CN111736189B - Satellite selection method and device, computer readable storage medium and electronic device - Google Patents
Satellite selection method and device, computer readable storage medium and electronic device Download PDFInfo
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- CN111736189B CN111736189B CN202010270400.XA CN202010270400A CN111736189B CN 111736189 B CN111736189 B CN 111736189B CN 202010270400 A CN202010270400 A CN 202010270400A CN 111736189 B CN111736189 B CN 111736189B
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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
Abstract
The invention discloses a satellite selection method and device, a computer-readable storage medium and an electronic device. The method comprises the following steps: acquiring a first satellite identification set of a satellite which allows a target terminal to be positioned at the current Nth positioning moment, wherein N is a natural number greater than 1; acquiring a second satellite identification set of a satellite for positioning the target terminal selected at the N-1 th positioning moment; acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; and under the condition that the number of the satellite identifications included in the third satellite identification set is greater than a first preset threshold value, selecting the satellites represented by the satellite identifications included in the third satellite identification set to position the target terminal. The target terminal can include but is not limited to a mobile phone, a positioning SDK of a car machine, and the like, thereby solving the technical problem of low positioning information stability caused by frequent switching of positioning satellites used for positioning the target terminal in the prior art.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to a satellite selection method and device, a computer-readable storage medium and an electronic device.
Background
At present, the navigation technology is developed more mature, which brings convenience to people, but the stability and accuracy of navigation are higher and higher. In the prior art, positioning is performed on a selected satellite in a navigation technology, the selection of the satellite at the positioning time is very important, and a suitable satellite is selected for positioning in the satellite state at the current positioning time, for example, based on information such as the altitude angle, geometric distribution, signal-to-noise ratio and the like of the satellite. The problem of poor positioning stability caused by frequent satellite switching exists when the positioning satellite is selected at each moment of the target terminal.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a satellite selection method and device, a computer-readable storage medium and an electronic device, which are used for at least solving the technical problem of low positioning information stability caused by frequent switching of positioning satellites for positioning a target terminal in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a satellite selection method, including: acquiring a first satellite identification set of a current Nth positioning moment, wherein a satellite identification included in the first satellite identification set is used for representing a satellite which allows a target terminal to be positioned at the Nth positioning moment, and N is a natural number greater than 1; acquiring a second satellite identification set of the (N-1) th positioning time, wherein satellite identifications included in the second satellite identification set are used for representing satellites which are selected for positioning the target terminal at the (N-1) th positioning time; acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; and under the condition that the number of the satellite identifications included in the third satellite identification set is greater than a first preset threshold value, selecting the satellites represented by the satellite identifications included in the third satellite identification set to position the target terminal.
According to another aspect of the embodiments of the present invention, there is also provided a satellite selection apparatus, including: a first obtaining unit, configured to obtain a first satellite identifier set of a current nth positioning time, where a satellite identifier included in the first satellite identifier set is used to represent a satellite that allows positioning of a target terminal at the nth positioning time, and N is a natural number greater than 1; a second obtaining unit, configured to obtain a second satellite identifier set at an nth-1 positioning time, where a satellite identifier included in the second satellite identifier set is used to indicate a satellite used for positioning the target terminal at the nth-1 positioning time; a third obtaining unit, configured to obtain an intersection of the first satellite identifier set and the second satellite identifier set, so as to obtain a third satellite identifier set; and a first selecting unit, configured to select a satellite represented by the satellite identifier in the third set of satellite identifiers to perform positioning on the target terminal when the number of satellite identifiers in the third set of satellite identifiers is greater than a first predetermined threshold.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, in which a computer program is stored, wherein the computer program is configured to execute the satellite selection method when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the satellite selection method through the computer program.
In the embodiment of the invention, a first satellite identification set of the current Nth positioning time is obtained, wherein a satellite identification included in the first satellite identification set is used for representing a satellite allowing the target terminal to be positioned at the Nth positioning time, and N is a natural number greater than 1; acquiring a second satellite identification set of the (N-1) th positioning moment, wherein the satellite identification included in the second satellite identification set is used for representing a satellite which is selected for positioning the target terminal at the (N-1) th positioning moment; acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; under the condition that the number of the satellite identifications in the third satellite identification set is larger than a first preset threshold value, the satellites represented by the satellite identifications in the third satellite identification set are selected to position the target terminal, so that the satellite set for positioning the satellite at the previous positioning time and the positioning satellite at the current positioning time is obtained, and under the condition that the number of the satellites in the satellite set is larger than the preset threshold value, the positioning satellites in the set are selected to position the target terminal, so that the technical effect of frequent switching of the positioning satellites is avoided, and the technical problem that in the prior art, the positioning information stability is low due to frequent switching of the positioning satellites used for positioning the target terminal is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic diagram of an application environment of an alternative satellite selection method according to an embodiment of the invention;
FIG. 2 is a flow chart of an alternative satellite selection method according to an embodiment of the present invention;
FIG. 3 is a flow chart of an alternative satellite selection method according to an embodiment of the present invention;
FIG. 4 is a flow chart of an alternative satellite selection method according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an alternative satellite selection device according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an alternative satellite selection method in an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an aspect of the embodiments of the present invention, a satellite selection method is provided, and optionally, as an optional implementation manner, the satellite selection method may be applied, but is not limited to, in a hardware environment as shown in fig. 1, where the hardware environment may include, but is not limited to, the terminal device 102, the network 110, and the server 112.
The terminal device 102 may include, but is not limited to: a human-computer interaction screen 104, a processor 106 and a memory 108. The man-machine interaction screen 104 is used for acquiring a man-machine interaction instruction through a man-machine interaction interface and presenting a first satellite identification set; the processor 106 is configured to respond to the human-computer interaction instruction to obtain a first satellite identification set, a second satellite identification information set, and a third satellite identification set. The memory 108 is used for storing the acquired first set of satellite identifications, the second set of satellite identification information, and the third set of satellite identifications. Here, the server may include but is not limited to: the database 114 and the processing engine 116, the processing engine 116 is configured to call the database 114 to store and acquire a first satellite identifier set and a second satellite identifier information set, and determine an intersection of the first satellite identifier set and the second satellite identifier set to obtain a third satellite identifier set, and select a satellite represented by a satellite identifier included in the third satellite identifier set to position the target terminal when the number of satellite identifiers included in the third satellite identifier set is greater than a first predetermined threshold, so as to achieve the purpose of acquiring a satellite set for positioning a satellite at a previous positioning time and a positioning satellite at a current positioning time, and select a positioning satellite in the set to position the target terminal when the number of satellites in the satellite set is greater than the predetermined threshold, so as to avoid a technical effect of frequent switching of positioning satellites, thereby solving the technical problem in the prior art, the method has the technical problem of low positioning information stability caused by frequent switching of positioning satellites for positioning the target terminal.
The specific process comprises the following steps: in steps S102-S112, the positioning information of the target terminal at the current nth time is obtained, and the positioning information is sent to the server 112 through the network 110. The method comprises the steps of obtaining a first satellite identification set and a second satellite identification information set at a server 112, obtaining a third satellite identification set after determining the intersection of the first satellite identification set and the second satellite identification set, and positioning a target terminal by selecting a satellite represented by a satellite identification included in the third satellite identification set under the condition that the number of the satellite identifications included in the third satellite identification set is greater than a first preset threshold value. And then returns the determined result to the terminal device 102.
Then, in steps S102-S112, the terminal device 102 obtains a first set of satellite identifiers at the current nth positioning time, where the satellite identifiers included in the first set of satellite identifiers are used to represent satellites that are allowed to position the target terminal at the nth positioning time, and N is a natural number greater than 1; acquiring a second satellite identification set of the (N-1) th positioning moment, wherein the satellite identification included in the second satellite identification set is used for representing a satellite which is selected for positioning the target terminal at the (N-1) th positioning moment; acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; under the condition that the number of the satellite identifications in the third satellite identification set is larger than a first preset threshold value, the satellites represented by the satellite identifications in the third satellite identification set are selected to position the target terminal, so that the satellite set for positioning the satellite at the previous positioning time and the positioning satellite at the current positioning time is obtained, and under the condition that the number of the satellites in the satellite set is larger than the preset threshold value, the positioning satellites in the set are selected to position the target terminal, so that the technical effect of frequent switching of the positioning satellites is avoided, and the technical problem that in the prior art, the positioning information stability is low due to frequent switching of the positioning satellites used for positioning the target terminal is solved.
Optionally, in this embodiment, the satellite selection method may be applied, but not limited to, in the server 112, in the terminal device 102, and may also be applied to interaction between the server 112 and the terminal device 102. The server 112 and the terminal device 102 may implement data interaction through a network, which may include but is not limited to a wireless network or a wired network. Wherein, this wireless network includes: bluetooth, WIFI, and other networks that enable wireless communication. Such wired networks may include, but are not limited to: wide area networks, metropolitan area networks, and local area networks. The above is merely an example, and this is not limited in this embodiment.
Optionally, as an optional implementation manner, as shown in fig. 2, the satellite selection method includes:
step S202, a first satellite identification set of the current Nth positioning time is obtained, wherein the satellite identification included in the first satellite identification set is used for representing a satellite allowing the target terminal to be positioned at the Nth positioning time, and N is a nature greater than 1.
Step S204, a second satellite identification set of the (N-1) th positioning time is obtained, wherein the satellite identification included in the second satellite identification set is used for representing the satellite which is selected for the (N-1) th positioning time and used for positioning the target terminal.
Step S206, acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set.
Step S208, when the number of the satellite identifiers included in the third set of satellite identifiers is greater than the first predetermined threshold, selecting the satellite represented by the satellite identifier included in the third set of satellite identifiers to position the target terminal.
Optionally, this embodiment may be applied to a positioning satellite for selectively positioning the target terminal. The current nth positioning time may be denoted as positioning the target terminal at the 3 rd second time, and the nth-1 st positioning time may be denoted as positioning the target terminal at the 2 nd second time. It should be noted that the target terminal may include, but is not limited to, a mobile phone, a location SDK of a car machine, and the like.
It should be noted that when a target terminal is located through a Global Navigation Satellite System (GNSS), a plurality of satellites are established through preselection for resolving the location of the target terminal at different positions.
For example, in the case where the target terminal is a mobile phone terminal, a first set of satellite identifications for performing mobile phone positioning at 2 nd second is obtained, where the set includes satellite 1, satellite 2, satellite 3, satellite 4, satellite 5, and satellite 11, that is, the mobile phone has moved to the 2 nd second position from the time when positioning information starts to be transmitted, and the satellites for resolving the positioning at the 2 nd second position include 5 satellites. At this time, a second set of satellite identifications for positioning the satellites of the handset for the 1 st second needs to be acquired, where the second set of satellite identifications includes satellite 1, satellite 2, satellite 3, satellite 4, satellite 5, satellite 6, satellite 7, satellite 8, satellite 9, and satellite 10. As can be seen, a third satellite identification set exists, where the third satellite identification set includes satellite 1, satellite 2, satellite 3, satellite 4, and satellite 5, and may be used to locate the positioning information of the mobile phone in the 2 nd and 3 rd seconds, and the number of satellites included in the third satellite identification set is 5, and is greater than the first predetermined threshold 4, and the mobile phone is located by using the satellites in the third satellite identification set. And further, frequent switching of the positioning satellite is avoided, and the stability of the positioning result can be improved. It should be noted that the first predetermined threshold may be set to 4 or other values as desired.
Optionally, in this embodiment, in a case that the number of the satellite identifiers included in the third satellite identifier set is smaller than a second predetermined threshold, a fourth satellite identifier set is determined in the first satellite identifier set, where the first predetermined threshold is larger than the second predetermined threshold, and the fourth satellite identifier set includes the third satellite identifier set;
in practical applications, in the case that the target terminal is a mobile phone terminal, a first set of satellite identifiers for performing mobile phone positioning at 2 seconds is obtained, where the set includes satellite 1, satellite 2, satellite 3, satellite 4, satellite 5, and satellite 11, that is, the mobile phone has moved to the position at 2 seconds from the time when positioning information starts to be transmitted, and the satellites for resolving the position at 2 seconds include 5 satellites. At this time, a second set of satellite identifications for positioning the satellites of the handset for the 1 st second needs to be acquired, wherein the second set of satellite identifications includes satellite 4, satellite 5, satellite 6, satellite 7, satellite 8, satellite 9, and satellite 10. As can be seen, a third satellite identification set exists, where the third satellite identification set includes satellites 3 and satellites 4 that can be used to position the mobile phone in the 2 nd and 3 rd seconds, and the number of satellites included in the third satellite identification set is 2, and when the number of satellites is smaller than a second predetermined threshold 3, the third satellite identification set may be selected from the first satellite identification set to be used for positioning the target terminal at the 3 rd second time. It should be noted that the second predetermined threshold value may be set to 3 or other values as needed.
Optionally, in this embodiment, determining the fourth satellite identification set in the first satellite identification set may include:
s1, acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
s2, determining a fifth satellite identification set from the satellite identifications except for the third satellite identification set in the first satellite identification set, wherein historical state information of the satellite identifications in the fifth satellite identification set indicates that all satellites indicated by the satellite identifications in the fifth satellite identification set at M continuous positioning moments before the Nth positioning moment are satellites allowing positioning of the target terminal, and M is a natural number smaller than N;
s3, determining the fourth set of satellite identifications as including the third set of satellite identifications and the fifth set of satellite identifications.
Acquiring historical state information of satellite identifiers in the first satellite identifier set except for the third satellite identifier set, wherein the acquiring of the historical state information of the satellite identifiers in the first satellite identifier set comprises the following steps: and saving the states of the satellites in the first satellite identification set except the third satellite identification set tracked at each positioning moment, including whether the satellites are in a tracking state (the satellites in the tracking state are marked as available), the altitude angles of the satellites and whether the satellites are selected to participate in resolving (only the available satellites are possible to be selected), so as to establish historical information of the satellites in the first satellite identification set except the third satellite identification set in the past period. As shown in table 1, the history information of the satellite, and the information of the past N seconds when the satellite history information stored in table 1 is located once per second, are stored.
TABLE 1
According to the embodiment, historical information of the satellite in a past period is considered, the satellite in the fourth satellite identification set is determined according to the historical information, and then the target terminal is positioned, so that the problem that the filtering state of the positioning process is changed and the positioning result is unstable due to frequent switching of the satellite used for positioning the target terminal is solved.
In practical applications, a fifth set of satellite identifiers is determined from the satellite identifiers in the first set of satellite identifiers except for the third set of satellite identifiers, and the fifth set of satellite identifiers includes: satellite 1, satellite 2, satellite 3, and satellite 11, and further determine a satellite in the fourth set of satellite identifiers according to the historical state information of the satellites in the fifth set of satellite identifiers. For example, the satellites in the fifth set of satellite identifications whose historical states allow the target terminal to be located include: satellite 1, satellite 2, satellite 3, and satellite 11, the satellites in the fourth set of satellite identifications may include satellite 4, satellite 5, and at least one of satellite 1, satellite 2, satellite 3, and satellite 11.
It should be noted that, in this embodiment, the satellite that positions the target terminal is a satellite in an available state, which avoids using a satellite with a poor satellite state in the first satellite identification set for positioning the target terminal at the current nth time, and further reduces the calculation amount of the satellite in an unavailable state for positioning the current nth time under the condition of ensuring accurate positioning.
Optionally, in this embodiment, determining the fourth satellite identification set in the first satellite identification set may include:
s1, acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
s2, a sixth satellite identification set is determined from the satellite identifications in the first satellite identification set except the third satellite identification set, wherein the historical state information of the satellite identifications in the sixth satellite identification set indicates that the satellites indicated by the satellite identifications in the sixth satellite identification set at least P positioning moments in M continuous positioning moments before the Nth positioning moment are all satellites allowing to position the target terminal, M is a natural number smaller than N, and P is a natural number smaller than M;
a fourth set of satellite identifications is determined to include the third set of satellite identifications and a sixth set of satellite identifications.
Optionally, in this embodiment, determining the fourth satellite identification set in the first satellite identification set may include:
s1, acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
s2, determining a seventh satellite identification set from the satellite identifications in the first satellite identification set except the third satellite identification set, wherein the historical state information of the satellite identifications in the seventh satellite identification set represents M continuous positioning moments before the Nth positioning moment, the satellites represented by the satellite identifications in the seventh satellite identification set are all satellites allowing the target terminal to be positioned, the altitude angles of the satellites represented by the satellite identifications in the seventh satellite identification set are greater than a third preset threshold, and M is a natural number less than N;
s3, determining the fourth set of satellite identifications as including the third set of satellite identifications and the seventh set of satellite identifications.
Optionally, in this embodiment, determining the fourth satellite identification set in the first satellite identification set may include:
s1, acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
s2, determining an eighth satellite identification set from the satellite identifications in the first satellite identification set except the third satellite identification set, wherein the historical state information of the satellite identifications in the eighth satellite identification set represents at least P positioning moments in M continuous positioning moments before the Nth positioning moment, the satellites represented by the satellite identifications in the eighth satellite identification set are all satellites allowing positioning of the target terminal, the altitude angle of the satellite represented by the satellite identification in the eighth satellite identification set is larger than a third preset threshold, M is a natural number smaller than N, and P is a natural number smaller than M;
s3, determining the fourth set of satellite identifications as including the third set of satellite identifications and the eighth set of satellite identifications.
According to the embodiment provided by the application, a first satellite identification set of the current Nth positioning moment is obtained, wherein a satellite identification included in the first satellite identification set is used for representing a satellite allowing the Nth positioning moment to position a target terminal, and N is a natural number greater than 1; acquiring a second satellite identification set of the (N-1) th positioning moment, wherein the satellite identification included in the second satellite identification set is used for representing a satellite which is selected for positioning the target terminal at the (N-1) th positioning moment; acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; under the condition that the number of the satellite identifications in the third satellite identification set is larger than a first preset threshold value, the satellites represented by the satellite identifications in the third satellite identification set are selected to position the target terminal, so that the satellite set for positioning the satellite at the previous positioning time and the positioning satellite at the current positioning time is obtained, and under the condition that the number of the satellites in the satellite set is larger than the preset threshold value, the positioning satellites in the set are selected to position the target terminal, so that the technical effect of frequent switching of the positioning satellites is avoided, and the technical problem that in the prior art, the positioning information stability is low due to frequent switching of the positioning satellites used for positioning the target terminal is solved.
As an alternative embodiment, the present application further provides a satellite selection method based on satellite history information.
The scheme in the embodiment can be applied to positioning SDK of a mobile phone or a vehicle machine, so that the precision of the positioning result is improved, and no additional operation is performed on a product side. As shown in fig. 3, a flow chart of a method for selecting satellites based on historical information of satellites is provided. The specific steps are described as follows:
step 1, the GNSS receiver obtains the sending time of the satellite signal by tracking the navigation signal sent by the satellite and demodulates the navigation message, and the coordinates of each satellite can be calculated by combining ephemeris data in the navigation message.
And meanwhile, the altitude angle of each satellite can be calculated by combining the current approximate position of the receiver. Since the satellite is far from the earth, the influence of the deviation of the approximate position of several kilometers on the calculation of the altitude can be ignored, so that the approximate position can be obtained through network positioning or the positioning result of the previous moment, and the altitude of the satellite can be calculated.
Step 2, the satellite state tracked at each positioning time is saved, including whether the satellite is in a tracking state (the satellite in the tracking state is marked as available), the altitude angle of the satellite and whether the satellite is selected to participate in resolving (only the available satellite is possible to select), so as to establish historical information of a past period of time, as shown in table 1, table 1 is to save the information of the past N seconds under the condition that positioning is performed once per second.
It should be noted that, different available state duration thresholds may be set for satellites with different altitude angles, and the historical state information of the satellite includes: the length of time the satellite can be in state.
Step 3, for all available satellites at the current positioning time (current nth positioning time), firstly, taking the selected satellite at the previous time as a selected satellite to participate in the solution (which is equivalent to a satellite for obtaining an intersection of a satellite in the first satellite identifier set and a satellite in the second satellite identifier set), and determining whether the number of the selected satellites at this time is greater than a first threshold (which is equivalent to a first predetermined threshold, for example, the first predetermined threshold is 10), for example, 10 satellites: if so, keeping the selected satellite unchanged, otherwise, determining whether the selected satellite is smaller than a second threshold (corresponding to a second predetermined threshold, for example, the first predetermined threshold is 3), for example, if 4 satellites are selected, all available satellites are selected, otherwise, performing the following determination on the available satellites not selected at the previous moment: and whether the satellite is in an available state within the last N seconds is judged, if so, the satellite is set as a selected satellite and added into the positioning calculation at the moment, and if not, the satellite is continuously used as an unselected satellite.
As shown in fig. 4, a flow chart for determining a satellite at a current time is shown. The specific steps are detailed as follows:
step S401, judging whether the number of the selected satellites is larger than a first threshold value, if so, executing step S402, and if not, executing step S403;
step S402, selecting a satellite to be unchanged;
it is understood that the satellite of the previous time is selected for positioning the target terminal.
Step S403, judging whether the number of the selected satellites is smaller than a second threshold value, if so, executing step S404, and if not, executing step S405;
s404, all available satellites are selected;
step S405, judging whether each unselected available satellite is in an available state in the past N seconds, if so, selecting the satellite as a satellite participating in resolving.
It can be understood that, in the set of satellites in the first set of satellite identifications except for the satellite in the third set of satellite identifications, the satellite in the available state is selected to position the target terminal. The method avoids the situation that the satellite with poor satellite state in the first satellite identification set is used for positioning the target terminal at the current Nth moment, and further reduces the calculation amount of the satellite in the unavailable state for positioning the current Nth moment under the condition of ensuring accurate positioning.
It should be noted that the above solution can be used in conjunction with the satellite altitude, for example: and selecting the satellite with the satellite height angle larger than the threshold value 3 and in the available state in the last L seconds, wherein L is less than or equal to N.
And 4, after the satellites for calculating the positions are selected, the GNSS receiver can acquire pseudo-range observed quantities corresponding to each satellite and combines the satellite coordinates obtained by calculation. Let the pseudorange observations for the ith satellite be denoted Pi, with the satellite position coordinates (xsi, ysi, zsi), and the user coordinates to be solved for (x, y, z)
Pi＝ρi+c×b
Wherein the content of the first and second substances,
c denotes the speed of light, b is the receiver clock error, and also if given an initial coarse coordinate (x0, y0, z0), the above equation can be linearized:
there are 4 unknowns to be solved: x, y, z and b, and simultaneously combining the equations corresponding to all the selected satellites participating in the solution to form an equation set, and then solving the equations by using a least square method.
Compared with the prior art, historical information of the satellite in a past period is not considered, only the observation state of a single epoch is considered for satellite selection, frequent switching of the used satellite is possibly caused, the filtering state of the positioning process is changed, and instability is introduced.
In the scheme of the embodiment provided by the application, historical information is integrated for consideration, satellite switching is reduced as much as possible under the condition that the historical information is not necessary, the convergence state of filtering is easier to maintain, and the positioning accuracy is improved.
According to the embodiment provided by the application, the historical information of the tracked satellite is saved in the GNSS resolving process, the stability of the satellite is comprehensively evaluated according to the tracking condition, the altitude angle and other information of the satellite in the past period, when a certain satellite is shielded and then tracked again, whether the satellite needs to be added into the resolving is determined according to the evaluation of the stability, and the stability of a positioning result can be improved.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
According to another aspect of the embodiment of the invention, a satellite selection device for implementing the satellite selection method is also provided. As shown in fig. 5, the apparatus includes: a first acquiring unit 51, a second acquiring unit 53, a third acquiring unit 55, and a selecting unit 57.
A first obtaining unit 51, configured to obtain a first satellite identifier set of a current nth positioning time, where a satellite identifier included in the first satellite identifier set is used to represent a satellite that allows positioning of the target terminal at the nth positioning time, and N is a natural number greater than 1.
The second obtaining unit 53 is configured to obtain a second satellite identifier set at the nth-1 positioning time, where a satellite identifier included in the second satellite identifier set is used to indicate a satellite selected for the nth-1 positioning time to position the target terminal.
The third obtaining unit 55 is configured to obtain an intersection of the first satellite identifier set and the second satellite identifier set, so as to obtain a third satellite identifier set.
And a first selecting unit 57, configured to select a satellite represented by the satellite identifier included in the third set of satellite identifiers to position the target terminal when the number of satellite identifiers included in the third set of satellite identifiers is greater than a first predetermined threshold.
By the embodiment provided by the present application, the first obtaining unit 51 obtains a first satellite identifier set of a current nth positioning time, where a satellite identifier included in the first satellite identifier set is used to represent a satellite that is allowed to position a target terminal at the nth positioning time, and N is a natural number greater than 1; the second obtaining unit 53 obtains a second satellite identifier set at the nth-1 positioning time, where a satellite identifier included in the second satellite identifier set is used to indicate a satellite selected at the nth-1 positioning time to position the target terminal; the third obtaining unit 55 obtains an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set; the first selecting unit 57 selects the satellites represented by the satellite identifiers included in the third set of satellite identifiers to locate the target terminal when the number of the satellite identifiers included in the third set of satellite identifiers is greater than the first predetermined threshold. The method and the device have the advantages that the satellite set for obtaining the satellite for positioning the previous positioning time and the positioning satellite for positioning the current positioning time is obtained, and the positioning satellites in the set are selected to position the target terminal under the condition that the number of the satellites in the satellite set is larger than the preset threshold value, so that the technical effect of frequent switching of the positioning satellites is avoided, and the technical problem of low stability of positioning information caused by frequent switching of the positioning satellites for positioning the target terminal in the prior art is solved.
As an alternative embodiment, the apparatus may further include:
a determining unit, configured to determine a fourth set of satellite identifiers from the first set of satellite identifiers when the number of satellite identifiers included in the third set of satellite identifiers is smaller than a second predetermined threshold, where the first predetermined threshold is greater than the second predetermined threshold, and the fourth set of satellite identifiers includes the third set of satellite identifiers;
and the second selecting unit is used for selecting the satellite represented by the satellite identifier included in the fourth satellite identifier set to position the target terminal.
Wherein, the determining unit may include:
the first acquisition module is used for acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
the first determining module is used for determining a fifth satellite identification set from the satellite identifications except for the third satellite identification set in the first satellite identification set, wherein the historical state information of the satellite identifications in the fifth satellite identification set indicates that all satellites represented by the satellite identifications in the fifth satellite identification set at M continuous positioning moments before the Nth positioning moment are satellites allowing to position the target terminal, and M is a natural number smaller than N;
a second determination module to determine the fourth set of satellite identifications as including a third set of satellite identifications and a fifth set of satellite identifications.
Wherein, the determining unit may include:
the second acquisition module is used for acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
a third determining module, configured to determine a sixth satellite identifier set from the satellite identifiers in the first satellite identifier set except for the third satellite identifier set, where historical state information of the satellite identifiers in the sixth satellite identifier set indicates that satellites indicated by the satellite identifiers in the sixth satellite identifier set at least P positioning times among M continuous positioning times before an nth positioning time are all satellites that allow positioning of the target terminal, M is a natural number smaller than N, and P is a natural number smaller than M;
a fourth determination module to determine the fourth set of satellite identifications as including the third set of satellite identifications and the sixth set of satellite identifications.
Wherein, the determining unit may include:
the third acquisition module is used for acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
a fifth determining module, configured to determine a seventh satellite identifier set from the satellite identifiers in the first satellite identifier set except for the third satellite identifier set, where historical state information of the satellite identifiers in the seventh satellite identifier set indicates M consecutive positioning times before the nth positioning time, satellites indicated by the satellite identifiers in the seventh satellite identifier set are all satellites that allow positioning of the target terminal, an altitude angle of the satellite indicated by the satellite identifier in the seventh satellite identifier set is greater than a third predetermined threshold, and M is a natural number less than N;
a sixth determination module to determine the fourth set of satellite identifications as including a third set of satellite identifications and a seventh set of satellite identifications.
Wherein, the determining unit may include:
the fourth acquisition module is used for acquiring historical state information of the satellite identifiers in the first satellite identifier set except the third satellite identifier set;
a seventh determining module, configured to determine an eighth satellite identifier set from the satellite identifiers in the first satellite identifier set except for the third satellite identifier set, where historical state information of the satellite identifiers in the eighth satellite identifier set indicates at least P positioning times in M continuous positioning times before an nth positioning time, satellites indicated by the satellite identifiers in the eighth satellite identifier set are all satellites that allow positioning of the target terminal, an altitude angle of a satellite indicated by a satellite identifier in the eighth satellite identifier set is greater than a third predetermined threshold, M is a natural number smaller than N, and P is a natural number smaller than M;
an eighth determination module to determine the fourth set of satellite identifications as including the third set of satellite identifications and the eighth set of satellite identifications.
According to another aspect of the embodiments of the present invention, there is also provided an electronic device for implementing the satellite selection method, as shown in fig. 6, the electronic device includes a memory 602 and a processor 604, the memory 602 stores a computer program, and the processor 604 is configured to execute the steps in any one of the method embodiments through the computer program.
Optionally, in this embodiment, the electronic apparatus may be located in at least one network device of a plurality of network devices of a computer network.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, acquiring a first satellite identification set of the current Nth positioning moment, wherein the satellite identification included in the first satellite identification set is used for representing a satellite allowing the target terminal to be positioned at the Nth positioning moment, and N is a natural number greater than 1;
s2, acquiring a second satellite identification set of the (N-1) th positioning moment, wherein the satellite identification included in the second satellite identification set is used for representing the satellite for positioning the target terminal selected at the (N-1) th positioning moment;
s3, acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set;
and S4, under the condition that the number of the satellite identifications included in the third set of satellite identifications is greater than a first preset threshold value, selecting the satellites represented by the satellite identifications included in the third set of satellite identifications to position the target terminal.
Alternatively, it can be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration, and the electronic device may also be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, and the like. Fig. 6 is a diagram illustrating a structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
The memory 602 may be configured to store software programs and modules, such as program instructions/modules corresponding to the satellite selection method and apparatus in the embodiments of the present invention, and the processor 604 executes various functional applications and data processing by running the software programs and modules stored in the memory 602, so as to implement the above-mentioned satellite selection method. The memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 602 may further include memory located remotely from the processor 604, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The memory 602 may be specifically, but not limited to, used to store information such as a first set of satellite identifications, a second set of satellite identifications, and a third set of satellite identifications. As an example, as shown in fig. 6, the memory 602 may include, but is not limited to, the first obtaining unit 51, the second obtaining unit 53, the third obtaining unit 55, and the selecting unit 57 of the satellite selecting device. In addition, the satellite selection device may further include, but is not limited to, other module units in the satellite selection device, which is not described in this example again.
Optionally, the transmitting device 606 is used for receiving or sending data via a network. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 606 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmitting device 606 is a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In addition, the electronic device further includes: a display 608, configured to display the first set of satellite identifiers, the second set of satellite identifiers, or the third set of satellite identifiers; and a connection bus 610 for connecting the respective module parts in the above-described electronic apparatus.
According to a further aspect of an embodiment of the present invention, there is also provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Alternatively, in the present embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for executing the steps of:
s1, acquiring a first satellite identification set of the current Nth positioning moment, wherein the satellite identification included in the first satellite identification set is used for representing a satellite allowing the target terminal to be positioned at the Nth positioning moment, and N is a natural number greater than 1;
s2, acquiring a second satellite identification set of the (N-1) th positioning moment, wherein the satellite identification included in the second satellite identification set is used for representing the satellite for positioning the target terminal selected at the (N-1) th positioning moment;
s3, acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set;
and S4, under the condition that the number of the satellite identifications included in the third set of satellite identifications is greater than a first preset threshold value, selecting the satellites represented by the satellite identifications included in the third set of satellite identifications to position the target terminal.
Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method for selecting a satellite, comprising:
acquiring a first satellite identification set of a current Nth positioning moment, wherein a satellite identification included in the first satellite identification set is used for representing a satellite which allows a target terminal to be positioned at the Nth positioning moment, and N is a natural number greater than 1;
acquiring a second satellite identification set of the (N-1) th positioning time, wherein satellite identifications included in the second satellite identification set are used for representing satellites which are selected for positioning the target terminal at the (N-1) th positioning time;
acquiring an intersection of the first satellite identification set and the second satellite identification set to obtain a third satellite identification set;
and under the condition that the number of the satellite identifications included in the third satellite identification set is greater than a first preset threshold value, selecting the satellites represented by the satellite identifications included in the third satellite identification set to position the target terminal.
2. The method of claim 1, further comprising:
determining a fourth set of satellite identifications from the first set of satellite identifications when the number of satellite identifications included in the third set of satellite identifications is smaller than a second predetermined threshold, wherein the first predetermined threshold is larger than the second predetermined threshold, and the fourth set of satellite identifications includes the third set of satellite identifications;
and selecting the satellite represented by the satellite identifier in the fourth satellite identifier set to position the target terminal.
3. The method of claim 2, wherein determining a fourth set of satellite identifications among the first set of satellite identifications comprises:
acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
determining a fifth satellite identification set from the satellite identifications in the first satellite identification set except for the third satellite identification set, wherein the historical state information of the satellite identifications in the fifth satellite identification set indicates that the satellites indicated by the satellite identifications in the fifth satellite identification set are all satellites allowing to position the target terminal at M continuous positioning moments before the Nth positioning moment, and M is a natural number smaller than N;
determining the fourth set of satellite identifications to include the third set of satellite identifications and the fifth set of satellite identifications.
4. The method of claim 2, wherein determining a fourth set of satellite identifications among the first set of satellite identifications comprises:
acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
determining a sixth satellite identification set from the satellite identifications in the first satellite identification set except for the third satellite identification set, wherein the historical state information of the satellite identifications in the sixth satellite identification set indicates that the satellites indicated by the satellite identifications in the sixth satellite identification set at least P positioning moments in M continuous positioning moments before the Nth positioning moment are all satellites allowing to position the target terminal, M is a natural number smaller than N, and P is a natural number smaller than M;
determining the fourth set of satellite identifications to include the third set of satellite identifications and the sixth set of satellite identifications.
5. The method of claim 2, wherein determining a fourth set of satellite identifications among the first set of satellite identifications comprises:
acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
determining a seventh satellite identification set from the satellite identifications in the first satellite identification set except for the third satellite identification set, wherein the historical state information of the satellite identifications in the seventh satellite identification set represents M continuous positioning moments before the Nth positioning moment, the satellites represented by the satellite identifications in the seventh satellite identification set are all satellites allowing the target terminal to be positioned, the altitude angles of the satellites represented by the satellite identifications in the seventh satellite identification set are greater than a third predetermined threshold, and M is a natural number less than N;
determining the fourth set of satellite identifications to include the third set of satellite identifications and the seventh set of satellite identifications.
6. The method of claim 2, wherein determining a fourth set of satellite identifications among the first set of satellite identifications comprises:
acquiring historical state information of satellite identifications in the first satellite identification set except for the third satellite identification set;
determining an eighth satellite identification set from the satellite identifications in the first satellite identification set except for the third satellite identification set, wherein the historical state information of the satellite identifications in the eighth satellite identification set represents at least P positioning moments in M continuous positioning moments before the Nth positioning moment, the satellites represented by the satellite identifications in the eighth satellite identification set are all satellites allowing the target terminal to be positioned, the altitude angle of the satellite represented by the satellite identification in the eighth satellite identification set is greater than a third preset threshold, M is a natural number less than N, and P is a natural number less than M;
determining the fourth set of satellite identifications as including the third set of satellite identifications and the eighth set of satellite identifications.
7. A satellite selection device, comprising:
a first obtaining unit, configured to obtain a first satellite identifier set of a current nth positioning time, where a satellite identifier included in the first satellite identifier set is used to represent a satellite that allows positioning of a target terminal at the nth positioning time, and N is a natural number greater than 1;
a second obtaining unit, configured to obtain a second satellite identifier set at an nth-1 positioning time, where a satellite identifier included in the second satellite identifier set is used to indicate a satellite used for positioning the target terminal at the nth-1 positioning time;
a third obtaining unit, configured to obtain an intersection of the first satellite identifier set and the second satellite identifier set, so as to obtain a third satellite identifier set;
and a first selecting unit, configured to select a satellite represented by the satellite identifier in the third set of satellite identifiers to perform positioning on the target terminal when the number of satellite identifiers in the third set of satellite identifiers is greater than a first predetermined threshold.
8. The apparatus of claim 7, further comprising:
a determining unit, configured to determine a fourth set of satellite identifiers from the first set of satellite identifiers when the number of satellite identifiers included in the third set of satellite identifiers is smaller than a second predetermined threshold, where the first predetermined threshold is greater than the second predetermined threshold, and the fourth set of satellite identifiers includes the third set of satellite identifiers;
and the second selecting unit is used for selecting the satellite represented by the satellite identifier included in the fourth satellite identifier set to position the target terminal.
9. A computer-readable storage medium comprising a stored program, wherein the program when executed performs the method of any of claims 1 to 6.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 6 by means of the computer program.
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