CN111158030A - Satellite positioning method and device - Google Patents
Satellite positioning method and device Download PDFInfo
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- CN111158030A CN111158030A CN202010050905.5A CN202010050905A CN111158030A CN 111158030 A CN111158030 A CN 111158030A CN 202010050905 A CN202010050905 A CN 202010050905A CN 111158030 A CN111158030 A CN 111158030A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
Abstract
The disclosure provides a satellite positioning method and a satellite positioning device, and relates to the field of satellite positioning. This is disclosed through receiving a satellite positioning system's positioning data, judge whether this satellite positioning system's positioning data accords with predetermined positioning condition, if accord with positioning condition, output this satellite positioning system's positioning data, if do not accord with positioning condition, switch to another kind of satellite positioning system, can make full use of multiple satellite positioning system's location advantage, guarantee location performance to a satellite positioning system's positioning data is received and is handled at the same time, reduce the operand, and then improve positioning speed, reduce the consumption.
Description
Technical Field
The present disclosure relates to the field of satellite positioning, and in particular, to a satellite positioning method and apparatus.
Background
The Global Positioning System (GPS) is a very widely used satellite Positioning System in the world. If the GPS is used singly for positioning, the use of the satellite positioning system and the positioning accuracy can be influenced due to the existence of factors such as different countries, regions and even shelters.
Therefore, in some related technologies, a GPS receiver and a Beidou receiver are started at the same time, then two types of positioning data received at the same time are continuously analyzed and compared, and the optimal positioning data is selected for positioning.
Disclosure of Invention
The inventor finds that in the related technology, two types of positioning data need to be received, analyzed, compared and the like at the same time, and the calculation amount is large, so that the positioning speed is low, and the power consumption is large.
This is disclosed through receiving a satellite positioning system's positioning data, judge whether this satellite positioning system's positioning data accords with predetermined positioning condition, if accord with positioning condition, output this satellite positioning system's positioning data, if do not accord with positioning condition, switch to another kind of satellite positioning system, can make full use of multiple satellite positioning system's location advantage, guarantee location performance to a satellite positioning system's positioning data is received and is handled at the same time, reduce the operand, and then improve positioning speed, reduce the consumption.
Some embodiments of the present disclosure provide a satellite positioning method, including:
receiving positioning data of a first satellite positioning system;
judging whether the positioning data of the first satellite positioning system meets a preset positioning condition or not;
if the positioning conditions are met, outputting the positioning data of the first satellite positioning system;
and if the positioning condition is not met, switching to a second satellite positioning system.
In some embodiments, the switching to the second satellite positioning system further comprises:
receiving positioning data of a second satellite positioning system;
judging whether the positioning data of the second satellite positioning system meets the positioning conditions or not;
if the positioning conditions are met, outputting the positioning data of the second satellite positioning system;
and if the positioning condition is not met, switching to the first satellite positioning system or the third satellite positioning system.
In some embodiments, the positioning conditions comprise validity conditions for the positioning data.
In some embodiments, the positioning conditions further comprise one or more of a differential state condition, a number of valid satellites condition, of the positioning data.
In some embodiments, the determining whether the positioning data of the first satellite positioning system meets the predetermined positioning condition includes:
if the positioning data of the first satellite positioning system does not accord with any one of the effective conditions of the positioning data, the differential state conditions of the positioning data and the effective satellite quantity conditions, judging that the positioning data of the first satellite positioning system does not accord with the positioning conditions;
or, if the positioning data of the first satellite positioning system meets the validity condition of the positioning data, and meets one or more conditions of the differential state condition of the positioning data and the number of valid satellites, it is determined that the positioning data of the first satellite positioning system meets the positioning condition.
In some embodiments, the validity condition that the positioning data of the first satellite positioning system meets the positioning data is that the positioning data of the first satellite positioning system meets one or more of a delay condition and a carrier-to-noise ratio condition; the positioning data of the first satellite positioning system conforms to the differential state condition of the positioning data, and the positioning data of the first satellite positioning system is in a differential state; the first satellite positioning system location data meets the number of valid satellites condition that the number of valid satellites of the first satellite positioning system is greater than or equal to the number of valid satellites threshold.
In some embodiments, the first satellite positioning system or the second satellite positioning system comprises: a global positioning system GPS, a Beidou satellite positioning system, a Galileo satellite positioning system and a Gronass satellite positioning system.
Some embodiments of the present disclosure provide a satellite positioning apparatus, including:
a receiving unit configured to receive positioning data of a first satellite positioning system;
the judging unit is configured to judge whether the positioning data of the first satellite positioning system meets a preset positioning condition;
an output unit configured to output positioning data of the first satellite positioning system if the positioning condition is met;
a switching unit configured to switch to the second satellite positioning system if the positioning condition is not met.
In some embodiments, the receiver unit is configured to receive positioning data of the second satellite positioning system after switching to the second satellite positioning system; a determination unit configured to determine whether the positioning data of the second satellite positioning system meets a positioning condition; an output unit configured to output positioning data of the second satellite positioning system if the positioning condition is met; and the switching unit is configured to switch to the first satellite positioning system or the third satellite positioning system if the positioning condition is not met.
Some embodiments of the present disclosure provide a satellite positioning apparatus, including:
a memory; and a processor coupled to the memory, the processor configured to perform the satellite positioning method of any of the embodiments based on instructions stored in the memory.
Some embodiments of the disclosure propose a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the satellite positioning method of any of the embodiments.
Drawings
The drawings that will be used in the description of the embodiments or the related art will be briefly described below. The present disclosure will be more clearly understood from the following detailed description, which proceeds with reference to the accompanying drawings,
it is to be understood that the drawings in the following description are merely exemplary of the disclosure, and that other drawings may be derived from those drawings by one of ordinary skill in the art without undue inventive faculty.
Fig. 1 is a schematic flow chart diagram of some embodiments of a satellite positioning method of the present disclosure.
Fig. 2 is a schematic flow chart of another embodiment of a satellite positioning method according to the disclosure.
FIG. 3 is a schematic diagram of some embodiments of a satellite positioning apparatus according to the present disclosure.
FIG. 4 is a schematic diagram of another embodiment of a satellite positioning apparatus according to the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure.
In the present disclosure, the descriptions of "first", "second", "third", etc. are used to distinguish different objects, and are not used to indicate the meanings of size, timing, etc. For example, the first satellite positioning system and the second satellite positioning system are two different satellite positioning systems.
Fig. 1 is a schematic flow chart diagram of some embodiments of a satellite positioning method of the present disclosure. The satellite positioning method of this embodiment may be performed by a satellite positioning apparatus, for example.
As shown in fig. 1, the satellite positioning method of the embodiment includes: steps 11-18.
In step 11, a first receiver corresponding to the first satellite positioning system is enabled to receive positioning data of the first satellite positioning system.
The first satellite positioning system includes, for example: GPS, the beidou satellite positioning system, the Galileo (Galileo) satellite positioning system, the GLONASS (GLONASS) satellite positioning system, etc.
In step 12, the positioning data of the first satellite positioning system is analyzed, and whether the positioning data of the first satellite positioning system meets a preset positioning condition is determined.
The positioning conditions may be preset. The positioning conditions comprise, for example, one or more of validity conditions for positioning data, differential state conditions for positioning data, and number of valid satellites conditions. The validity condition of the positioning data includes one or more of a delay condition and a carrier-to-noise ratio condition, for example. And determining the time delay according to the difference value between the time of the positioning data sent by the satellite (acquired according to the time stamp) and the time of receiving the positioning data on the ground, and if the time delay is less than a time delay threshold value, considering that a time delay condition is met. If the carrier-to-noise ratio (i.e., the proportional relationship between the carrier and the carrier-to-noise ratio) of the positioning data is greater than the carrier-to-noise ratio threshold, the carrier-to-noise ratio condition is considered to be satisfied.
When the positioning condition includes one of the validity condition of the positioning data, the differential state condition of the positioning data, and the number condition of valid satellites, if the one condition is met, the positioning condition is considered to be met.
When the positioning condition includes a plurality of conditions among the validity condition of the positioning data, the differential state condition of the positioning data, the valid satellite number condition, whether the positioning data of the first satellite positioning system accords with the preset positioning condition includes, for example: if the positioning data of the first satellite positioning system does not accord with any one of the effective conditions of the positioning data, the differential state conditions of the positioning data and the effective satellite quantity conditions, judging that the positioning data of the first satellite positioning system does not accord with the positioning conditions; or, if the positioning data of the first satellite positioning system meets the validity condition of the positioning data, and meets one or more conditions of the differential state condition of the positioning data and the number of valid satellites, it is determined that the positioning data of the first satellite positioning system meets the positioning condition. If the positioning data meets the condition of the differential state, the differential state can eliminate the error quantity related to the distance in the positioning data, such as ionospheric delay, tropospheric delay, satellite clock error and the like, so that the positioning accuracy can be improved. If the positioning data meets the condition of the number of effective satellites, global positioning can be realized, and if the positioning data does not meet the condition of the number of effective satellites, range positioning can be realized, so that the global positioning is difficult to realize.
The condition that the positioning data of the first satellite positioning system meets the validity condition of the positioning data means that the positioning data of the first satellite positioning system meets one or more of a delay condition and a carrier-to-noise ratio condition. The fact that the positioning data of the first satellite positioning system conforms to the differential state condition of the positioning data means that the positioning data of the first satellite positioning system is in a differential state, and if the positioning data of the first satellite positioning system is in a fixed point state, the positioning data of the first satellite positioning system is considered to be not in the differential state condition of the positioning data. The condition that the positioning data of the first satellite positioning system conforms to the number of effective satellites is that the number of effective satellites of the first satellite positioning system is greater than or equal to a threshold value of the number of effective satellites (for example, set to 4 or 5), and if the number of effective satellites of the first satellite positioning system is less than the threshold value of the number of effective satellites, the positioning data of the first satellite positioning system is considered to be not conforming to the condition of the number of effective satellites.
In step 13, if the determination result meets the positioning condition, which indicates that the positioning data of the first satellite positioning system meets the positioning requirement, the positioning data of the first satellite positioning system is output.
In step 14, if the determination result does not meet the positioning condition, indicating that the positioning data of the first satellite positioning system does not meet the positioning requirement, switching to the second satellite positioning system.
The second satellite positioning system is another satellite positioning system different from the first satellite positioning system. The second satellite positioning system includes, for example: GPS, the beidou satellite positioning system, the Galileo (Galileo) satellite positioning system, the GLONASS (GLONASS) satellite positioning system, etc. For example, if the first satellite positioning system is GPS, the second satellite positioning system is the beidou satellite positioning system.
After switching to the second satellite positioning system, similar processing as for the positioning data of the first satellite positioning system is performed on the positioning data of the second satellite positioning system, see steps 15-18.
In step 15, a second receiver corresponding to the second satellite positioning system is enabled to receive the positioning data of the second satellite positioning system.
In step 16, the positioning data of the second satellite positioning system is analyzed, and it is determined whether the positioning data of the second satellite positioning system meets the positioning condition.
The positioning condition of the second satellite positioning system and the related determination method may refer to the description of the positioning condition of the first satellite positioning system and the related determination method in step 12, and the difference between the two methods is that the processed target data is the positioning data of the first satellite positioning system or the second satellite positioning system, and the specific processing methods are the same and are not described herein again.
In step 17, if the determination result meets the positioning condition, it indicates that the positioning data of the second satellite positioning system meets the positioning requirement, and outputs the positioning data of the second satellite positioning system.
In step 18, if the determination result does not meet the positioning condition, which indicates that the positioning data of the second satellite positioning system does not meet the positioning requirement, the first satellite positioning system or the third satellite positioning system is switched to.
The third satellite positioning system is another satellite positioning system different from the first satellite positioning system and the second satellite positioning system. The third satellite positioning system includes, for example: GPS, the beidou satellite positioning system, the Galileo (Galileo) satellite positioning system, the GLONASS (GLONASS) satellite positioning system, etc. For example, if the first satellite positioning system is GPS, the second satellite positioning system is beidou satellite positioning system, and the third satellite positioning system is Galileo (Galileo) satellite positioning system.
Through receiving a satellite positioning system's positioning data, judge whether this satellite positioning system's positioning data accords with predetermined positioning condition, if accord with positioning condition, output this satellite positioning system's positioning data, if do not accord with positioning condition, switch to another kind of satellite positioning system, can make full use of multiple satellite positioning system's location advantage, guarantee location performance to a satellite positioning system's positioning data is received and handled to the same time, reduce the operand, and then improve positioning speed, reduce the consumption.
The following describes, with reference to fig. 2, a satellite positioning method when switching between the GPS and the beidou satellite positioning system is taken as an example, and the positioning conditions include a plurality of conditions, such as a validity condition of positioning data, a differential state condition of positioning data, and a number condition of valid satellites.
Fig. 2 is a schematic flow chart of another embodiment of a satellite positioning method according to the disclosure. The satellite positioning method of this embodiment may be performed by a satellite positioning apparatus, for example.
As shown in fig. 2, the satellite positioning method of the embodiment includes: steps 21-210.
In step 21, the corresponding receiver of the GPS is enabled to receive the positioning data of the GPS.
In step 22, the positioning data of the GPS is analyzed, and whether the positioning data of the GPS meets the validity condition is determined, if yes, step 23 is executed, and if no, step 26 is executed.
For example, whether the time delay of the positioning data of the GPS is smaller than a preset time delay threshold value and/or whether the carrier-to-noise ratio of the positioning data of the GPS is larger than a preset carrier-to-noise ratio threshold value is judged, if yes, it is judged that the validity condition is met, and if not, it is judged that the validity condition is not met.
In step 23, it is determined whether the positioning data of the GPS meets the differential status condition, if yes, step 24 is executed, and if no, step 26 is executed.
For example, if the positioning data of the GPS is in a differential state, it is determined that the differential state condition is met, and if the positioning data of the GPS is not in a differential state, for example, a fix point state, it is determined that the differential state condition is not met.
In step 24, it is determined whether the positioning data of the GPS meets the condition of the number of valid satellites, if yes, step 25 is executed, and if no, step 26 is executed.
For example, if the number of valid satellites of the positioning data of the GPS is greater than a preset valid satellite number threshold, it is determined that the valid satellite number condition is met, otherwise, it is determined that the valid satellite number condition is not met. The threshold number of active satellites is set to a minimum of 4 and may also be set to 5. One more satellite may have a greater set of satellite positioning data. The multiple sets of satellite positioning data with overlapped positioning areas can be combined to position the overlapped areas, for example, weighted average processing is performed, so that positioning accuracy is improved.
At step 25, positioning data for the GPS is output.
In step 26, the positioning data of the GPS does not meet the positioning requirement, the Beidou satellite positioning system is switched to, the receiver corresponding to the Beidou satellite is started, and the positioning data of the Beidou satellite is received.
In step 27, the positioning data of the big dipper is analyzed, whether the positioning data of the big dipper meets the validity condition is judged, if yes, step 28 is executed, and if not, step 21 is executed.
For example, whether the time delay of the positioning data of the Beidou is smaller than a preset time delay threshold value and/or whether the carrier-to-noise ratio of the positioning data of the Beidou is larger than a preset carrier-to-noise ratio threshold value is judged, if yes, the validity condition is judged to be met, and if not, the validity condition is judged not to be met.
In step 28, whether the Beidou positioning data meets the difference state condition is judged, if yes, step 29 is executed, and if not, step 21 is executed.
For example, if the positioning data of big dipper is differential state, judge to accord with the differential state condition, if the positioning data of big dipper is not differential state, for example is the fixed point state, judge not to accord with the differential state condition.
In step 29, whether the positioning data of the Beidou satellite meets the condition of the number of effective satellites is judged, if yes, step 210 is executed, and if not, step 21 is executed.
For example, if the effective satellite number of the positioning data of the Beidou is larger than a preset effective satellite number threshold value, the condition that the effective satellite number is met is judged, and otherwise, the condition that the effective satellite number is not met is judged. The threshold number of active satellites is set to a minimum of 4 and may also be set to 5.
In step 210, the Beidou positioning data is output.
Above-mentioned embodiment, the same time chooses to receive GPS or big dipper satellite positioning system's locating data, if present satellite positioning system's locating data is not conform to the location requirement, switches to another kind of satellite positioning system, can make full use of GPS and big dipper satellite positioning system's location advantage, and guarantee location performance to reduce the operand, and then improve positioning speed, reduce the consumption.
In addition, in the switching control process, in addition to the basic condition of validity of the positioning data, a differential state condition of the positioning data and a condition of the number of valid satellites are considered. And if the positioning data meets the differential state condition, the positioning precision can be improved. If the positioning data meets the condition of the number of effective satellites, global positioning can be realized, and if the positioning data does not meet the condition of the number of effective satellites, range positioning can be realized, so that the global positioning is difficult to realize.
FIG. 3 is a schematic diagram of some embodiments of a satellite positioning apparatus according to the present disclosure.
As shown in fig. 3, the satellite positioning apparatus 30 of this embodiment includes:
a receiving unit 31 configured to receive positioning data of the first satellite positioning system.
A determining unit 32 configured to determine whether the positioning data of the first satellite positioning system meets a preset positioning condition.
For example, if the positioning data of the first satellite positioning system does not meet any of the validity condition of the positioning data, the differential state condition of the positioning data, and the number of valid satellites, it is determined that the positioning data of the first satellite positioning system does not meet the positioning condition. Or, if the positioning data of the first satellite positioning system meets the validity condition of the positioning data, and meets one or more conditions of the differential state condition of the positioning data and the number of valid satellites, it is determined that the positioning data of the first satellite positioning system meets the positioning condition.
An output unit 33 configured to output positioning data of the first satellite positioning system if the positioning condition is met.
A switching unit 34 configured to switch to the second satellite positioning system if the positioning condition is not met.
After switching to the second satellite positioning system, the units also perform the following processing.
A receiving unit 31 configured to receive positioning data of the second satellite positioning system.
A determining unit 32 configured to determine whether the positioning data of the second satellite positioning system meets the positioning condition.
For example, if the positioning data of the second satellite positioning system does not meet any of the validity condition of the positioning data, the differential state condition of the positioning data, and the number of valid satellites, it is determined that the positioning data of the second satellite positioning system does not meet the positioning condition. Or, if the positioning data of the second satellite positioning system meets the validity condition of the positioning data, and meets one or more conditions of the differential state condition of the positioning data and the number of valid satellites, it is determined that the positioning data of the second satellite positioning system meets the positioning condition.
An output unit 33 configured to output positioning data of the second satellite positioning system if the positioning condition is met.
A switching unit 34 configured to switch to the first satellite positioning system or the third satellite positioning system if the positioning condition is not met.
FIG. 4 is a schematic diagram of another embodiment of a satellite positioning apparatus according to the present disclosure.
As shown in fig. 4, the satellite positioning apparatus 40 of this embodiment includes:
a memory 41 and a processor 42 coupled to the memory 41, the processor 42 being configured to perform the satellite positioning method in any of the embodiments described above based on instructions stored in the memory 41.
The memory 41 may include, for example, a system memory, a fixed nonvolatile storage medium, and the like. The system memory stores, for example, an operating system, an application program, a Boot Loader (Boot Loader), and other programs.
The satellite positioning device 40 may also include an input-output interface 43, a network interface 44, a storage interface 45, and the like. These interfaces 43, 44, 45 and the connection between the memory 41 and the processor 42 may be, for example, via a bus 46. The input/output interface 43 provides a connection interface for input/output devices such as a display, a mouse, a keyboard, and a touch screen. The network interface 44 provides a connection interface for various networking devices. The storage interface 45 provides a connection interface for external storage devices such as an SD card and a usb disk.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described 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 flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, 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 specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only exemplary of the present disclosure and is not intended to limit the present disclosure, so that any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (11)
1. A method of satellite positioning, comprising:
receiving positioning data of a first satellite positioning system;
judging whether the positioning data of the first satellite positioning system meets a preset positioning condition or not;
if the positioning condition is met, outputting the positioning data of the first satellite positioning system;
and if the positioning condition is not met, switching to a second satellite positioning system.
2. The method of claim 1, further comprising, after switching to the second satellite positioning system:
receiving positioning data of the second satellite positioning system;
judging whether the positioning data of the second satellite positioning system meets the positioning conditions or not;
if the positioning condition is met, outputting the positioning data of the second satellite positioning system;
and if the positioning condition is not met, switching to the first satellite positioning system or the third satellite positioning system.
3. The method according to claim 1 or 2, characterized in that the positioning conditions comprise validity conditions of positioning data.
4. The method of claim 3, wherein the positioning conditions further comprise one or more of a differential state condition for positioning data, a number of valid satellites condition.
5. The method of claim 4, wherein determining whether the positioning data of the first satellite positioning system meets a predetermined positioning condition comprises:
if the positioning data of the first satellite positioning system does not accord with any one of the effective conditions of the positioning data, the differential state conditions of the positioning data and the effective satellite quantity conditions, determining that the positioning data of the first satellite positioning system does not accord with the positioning conditions;
or, if the positioning data of the first satellite positioning system meets the validity condition of the positioning data, and meets one or more conditions of a differential state condition of the positioning data and a valid satellite number condition, determining that the positioning data of the first satellite positioning system meets the positioning condition.
6. The method of claim 5,
the validity condition that the positioning data of the first satellite positioning system meets the positioning data is that the positioning data of the first satellite positioning system meets one or more of a time delay condition and a carrier-to-noise ratio condition;
the condition that the positioning data of the first satellite positioning system conforms to the differential state of the positioning data is that the positioning data of the first satellite positioning system is in the differential state;
the first satellite positioning system positioning data meets the condition of the number of effective satellites, and the condition is that the number of effective satellites of the first satellite positioning system is larger than or equal to the threshold value of the number of effective satellites.
7. The method according to claim 1 or 2,
the first satellite positioning system or the second satellite positioning system includes: a global positioning system GPS, a Beidou satellite positioning system, a Galileo satellite positioning system and a Gronass satellite positioning system.
8. A satellite positioning apparatus, comprising:
a receiving unit configured to receive positioning data of a first satellite positioning system;
the judging unit is configured to judge whether the positioning data of the first satellite positioning system meets a preset positioning condition;
an output unit configured to output positioning data of the first satellite positioning system if the positioning condition is met;
a switching unit configured to switch to a second satellite positioning system if the positioning condition is not met.
9. The apparatus of claim 8,
the receiving unit is configured to receive positioning data of a second satellite positioning system after switching to the second satellite positioning system;
the judging unit is configured to judge whether the positioning data of the second satellite positioning system meets the positioning condition;
the output unit is configured to output the positioning data of the second satellite positioning system if the positioning condition is met;
the switching unit is configured to switch to the first satellite positioning system or the third satellite positioning system if the positioning condition is not met.
10. A satellite positioning apparatus, comprising:
a memory; and
a processor coupled to the memory, the processor configured to perform the satellite positioning method of any of claims 1-7 based on instructions stored in the memory.
11. A non-transitory computer readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the satellite positioning method according to any one of claims 1-7.
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