CN112612040B - GNSS starting method and device of global navigation satellite system - Google Patents

GNSS starting method and device of global navigation satellite system Download PDF

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Publication number
CN112612040B
CN112612040B CN202011453413.7A CN202011453413A CN112612040B CN 112612040 B CN112612040 B CN 112612040B CN 202011453413 A CN202011453413 A CN 202011453413A CN 112612040 B CN112612040 B CN 112612040B
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gnss
time
lte
position information
starting
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CN112612040A (en
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晏龙
李知方
杨江
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Unisoc Chongqing Technology Co Ltd
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Unisoc Chongqing Technology Co Ltd
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Priority to PCT/CN2021/137106 priority patent/WO2022122019A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/258—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to the satellite constellation, e.g. almanac, ephemeris data, lists of satellites in view
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Abstract

The embodiment of the application discloses a GNSS starting method and a GNSS starting device of a global navigation satellite system. The GNSS starting method comprises the following steps: receiving a GNSS positioning request; determining the number of LTE (long term evolution) frames, wherein the number of the LTE frames is the number of the LTE frames received between the time of finishing the last GNSS cold start and the time of receiving the GNSS positioning request; determining a GNSS sleep time based on the number of LTE frames; and determining a starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a cold starting mode or a hot starting mode. By the mode, the terminal equipment can time the sleep time through the LTE frame, and the accuracy of the sleep time is improved.

Description

GNSS starting method and device of global navigation satellite system
Technical Field
The present application relates to the field of communications positioning technologies, and in particular, to a method and an apparatus for starting a global navigation satellite system GNSS.
Background
A Global Navigation Satellite System (GNSS) is a space-based radio Navigation positioning System that can provide users with all-weather 3-dimensional coordinates and speed and time information at any location on the surface of the earth or in the near-earth space. In the communication positioning chip fusion system, the 32K crystal oscillator count of the chip is usually adopted in the GNSS sleep process to determine the sleep time of the GNSS, so that after the GNSS receives the next positioning requirement, the GNSS can be started according to the sleep time to further start the GNSS to acquire the position information of the terminal device. The GNSS starting mode includes a cold start mode (that is, the GNSS has no prior data, obtains the space positioning satellite parameters and obtains positioning according to the space positioning parameters) and a hot start mode (that is, the GNSS has prior data, and can obtain positioning according to the space positioning satellite parameters in the prior data).
However, the 32K crystal oscillator is easily affected by the environment temperature of the operating environment, which causes the situation of frequency offset increase, so the accuracy of the GNSS sleep time obtained by the method is low, and the position information of the terminal device cannot be accurately determined. In order to improve the accuracy of the GNSS sleep time, the terminal device may adjust the 32K crystal oscillator by periodically waking up the GNSS. For example, the terminal device wakes up the GNSS when the count of the 32K crystal oscillator reaches 3 times, and adjusts the 32K crystal oscillator corresponding to the GNSS, so as to improve the accuracy of the GNSS sleep time obtained based on the 32K crystal oscillator. However, the accuracy of the 32K crystal oscillator is improved in such a way, and meanwhile, the power consumption of the terminal device is also increased.
Disclosure of Invention
According to the method, the terminal equipment can accurately time the sleep time according to an LTE frame in a Long Term Evolution (LTE) system, so that the accuracy of the sleep time is improved, and the accuracy of the GNSS starting in a hot-start mode to obtain and position can be improved.
In a first aspect, an embodiment of the present application provides a method for starting a global navigation satellite system GNSS, where the method includes: receiving a GNSS positioning request; determining the number of LTE frames, wherein the number of the LTE frames is the number of the LTE frames received between the last GNSS cold start ending time and the GNSS positioning request receiving time; determining a GNSS sleep time based on the number of LTE frames; and determining the starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a cold starting mode or a hot starting mode.
Therefore, by the GNSS starting method, the terminal equipment can accurately acquire the sleep time of the GNSS based on the LTE frame, and further can determine the starting mode of the GNSS according to the sleep time, so that the accuracy of GNSS acquisition and positioning is improved.
In a possible implementation manner, the LTE system and the GNSS are time division multiplexed, and the GNSS sleep time is determined based on the number of LTE frames, the duration of the LTE frames, and the paging cycle of the LTE system.
In a possible implementation manner, if the sleep time is less than or equal to the first time threshold, determining that the starting manner of the GNSS is a warm starting manner; and if the sleep time is greater than the first time threshold, determining that the GNSS starting mode is a cold starting mode.
In a possible implementation manner, if the sleep time is less than or equal to a first time threshold, after determining that the starting manner of the GNSS is the hot starting manner, acquiring first position information according to the hot starting manner of the GNSS; and if the distance between the first position information and the second position information is larger than the distance threshold value, determining that the starting mode of the GNSS is cold start, and determining that the second position information is the position of the last GNSS cold start ending moment.
In a possible implementation manner, if it is detected that the distance between the first position information and the second position information is greater than a distance threshold, updating a first numerical value after determining that the starting manner of the GNSS is cold start, where the first numerical value is used to record the number of times that the distance between the first position information and the second position information is greater than the distance threshold; acquiring a second numerical value, wherein the second numerical value is used for recording the total times of acquiring the first position information according to the GNSS hot start mode; and updating the first time threshold value to obtain a second time threshold value based on the ratio of the first value to the second value.
In a second aspect, an embodiment of the present application provides a GNSS starting apparatus, including:
a receiving unit, configured to receive a GNSS positioning request;
the processing unit is used for determining the number of LTE frames, wherein the number of the LTE frames is the number of the LTE frames received between the time of finishing the last GNSS cold start and the time of receiving the GNSS positioning request;
the processing unit is further configured to determine a GNSS sleep time based on the number of LTE frames;
the processing unit is further configured to determine a starting mode of the GNSS based on the GNSS sleep time, where the starting mode is a cold starting mode or a hot starting mode.
In one possible implementation, the LTE system and the GNSS are time division multiplexed, and the processing unit is specifically configured to: and determining the GNSS sleep time based on the number of the LTE frames, the duration of the LTE frames and the paging cycle of the LTE system.
In one possible implementation, the processing unit is specifically configured to: if the sleep time is less than or equal to a first time threshold, determining that the starting mode of the GNSS is a hot starting mode; and if the sleep time is greater than a first time threshold, determining that the starting mode of the GNSS is a cold starting mode.
In a possible implementation, if the sleep time is less than or equal to a first time threshold, after the processing unit determines that the GNSS start-up mode is the warm start-up mode, the processing unit is further configured to: starting the GNSS according to the hot start mode of the GNSS to acquire first position information; and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold starting, and the second position information is the position of the last cold starting ending moment.
In a possible implementation, if it is detected that the distance between the first location information and the second location information is greater than a distance threshold, after determining that the GNSS is started in a cold start mode, the processing unit is further configured to: updating a first numerical value, wherein the first numerical value is used for recording the times that the distance between the first position information and the second position information is greater than a distance threshold value; acquiring a second numerical value, wherein the second numerical value is used for recording the times of acquiring the first position information according to the hot start mode of the GNSS; and updating the first time threshold value to obtain a second time threshold value based on the ratio of the first numerical value to the second numerical value.
In a third aspect, an embodiment of the present application provides a terminal device, where the terminal device includes:
a memory for storing a computer program;
a processor invoking a computer program for performing the following operations:
receiving a GNSS positioning request;
determining the number of LTE (long term evolution) frames, wherein the number of the LTE frames is the number of the LTE frames received between the last GNSS cold start ending time and the GNSS positioning request receiving time;
determining a GNSS sleep time based on the number of LTE frames;
and determining the starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a cold starting mode or a hot starting mode.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium for storing computer software instructions for the user equipment, where the computer software instructions include a program for executing the method according to any one of the first aspect.
In the embodiment of the application, the terminal device receives the GNSS positioning request, determines the number of the LTE frames received between the last GNSS cold start ending time and the GNSS positioning request receiving time, and further determines the GNSS sleep time based on the number of the LTE frames, so that the GNSS starting mode can be determined based on the GNSS sleep time, and the GNSS starting mode is a cold starting mode or a hot starting mode. By the method, the terminal equipment can accurately time the sleep time according to the LTE frame so as to improve the accuracy of the sleep time, and further improve the accuracy of the GNSS acquisition and positioning started in a hot start mode.
Drawings
Fig. 1 is a schematic diagram of an operating mode of a communication positioning convergence system according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a GNSS activation method according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a method for determining the number of LTE frames according to an embodiment of the present application;
fig. 4 is a schematic diagram of another method for determining the number of LTE frames according to an embodiment of the present application;
fig. 5 is a schematic view of a GNSS positioning scenario according to an embodiment of the present disclosure;
FIG. 6 is a flowchart illustrating another GNSS activation method according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a GNSS starting apparatus according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application clearer, the following describes the present application in further detail with reference to the accompanying drawings.
The terms "first" and "second," and the like in the description, claims, and drawings of the present application are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of operations or elements is not limited to those listed but may alternatively include other operations or elements not listed or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.
In the present application, "at least one" means one or more, "a plurality" means two or more, "at least two" means two or three and three or more, "and/or" for describing the correspondence of the corresponding objects, indicating that three relationships may exist, for example, "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the preceding and following corresponding pair is in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
The GNSS activation method of the present application may be applied to a terminal device, and it should be understood that the terminal device mentioned in the present application may also be referred to as a terminal, a user equipment, an access terminal, a subscriber unit, a subscriber station, a mobile station, a remote terminal, a mobile device, a user terminal, a user agent, or a user equipment. The terminal device in the embodiment of the present application may be a mobile phone (mobile phone), a tablet computer (Pad), a computer with a wireless transceiving function, a Virtual Reality (VR) terminal device, an Augmented Reality (AR) terminal device, a wireless terminal in industrial control (industrial control), a wireless terminal in self driving (self driving), a wireless terminal in remote medical (remote medical), a wireless terminal in smart grid (smart grid), a wireless terminal in transportation safety (transportation safety), a wireless terminal in smart city (smart city), a wireless terminal in smart home (smart home), and the like.
To facilitate an understanding of the embodiments disclosed herein, some concepts related to the embodiments of the present application will be first explained. The description of these concepts includes, but is not limited to, the following.
Clock error: although astronomical clocks are accurate, errors exist. Clock error is the time of the astronomical clock subtracted from the clock time indicating the exact world time at the same instant, i.e. clock error is the difference of the world time minus the clock time. The size of the clock error is determined by the astronomical clock reading at the starting time and the difference of the world time, and the clock error can be measured by a radio time method. In other words, astronomical clock time can be obtained from clock difference and time.
Global Navigation Satellite positioning System (GNSS): the space-based radio navigation positioning system can provide all-weather 3-dimensional coordinate, speed and time information for a user at any position on the earth surface or in a near-earth space by using observations of a set of satellites such as pseudo range, ephemeris and satellite transmission time. If the satellite wants to know the altitude in addition to the longitude and latitude, the receiver (or called terminal device) must receive 4 satellites to accurately locate.
Long Term Evolution (LTE) system: is a long term evolution of The Universal Mobile Telecommunications System (UMTS) technology standard established by The third Generation Partnership project (The 3 gpp) organization.
The communication positioning fusion system comprises: in order to save hardware resource overhead during chip development and manufacturing, the LTE system and the GNSS may be integrated into one chip system according to timing characteristics of the LTE system and the GNSS, where the chip system is a communication positioning integration system. In the communication positioning fusion system, the LTE system and the GNSS operate in a time division multiplexing manner, and specifically as shown in fig. 1, fig. 1 is an operating mode of the communication positioning fusion system. In the communication positioning convergence system, the LTE system has two states (i.e. the LTE paging state and the LTE idle state in fig. 1), and the GNSS has two states: an active state and an idle state. When the terminal device does not receive the GNSS positioning requirement, as shown in the module 10 in fig. 1, it is a process that the communication convergence system can be regarded as periodic paging of the LTE system, that is, an LTE paging state and an LTE idle state alternately appear in the periodic paging process of the LTE system. After the terminal device receives the GNSS positioning request, as shown in block 11 in fig. 1, a process of starting GNSS acquisition and positioning for the terminal device is performed, where the process is a process of performing time division multiplexing on an LTE system and a GNSS. In other words, in the GNSS positioning acquisition process, the GNSS is in the GNSS operating state when the LTE system is in the LTE idle state, that is, in the process, the LTE paging state and the GNSS operating state are alternately performed.
For a better understanding of the solution provided by the present application, the following description will be given with reference to the accompanying drawings in the embodiments of the present application.
Referring to fig. 2, fig. 2 is a flowchart illustrating a GNSS booting process according to an embodiment of the present disclosure. As shown in FIG. 2, the GNSS starting method may comprise steps S201 to S204.
S201: a GNSS positioning request is received.
The terminal equipment receives a GNSS positioning request input by a user. For example, in an application scenario, a user opens an Application (APP) installed on a terminal device to request to obtain current location information of the user, the APP applies a GNSS technology to obtain communication positioning or the APP can call a positioning APP (the positioning APP applies a GNSS technology), and in such a case, it may be considered that the user sends a GNSS positioning request (or the terminal device receives a GNSS positioning request).
S202: and determining the number of LTE frames, wherein the number of LTE frames is the number of LTE frames received between the last GNSS cold start ending time and the GNSS positioning request receiving time.
It should be noted that the last GNSS cold start ending time is a time when the terminal device cold start GNSS obtaining position information ends closest to the time of receiving the GNSS positioning request.
And the terminal equipment acquires the LTE frame through the LTE system at the GNSS cold start ending time (namely when the acquisition of the positioning information through the cold start GNSS is completed), and starts the counter to count the LTE frame. When the terminal equipment receives the GNSS positioning request, the LTE frame is obtained again through the LTE system, and at the moment (when the terminal equipment receives the GNSS positioning request), the numerical value of the counter is the number of the LTE frame.
As exemplarily shown in fig. 3, fig. 3 is a schematic diagram for determining the number of LTE frames. Terminal equipment is in N 1 The positioning information acquisition of the cold start GNSS is completed all the time, and N is captured 1 And starting a counter to count the LTE frames at the moment. When the terminal equipment is in N 2 Capturing N when a GNSS positioning request is received at a time 2 LTE frame of time and acquisition at N 2 And the value of the time counter is the number of the LTE frames.
In a feasible implementation manner, when GNSS cold start acquisition of positioning information is completed, a terminal device acquires LTE frame count as N 1 Furthermore, the terminal device may obtain the satellite parameters acquired through GNSS cold start and the LTE frame count tag N 1 Stored in the storage space. After the terminal equipment receives the GNSS positioning request, the LTE frame count is captured to be N 2 Further, the terminal device obtains the tag N carrying the count from the storage space 1 By calculating N 2 And N 1 The difference between them obtains the number of LTE frames. Wherein the satellite parameters include: one or more of satellite navigation messages, orbital parameters of the satellite, satellite clock correction parameters, and system parameters. In this way, the terminal device can still store the prior data (i.e. the foregoing satellite parameters) obtained during the previous cold start after the power off and power off.
S203: a GNSS sleep time is determined based on the number of LTE frames.
The terminal device may determine the GNSS sleep time according to the number of LTE frames and the duration of the LTE frames. For example, if the number of LTE frames is 200 frames and the duration of the LTE frame is 10ms, the GNSS sleep time is 20000ms (i.e. 20 s) which is a product of 2000 and 10 ms.
In a possible implementation manner, the LTE system and the GNSS are time division multiplexed, and the terminal device may determine the GNSS sleep time based on the number of LTE frames, the duration of the LTE frames, and the paging cycle of the LTE system.
In the communication positioning fusion system, the LTE system and the GNSS are time division multiplexed, namely the GNSS works in an idle state of the LTE in the communication positioning fusion system. When the terminal device receives the GNSS positioning request in the LTE working state, the communication positioning fusion system responds to the GNSS positioning request in a next LTE idle state of the LTE working state after the LTE working state is executed, that is, the next LTE idle state is the GNSS working state.
Illustratively, as shown in fig. 4, the LTE paging state and the LTE idle state cycle of the LTE system in the communication positioning convergence system are performed. Terminal equipment is in N 3 The positioning information acquisition of the cold start GNSS is completed all the time, and N is captured 3 And starting a counter to count the LTE frames at the moment. N when terminal device is in LTE paging state 4 Capturing N when a GNSS positioning request is received at a time 4 LTE frame of time and acquisition at N 4 And the value of the time counter is the number of the LTE frames. After the communication positioning convergence system in the terminal device completes the LTE working state, it starts at the time of the next LTE idle state of the LTE working state (i.e. N in fig. 4) 5 Time of day) in response to the GNSS positioning request. In other words, the sleep time of the GNSS is N 5 Time and N 3 The time duration between the moments. By the mode, the GNSS sleep time is determined by combining the LTE paging cycle of the LTE system, and the accuracy of the determined GNSS sleep time can be improved.
S204: and determining a starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a cold starting mode or a hot starting mode.
The terminal device determines whether prior data exists according to the GNSS sleep time, that is, the terminal device determines whether satellite parameters acquired by the last cold-start GNSS exist or whether the satellite parameters acquired by the last cold-start GNSS are available effectively based on the GNSS sleep time.
In one possible implementation, if the sleep time is less than or equal to the first time threshold, the GNSS start-up mode is determined to be a warm start-up mode. And if the sleep time is greater than the first time threshold, determining that the GNSS starting mode is a cold starting mode. The first time threshold is set by a developer, and since ephemeris (orbit parameters of a satellite) among satellite parameters is affected by solar radiation or gravity, the satellite orbit may shift, so that the ephemeris expires every 2 hours, and the ground detection station injects new orbit information into the satellite at regular time, so that the first time threshold is generally set to 2 hours.
Exemplarily, in an application scenario, the first time threshold is 2 hours, and if the GNSS sleep time is greater than the first time threshold, the terminal device determines that the GNSS start mode is a cold start mode, that is, the terminal device cold starts the GNSS, acquires satellite parameters of a plurality of satellites, and determines the location information of the terminal device according to the satellite parameters. the terminal device receives the first positioning request at time t, and acquires satellite parameters transmitted by 4 satellites (satellite 1, satellite 2, satellite 3, and satellite 4) as shown in fig. 5: satellite navigation messages, orbit parameters of the satellite, satellite clock correction parameters and system parameters. The terminal equipment can determine the time delta t of the signal transmitted by the satellite 1 reaching the terminal equipment according to the time of transmitting the request for acquiring the satellite parameters to the satellite and the time of receiving the satellite parameters 1 The time of arrival of the signal transmitted by the satellite 2 at the terminal equipment is Δ t 2 The time of arrival of the signal transmitted by the satellite 3 at the terminal equipment is delta t 3 The time of arrival of the signal transmitted by the satellite 4 at the terminal equipment is Δ t 4 . Further, the terminal device may measure the distance between each satellite and the terminal device according to formula (1).
d i ＝c×Δt i (1)
Where c is the propagation velocity of the signal (i.e., theSpeed of light), Δ t i Time of arrival of the signal transmitted for the ith satellite at the terminal equipment, d i I may be 1, 2, 3, 4 for a pseudo range between the ith satellite and the terminal device (which is not a true range due to various error effects).
Further, the terminal device obtains the space rectangular coordinate of the satellite 1 corresponding to the satellite 1 at the time t according to the satellite navigation messages of each satellite as (x) 1 、y 1 、z 1 ) The satellite 2 has a spatial rectangular coordinate of (x) at time t 2 、y 2 、z 2 ) The space rectangular coordinate of the satellite 3 at the time t is (x) 3 、y 3 、z 3 ) The spatial rectangular coordinate of the satellite 4 at time t is (x) 4 、y 4 、z 4 ). The satellite clock difference of the satellite 1 obtained from the satellite ephemeris is t 1 The satellite clock error of the satellite 2 is t 2 The satellite clock error of the satellite 3 is t 3 The satellite clock error of the satellite 4 is t 4 . Furthermore, the terminal device may determine the position (x, y, z) of the terminal device (terminal device) and the clock difference t of the terminal device according to the position information of the 4 satellites and the formula (2).
[(x 1 -x) 2 +(y 1 -y) 2 +(z 1 -z) 2 ] 1/2 +c(t 1 -t)＝d 1
[(x 2 -x) 2 +(y 2 -y) 2 +(z 2 -z) 2 ] 1/2 +c(t 2 -t)＝d 2
[(x 3 -x) 2 +(y 3 -y) 2 +(z 3 -z) 2 ] 1/2 +c(t 3 -t)＝d 3
[(x 4 -x) 2 +(y 4 -y) 2 +(z 4 -z) 2 ] 1/2 +c(t 4 -t)＝d 4 (2)
Wherein d is 1 For pseudoranges between satellite 1 and terminal equipment, d 2 For the pseudo-range between satellite 2 and terminal equipment, d 3 For pseudoranges between the satellite 3 and the terminal device, d 4 Is the pseudorange between the satellite 4 and the terminal device. c isThe propagation speed of the signal (i.e., the speed of light).
For example, in an application scenario, the first time threshold is 2 hours, if the GNSS sleep time is less than or equal to the first time threshold, the terminal device determines that the starting mode of the GNSS is a hot-start mode, that is, the terminal device hot-starts the GNSS, and determines the location information of the terminal device according to the prior data (the satellite parameters of the plurality of satellites obtained when the GNSS is cold-started last time) and the foregoing formula (1) and formula (2), thereby completing a quick start. By the method, the terminal equipment can accurately deduce the accurate time of satellite signal transmission of the satellite according to the sleep time, so that one-time quick positioning can be finished without decoding satellite parameters such as ephemeris and the like again.
Therefore, by the GNSS starting method, the terminal equipment can acquire the LTE frame by using the LTE system in the traffic positioning fusion system so as to accurately time the dormancy time, so that the accuracy of the dormancy time is improved, and the accuracy of the GNSS starting to acquire the positioning by the hot starting mode can be improved.
Referring to fig. 6, fig. 6 is a flowchart illustrating another GNSS booting process according to an embodiment of the present application. As shown in fig. 6, this includes steps S601 to S606.
S601: a GNSS positioning request is received.
S602: and determining the number of LTE frames, wherein the number of LTE frames is the number of LTE frames received between the last GNSS cold start ending time and the GNSS positioning request receiving time.
S603: a GNSS sleep time is determined based on the number of LTE frames.
S604: and determining a starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a hot starting mode.
The specific implementation manners of steps S601 to S604 may refer to the related descriptions in the specific implementation manners of steps S201 to S204 in the foregoing embodiments, and redundant descriptions are not repeated here.
S605: and acquiring first position information according to the hot start mode of the GNSS.
The terminal equipment rapidly acquires the first position information of the terminal equipment according to the prior data acquired at the last cold-start GNSS completion time of the GNSS positioning request receiving time.
S606: and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold start, and determining that the second position information is the position of the last GNSS cold start ending moment.
The distance threshold is set by a developer, and then, corresponding adjustment can be performed according to a specific application scenario, which is not specifically limited in the present application.
After the terminal equipment acquires the position information by the cold-start GNSS, the position information is stored in the storage space and recorded as second position information, and the second position information is updated according to the position information acquired by the cold-start GNSS each time. After the terminal device determines to acquire the first position information by the hot-start GNSS, the distance between the first position information and the second position information is calculated, and whether the distance is larger than a distance threshold value is detected. If the distance is greater than the distance threshold, it is determined that the first position information acquired by the hot-start GNSS is not accurate enough, and the terminal device deletes the first position information acquired by the hot-start GNSS (that is, the terminal device does not provide the first position information to the user), and the terminal device acquires the second position information of the terminal device through the cold-start GNSS, and may output the second position information. By the method, the accuracy of the GNSS positioning information output by the terminal equipment can be improved.
Illustratively, the distance threshold is 200 km, in such a case, after the terminal device obtains the second location information through a cold-start GNSS, the terminal device saves the coordinate P of the second location information, and after determining to obtain the location information through a hot-start GNSS based on the number of LTE frames between the time of the GNSS positioning request and the time of completion of the cold-start GNSS, the terminal device calculates the distance between the coordinate O and the coordinate P of the first location information obtained through the hot-start GNSS. And if the distance between the coordinate O and the coordinate P is more than 200 kilometers, the terminal equipment cold starts the GNSS, acquires the position information coordinate Q of the terminal equipment and outputs the position information coordinate Q.
In a possible implementation, after determining that the GNSS is started in a cold start mode if it is detected that the distance between the first location information and the second location information is greater than the distance threshold, the terminal device may further update a first value, where the first value is used to record the number of times that the distance between the first location information and the second location information is greater than the distance threshold. The terminal device obtains a second numerical value, the second numerical value is used for recording the total times of obtaining the first position information according to the GNSS hot start mode, and furthermore, the terminal device updates the first time threshold value to be a second time threshold value based on the ratio of the first numerical value to the second numerical value.
After the terminal equipment starts the GNSS in a hot start mode to acquire the second position information, and detects that the distance between the second position information and the first position information acquired by the previous cold start GNSS is greater than a preset threshold value, the terminal equipment determines that the second position information is wrong, and records the number of times that the second position information is wrong as a first numerical value. The terminal device obtains an error rate of the position information obtained by the hot-start GNSS by calculating a ratio of the first value to a total number of times (i.e., the second value) of obtaining the first position information by the hot-start GNSS, and adjusts and updates the first time threshold to obtain the second time threshold if the error rate (i.e., the ratio of the first value to the second value) is greater than a preset error threshold. The preset error threshold is set by a developer according to a specific application scenario, and is not specifically limited.
For example, in an application scenario, if the terminal device obtains a first value (the number of times that the terminal device obtains the location information by the cold-start GNSS after the hot-start GNSS obtains the location information incorrectly) is 4, and a second value (the total number of times that the terminal device obtains the location information by the hot-start GNSS includes the number of times that the terminal device obtains the location information correctly by the hot-start GNSS, and the number of times that the terminal device obtains the location information by the cold-start GNSS after the position information incorrectly by the hot-start GNSS) is 10, the terminal device calculates that the ratio of the first value to the second value is 0.4 greater than the preset threshold 0.2 of the terminal device, and the terminal device may shorten the first time threshold by 0.3 hour for 2 hours, that is, update and adjust the first time threshold to the second time threshold by 1.7 hours.
Illustratively, in one application scenario, the relationship between the range of ratios between the first value and the second value and the time threshold variation is shown in table 1.
TABLE 1
Range of ratio between first value and second value Time threshold change
[0，0.1] 0h
(0.1，0.5] 0.5h
(0.5，1] 1h
If the terminal device calculates that the ratio of the first value to the second value is 0.4, the terminal device may shorten the first time threshold by 0.5 hour for 2 hours, i.e., adjust the first time threshold to be updated to the second time threshold by 1.5 hours.
Therefore, through the receiving mode, after the terminal device starts the GNSS to acquire the first location information of itself through the hot-start mode, the terminal device may verify the first location information, determine the accuracy of the first location information, and if the first location information is incorrect, start the GNSS to acquire the location information of itself through the cold-start mode. By the starting mode, the accuracy of the position information output by the terminal equipment through the GNSS can be improved.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a GNSS initiator apparatus according to an embodiment of the present invention, where the GNSS initiator apparatus is configured in a terminal device, and the GNSS initiator apparatus 70 may include:
a receiving unit 701, configured to receive a GNSS positioning request;
a processing unit 702, configured to determine a number of LTE frames for long term evolution, where the number of LTE frames is the number of LTE frames received between a time when a last GNSS cold start ends and a time when the GNSS positioning request is received;
the processing unit 702 is further configured to determine a GNSS sleep time based on the number of LTE frames;
the processing unit 702 is further configured to determine a starting mode of the GNSS based on the GNSS sleep time, where the starting mode is a cold starting mode or a hot starting mode.
In one possible implementation, an LTE system is time division multiplexed with the GNSS, and the processing unit 702 is specifically configured to: and determining the GNSS sleep time based on the number of the LTE frames, the duration of the LTE frames and the paging cycle of the LTE system.
In one possible implementation, the processing unit 702 is specifically configured to:
if the sleep time is less than or equal to a first time threshold, determining that the starting mode of the GNSS is a hot starting mode;
and if the sleep time is greater than a first time threshold, determining that the starting mode of the GNSS is a cold starting mode.
In one possible implementation, the processing unit 702 is further configured to:
starting the GNSS according to a hot start mode of the GNSS to acquire first position information;
and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold starting, and the second position information is the position of the GNSS at the last cold starting ending moment.
In one possible implementation, the processing unit 702 is further configured to: updating a first numerical value, wherein the first numerical value is used for recording the times that the distance between the first position information and the second position information is larger than a distance threshold value;
acquiring a second numerical value, wherein the second numerical value is used for recording the total times of acquiring the first position information according to the GNSS hot start mode;
updating the first time threshold to a second time threshold based on a ratio of the first value to the second value.
It should be noted that the functions of each unit module of the GNSS starting apparatus described in the embodiment of the present invention may be specifically implemented according to the method in the embodiment of the method described in fig. 2 or fig. 6, and the specific implementation process thereof may refer to the related description of the embodiment of the method in fig. 2 or fig. 6, which is not described herein again.
Please refer to fig. 8, fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure. The terminal device 80 described in the embodiment of the present application includes: the processor 801, the memory 802, the processor 801 and the memory 802 are connected by one or more communication buses.
The Processor 801 may be a Central Processing Unit (CPU), and may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The processor 801 is configured to support the user equipment to perform the corresponding functions of the terminal equipment in the methods described in fig. 2 and fig. 6.
The memory 802 may include read-only memory and random access memory, and provides computer programs and data to the processor 801. A portion of the memory 802 may also include non-volatile random access memory. Wherein, the processor 801 is used for executing, when calling the computer program:
receiving a GNSS positioning request;
determining the number of LTE (long term evolution) frames, wherein the number of the LTE frames is the number of the LTE frames received between the time of finishing the last GNSS cold start and the time of receiving the GNSS positioning request;
determining a GNSS sleep time based on the number of LTE frames;
and determining a starting mode of the GNSS based on the GNSS sleep time, wherein the starting mode is a cold starting mode or a hot starting mode.
In a possible implementation manner, the LTE system is time division multiplexed with the GNSS, and the processor 801 is specifically configured to: and determining the GNSS sleep time based on the number of the LTE frames, the duration of the LTE frames and the paging cycle of the LTE system.
In a possible implementation manner, the processor 801 is specifically configured to:
if the sleep time is less than or equal to a first time threshold, determining that the starting mode of the GNSS is a hot starting mode;
and if the sleep time is greater than a first time threshold, determining that the GNSS starting mode is a cold starting mode.
In one possible implementation, the processor 801 is further configured to: starting the GNSS according to the hot start mode of the GNSS to acquire first position information;
and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold start, and the second position information is the position of the last GNSS cold start ending moment.
In one possible implementation, the processor 801 is further configured to: updating a first numerical value, wherein the first numerical value is used for recording the times that the distance between the first position information and the second position information is greater than a distance threshold value;
acquiring a second numerical value, wherein the second numerical value is used for recording the total times of acquiring the first position information according to the GNSS hot start mode;
updating the first time threshold to a second time threshold based on a ratio of the first value to the second value.
It should be understood that, in the embodiment of the present invention, the Processor 801 may be a Central Processing Unit (CPU), and the Processor 801 may also be other general purpose processors, digital Signal Processors (DSPs), application Specific Integrated Circuits (ASICs), field-Programmable Gate arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete a hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 802 may include both read-only memory and random access memory, and provides instructions and data to the processor 801. A portion of the memory 802 may also include non-volatile random access memory. For example, the memory 802 may also store device type information.
In a specific implementation, the processor 801 and the memory 802 described in the embodiment of the present invention may execute the implementation manner described in the method embodiment described in fig. 2 or fig. 6 provided in the embodiment of the present invention, and may also execute the implementation method of the GNSS starting apparatus described in fig. 7 provided in the embodiment of the present invention, which is not described herein again.
An embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program, when executed by a processor, may be used to implement the GNSS starting method described in the embodiment corresponding to fig. 2 and fig. 6 in the present application, and details of the GNSS starting method are not described herein again.
The computer readable storage medium may be an internal storage unit of the terminal device according to any of the foregoing embodiments, for example, a hard disk or a memory of the device. The computer-readable storage medium may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the terminal device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes in the methods of the embodiments described above may be implemented by a computer program, which may be stored in a readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present application and is not to be construed as limiting the scope of the present application, so that the present application is not limited thereto, and all equivalent variations and modifications can be made to the present application.

Claims (8)

1. A GNSS boot method for a global navigation satellite system, the method comprising:
receiving a GNSS positioning request;
determining the number of LTE (long term evolution) frames, wherein the number of the LTE frames is the number of the LTE frames received between the time of finishing the last GNSS cold start and the time of receiving the GNSS positioning request;
determining a GNSS sleep time based on the number of LTE frames;
if the GNSS sleep time is less than or equal to a first time threshold, determining that the GNSS starting mode is a hot starting mode;
starting the GNSS according to the hot start mode to acquire first position information;
and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold starting, and the second position information is the position of the GNSS at the last cold starting ending moment.
2. The method of claim 1, wherein an LTE system is time division multiplexed with the GNSS, and wherein determining the GNSS sleep time based on the number of LTE frames comprises:
and determining the GNSS sleep time based on the number of the LTE frames, the duration of the LTE frames and the paging cycle of the LTE system.
3. The method according to claim 1 or 2, wherein if it is detected that the distance between the first location information and the second location information is greater than the distance threshold, it is determined that the GNSS is started after a cold start, and the method further comprises:
updating a first numerical value, wherein the first numerical value is used for recording the times that the distance between the first position information and the second position information is greater than a distance threshold value;
acquiring a second numerical value, wherein the second numerical value is used for recording the total times of acquiring the first position information according to the GNSS hot start mode;
updating the first time threshold to a second time threshold based on a ratio of the first value to the second value.
4. A Global Navigation Satellite System (GNSS) starting device is characterized by comprising:
a receiving unit, configured to receive a GNSS positioning request;
the processing unit is used for determining the number of LTE frames, wherein the number of the LTE frames is the number of the LTE frames received between the time of finishing the last GNSS cold start and the time of receiving the GNSS positioning request;
the processing unit is further configured to determine a GNSS sleep time based on the number of LTE frames;
the processing unit is further configured to determine that the GNSS starting mode is a hot start mode if the GNSS sleeping time is less than or equal to a first time threshold; starting the GNSS according to the hot start mode to acquire first position information; and if the distance between the first position information and the second position information is detected to be larger than a distance threshold, determining that the starting mode of the GNSS is cold starting, and the second position information is the position of the GNSS at the last cold starting ending moment.
5. The apparatus of claim 4, wherein an LTE system is time division multiplexed with the GNSS, and wherein the processing unit is specifically configured to:
and determining the GNSS sleep time based on the number of the LTE frames, the duration of the LTE frames and the paging cycle of the LTE system.
6. The apparatus according to claim 4 or 5, wherein if it is detected that the distance between the first location information and the second location information is greater than the distance threshold, the processing unit is further configured to, after determining that the GNSS is started in a cold start mode:
updating a first numerical value, wherein the first numerical value is used for recording the times that the distance between the first position information and the second position information is larger than a distance threshold value;
acquiring a second numerical value, wherein the second numerical value is used for recording the total times of acquiring the first position information according to the GNSS hot start mode;
updating the first time threshold to a second time threshold based on a ratio of the first value to the second value.
7. A terminal device, characterized in that it comprises a processor and a memory, said processor and said memory being interconnected, wherein said memory is adapted to store a computer program comprising program instructions, said processor being configured to invoke said program instructions to perform the method according to any one of claims 1-3.
8. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program comprising program instructions that, when executed by a processor, cause the processor to perform the method according to any of claims 1-3.
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