWord _1 is not P, i.e. F, Pola _1 is set to 2.

Step 605, determine whether the word check parameter of currword _2 is P.

The satellite navigation receiver judges whether the word check parameter of currword _2 is P, if the word check parameter of currword _2 is P, execute step 606; if the word check parameter of curWord _2 is not P, then step 607 is executed.

In step 606, if the word check parameter of currword _2 is P, then the polarity value of currword _2 is assigned to polic _ 2.

If the word check parameter of curWord _2 is P, and its polarity is positive, Pola _2 is set to 0. If the word check of curWord _2 is P and its polarity is reversed, Pola _2 is set to 1.

In step 607, if the word check parameter of curWord _2 is not P, Pola _2 is set to 2.

If the check of curWord _2 word is not P, which is F, Pola _2 is set to 2.

Step 608, determine if Pola _1 and Pola _2 are both 2.

That is, the satellite navigation receiver determines whether the formulas "polic _1 ═ 2& & polic _2 ═ 2" are satisfied by the satellite navigation receiver, and if both polic _1 and polic _2 are 2, the current subframe collection fails, the process is ended, and the subframe information of the next round of the subframe is waited. If Pola _1 and Pola _2 are not uniformly 2, then step 609 is performed.

Step 609, determine whether Pola _1 or Pola _2 is 2, and both the word check parameters of curWord _1 and curWord _2 are P.

That is, the satellite navigation receiver determines whether the formulas (polic _1 ═ 2| | | polic _2 ═ 2) & & (current word _1 is P & & current word _2 is P) "are satisfied by the polic _1 and polic _2, and if the formulas are satisfied, the satellite navigation receiver performs step 610. If Pola _1 and Pola _2 do not satisfy the above equation, 611 is performed.

If Pola _1 or Pola _2 is 2, and both the word check parameters of curWord _1 and curWord _2 are P, there is an unknown polarity in Pola _1 or Pola _2, and both the word checks of curWord _1 and curWord _2 are P, the unknown polarity can be determined by setting the polarity module.

In step 610, if polic _1 or polic _2 is 2 and both the word check parameters of currword _1 and currword _2 are P, the polarity parameter of the word with unknown polarity is determined by setting the polarity module.

The polarity module is configured to assign a polarity parameter of the word with unknown polarity by comparing the original bit information of currword _1 and currword _2 when the polarities of Pola _1 and Pola _2 are known and the other is unknown and the word checks of currword _1 and currword _2 are both P.

In one possible implementation, the polarity setting method performed by the polarity setting module includes, but is not limited to, the following steps, as shown in fig. 7. In step 701, the satellite navigation receiver determines whether Pola _1 is less than 2. If Pola _1 is less than 2, go to step 702, and if Pola _1 is not less than 2, go to step 706. Step 702, if Pola _1 is smaller than 2, determine whether the original bit information of curWord _1 and curWord _2 is the same. In step 703, if the same, Pola _2 equals Pola _ 1. Step 704, if different, determine whether the original bit information of currword _1 and currword _2 is opposite. In step 705, if not, Pola _2 equals 1-Pola _ 1. If not, the operation of the current system is wrong, or the word check is wrong, the failure is returned, and the check of the current subframe is failed. Step 706, if polic _1 is not less than 2, determine whether the original bit information of currword _1 and currword _2 is the same. In step 707, if the result is the same, Pola _1 equals Pola _ 2. Step 708, if not, determine whether the original bit information of currword _1 and currword _2 is opposite. In step 709, if not, Pola _1 equals 1-Pola _ 2. If not, the operation of the current system is wrong, or the word check is wrong, the failure is returned, and the check of the current subframe is failed.

Step 611, record the correct bit information of currword through the recording module.

The recording module is used for determining the correct bit information of the current detection word according to the original bit information and the polarity parameters (namely Pola _1 and Pola _2) respectively corresponding to curWord _1 and curWord _ 2.

Optionally, if polic _1 or polic _2 is 2, and both the word check parameters of curWord _1 and curWord _2 are P, then step 610 and step 611 may be executed in parallel. This embodiment is not limited thereto.

In one possible implementation, the original bit information for marking currword _1 is currword _1 message, the original bit information for marking currword _2 is currword _2 message, and the correct bit information for marking the current detection word is Final _ currword message. The recording method performed by the recording module includes, but is not limited to, the following steps, as shown in fig. 8.

In step 801, it is determined whether Pola _1 is 0. Step 802, if Pola _1 is 0, which indicates that the polarity of current currWord _1 is positive, then determine that the Final _ currWord message is a currWord _1 message. In step 803, if Pola _1 is not 0, determine if Pola _1 is 1. Step 804, if the poli _1 is 1, which indicates that the polarity of the current currword _1 is reversed, it is determined that the Final _ currword message is the content of the current word _1 message which is reversed. In step 805, it is determined whether Pola _2 is 0. In step 806, if the Pola _2 is 0, which indicates that the polarity of the current currword _2 is positive, it is determined that the Final _ currword message is a currword _2 message. In step 807, if the polic _2 is not 0, polic _2 is 1, which means that the polarity of the current currword _2 is reversed, and the Final _ currword message is determined to be the content of the current currword _2 message for negation.

It should be noted that the ephemeris collection method provided in this embodiment is applied to an ephemeris collection module of a satellite navigation receiver, and the ephemeris collection module may include the polarity setting module and the recording module.

Step 612, determine whether currword equals word 10.

If currword is equal to 10, it indicates that the ten words of the current subframe are successfully collected, and the subframe information of the current subframe is successfully collected. If curWord is not equal to 10, go to step 613.

Step 613, if curWord is not equal to 10, adding 1 to curWord.

After adding 1 to currword, starting to detect the next detection word, namely, redetermining currword _1 as the original bit information of the next detection word in the nth round frame information, and redetermining currword _2 as the original bit information of the next detection word in the mth round frame information.

Step 614, determine whether the word check of currword _1 is F.

In step 615, if currword _1 is F, polic _1 is set to 2.

Step 616, if curWord _1 is not F, then determine whether the word check of curWord _2 is F.

In step 617, if currword _2 is F, polic _2 is set to 2, and step 608 is continued.

In step 618, if currword _2 is not F, proceed to step 608.

In an illustrative example, based on the two subframes shown in fig. 2, the word check condition of subframe 1 of the nth round ephemeris information is shown in fig. 2(a), where words 1 to 3 of subframe 1 of the nth round ephemeris information do not generate errors, the word check passes, the polarity of word 1 is positive, that is, the polarity parameter of word 1 is 0, word 4 fails to check, and words 5 to 10 pass, and the original bit information and word check condition of these ten words are recorded. The word check condition of the subframe 1 of the m-th round of ephemeris information is shown in fig. 2(b), where no error occurs from word 1 to word 5 of the subframe 1 of the m-th round of ephemeris information, the word check passes, the polarity of word 1 is negative, that is, the polarity parameter of word 1 is 1, the word checks of word 6 and word 7 fail, the word checks of word 8 to word 10 pass, and the original bit information and the word check condition of the ten words are recorded. By adopting the ephemeris collection method provided by the embodiment of the disclosure, the polarity parameters corresponding to the ten words of the subframe 1 are set in the subframe collection process, and the polarity conditions of the subframe 1 of the nth round ephemeris information and the subframe 1 of the mth round ephemeris information after setting are shown in fig. 9. The subframe information collection procedure includes, but is not limited to, the following steps: setting curWord to be 1, for word 1, both the word check parameter of curWord _1 and the word check parameter of curWord _2 are P, polic _1 is 0, and polic _2 is 1, and recording the correct bit information of word 1 as the original bit information of curWord _ 1; adding 1 to curWord, and similarly recording the correct bit information of word 2 as the original bit information of curWord _1 for word 2; adding 1 to curWord, and similarly recording the correct bit information of word 3 as the original bit information of curWord _1 for word 3; adding 1 to currword, for word 4, the word check parameter of currword _1 is F, the word check parameter of currword _2 is P, Pola _1 is 2, Pola _2 is 1, and the correct bit information of word 4 is recorded according to the polarity of Pola _ 2; adding 1 to currword, for word 5, the word check parameter of currword _1 and the word check parameter of currword _2 are both P, and Pola _1 is the same as the polarity parameter of word 4, that is, Pola _1 is 2, Pola _2 is 1, if the original bit information of currword _1 and currword _2 is the same, it indicates that the polarities of both are the same, polia _1 is set equal to 1, if the original bit information of currword _1 and currword _2 is opposite, it indicates that the polarities of both are opposite, polia _1 is set equal to 0, so the polarity of Pola _1 becomes 0 or 1, and the correct bit information of word 5 is recorded according to the polarity of Pola _1 or Pola _ 2; adding 1 to currword, for word 6, the word check parameter of currword _1 is P, the word check parameter of currword _2 is F, Pola _1 is 0 or 1, and Pola _2 is 2, and recording the correct bit information of word 6 according to the polarity of Pola _ 1; adding 1 to currword, for word 7, the word check parameter of currword _1 is P, the word check parameter of currword _2 is F, Pola _1 is 0 or 1, and Pola _2 is 2, and recording the correct bit information of word 7 according to the polarity of Pola _ 1; adding 1 to currword, for word 8, the word check parameter of currword _1 and the word check parameter of currword _2 are both P, Pola _1 is 0 or 1, Pola _2 is 2, if the original bit information of currword _1 and currword _2 is the same, it indicates that the polarity of both is the same, then Pola _1 is set to be equal to 1, if the original bit information of currword _1 and currword _2 is opposite, it indicates that the polarity of both is opposite, then Pola _1 is set to be equal to 0, therefore the polarity of Pola _2 becomes known, and the correct bit information of word 8 is recorded according to the polarity of Pola _1 or Pola _ 2; adding 1 to curWord, for word 9, both the word check parameter of curWord _1 and the word check parameter of curWord _2 are P, the polarity parameter of Pola _1 is the same as the polarity parameter of Pola _1 of word 8, the polarity parameter of Pola _2 is the same as the polarity parameter of Pola _2 of word 8, and similarly, the correct bit information of word 9 is recorded according to the polarity of Pola _1 or Pola _ 2; adding 1 to curWord, for word 10, both the word check parameter of curWord _1 and the word check parameter of curWord _2 are P, the polarity parameter of Pola _1 is the same as the polarity parameter of Pola _1 of word 9, the polarity parameter of Pola _2 is the same as the polarity parameter of Pola _2 of word 9, and similarly, the correct bit information of word 10 is recorded according to the polarity of Pola _1 or Pola _ 2; when currword equals 10, the current subframe collection is successful.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Referring to fig. 10, a schematic structural diagram of an ephemeris collection apparatus according to an exemplary embodiment of the disclosure is shown. The ephemeris collection apparatus may be implemented by a dedicated hardware circuit, or a combination of hardware and software, as all or a part of a satellite navigation receiver, and includes: an acquisition module 1010 and a collection module 1020.

An obtaining module 1010, configured to obtain ephemeris information of an nth round and ephemeris information of an mth round, where the ephemeris information of the nth round and the ephemeris information of the mth round are two-round ephemeris information with the same ephemeris content broadcast by a target satellite, both the ephemeris information of the nth round and the ephemeris information of the mth round have a word check failure, and n and m are positive integers;

and a collecting module 1020, configured to collect correct ephemeris content according to the nth-round ephemeris information and the mth-round ephemeris information.

In a possible implementation manner, the nth-round ephemeris information and the mth-round ephemeris information both correspond to a plurality of subframes, and the collecting module 1020 is further configured to compare, for each subframe, subframe information in the nth-round ephemeris information with subframe information in the mth-round ephemeris information, and determine correct subframe information.

In another possible implementation manner, the collecting module 1020 is further configured to:

for each subframe, initializing and setting a current detection word of the subframe to be 1, wherein the current detection word is used for indicating an nth detection word in subframe information in nth ephemeris information and an mth detection word in subframe information in mth ephemeris information;

determining the correct bit information of the current detection word according to the original bit information corresponding to the nth detection word and the mth detection word respectively;

when the current detection word is equal to the maximum current detection word, obtaining correct subframe information of a subframe;

determining polarity parameters corresponding to the n-th detection word and the m-th detection word respectively, wherein the polarity parameters are used for indicating whether the polarity of the words is known or not;

and when the polarity of at least one word in the nth round detection word and the mth round detection word is known, determining correct bit information of the current detection word according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively.

In another possible implementation, the polarity parameter includes one of a first polarity value, a second polarity value, and a third polarity value, the first polarity value indicating that the polarity of the word is known and the polarity is positive, the second polarity value indicating that the polarity of the word is known and the polarity is negative, and the third polarity value indicating that the polarity of the word is unknown.

In another possible implementation manner, the current detection word is 1, and the collecting module 1020 is further configured to:

when the word check parameter of the nth round detection word is the second check value, assigning the third polarity value to the polarity parameter of the nth round detection word;

the word check parameter comprises one of a first check value and a second check value, the first check value is used for indicating that the word check is successful, and the second check value is used for indicating that the word check is failed.

when the nth round detection word and the mth round detection word do not meet the first preset condition, judging whether the nth round detection word and the mth round detection word meet the second preset condition or not;

when the nth round detection word and the mth round detection word meet a second preset condition, re-assigning the polarity parameters of the words corresponding to the third polarity value according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively; determining correct bit information of the current detection word according to original bit information and polarity parameters corresponding to the nth detection word and the mth detection word respectively;

when the nth round detection word and the mth round detection word do not meet a second preset condition, determining correct bit information of the current detection word according to original bit information and polarity parameters corresponding to the nth round detection word and the mth round detection word respectively;

wherein, the first preset condition comprises: the polarity parameters corresponding to the nth detection word and the mth detection word are third polarity values; the second preset condition includes: the polarity parameter of the nth round detection word or the polarity parameter of the mth round detection word is a third polarity value, and the word check parameter of the nth round detection word and the word check parameter of the mth round detection word are both first check values.

In another possible implementation manner, the collecting module 1020 is further configured to determine that the collection of the subframe information of the subframe fails when the nth detection word and the mth detection word satisfy a first preset condition.

when the nth detection word and the mth detection word meet a second preset condition and the original bit information of the nth detection word is the same as the original bit information of the mth detection word, assigning the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value;

when the nth detection word and the mth detection word meet a second preset condition and the original bit information of the nth detection word is opposite to the original bit information of the mth detection word, assigning the difference between 1 and the polarity parameter of the target word to the polarity parameter of the word corresponding to the third polarity value;

when the polarity parameter of the nth detection word is a first polarity value, determining that the correct bit information of the current detection word is the original bit information of the nth detection word;

when the polarity parameter of the nth round detection word is a second polarity value, determining that the correct bit information of the current detection word is the content of negation of the original bit information of the nth round detection word;

when the polarity parameter of the nth detection word is a third polarity value and the polarity parameter of the mth detection word is a first polarity value, determining that the correct bit information of the current detection word is the original bit information of the mth detection word;

when the current detection word is not equal to the maximum detection word value, adding one to the current detection word;

judging whether the word check parameters corresponding to the nth detection word and the mth detection word are second check values or not;

when the word check parameter of the nth round detection word is the second check value, reassigning the polarity parameter of the nth round detection word to be the third polarity value;

when the word check parameter of the m-th round detection word is the second check value, the polarity parameter of the m-th round detection word is reassigned to be the third polarity value;

and after the judgment is finished, continuously executing the step of judging whether the nth round detection word and the mth round detection word meet the first preset condition.

In another possible implementation manner, the ephemeris information of the n-th round and the ephemeris information of the m-th round are both the ephemeris information of the D1 navigation message of the B1I signal.

It should be noted that, when the apparatus provided in the foregoing embodiment implements the functions thereof, only the division of the functional modules is illustrated, and in practical applications, the functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus may be divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

Optionally, an embodiment of the present disclosure further provides a satellite navigation receiver, where the satellite navigation receiver includes: a processor and a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps performed by the satellite navigation receiver in the various method embodiments described above.

Optionally, the disclosed embodiments also provide a non-transitory computer-readable storage medium, on which computer program instructions are stored, where the computer program instructions, when executed by a processor, perform the steps performed by the satellite navigation receiver in the above-described method embodiments.

The present disclosure may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present disclosure.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present disclosure may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, the electronic circuitry that can execute the computer-readable program instructions implements aspects of the present disclosure by utilizing the state information of the computer-readable program instructions to personalize the electronic circuitry, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA).

Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. An ephemeris collection method, for use in a satellite navigation receiver, the method comprising:

collecting correct ephemeris content according to the n-th round ephemeris information and the m-th round ephemeris information;

the step of collecting correct ephemeris content according to the nth round ephemeris information and the mth round ephemeris information includes:

when the polarity of at least one word in the nth round detection word and the mth round detection word is known, determining correct bit information of the current detection word according to the original bit information corresponding to the nth round detection word and the mth round detection word respectively, including:

wherein the first preset condition comprises: the polarity parameters corresponding to the nth detection word and the mth detection word are the third polarity values; the second preset condition includes: the polarity parameter of the nth round detection word or the polarity parameter of the mth round detection word is the third polarity value, and the word check parameter of the nth round detection word and the word check parameter of the mth round detection word are both first check values;

when the nth round detection word and the mth round detection word satisfy the second preset condition, re-assigning the polarity parameter of the word corresponding to the third polarity value according to the original bit information corresponding to the nth round detection word and the mth round detection word, including:

wherein the target word is a word of which the polarity parameter is not the third polarity value in the nth round detection word and the mth round detection word;

wherein the polarity parameter comprises one of a first polarity value for indicating that the polarity of the word is known and positive, a second polarity value for indicating that the polarity of the word is known and negative, and a third polarity value for indicating that the polarity of the word is unknown;

the first polarity value is 0, the second polarity value is 1, and the third polarity value is 2.

2. The method of claim 1, wherein the comparing the subframe information in the n-th round ephemeris information with the subframe information in the m-th round ephemeris information for each subframe to determine correct subframe information comprises:

3. The method of claim 1, wherein the current detection word is 1, and wherein the determining the polarity parameter corresponding to each of the n-th detection word and the m-th detection word comprises:

4. The method of claim 1, further comprising:

5. The method of claim 1, wherein the determining the correct bit information of the current detection word according to the original bit information and the polarity parameter corresponding to each of the n-th detection word and the m-th detection word comprises:

6. The method according to claim 2, wherein the step of adding one to the current detection word when the current detection word is not equal to the maximum current detection word, and continuing to determine the correct bit information of the current detection word according to the original bit information corresponding to each of the n-th detection word and the m-th detection word comprises:

7. The method of any one of claims 1 to 6, wherein the n-th and m-th round ephemeris information are both ephemeris information of D1 navigation messages of the B1I signal.

8. An ephemeris collection apparatus, for use in a satellite navigation receiver, the apparatus comprising:

a collection module, configured to collect correct ephemeris content according to the nth round ephemeris information and the mth round ephemeris information;

9. A satellite navigation receiver, the satellite navigation receiver comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to:

wherein the first preset condition comprises: the polarity parameters corresponding to the nth detection word and the mth detection word are third polarity values; the second preset condition includes: the polarity parameter of the nth round detection word or the polarity parameter of the mth round detection word is the third polarity value, and the word check parameter of the nth round detection word and the word check parameter of the mth round detection word are both first check values;

10. A non-transitory computer readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1 to 7.