CN116203592A - Navigation satellite constellation determining method, device, storage medium and electronic equipment - Google Patents
Navigation satellite constellation determining method, device, storage medium and electronic equipment Download PDFInfo
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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
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/08—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing integrity information, e.g. health of satellites or quality of ephemeris data
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- 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
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Abstract
The disclosure provides a navigation satellite constellation determining method, a navigation satellite constellation determining device, a storage medium and electronic equipment, and relates to the technical field of satellite navigation. According to the navigation satellite constellation determining method, satellite position information of each simulated satellite in a navigation simulated constellation is firstly determined, then a plurality of relative included angles between each simulated satellite and a receiver are respectively determined according to the satellite position information and the receiving position information of the receiver, then the simulated satellite corresponding to the relative included angle in the preset target visual angle range among the plurality of relative included angles is determined to be a target navigation satellite, a plurality of target navigation satellites are obtained, and finally the navigation satellite constellation is determined according to the plurality of target navigation satellites, so that the technical problem that the stability of the existing positioning navigation system is weaker in the traditional technology is solved, and the technical effects of improving the positioning navigation stability, reliability and flexibility are achieved.
Description
Technical Field
The disclosure relates to the technical field of satellite navigation, in particular to a navigation satellite constellation determining method, a navigation satellite constellation determining device, a storage medium and electronic equipment.
Background
The current navigation system mainly comprises: the Global Positioning (GPS) system of the united states, the COMPASS (COMPASS) system of china, the GLONASS system of russia and the GALILEO (GALILEO) system of europe. The GPS system is the most commonly used navigation system at present, and once the GPS system is deactivated, the normal operation of each field of each industry can be greatly affected.
Therefore, in order to prevent the GPS system from being deactivated, a satellite constellation that can be navigated is urgently needed.
Disclosure of Invention
The disclosure provides a navigation satellite constellation determining method, a device, a storage medium and electronic equipment, so that the positioning navigation stability, reliability and flexibility are improved.
In a first aspect, an embodiment of the present disclosure provides a navigation satellite constellation determining method, including:
determining satellite position information of each simulated satellite in the navigation simulated constellation;
determining the included angles between each analog satellite and the receiver according to the satellite position information and the receiving position information of the receiver respectively to obtain a plurality of relative included angles; the receiver is used for receiving satellite signals sent by each analog satellite;
determining a simulated satellite corresponding to a relative included angle positioned in a preset target view angle range from among a plurality of relative included angles as a target navigation satellite, so as to obtain a plurality of target navigation satellites;
A navigation satellite constellation is determined from a plurality of target navigation satellites.
In an alternative embodiment of the present disclosure, determining an included angle between each analog satellite and the receiver according to each satellite position information and the receiving position information of the receiver, to obtain a plurality of relative included angles includes:
respectively determining cosine values of the relative included angles according to the satellite position information and the receiving position information;
and determining the relative included angle between each analog satellite and the receiver according to each cosine value.
In an optional embodiment of the present disclosure, determining, as a target navigation satellite, a simulated satellite corresponding to a relative angle located within a preset target angle of view from among a plurality of relative angles, to obtain a plurality of target navigation satellites, including:
determining a visible view angle range and an invisible view angle range of a receiver according to the receiving position information;
the method comprises the steps that a plurality of simulated satellites with relative included angles in a visible view angle range are respectively divided into a high view angle satellite set, a medium view angle satellite set and a low view angle satellite set according to a preset high view angle range, a preset medium view angle range and a preset low view angle range;
the simulated satellites that lie within the intermediate view angle range are determined as target navigation satellites.
In an alternative embodiment of the present disclosure, determining a navigation satellite constellation from a plurality of target navigation satellites includes:
if the number of the plurality of target navigation satellites is greater than the preset number, selecting the preset number of target navigation satellites from the plurality of target navigation satellites;
and determining a navigation satellite constellation according to a preset number of target navigation satellites.
In an alternative embodiment of the present disclosure, the navigation satellite constellation determining method further includes:
and determining the simulated satellites with the current moment in the middle view angle satellite set and the last moment in the high view angle satellite set or the low view angle satellite set and the simulated satellites with the current moment in the high view angle satellite set and the last moment in the middle view angle satellite set as candidate navigation satellites to obtain a plurality of candidate navigation satellites.
In an alternative embodiment of the present disclosure, determining a navigation satellite constellation from a plurality of target navigation satellites includes:
if the number of the plurality of target navigation satellites is smaller than the preset number, selecting a first target candidate navigation satellite with the target number from the plurality of candidate navigation satellites; the target number is the difference between the preset number and the number of the plurality of target navigation satellites;
And determining a navigation satellite constellation according to the plurality of target navigation satellites and the first target candidate navigation satellites of the target quantity.
In an alternative embodiment of the present disclosure, the navigation satellite constellation determining method further includes:
if the failure navigation satellite exists in the plurality of target navigation satellites, selecting the candidate navigation satellites with the same number as the failure navigation satellite from the plurality of candidate navigation satellites according to a preset priority order as a second target candidate navigation satellite; the failure navigation satellite refers to a target navigation satellite in a plurality of target navigation satellites, wherein the target navigation satellite is positioned in a medium-view angle satellite set at the last moment, and the target navigation satellite is positioned in a low-view angle satellite set at the current moment;
and updating the navigation satellite constellation according to the second target candidate navigation satellite.
In a second aspect, an embodiment of the present disclosure provides a navigation satellite constellation determining apparatus, the apparatus comprising:
the first determining module is used for determining satellite position information of each simulated satellite in the navigation simulation constellation;
the second determining module is used for determining the included angles between each simulated satellite and the receiver according to the position information of each satellite and the receiving position information of the receiver respectively to obtain a plurality of relative included angles; the receiver is used for receiving satellite signals sent by each analog satellite;
The third determining module is used for determining the simulated satellite corresponding to the relative included angle positioned in the preset target view angle range from among the plurality of relative included angles as a target navigation satellite to obtain a plurality of target navigation satellites;
and the fourth determining module is used for determining a navigation satellite constellation according to the plurality of target navigation satellites.
In a third aspect, one embodiment of the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method as above.
In a fourth aspect, one embodiment of the present disclosure provides an electronic device, including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to perform the method as above via execution of the executable instructions.
The technical scheme of the present disclosure has the following beneficial effects:
according to the navigation satellite constellation determining method, the relative included angle between each simulated satellite and the receiver is determined according to the satellite position information in each simulated satellite and the receiving position information of the receiver, the simulated satellite corresponding to the relative included angle in the preset target view angle range is determined to be the target navigation satellite, and finally the navigation satellite constellation which can be used for navigation positioning is determined according to the target navigation satellites. The simulated satellite can be any satellite capable of working in space, so that the navigation satellite constellation is not limited to any fixed satellite system at present in navigation positioning, the technical problem of weak stability of the existing positioning navigation system in the traditional technology is solved, and the technical effects of improving the stability, reliability and flexibility of positioning navigation are achieved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure. It will be apparent to those of ordinary skill in the art that the drawings in the following description are merely some embodiments of the present disclosure and that other drawings may be derived from these drawings without undue effort.
Fig. 1 shows an application scenario schematic of a navigation satellite constellation determining method in the present exemplary embodiment;
fig. 2 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
fig. 3 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
fig. 4 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
fig. 5 shows a schematic diagram of visible view angle range and invisible view angle range division in the present exemplary embodiment;
fig. 6 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
Fig. 7 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
fig. 8 shows a flowchart of a navigation satellite constellation determination method in the present exemplary embodiment;
fig. 9 is a schematic diagram showing a configuration of a navigation satellite constellation determining apparatus in the present exemplary embodiment;
fig. 10 shows a schematic structural diagram of an electronic device in the present exemplary embodiment.
Detailed Description
Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments may be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will recognize that the aspects of the present disclosure may be practiced with one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known technical solutions have not been shown or described in detail to avoid obscuring aspects of the present disclosure.
Furthermore, the drawings are merely schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software or in one or more hardware modules or integrated circuits or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only and not necessarily all steps are included. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
In the related art, the current navigation system mainly includes: the Global Positioning (GPS) system of the united states, the COMPASS (COMPASS) system of china, the GLONASS system of russia and the GALILEO (GALILEO) system of europe. The GPS system is the most commonly used navigation system at present, and once the GPS system is deactivated, the normal operation of each field of each industry can be greatly affected. Therefore, in order to prevent the GPS system from being deactivated, a satellite constellation that can be navigated is urgently needed.
In view of the above, an embodiment of the present disclosure provides a method for determining a constellation of navigation satellites, which determines a relative angle between each simulated satellite and a receiver according to satellite position information in each simulated satellite and receiving position information of the receiver, determines a simulated satellite corresponding to the relative angle located within a preset target viewing angle range as a target navigation satellite, and finally determines a constellation of navigation satellites that can be used for navigation positioning according to a plurality of target navigation satellites. The simulated satellite can be any satellite capable of working in space, so that the navigation satellite constellation is not limited to any fixed satellite system at present in navigation positioning, the technical problem of weak stability of the existing positioning navigation system in the traditional technology is solved, and the technical effects of improving the stability, reliability and flexibility of positioning navigation are achieved.
The following briefly describes an application environment of a navigation satellite constellation determining method provided by an embodiment of the present disclosure:
referring to fig. 1, a navigation satellite constellation determining method provided in an embodiment of the present disclosure is applied to a satellite navigation system 10, where the satellite navigation system 10 at least includes: a plurality of satellites 110, a transmitter 120, a receiver 130, and a control device 140. The transmitter 120 is configured to transmit the generated satellite signals to a plurality of satellites 110 in the space station, where the satellite signals are reflected by the satellites 110 and then return to the ground, and received by the receiver 130, and the control device 140 is respectively connected with the transmitter 120 and the receiver 130, and is configured to perform navigation, positioning, or other data processing on the satellite signals transmitted by the transmitter 120, the satellite signals received by the receiver 130, and other relevant information. It should be noted that the plurality of satellites 110 in the embodiments of the present disclosure may be any satellite in a space station, and are not limited to the existing GPS satellites, beidou satellites, gnonass satellites, and galileo satellites.
The following exemplifies that the control device 140 described above is taken as an execution subject, and that the navigation satellite constellation determination method is applied to the control device 140 described above to determine a GPS navigation satellite constellation. Referring to fig. 2, the navigation satellite constellation determining method provided in the embodiment of the present disclosure includes the following steps 201 to 204:
It should be noted that, in the above disclosed embodiment, the GPS navigation satellite constellation is taken as an example for illustration, and the corresponding navigation simulation constellation is the GPS navigation satellite constellation. The control device is pre-stored with the initial position of each simulated satellite and the running track of each simulated satellite, and in the running process of the simulated satellites, the current position of the simulated satellites can be calculated and obtained only through the pre-configured initial position, running speed and current running time, and the corresponding satellite position information can be obtained.
The receiver is used for receiving satellite signals sent by each analog satellite, and the position information can be coordinate positions or other information which can represent the specific positions of the analog satellites. The control equipment stores the position information of the receiver in advance, and the relative included angle between the receiver and the simulated satellite can be calculated through a triangulation method after the satellite position information of the simulated satellite is obtained.
And 203, the control device determines the simulated satellite corresponding to the relative included angle located in the preset target view angle range from among the plurality of relative included angles as the target navigation satellite, so as to obtain a plurality of target navigation satellites.
Different relative angles are formed between the corresponding simulated satellites and the receiver, and the preset target view angle range refers to an angle range in which the receiver can receive signals, and the target view angle range can be set independently according to actual conditions, so that the embodiment is not limited specifically. The satellite angle of opening of the simulated satellite in the target viewing angle range is the largest and thus the positioning accuracy thereof is the highest, and therefore the control apparatus determines the simulated satellite in the target viewing angle range as the target navigation satellite.
The navigation satellite constellation is used for positioning navigation and the like, the simulated satellite in the embodiment of the disclosure is any available satellite in space, and the obtained navigation satellite constellation is also formed by any available satellite target navigation satellite at present, so that the navigation positioning based on the navigation satellite constellation is not limited to any fixed satellite system at present, and the flexibility and the reliability are higher.
According to the navigation satellite constellation determining method provided by the embodiment of the disclosure, the relative included angle between each simulated satellite and the receiver is determined according to the satellite position information in each simulated satellite and the receiving position information of the receiver, the simulated satellite corresponding to the relative included angle in the preset target view angle range is determined as the target navigation satellite, and finally the navigation satellite constellation which can be used for navigation positioning is determined according to a plurality of target navigation satellites. The simulated satellite can be any satellite capable of working in space, so that the navigation satellite constellation is not limited to any fixed satellite system at present in navigation positioning, the technical problem of weak stability of the existing positioning navigation system in the traditional technology is solved, and the technical effects of improving the stability, reliability and flexibility of positioning navigation are achieved.
Referring to fig. 3, in an alternative embodiment of the disclosure, the step 202 of the controlling device determining angles between each analog satellite and the receiver according to the satellite position information and the receiving position information of the receiver to obtain a plurality of relative angles includes the following steps 301-302:
After obtaining satellite position information of each analog satellite and receiving position information of the receiver, the control device can calculate and obtain cosine values of each relative included angle through the following formula (1):
in the formula (1), θ represents the relative angle between the analog satellite and the receiver, cos θ represents the cosine of the relative angle, (x) 1 ，y 1 ，z 1 ) Representing the position coordinates of the simulated satellites, (x) 2 ，y 2 ，z 2 ) Representing receiver position coordinates.
Similarly, the cosine value of the relative angle between the other analog satellites and the receiver can be obtained through calculation according to the formula (1).
And 302, the control equipment determines the relative included angle between each analog satellite and the receiver according to each cosine value.
The control device obtains the corresponding relative included angles based on the cosine function after obtaining the cosine values in step 301, and thus obtains the relative positions between the analog satellites and the receiver.
According to the embodiment of the disclosure, the cosine value of each relative included angle is obtained through determination according to the satellite position information and the receiving position information, then the relative included angle between the simulation satellite and the receiver can be calculated according to each cosine value, the calculation mode is simple and quick, the determination efficiency of the relative included angle can be greatly improved, and the determination efficiency of the constellation of the navigation satellite in the embodiment of the disclosure is further improved.
Referring to fig. 4, in an alternative embodiment of the present disclosure, the step 203 of determining, by the control device, a simulated satellite corresponding to a relative included angle located within a preset target view angle range from among a plurality of relative included angles as a target navigation satellite, to obtain a plurality of target navigation satellites includes the following steps 401-403:
Wherein the visible viewing angle range refers to the area located in the signal receivable area of the receiver, i.e. above the horizon AB, such as the sector areas 502-507 in fig. 5; correspondingly, the invisible viewing angle range refers to the area located in the area where the signal of the receiver cannot be received, i.e. the area below the horizon AB, such as the sector areas 501 and 508 in fig. 5. The control device may determine the signal receivable area and the signal non-receivable area of the receiver through the position of the receiver, such as longitude and latitude or the receiving position information of the spatial coordinates, which is used to characterize the specific position of the receiver, so as to obtain the visible view angle range and the non-visible view angle range.
In step 402, the control device divides a plurality of simulated satellites with relative angles within the visible angle range into a high angle satellite set, a medium angle satellite set and a low angle satellite set according to a preset high angle range, a preset medium angle range and a preset low angle range.
The high view angle range, the medium view angle range and the low view angle range are determined according to the relative included angles, and each view angle range can be specifically set according to practical situations. For example, in fig. 5, the sector area 504 is a high view angle range, the sector area 506 is a middle view angle range, and the sector area 507 is a low view angle range, but it should be noted that each relative angle in the high view angle satellite set is larger than each relative angle in the middle view angle satellite set, and each relative angle in the middle view angle satellite set is larger than each relative angle in the low view angle satellite set.
In the navigation positioning, the larger the relative angle between the satellite and the receiver, the more accurate the positioning of the satellite, and in the embodiment of the present disclosure, the larger the opening angle of the simulated satellite in the middle view angle range and the best visibility, therefore, the simulated satellite in the middle view angle range is determined as the target navigation satellite.
According to the embodiment of the disclosure, through layer-by-layer grading, the visible view angle range and the invisible view angle range of the receiver are determined firstly, then a plurality of simulated satellites with relative included angles in the visible view angle range are divided into a high view angle satellite set, a medium view angle satellite set and a low view angle satellite set, finally, the target navigation satellite is determined through each set, the determination efficiency of determining the target navigation satellite can be greatly improved, and after grading treatment is carried out, candidates can be conveniently carried out according to priority under the condition that the target navigation satellite fails and the like, so that the stability and reliability of the navigation satellite constellation in the embodiment of the disclosure can be ensured. Furthermore, the target navigation satellite in the embodiment of the disclosure is determined according to the simulated satellite positioned in the middle view angle range, the satellite has better visibility, larger opening angle and higher navigation positioning accuracy, and the reliability of the navigation satellite constellation provided by the embodiment of the disclosure can be further improved.
Referring to fig. 6, in an alternative embodiment of the present disclosure, the step 204 of controlling the apparatus to determine a navigation satellite constellation according to a plurality of target navigation satellites includes the following steps 601-602:
in step 601, if the number of the plurality of target navigation satellites is greater than the preset number, the control device selects the preset number of target navigation satellites from the plurality of target navigation satellites.
The preset number may be specifically set according to actual situations, and the implementation is not specifically limited. In order to ensure the structural stability of the navigation satellite constellation, the embodiment of the disclosure keeps the number of the target navigation satellites fixed, and when the number of the current target navigation satellites is greater than the preset number, the preset number of the target navigation satellites are selected from the plurality of target navigation satellites to determine the navigation satellite constellation, so that the system stability of the navigation satellite constellation can be ensured to the greatest extent, and the stability and reliability of navigation positioning of the system can be further improved.
In an optional embodiment of the present disclosure, the navigation satellite constellation determining method further includes the following step a:
and A, the control equipment determines the simulated satellites in the middle view angle satellite set at the current moment and in the high view angle satellite set or the low view angle satellite set at the previous moment and the simulated satellites in the high view angle satellite set at the current moment and in the middle view angle satellite set at the previous moment as candidate navigation satellites to obtain a plurality of candidate navigation satellites.
Wherein the current time is continuous with the previous time. For example, as shown in the following table (1), the current analog satellites include: simulation satellite A, simulation satellite B, simulation satellite C and simulation satellite D, wherein simulation satellite A is at t 1 Time is in the medium angle satellite set, at t 2 The moment is in the low-view satellite set; analog satellite B at t 1 Time of day is in a low view satellite set, at t 2 The moment is in the medium angle satellite set; analog satellite C at t 1 Time is in the medium angle satellite set, at t 2 The moment is in a high-view satellite set; analog satellite D at t 1 Time of day is in high view satellite set, at t 2 The time of day is in the medium view satellite set. ThenThe simulated satellite B, the simulated satellite C and the simulated satellite D belong to candidate navigation satellites.
| Satellite numbering | t 1 Time of day | t 2 Time of day |
| Analog satellite A | Set of satellites at medium view angles | Low view satellite collection |
| Analog satellite B | Low view satellite collection | Set of satellites at medium view angles |
| Analog satellite C | Set of satellites at medium view angles | High view satellite collection |
| Analog satellite D | High view satellite collection | Set of satellites at medium view angles |
Watch (1)
According to the embodiment of the disclosure, after the navigation satellite constellation is determined, the relative included angle of each simulated satellite is still determined in real time, and based on the current relative included angle, each simulated satellite is divided into a high-view satellite set, a medium-view satellite set and a low-view satellite set in real time through the same steps as above, the simulated satellite with the current moment in the medium-view satellite set or the low-view satellite set and the simulated satellite with the current moment in the high-view satellite set and the simulated satellite with the current moment in the medium-view satellite set are determined to be candidate navigation satellites, so that candidates can be conveniently carried out according to priority under the condition that a target navigation satellite fails, and the stability and reliability of the navigation satellite constellation in the embodiment of the disclosure can be ensured.
Referring to fig. 7, in an alternative embodiment of the present disclosure, the step 204 includes determining, by the control device, a navigation satellite constellation according to a plurality of target navigation satellites, including the following steps 701-702:
in step 701, if the number of the plurality of target navigation satellites is smaller than the preset number, the control device selects a first target candidate navigation satellite with the target number from the plurality of candidate navigation satellites.
The target number is a difference between the preset number and the number of the plurality of target navigation satellites. For example, the preset number is 12, and the number of the current target navigation satellites is 8, then the target number is the difference 4 between the two, that is, 4 candidate navigation satellites are selected from the current candidate navigation satellites to be used as the first target candidate navigation satellites.
In step 702, the control device determines a navigation satellite constellation according to the plurality of target navigation satellites and the first target candidate navigation satellites of the target number.
For example, in the step 701, the number of the current target navigation satellites is 8, and the number of the first target candidate navigation satellites is 4, and the navigation satellite constellation is formed based on the 8 target navigation satellites and the 4 first target candidate navigation satellites.
When the number of the target navigation satellites is insufficient, the first target candidate navigation satellites with the target number are selected from the candidate navigation satellites to form a navigation satellite constellation together with the current target navigation satellites, so that the stability of the navigation satellite constellation system is guaranteed to the greatest extent, and the accuracy and reliability of navigation positioning are further improved.
Referring to fig. 8, in an alternative embodiment of the present disclosure, the navigation satellite constellation determining method further includes the following steps 801 to 802:
in step 801, if there are failed navigation satellites in the plurality of target navigation satellites, the control device selects candidate navigation satellites equal to the number of failed navigation satellites from the plurality of candidate navigation satellites according to a preset priority order as second target candidate navigation satellites.
The failure navigation satellite refers to a target navigation satellite in the set of middle-view angle satellites at the last moment and in the set of low-view angle satellites at the current moment. Each simulated satellite moves along a preset moving track and is in a moving state all the time, namely, the target navigation satellite at the previous moment moves to a low visual angle range area at the current moment, which means that the visual angle of the target simulated satellite is lower and is about to fall into the invisible visual angle range of the receiver, the signal receiving capability of the simulated satellite is weak, and once the signal receiving capability of the simulated satellite falls into the invisible visual angle range of the receiver, the signal receiving and transmitting can not be carried out at all, so that the simulated satellite is determined to be the failure navigation satellite.
Therefore, upon finding that a failed navigation satellite exists among the target navigation satellites, the control apparatus selects, as a second target candidate navigation satellite, a candidate navigation satellite equal in number to the failed navigation satellite from the plurality of candidate navigation satellites. The priority order may be specifically set according to the actual situation, and may be, for example, such that the closer the candidate navigation satellite is to the failure navigation satellite, the more preferentially selected as the second target candidate navigation satellite, or such that the closer the candidate navigation satellite is to the range boundary in the range, the more preferentially selected as the second target candidate navigation satellite.
In an alternative embodiment, the control device may further refine the plurality of candidate navigation satellites obtained in the step a, and divide the candidate navigation satellites into a first candidate satellite set, a second candidate satellite set and a third candidate satellite set according to the sizes of the middle view satellite set and the low view satellite set, where a first distance between the first candidate satellite set and the middle view satellite set is minimum, a third distance between the third candidate satellite set and the middle view satellite set is maximum, and a second distance between the second candidate satellite set and the middle view satellite set is between the first distance and the third distance. When selection from the candidate satellites is needed later, nearby selection can be performed from the first candidate satellite set, the second candidate satellite set and the third candidate satellite set according to the size of the view angle satellite set in the distance, so that the selection efficiency can be greatly improved, and the determination efficiency of the navigation satellite constellation in the embodiment of the disclosure is further improved.
Updating the navigation satellite constellation means that a new navigation satellite constellation is re-determined according to the other target navigation satellites except the failed navigation satellite and the second target candidate navigation satellite determined by the steps.
According to the embodiment of the disclosure, under the condition that the failure navigation satellite exists in the current target navigation satellite, the candidate navigation satellite with the same number as that of the failure navigation satellite is selected from the plurality of candidate navigation satellites according to the preset priority order to serve as the second target candidate navigation satellite, and the navigation satellite constellation is updated according to the second target candidate navigation satellite, so that the stability and reliability of the navigation satellite constellation are ensured, and the accuracy of navigation positioning through the navigation satellite constellation is further improved.
Referring to fig. 9, in order to implement the above-mentioned service processing method, in one embodiment of the present disclosure, a navigation satellite constellation determining apparatus 900 is provided. Fig. 9 shows a schematic architecture diagram of a navigation satellite constellation determining apparatus 900, the navigation satellite constellation determining apparatus 900 comprising: a first determination module 910, a second determination module 920, a third determination module 930, and a fourth determination module 940, wherein:
A first determining module 910, configured to determine satellite position information of each simulated satellite in the GPS simulated constellation;
the second determining module 920 is configured to determine angles between each analog satellite and the receiver according to the position information of each satellite and the receiving position information of the receiver, so as to obtain a plurality of relative angles; the receiver is used for receiving satellite signals sent by each analog satellite;
a third determining module 930, configured to determine, as a target navigation satellite, a simulated satellite corresponding to a relative angle located within a preset target viewing angle range from among the plurality of relative angles, so as to obtain a plurality of target navigation satellites;
a fourth determining module 940 is configured to determine a constellation of navigation satellites based on the plurality of target navigation satellites.
In an optional embodiment, the second determining module 920 is specifically configured to determine cosine values of the relative angles according to the satellite position information and the receiving position information, respectively; and determining the relative included angle between each analog satellite and the receiver according to each cosine value.
In an alternative embodiment, the third determining module 930 is specifically configured to determine the visible view range and the invisible view range of the receiver according to the received location information; the method comprises the steps that a plurality of simulated satellites with relative included angles in a visible view angle range are respectively divided into a high view angle satellite set, a medium view angle satellite set and a low view angle satellite set according to a preset high view angle range, a preset medium view angle range and a preset low view angle range; the simulated satellites that lie within the intermediate view angle range are determined as target navigation satellites.
In an alternative embodiment, the fourth determining module 940 is specifically configured to select a preset number of target navigation satellites from the plurality of target navigation satellites if the number of the plurality of target navigation satellites is greater than the preset number; and determining a navigation satellite constellation according to a preset number of target navigation satellites.
In an optional embodiment, the fourth determining module 940 is further configured to determine, as the candidate navigation satellites, the simulated satellites whose current time is in the set of middle view satellites and whose current time is in the set of high view satellites or the set of low view satellites, and the simulated satellites whose current time is in the set of high view satellites and whose current time is in the set of middle view satellites, to obtain a plurality of candidate navigation satellites.
In an optional embodiment, the fourth determining module 940 is specifically configured to select, if the number of the plurality of target navigation satellites is less than the preset number, a first target candidate navigation satellite with the target number from the plurality of candidate navigation satellites; the target number is the difference between the preset number and the number of the plurality of target navigation satellites; and determining a navigation satellite constellation according to the plurality of target navigation satellites and the first target candidate navigation satellites of the target quantity.
In an alternative embodiment, the fourth determining module 940 is further configured to select, if there is a failed navigation satellite among the plurality of target navigation satellites, candidate navigation satellites equal to the number of failed navigation satellites from the plurality of candidate navigation satellites according to the preset priority order as the second target candidate navigation satellite; the failure navigation satellite refers to a target navigation satellite in a plurality of target navigation satellites, wherein the target navigation satellite is positioned in a medium-view angle satellite set at the last moment, and the target navigation satellite is positioned in a low-view angle satellite set at the current moment; and updating the navigation satellite constellation according to the second target candidate navigation satellite.
Exemplary embodiments of the present disclosure also provide a computer readable storage medium, which may be implemented in the form of a program product comprising program code for causing an electronic device to carry out the steps according to the various exemplary embodiments of the disclosure as described in the above section of the "exemplary method" when the program product is run on the electronic device. In one embodiment, the program product may be implemented as a portable compact disc read only memory (CD-ROM) and includes program code and may be run on an electronic device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable signal medium may include a data signal propagated in baseband or as part of a carrier wave with readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider). In embodiments of the present disclosure, any of the steps in the navigation satellite constellation determination method as described above may be implemented when the program code stored in the computer readable storage medium is executed.
Referring to fig. 10, the exemplary embodiment of the present disclosure further provides an electronic device 1000, which may be a background server of the information platform. The electronic device 1000 is described below with reference to fig. 10. It should be understood that the electronic device 1000 shown in fig. 10 is merely an example and should not be construed to limit the functionality and scope of use of embodiments of the present disclosure in any way.
As shown in fig. 10, the electronic device 1000 is embodied in the form of a general purpose computing device. Components of electronic device 1000 may include, but are not limited to: at least one processing unit 1010, at least one memory unit 1020, and a bus 1030 that connects the various system components, including the memory unit 1020 and the processing unit 1010.
Wherein the storage unit stores program code that is executable by the processing unit 1010 such that the processing unit 1010 performs steps according to various exemplary embodiments of the present invention described in the above section of the "exemplary method" of the present specification. For example, the processing unit 1010 may perform the method steps shown in fig. 2, etc.
The memory unit 1020 may include volatile memory units such as a random access memory unit (RAM) 1021 and/or a cache memory unit 1022, and may further include a read only memory unit (ROM) 1023.
The electronic device 1000 may also communicate with one or more external devices 2000 (e.g., keyboard, pointing device, bluetooth device, etc.) via input/output (I/O) interface 1040. Electronic device 1000 can also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, e.g., the Internet, through network adapter 1050. As shown, network adapter 1050 communicates with other modules of electronic device 101000 via bus 1030. It should be appreciated that although not shown, other hardware and/or software modules may be used in connection with the electronic device 1000, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
In embodiments of the present disclosure, any of the steps of the navigation satellite constellation determination method as described above may be implemented when the program code stored in the electronic device is executed.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit in accordance with exemplary embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Those skilled in the art will appreciate that the various aspects of the present disclosure may be implemented as a system, method, or program product. Accordingly, various aspects of the disclosure may be embodied in the following forms, namely: an entirely hardware embodiment, an entirely software embodiment (including firmware, micro-code, etc.) or an embodiment combining hardware and software aspects may be referred to herein as a "circuit," module "or" system. Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This disclosure is intended to cover any adaptations, uses, or adaptations of the disclosure following the general principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A method for determining a constellation of navigation satellites, comprising:
determining satellite position information of each simulated satellite in the navigation simulated constellation;
determining included angles between each analog satellite and the receiver according to the satellite position information and the receiving position information of the receiver respectively to obtain a plurality of relative included angles; the receiver is used for receiving satellite signals sent by the analog satellites;
determining the simulated satellite corresponding to the relative included angle positioned in the preset target view angle range from the plurality of relative included angles as a target navigation satellite, so as to obtain a plurality of target navigation satellites;
and determining a navigation satellite constellation according to the target navigation satellites.
2. The method according to claim 1, wherein determining the angles between each of the analog satellites and the receiver according to the satellite position information and the receiver position information, respectively, to obtain a plurality of relative angles comprises:
Determining cosine values of the relative included angles according to the satellite position information and the receiving position information respectively;
and determining the relative included angle between each analog satellite and the receiver according to each cosine value.
3. The method for determining a constellation of navigation satellites according to claim 1, wherein determining the simulated satellite corresponding to the relative included angle located within the preset target view angle range from among the plurality of relative included angles as the target navigation satellite, to obtain a plurality of target navigation satellites, includes:
determining a visible view angle range and an invisible view angle range of the receiver according to the receiving position information;
dividing the plurality of simulated satellites with the relative included angles in the visible view angle range into a high view angle satellite set, a medium view angle satellite set and a low view angle satellite set according to a preset high view angle range, a preset medium view angle range and a preset low view angle range;
the simulated satellite that is within the medium range of angles is determined to be the target navigation satellite.
4. A method of determining a constellation of navigation satellites according to claim 3, wherein said determining a constellation of navigation satellites from said plurality of target navigation satellites comprises:
If the number of the target navigation satellites is larger than a preset number, selecting the target navigation satellites with the preset number from the target navigation satellites;
and determining the navigation satellite constellation according to the preset number of target navigation satellites.
5. A method of determining a navigation satellite constellation according to claim 3, said method further comprising:
and determining the simulated satellites with the current moment in the medium-view satellite set and the previous moment in the high-view satellite set or the low-view satellite set and the simulated satellites with the current moment in the high-view satellite set and the previous moment in the medium-view satellite set as candidate navigation satellites to obtain a plurality of candidate navigation satellites.
6. The method of claim 5, wherein determining a constellation of navigation satellites from the plurality of target navigation satellites comprises:
if the number of the plurality of target navigation satellites is smaller than the preset number, selecting a first target candidate navigation satellite with the target number from the plurality of candidate navigation satellites; wherein the target number is a difference between the preset number and the number of the plurality of target navigation satellites;
And determining the navigation satellite constellation according to the plurality of target navigation satellites and the first target candidate navigation satellites of the target quantity.
7. The navigation satellite constellation determination method of claim 5, further comprising:
if the plurality of target navigation satellites have invalid navigation satellites, selecting candidate navigation satellites with the same number as the invalid navigation satellites from the plurality of candidate navigation satellites according to a preset priority order as second target candidate navigation satellites; the failure navigation satellite refers to a target navigation satellite in the plurality of target navigation satellites, wherein the target navigation satellite is located in the medium-view angle satellite set at the last moment and is located in the low-view angle satellite set at the current moment;
and updating the navigation satellite constellation according to the second target candidate navigation satellite.
8. A navigation satellite constellation determining apparatus, the apparatus comprising:
the first determining module is used for determining satellite position information of each simulated satellite in the navigation simulation constellation;
the second determining module is used for determining included angles between each simulated satellite and the receiver according to the satellite position information and the receiving position information of the receiver respectively to obtain a plurality of relative included angles; the receiver is used for receiving satellite signals sent by the analog satellites;
The third determining module is used for determining the simulated satellite corresponding to the relative included angle positioned in the preset target view angle range from among the plurality of relative included angles as a target navigation satellite, so as to obtain a plurality of target navigation satellites;
and the fourth determining module is used for determining a navigation satellite constellation according to the target navigation satellites.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1 to 7.
10. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of any one of claims 1 to 7 via execution of the executable instructions.
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