CN113311457A - Position determination method and device - Google Patents
Position determination method and device Download PDFInfo
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- CN113311457A CN113311457A CN202110515771.4A CN202110515771A CN113311457A CN 113311457 A CN113311457 A CN 113311457A CN 202110515771 A CN202110515771 A CN 202110515771A CN 113311457 A CN113311457 A CN 113311457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
- G01S19/425—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between signals derived from different satellite radio beacon positioning systems
Abstract
The embodiment of the invention provides a position determining method and a position determining device, which relate to the technical field of low-earth-orbit satellite communication, and the method comprises the following steps: receiving satellite signals transmitted by each low-orbit satellite in a cold starting process; selecting alternative satellites from low-orbit satellites; matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal, matching the code phase in the first code phase range of the alternative satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal, and demodulating the satellite signal by adopting the first code phase and the first frequency to obtain satellite ephemeris information recorded in the satellite signal; determining a location at which the receiver is located based on the satellite ephemeris information. When the scheme provided by the embodiment is applied to determining the position of the receiver, the efficiency of position determination is improved.
Description
Technical Field
The invention relates to the technical field of low-earth-orbit satellite communication, in particular to a position determining method and device.
Background
In a low-orbit satellite communication system, a low-orbit satellite can send a signal to a receiver on the ground, and the receiver demodulates the received signal to obtain satellite ephemeris information and caches the satellite ephemeris information. The receiver can calculate the position of the receiver based on the satellite ephemeris information, thereby realizing positioning.
The receiver can receive the satellite signal only under the normal working state, and then updates the cached satellite ephemeris information based on the received satellite signal. However, when the receiver is cold started, the cached satellite ephemeris information is lost, which requires re-acquisition of the satellite ephemeris information to determine the position of the receiver. However, the receiver needs to spend a long time acquiring the satellite ephemeris information at the time of cold start, resulting in inefficient position determination.
Disclosure of Invention
The embodiment of the invention aims to provide a position determining method and device so as to improve the efficiency of position determination. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a position determining method, applied to a receiver, where the method includes:
receiving satellite signals sent by each low-orbit satellite in a cold starting process;
selecting alternative satellites from low-orbit satellites;
matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal, wherein the first frequency range is as follows: calculating a frequency range according to a first frequency deviation range and a central frequency of a signal transmitted by the alternative satellite, wherein the first frequency deviation range is as follows: the frequency offset range is determined based on the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the center frequency is as follows: the carrier frequency of the satellite signal;
matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal, wherein the first code phase range is as follows: a range of code phases determined based on code phases of signals transmitted by the alternate satellites;
demodulating the received satellite signal by using the first code phase and the first frequency to obtain satellite ephemeris information recorded in the received satellite signal;
determining a location at which the receiver is located based on the satellite ephemeris information.
In an embodiment of the present invention, the selecting the alternative satellite from the low-earth orbit satellites includes:
selecting alternative satellites from low orbit satellites according to a preset satellite interval number, wherein the preset satellite interval number is as follows: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
In an embodiment of the present invention, the demodulating the received satellite signal by using the first code phase and the first frequency to obtain satellite ephemeris information recorded in the received satellite signal includes:
demodulating the received satellite signal by using a second code phase and a second frequency, and determining a first satellite signal which is successfully demodulated, wherein the second code phase is as follows: a code phase successfully matched with the received satellite signal for the first time, wherein the second frequency is: a frequency successfully matched with the received satellite signal for the first time;
acquiring first satellite ephemeris information and satellite identification of a visible low-earth-orbit satellite recorded in the first satellite signal;
matching the frequency in the second frequency range with a second satellite signal to obtain a successfully matched frequency as a third frequency of the second satellite signal, wherein the second satellite signal is: satellite signals other than the first satellite signal in the received satellite signals, and the second frequency range is: calculating a frequency range obtained based on a second frequency offset range of the signal transmitted by the visible low-earth orbit satellite corresponding to the obtained satellite identifier and the central frequency, wherein the second frequency offset range is as follows: the central frequency is determined according to the orbit height and the movement speed of the visible low-orbit satellite and the constellation distribution of the low-orbit satellite: a carrier frequency of a signal transmitted by the visible low earth orbit satellite;
matching the code phase in the second code phase range with the second satellite signal to obtain a successfully matched code phase as a third code phase of the second satellite signal, wherein the second code phase range is as follows: determining a code phase range based on the code phase of the satellite signal transmitted by the visible low-orbit satellite corresponding to the obtained satellite identification;
demodulating the second satellite signal by using the third code phase and the third frequency to obtain second satellite ephemeris information recorded in the second satellite signal;
and calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
In an embodiment of the present invention, the matching the frequency in the first frequency range of the candidate satellite with the satellite signal to obtain a successfully matched frequency, which is used as the first frequency of the satellite signal, includes:
performing parallel matching on the frequency in the first frequency range of the alternative satellite and the satellite signal to obtain a successfully matched frequency as a first frequency of the satellite signal;
matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal, including:
and matching the code phase in the first code phase range of the alternative satellite with the satellite signal in parallel to obtain a successfully matched code phase which is used as the first code phase of the satellite signal.
In an embodiment of the present invention, the matching the frequency in the first frequency range of the candidate satellite with the satellite signal to obtain a successfully matched frequency, which is used as the first frequency of the satellite signal, includes:
generating a first test signal, wherein the frequency of the first test signal is: a frequency in a first frequency range of the alternate satellite;
performing cross-correlation processing on the first test signal and the satellite signal to obtain a first frequency of the satellite signal;
the matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal includes:
generating a second test signal, wherein a code phase of the second test signal is: a code phase in a first code phase range of the candidate satellite;
and performing cross-correlation processing on the second test signal and the satellite signal to obtain a first code phase of the satellite signal.
In a second aspect, an embodiment of the present invention provides a position determining apparatus, applied to a receiver, where the apparatus includes:
the signal receiving module is used for receiving satellite signals transmitted by each low-orbit satellite in the cold starting process;
the satellite selection module is used for selecting alternative satellites from all low-orbit satellites;
a first signal matching module, configured to match a frequency in a first frequency range of the candidate satellite with a satellite signal to obtain a successfully matched frequency, which is used as a first frequency of the satellite signal, where the first frequency range is: calculating a frequency range according to a first frequency deviation range and a central frequency of a signal transmitted by the alternative satellite, wherein the first frequency deviation range is as follows: the frequency offset range is determined based on the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the center frequency is as follows: the carrier frequency of the satellite signal;
a second signal matching module, configured to match a code phase in a first code phase range of the candidate satellite with a satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal, where the first code phase range is: a range of code phases determined based on code phases of signals transmitted by the alternate satellites;
the information acquisition module is used for demodulating the satellite signal by adopting the first code phase and the first frequency to acquire satellite ephemeris information recorded in the satellite signal;
and the position determining module is used for determining the position of the receiver based on the satellite ephemeris information.
In an embodiment of the present invention, the satellite selection module is specifically configured to select the candidate satellites from the low earth orbit satellites according to a preset satellite interval number, where the preset satellite interval number is: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
In an embodiment of the present invention, the information obtaining module includes:
the first signal demodulation submodule is configured to demodulate the satellite signal by using a second code phase and a second frequency, and determine a first satellite signal successfully demodulated, where the second code phase is: the code phase successfully matched with the satellite signal for the first time, and the second frequency is as follows: the frequency successfully matched with the satellite signal for the first time;
the information obtaining submodule is used for obtaining first satellite ephemeris information recorded in the first satellite signal and a satellite identifier of a visible low-orbit satellite;
the first signal matching submodule is configured to match a frequency in a second frequency range with a second satellite signal to obtain a successfully matched frequency, and the successfully matched frequency is used as a third frequency of the second satellite signal, where the second satellite signal is: satellite signals other than the first satellite signal in the received satellite signals, and the second frequency range is: calculating a frequency range obtained based on a second frequency offset range of the signal transmitted by the visible low-earth orbit satellite corresponding to the obtained satellite identifier and the central frequency, wherein the second frequency offset range is as follows: the central frequency is determined according to the orbit height and the movement speed of the visible low-orbit satellite and the constellation distribution of the low-orbit satellite: a carrier frequency of a signal transmitted by the visible low earth orbit satellite;
the second signal matching submodule is configured to match a code phase in a second code phase range with a second satellite signal to obtain a successfully matched code phase, and the successfully matched code phase is used as a third code phase of the second satellite signal, where the second code phase range is: determining a code phase range based on the code phase of the satellite signal transmitted by the visible low-orbit satellite corresponding to the obtained satellite identification;
the second signal demodulation submodule is used for demodulating the second satellite signal by adopting the third code phase and the third frequency to obtain second satellite ephemeris information recorded in the second satellite signal;
and the position calculation submodule is used for calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
In an embodiment of the present invention, the first signal matching module is specifically configured to perform parallel matching on a frequency in a first frequency range of the candidate satellite and a satellite signal to obtain a successfully matched frequency, which is used as a first frequency of the satellite signal;
the second signal matching module is specifically configured to perform parallel matching on the code phase in the first code phase range of the candidate satellite and the satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal.
In an embodiment of the present invention, the first signal matching module is specifically configured to generate a first test signal, where a frequency of the first test signal is: a frequency in a first frequency range of the alternate satellite; performing cross-correlation processing on the first test signal and the satellite signal to obtain a first frequency of the satellite signal;
the second signal matching module is specifically configured to generate a second test signal, where a code phase of the second test signal is: a code phase in a first code phase range of the candidate satellite; and performing cross-correlation processing on the second test signal and the satellite signal to obtain a first code phase of the satellite signal.
In a third aspect, an embodiment of the present invention provides a receiver, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
a processor configured to implement the method steps of the first aspect when executing the program stored in the memory.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which a computer program is stored, and the computer program, when executed by a processor, implements the method steps of the second aspect.
As can be seen from the above, when the position of the receiver is determined by applying the scheme provided by the embodiment of the present invention, on one hand, candidate satellites are selected from the low-orbit satellites, the number of the candidate satellites is less than the total number of the low-orbit satellites, the code phase in the first code phase range of the candidate satellites is matched with the received satellite signal to obtain a successfully matched code phase, and the frequency in the first frequency offset range of the candidate satellites is matched with the received satellite signal to obtain a successfully matched frequency, so that the matching efficiency can be improved; on the other hand, the first frequency offset range is a frequency offset range determined by the orbit height of the candidate satellite, the motion speed and the constellation distribution of the low-orbit satellite, and the calculated first frequency offset range is a frequency offset range in which doppler offsets of signals generated by the low-orbit satellite are relatively concentrated, that is, the first frequency offset range is small and accurate. Thereby improving the efficiency of position determination.
Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and it is also obvious for a person skilled in the art to obtain other embodiments according to the drawings.
Fig. 1 is a system diagram of a low earth orbit satellite communication system according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a position determining method according to an embodiment of the present invention;
fig. 3 is a line diagram illustrating changes in doppler frequency offset according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a position determining apparatus according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a receiver according to an embodiment of the present invention.
Detailed Description
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 from the embodiments given herein by one of ordinary skill in the art, are within the scope of the invention.
First, an application scenario of the embodiment of the present invention is described with reference to fig. 1.
Fig. 1 is a system diagram of a low-earth-orbit satellite communication system according to an embodiment of the present invention, where fig. 1 includes a low-earth-orbit satellite and a receiver.
The number of low-orbit satellites reaches thousands, and compared with the GPS satellites, the low-orbit satellites have faster movement speed and lower orbit height.
The receiver is located on the ground, and the common receiver can be: mobile phones, vehicles, etc. equipped with GPS.
The low-orbit satellite is used for transmitting satellite signals to the receiver, the receiver is used for receiving the satellite signals transmitted by the low-orbit satellite, and the position of the receiver is calculated based on the satellite ephemeris information in the satellite signals.
Referring to fig. 2, fig. 2 is a schematic flow chart of a position determining method according to an embodiment of the present invention, where the method includes the following steps S201 to S206.
Step S201: during a cold start, satellite signals transmitted by each of the low earth orbit satellites are received.
When the receiver is in cold start, the cached information is lost, the receiver cannot determine the current time and the position, and ephemeris information and almanac information are not cached.
The receiver may receive satellite signals transmitted by low earth orbit satellites during a cold start.
Step S202: an alternative satellite is selected from the low-earth satellites.
In order to increase the efficiency of position determination, a part of the low-orbit satellites may be determined from the low-orbit satellites and used as candidate satellites. If a low-orbit satellite with a preset satellite identification can be selected as an alternative satellite, for example: assuming that the number of low orbit satellites is 1000, the number of each low orbit satellite is: 1-1000, low-orbit satellites with preset numbers, such as 0-10, 20-30, 40-50, … … and the like can be selected as alternative satellites.
Because the low-orbit satellites are uniformly distributed, and the receiver on the ground can usually receive satellite signals transmitted by a certain number of satellites, in one embodiment of the invention, when selecting the alternative satellites, the alternative satellites can be selected from the low-orbit satellites according to the preset satellite interval number. Therefore, the selected alternative satellite has a higher probability of being a visible low-orbit satellite, thereby improving the probability of successful matching.
The preset satellite interval quantity is as follows: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
In particular, the maximum number of satellite signals received by the receiver from low earth orbit satellites may be determined empirically by the operator, for example: the staff carries out statistical analysis such as averaging and maximum value on the historical number of the satellite signals received by the receiver from the low-orbit satellites, and the statistical analysis result is used as the maximum number of the low-orbit satellites.
The preset number of satellite intervals may be the same as the maximum number, may be the sum of the maximum number and the preset error number, or may be the difference between the maximum number and the preset error number. For example: assuming that the maximum number is 10 and the preset error number is 2, the preset number of satellite intervals may be 10, or 10+2 — 12, or 10-2 — 8.
When selecting the alternative satellite, assuming that the preset number of satellite intervals is 10 and the number of each low-orbit satellite is 1-1000, the selected alternative satellite is: low earth orbit satellites numbered 1, 11, 21, 31 … ….
Step S203: and matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal.
The first frequency range is: and calculating the frequency range according to the first frequency deviation range and the central frequency of the signal transmitted by the alternative satellite. The first frequency offset range is as follows: and calculating a frequency offset range based on the motion speed of the alternative satellite and the constellation distribution. The center frequency is: the carrier frequency of the satellite signal.
Specifically, the sum of the minimum value and the center frequency of the first frequency offset range may be calculated as the minimum value of the first frequency range, the sum of the maximum value and the center frequency of the first frequency offset range may be calculated as the maximum value of the first frequency range, and a range formed by the calculated minimum value and the calculated maximum value may be used as the first frequency range.
For example: assuming that the first frequency offset range is [ -40kHz,40kHz ] and the center frequency is 10GHz, a first frequency range of [10GHz-40kHz,10GHz +40kHz ] can be obtained.
Since the receiver removes the carrier frequency of the satellite signal after receiving the satellite signal, the center frequency of the satellite signal received by the receiver is 0, and thus, the first frequency range may also be [0-40kHz,0+40kHz ].
Specifically, when the first frequency offset range is calculated, based on the motion speed and the orbit height of the candidate satellite, the relationship between the elevation angle of the low-earth orbit satellite and the doppler frequency offset of the satellite signal transmitted by the low-earth orbit satellite may be calculated, and based on the determined relationship and the constellation distribution of the low-earth orbit satellite, the portion of the satellite signal transmitted by the low-earth orbit satellite in the doppler frequency offset set is determined as the first frequency offset range.
As shown in fig. 3, fig. 3 is a schematic diagram illustrating a relationship between an elevation angle of a low-earth satellite and a doppler frequency offset of a satellite signal transmitted by the low-earth satellite, which is calculated based on a motion velocity and an orbit height of a candidate satellite.
It can be seen from fig. 3 that the doppler frequency shift has a large variation range when the elevation angle of the low-orbit satellite is close to 90 °, such as a large variation range when the elevation angle of the low-orbit satellite is [80 °,90 ° ];
when the elevation angle of the low-orbit satellite is far away from 90 degrees, the change range of Doppler frequency shift is small, the Doppler frequency shift is relatively concentrated, and when the elevation angle of the low-orbit satellite is [50 degrees, 80 degrees ], the change range of the Doppler frequency shift is small.
Based on the constellation distribution characteristics of the low-orbit satellites, the elevation angles of a few low-orbit satellites are determined to be in a range close to 90 degrees, the elevation angles of most low-orbit satellites are in a range far from 90 degrees, and the change range of Doppler frequency offset of most low-orbit satellites is small. Therefore, the doppler shift corresponding to the elevation angle range apart from 90 ° may be used as the first frequency shift range, for example, the doppler shift corresponding to the elevation angle range of [50 °,80 ° ] may be used as the first frequency shift range.
The first frequency offset range is determined by the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the calculated first frequency offset range is the frequency offset range in which Doppler offset of signals generated by the low-orbit satellite is relatively concentrated, namely the first frequency offset range is small and accurate.
Specifically, when matching frequencies, the candidate frequencies to be matched may be determined from the first frequency range by using a preset frequency search step length, each candidate frequency is matched with the received satellite signal to obtain a frequency with which matching is successful, when matching is successful, the candidate frequency for matching is the frequency of the received satellite signal, and when matching is failed, the candidate frequency for matching is not the frequency of the received satellite signal.
The preset frequency searching step length can be set by a worker according to experience, for example, the first frequency range is [ -40kHz,40kHz ], the preset frequency searching step length is 500Hz, and the frequency to be matched can be determined; -39.5kHz, -39kHz, -38.5kHz, … ….
In one embodiment of the present invention, when frequencies are matched, the receiver may generate a first test signal, and perform cross-correlation processing on the first test signal and a satellite signal to obtain a first frequency of the satellite signal.
The frequency of the first test signal is: a frequency in the first frequency range of the alternate satellite. For example: assuming that the first frequency range is [ -40kHz,40kHz ], the frequency of the generated first test signal may be-40 kHz, -39kHz, -38kHz, … … 40 kHz.
And performing cross-correlation processing on the first test signal and the received satellite signal to obtain a second PDP, wherein the time of the peak in the second PDP is used as the frequency successfully matched, namely the first frequency of the received satellite signal.
Step S204: and matching the code phase in the first code phase range of the alternative satellite with the satellite signal to obtain a successfully matched code phase which is used as the first code phase of the satellite signal.
Since the receiver does not store any ephemeris information during the cold start process, the receiver does not know the code phase and frequency of the received satellite signal after receiving the satellite signal, and thus cannot demodulate the received satellite signal. Therefore, the receiver needs to determine the code phase of the received satellite signal, so as to demodulate the satellite signal and obtain the satellite ephemeris information recorded in the satellite signal.
The first code phase range is: a range of code phases determined based on the code phases of signals transmitted by the alternate satellites. For example: assuming that the code phase of the signal transmitted by the candidate satellite is 5000 chips, the first code phase range may be 0,5000 chips.
Specifically, when matching the code phase, the candidate code phases may be determined from the first code phase range by using a preset code phase search step length, and each candidate code phase is matched with the received satellite signal to obtain a successfully matched code phase.
The preset code phase search step length may be set by a worker according to experience, and if the first code phase range is [0,1023] chips, and the preset code phase search step length is 0.5 chips, it may be determined that the code phase to be matched is; 0.5 chips, 1 chip, 1.5 chips … ….
In one embodiment of the present invention, when matching the code phase, the receiver may generate a second test signal, and perform cross-correlation processing on the second test signal and the satellite signal to obtain the first code phase of the satellite signal.
The code phase of the second test signal is: a code phase in a first code phase range of the alternate satellite. For example: assuming that the first code phase range is [0,5000] chips, the code phase of the generated first test signal may be 1 chip, 2 chips, 3 chips, … … 5000 chips.
And performing cross-correlation processing on the second test signal and the received satellite signal to obtain a first PDP (Power Delay Profile), and when a peak value in the first PDP shows that matching is successful, taking the moment of the peak value in the first PDP as a first code phase of the satellite signal.
The processes of step S203 and step S204 are signal capturing processes.
Step S205: and demodulating the satellite signal by adopting the first code phase and the first frequency to obtain satellite ephemeris information recorded in the satellite signal.
The satellite ephemeris information includes: the position and time at which the low earth orbit satellite transmits the satellite signal, the channel state of the channel transmitting the satellite signal, and the like.
Specifically, the satellite signals successfully matched are demodulated by adopting a first code phase, and the satellite signals successfully matched are demodulated by adopting a first frequency, so that satellite ephemeris information recorded in the satellite signals is obtained.
Step S206: the position of the receiver is determined based on the satellite ephemeris information.
Specifically, reference may be made to any method in the prior art for determining the position of the receiver based on the satellite ephemeris information, which is not described in detail herein.
As can be seen from the above, when the position of the receiver is determined by applying the scheme provided in this embodiment, on one hand, candidate satellites are selected from the low-orbit satellites, the number of the candidate satellites is less than the total number of the low-orbit satellites, the code phase in the first code phase range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched code phase, and the frequency in the first frequency offset range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched frequency, so that the matching efficiency can be improved; on the other hand, the first frequency offset range is a frequency offset range determined by the orbit height of the candidate satellite, the motion speed and the constellation distribution of the low-orbit satellite, and the calculated first frequency offset range is a frequency offset range in which doppler offsets of signals generated by the low-orbit satellite are relatively concentrated, that is, the first frequency offset range is small and accurate. Thereby improving the efficiency of position determination.
In the above steps S203 and S204, the following two matching methods, parallel and serial, can be adopted for matching.
In the first embodiment, frequencies in the first frequency range of the candidate satellite may be matched with the satellite signals in parallel to obtain successfully matched frequencies, which serve as the first frequencies of the satellite signals; and performing parallel matching on the code phase in the first code phase range of the alternative satellite and the satellite signal to obtain a successfully matched code phase which is used as the first code phase of the satellite signal.
For example: assuming that the receiver receives satellite signals from 10 low-orbit satellites, the code phase in the first code phase range of the candidate satellite can be matched with the satellite signals from 10 low-orbit satellites in parallel, and if the code phase is successfully matched with the satellite signal from the first low-orbit satellite, the successfully matched code phase is taken as the first code phase of the satellite signal from the first low-orbit satellite. And matching the frequencies in the first frequency range of the alternative satellite with the satellite signals from the 10 low-orbit satellites in parallel, and if the frequencies are successfully matched with the satellite signals from the first low-orbit satellite, taking the successfully matched frequencies as the first frequencies of the satellite signals from the first low-orbit satellite. Therefore, matching is carried out in a parallel matching mode, and matching efficiency is improved.
In a second implementation manner, the frequency in the first frequency offset range of the candidate satellite may be serially matched with the satellite signal to obtain a successfully matched frequency, which is used as the first frequency of the satellite signal, and the code phase in the first code phase range of the candidate satellite may be serially matched with the satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal.
In the case of the second embodiment, the step S205 may be implemented as the following step a 1-step a 5.
Step A1: and demodulating the satellite signals by adopting the second code phase and the second frequency to determine the first satellite signals which are successfully demodulated.
The second code phase is: the code phase that was successfully matched to the satellite signal for the first time.
The second frequency is: the frequency that is successfully matched with the satellite signal for the first time.
Step A2: first satellite ephemeris information recorded in the first satellite signal and satellite identifications of visible low-earth satellites are obtained.
The satellite identifier of the visible low-earth satellite may be: the satellite number, serial number, etc. of the low earth orbit satellite can be seen.
The above-mentioned visible low-earth satellites refer to visible low-earth satellites for a receiver. In particular, the satellite signals received by the receiver are transmitted by low earth orbit satellites, which are low earth orbit satellites with respect to reception, when they can transmit signals to the receiver.
In a signal transmitted to the receiver by the low-orbit visible satellite, satellite ephemeris information and almanac information are recorded, wherein the almanac information comprises a satellite identifier of each low-orbit visible satellite.
Specifically, the method comprises the following steps. The first satellite signal may be analyzed to obtain first satellite ephemeris information recorded by the first satellite signal and a satellite identifier of a visible low-earth satellite.
Step A3: and matching the frequency in the second frequency range with the second satellite signal to obtain a successfully matched frequency as a third frequency of the second satellite signal.
The second satellite signal is: satellite signals other than the first satellite signal of the received satellite signals.
The second frequency range is: a calculated frequency range is based on the second frequency offset range and the center frequency of the signal transmitted by the visible low earth orbit satellite corresponding to the obtained satellite identification. The second frequency offset range is: and determining a frequency offset range based on the orbit height, the motion speed and the constellation distribution of the visible low-orbit satellites. The center frequency is: the carrier frequency of the signals transmitted by the low earth orbit satellites is visible.
Because the satellite signals received by the receiver are all signals transmitted by visible low-orbit satellites, namely the second satellite signals are transmitted by the visible low-orbit satellites corresponding to the obtained satellite identifiers, the code phase in the second code phase range is matched with the second satellite signals, the successfully matched code phase can be quickly obtained, and the efficiency of obtaining the third code phase of the second satellite signals is improved; the frequency in the second frequency range is matched with the second satellite signal, so that the successfully matched frequency can be quickly obtained, and the efficiency of obtaining the third frequency of the second satellite signal is improved.
Step A4: and matching the code phase in the second code phase range with the second satellite signal to obtain a successfully matched code phase which is used as a third code phase of the second satellite signal.
The second code phase range is: a range of code phases determined based on code phases of satellite signals transmitted by visible low-earth orbit satellites corresponding to the obtained satellite identification.
Step A5: and demodulating the second satellite signal by adopting a third code phase and a third frequency to obtain second satellite ephemeris information recorded in the second satellite signal.
Specifically, the second satellite signal successfully matched is demodulated by using a third code phase and a third frequency, so as to obtain second satellite ephemeris information.
Step A6: and calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
The time taken to determine the location of a receiver using the scheme provided by embodiments of the present invention is calculated in one embodiment below.
Assuming that the number of low-orbit satellites is 1500, the orbital altitude is 500km, the center frequency of the satellite signal is 10GHz, and the code phase of the satellite signal is 10230. According to the satellite visibility analysis, more than 10 satellites can be generally seen at any point in the coverage range, so that about 150 satellites are selected at equal intervals according to the distribution characteristics of the low-orbit constellation, and one visible low-orbit satellite is ensured to be in the 150 satellites. Meanwhile, according to the motion speed and the code chip length of the low-orbit satellite, the frequency range and the code phase range can be respectively set to be +/-160 kHz and [0,10230] chips, and if the Doppler frequency offset is mainly concentrated between 120-160kHz, the frequency search range can be reduced from +/-160 kHz to +/-40 kHz. That is, the first code phase range is [0,10230] chips and the first frequency range is [ -40kHz, +40kHz ]. At this time, if a frequency search step of 500Hz and a code phase search step of 0.5 chips are adopted, the total number N of the satellite resident units is searched:
if each search unit resides for 1ms, all search time T of one path of correlator installed in the receiver0：
T0＝3273600×0.001＝3273.6s
Number of alternative satellites N1150, the number of correlators N installed in the receiver23000, the average time T for the terminal to acquire any satelliteacq1Comprises the following steps:
according to satellite visibility analysis, the number of visible stars is within 40 at 15 ° cut-off elevation, and if the captured first satellite is at the edge, the surrounding area is searched for at the worst case, namely 40 × 4 ≈ 160 ≈ N3And 3 satellites are randomly searched from the 160 satellites to realize positioning, so that the average acquisition time T isacq2Comprises the following steps:
thus, the total average capture time TacqComprises the following steps:
Tacq＝Tacq1+Tacq2＝127s≈2min
it can be seen that the cold start time of the position determination method provided by the embodiment of the invention is about 2 minutes, which is much shorter than the cold start time of more than ten minutes in the prior art, and the rapid cold start of the low-orbit satellite is realized.
Corresponding to the position determining method, the embodiment of the invention also provides a position determining device.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a position determination device according to an embodiment of the present invention, where the device includes the following modules 401 and 406.
The signal receiving module 401 is configured to receive a satellite signal transmitted by each low earth orbit satellite in a cold start process;
a satellite selection module 402, configured to select an alternative satellite from the low-earth orbit satellites;
a first signal matching module 403, configured to match a frequency in a first frequency range of the candidate satellite with a satellite signal to obtain a successfully matched frequency, which is used as a first frequency of the satellite signal, where the first frequency range is: calculating a frequency range according to a first frequency deviation range and a central frequency of a signal transmitted by the alternative satellite, wherein the first frequency deviation range is as follows: the frequency offset range is determined based on the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the center frequency is as follows: the carrier frequency of the satellite signal;
a second signal matching module 404, configured to match a code phase in a first code phase range of the candidate satellite with a satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal, where the first code phase range is: a range of code phases determined based on code phases of signals transmitted by the alternate satellites;
an information obtaining module 405, configured to demodulate a satellite signal by using the first code phase and the first frequency, and obtain satellite ephemeris information recorded in the satellite signal;
a position determining module 406, configured to determine a position where the receiver is located based on the satellite ephemeris information.
As can be seen from the above, when the position of the receiver is determined by applying the scheme provided in this embodiment, on one hand, candidate satellites are selected from the low-orbit satellites, the number of the candidate satellites is less than the total number of the low-orbit satellites, the code phase in the first code phase range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched code phase, and the frequency in the first frequency offset range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched frequency, so that the matching efficiency can be improved; on the other hand, the first frequency offset range is a frequency offset range determined by the orbit height of the candidate satellite, the motion speed and the constellation distribution of the low-orbit satellite, and the calculated first frequency offset range is a frequency offset range in which doppler offsets of signals generated by the low-orbit satellite are relatively concentrated, that is, the first frequency offset range is small and accurate. Thereby improving the efficiency of position determination.
In an embodiment of the present invention, the satellite selection module is specifically configured to select the candidate satellites from the low earth orbit satellites according to a preset satellite interval number, where the preset satellite interval number is: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
Because the low-orbit satellites are uniformly distributed, and the receiver on the ground can generally receive satellite signals transmitted by a certain number of satellites, the probability that the selected alternative satellite is the visible low-orbit satellite is high, and the matching success probability is improved.
In an embodiment of the present invention, the information obtaining module includes:
the first signal demodulation submodule is configured to demodulate the satellite signal by using a second code phase and a second frequency, and determine a first satellite signal successfully demodulated, where the second code phase is: the code phase successfully matched with the satellite signal for the first time, and the second frequency is as follows: the frequency successfully matched with the satellite signal for the first time;
the information obtaining submodule is used for obtaining first satellite ephemeris information recorded in the first satellite signal and a satellite identifier of a visible low-orbit satellite;
the first signal matching submodule is configured to match a frequency in a second frequency range with a second satellite signal to obtain a successfully matched frequency, and the successfully matched frequency is used as a third frequency of the second satellite signal, where the second satellite signal is: satellite signals other than the first satellite signal in the received satellite signals, and the second frequency range is: calculating a frequency range obtained based on a second frequency offset range of the signal transmitted by the visible low-earth orbit satellite corresponding to the obtained satellite identifier and the central frequency, wherein the second frequency offset range is as follows: the central frequency is determined according to the orbit height and the movement speed of the visible low-orbit satellite and the constellation distribution of the low-orbit satellite: a carrier frequency of a signal transmitted by the visible low earth orbit satellite;
the second signal matching submodule is configured to match a code phase in a second code phase range with a second satellite signal to obtain a successfully matched code phase, and the successfully matched code phase is used as a third code phase of the second satellite signal, where the second code phase range is: determining a code phase range based on the code phase of the satellite signal transmitted by the visible low-orbit satellite corresponding to the obtained satellite identification;
the second signal demodulation submodule is used for demodulating the second satellite signal by adopting the third code phase and the third frequency to obtain second satellite ephemeris information recorded in the second satellite signal;
and the position calculation submodule is used for calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
Therefore, as the satellite signals received by the receiver are all signals transmitted by visible low-orbit satellites, namely the second satellite signals are transmitted by the visible low-orbit satellites corresponding to the obtained satellite identifiers, the code phase in the second code phase range is matched with the second satellite signals, the successfully matched code phase can be obtained relatively quickly, and the efficiency of obtaining the third code phase of the second satellite signals is improved; the frequency in the second frequency offset range is matched with the second satellite signal, so that the successfully matched frequency can be quickly obtained, and the efficiency of obtaining the third frequency of the second satellite signal is improved.
In an embodiment of the present invention, the first signal matching module is specifically configured to perform parallel matching on a frequency in a first frequency range of the candidate satellite and a satellite signal to obtain a successfully matched frequency, which is used as a first frequency of the satellite signal;
and the second signal matching module is specifically configured to perform parallel matching on the code phase in the first code phase range of the candidate satellite and the satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal. Therefore, matching is carried out in a parallel matching mode, and matching efficiency is improved.
In an embodiment of the present invention, the first signal matching module is specifically configured to generate a first test signal, where a frequency of the first test signal is: a frequency in a first frequency range of the alternate satellite; performing cross-correlation processing on the first test signal and the satellite signal to obtain a first frequency of the satellite signal;
the second signal matching module is specifically configured to generate a second test signal, where a code phase of the second test signal is: a code phase in a first code phase range of the candidate satellite; and performing cross-correlation processing on the second test signal and the satellite signal to obtain a first code phase of the satellite signal.
Corresponding to the position determination method, the embodiment of the invention also provides a receiver.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a receiver according to an embodiment of the present invention, including a processor 501, a communication interface 502, a memory 503, and a communication bus 504, where the processor 501, the communication interface 502, and the memory 503 complete mutual communication through the communication bus 504,
a memory 503 for storing a computer program;
the processor 501 is configured to implement the position determining method according to the embodiment of the present invention when executing the program stored in the memory 503.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also 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 hardware components.
In still another embodiment provided by the present invention, a computer-readable storage medium is further provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the position determination method provided by the embodiment of the present invention.
In yet another embodiment provided by the present invention, a computer program product containing instructions is also provided, which when run on a computer, causes the computer to perform the position determination method provided by the embodiment of the present invention.
As can be seen from the above, when the position of the receiver is determined by applying the scheme provided in this embodiment, on one hand, candidate satellites are selected from the low-orbit satellites, the number of the candidate satellites is less than the total number of the low-orbit satellites, the code phase in the first code phase range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched code phase, and the frequency in the first frequency offset range of the candidate satellites is matched with the received satellite signal to obtain a successfully-matched frequency, so that the matching efficiency can be improved; on the other hand, the first frequency offset range is a frequency offset range determined by the orbit height of the candidate satellite, the motion speed and the constellation distribution of the low-orbit satellite, and the calculated first frequency offset range is a frequency offset range in which doppler offsets of signals generated by the low-orbit satellite are relatively concentrated, that is, the first frequency offset range is small and accurate. Thereby improving the efficiency of position determination.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the embodiments of the apparatus, the receiver, and the computer-readable storage medium, since they are substantially similar to the embodiments of the method, the description is simple, and for the relevant points, reference may be made to the partial description of the embodiments of the method.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. A method of position determination, applied to a receiver, the method comprising:
receiving satellite signals transmitted by each low-orbit satellite in a cold starting process;
selecting alternative satellites from low-orbit satellites;
matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal, wherein the first frequency range is as follows: calculating a frequency range according to a first frequency deviation range and a central frequency of a signal transmitted by the alternative satellite, wherein the first frequency deviation range is as follows: the frequency offset range is determined based on the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the center frequency is as follows: the carrier frequency of the satellite signal;
matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal, wherein the first code phase range is as follows: a range of code phases determined based on code phases of signals transmitted by the alternate satellites;
demodulating the satellite signal by adopting the first code phase and the first frequency to obtain satellite ephemeris information recorded in the satellite signal;
determining a location at which the receiver is located based on the satellite ephemeris information.
2. The method of claim 1, wherein selecting the candidate satellite from the low earth orbit satellites comprises:
selecting alternative satellites from low orbit satellites according to a preset satellite interval number, wherein the preset satellite interval number is as follows: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
3. The method of claim 1, wherein demodulating the satellite signal using the first code phase and the first frequency to obtain satellite ephemeris information recorded in the satellite signal comprises:
demodulating the satellite signal by adopting a second code phase and a second frequency, and determining a first satellite signal which is successfully demodulated, wherein the second code phase is as follows: the code phase successfully matched with the satellite signal for the first time, and the second frequency is as follows: the frequency successfully matched with the satellite signal for the first time;
acquiring first satellite ephemeris information and satellite identification of a visible low-earth-orbit satellite recorded in the first satellite signal;
matching the frequency in the second frequency range with a second satellite signal to obtain a successfully matched frequency as a third frequency of the second satellite signal, wherein the second satellite signal is: satellite signals other than the first satellite signal in the received satellite signals, and the second frequency range is: calculating a frequency range obtained based on a second frequency offset range of the signal transmitted by the visible low-earth orbit satellite corresponding to the obtained satellite identifier and the central frequency, wherein the second frequency offset range is as follows: the central frequency is determined according to the orbit height and the movement speed of the visible low-orbit satellite and the constellation distribution of the low-orbit satellite: a carrier frequency of a signal transmitted by the visible low earth orbit satellite;
matching the code phase in the second code phase range with the second satellite signal to obtain a successfully matched code phase as a third code phase of the second satellite signal, wherein the second code phase range is as follows: determining a code phase range based on the code phase of the satellite signal transmitted by the visible low-orbit satellite corresponding to the obtained satellite identification;
demodulating the second satellite signal by using the third code phase and the third frequency to obtain second satellite ephemeris information recorded in the second satellite signal;
and calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
4. The method of claim 1,
the matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal includes:
performing parallel matching on the frequency in the first frequency range of the alternative satellite and the satellite signal to obtain a successfully matched frequency as a first frequency of the satellite signal;
the matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal includes:
and matching the code phase in the first code phase range of the alternative satellite with the satellite signal in parallel to obtain a successfully matched code phase which is used as the first code phase of the satellite signal.
5. The method according to any one of claims 1 to 4,
the matching the frequency in the first frequency range of the alternative satellite with the satellite signal to obtain a successfully matched frequency as the first frequency of the satellite signal includes:
generating a first test signal, wherein the frequency of the first test signal is: a frequency in a first frequency range of the alternate satellite;
performing cross-correlation processing on the first test signal and the satellite signal to obtain a first frequency of the satellite signal;
the matching the code phase in the first code phase range of the candidate satellite with the satellite signal to obtain a successfully matched code phase as the first code phase of the satellite signal includes:
generating a second test signal, wherein a code phase of the second test signal is: a code phase in a first code phase range of the candidate satellite;
and performing cross-correlation processing on the second test signal and the satellite signal to obtain a first code phase of the satellite signal.
6. A position determining apparatus, for use in a receiver, the apparatus comprising:
the signal receiving module is used for receiving satellite signals transmitted by each low-orbit satellite in the cold starting process;
the satellite selection module is used for selecting alternative satellites from all low-orbit satellites;
a first signal matching module, configured to match a frequency in a first frequency range of the candidate satellite with a satellite signal to obtain a successfully matched frequency, which is used as a first frequency of the satellite signal, where the first frequency range is: calculating a frequency range according to a first frequency deviation range and a central frequency of a signal transmitted by the alternative satellite, wherein the first frequency deviation range is as follows: the frequency offset range is determined based on the orbit height and the movement speed of the alternative satellite and the constellation distribution of the low-orbit satellite, and the center frequency is as follows: the carrier frequency of the satellite signal;
a second signal matching module, configured to match a code phase in a first code phase range of the candidate satellite with a satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal, where the first code phase range is: a range of code phases determined based on code phases of signals transmitted by the alternate satellites;
the information acquisition module is used for demodulating the satellite signal by adopting the first code phase and the first frequency to acquire satellite ephemeris information recorded in the satellite signal;
and the position determining module is used for determining the position of the receiver based on the satellite ephemeris information.
7. The apparatus of claim 6,
the satellite selection module is specifically configured to select alternative satellites from the low earth orbit satellites according to a preset satellite interval number, where the preset satellite interval number is: a number of intervals determined based on a maximum number of satellite signals received by the receiver from low earth orbiting satellites.
8. The apparatus of claim 6, wherein the information obtaining module comprises:
the first signal demodulation submodule is configured to demodulate the satellite signal by using a second code phase and a second frequency, and determine a first satellite signal successfully demodulated, where the second code phase is: the code phase successfully matched with the satellite signal for the first time, and the second frequency is as follows: the frequency successfully matched with the satellite signal for the first time;
the information obtaining submodule is used for obtaining first satellite ephemeris information recorded in the first satellite signal and a satellite identifier of a visible low-orbit satellite;
the first signal matching submodule is configured to match a frequency in a second frequency range with a second satellite signal to obtain a successfully matched frequency, and the successfully matched frequency is used as a third frequency of the second satellite signal, where the second satellite signal is: satellite signals other than the first satellite signal in the received satellite signals, and the second frequency range is: calculating a frequency range obtained based on a second frequency offset range of the signal transmitted by the visible low-earth orbit satellite corresponding to the obtained satellite identifier and the central frequency, wherein the second frequency offset range is as follows: the central frequency is determined according to the orbit height and the movement speed of the visible low-orbit satellite and the constellation distribution of the low-orbit satellite: a carrier frequency of a signal transmitted by the visible low earth orbit satellite;
the second signal matching submodule is configured to match a code phase in a second code phase range with a second satellite signal to obtain a successfully matched code phase, and the successfully matched code phase is used as a third code phase of the second satellite signal, where the second code phase range is: determining a code phase range based on the code phase of the satellite signal transmitted by the visible low-orbit satellite corresponding to the obtained satellite identification;
the second signal demodulation submodule is used for demodulating the second satellite signal by adopting the third code phase and the third frequency to obtain second satellite ephemeris information recorded in the second satellite signal;
and the position calculation submodule is used for calculating the position of the receiver based on the first satellite ephemeris information and the second satellite ephemeris information.
9. The apparatus of claim 6,
the first signal matching module is specifically configured to perform parallel matching on the frequency in the first frequency range of the candidate satellite and the satellite signal to obtain a successfully matched frequency, which is used as the first frequency of the satellite signal;
the second signal matching module is specifically configured to perform parallel matching on the code phase in the first code phase range of the candidate satellite and the satellite signal to obtain a successfully matched code phase, which is used as the first code phase of the satellite signal.
10. The apparatus according to any one of claims 6-9,
the first signal matching module is specifically configured to generate a first test signal, where a frequency of the first test signal is: a frequency in a first frequency range of the alternate satellite; performing cross-correlation processing on the first test signal and the satellite signal to obtain a first frequency of the satellite signal;
the second signal matching module is specifically configured to generate a second test signal, where a code phase of the second test signal is: a code phase in a first code phase range of the candidate satellite; and performing cross-correlation processing on the second test signal and the satellite signal to obtain a first code phase of the satellite signal.
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