CN117406256A - Terminal positioning method applied to low-orbit internet satellite and related equipment - Google Patents
Terminal positioning method applied to low-orbit internet satellite and related equipment Download PDFInfo
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- 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
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Abstract
The embodiment of the application belongs to the technical field of positioning, and relates to a terminal positioning method and related equipment applied to a low-orbit internet satellite, wherein the method comprises the following steps: receiving an unmanned aerial vehicle flight path sent by a ground control terminal; controlling the first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and the second unmanned aerial vehicle according to the second flight path; acquiring reference signal data, signal data to be positioned and flight attitude data sent by signal receiving equipment; performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned; and carrying out position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm to obtain target location data. The method and the device can capture the uplink signals of the ground terminal of the low-orbit internet satellite and conduct real-time accurate positioning.
Description
Technical Field
The present disclosure relates to the field of positioning technologies of artificial intelligence, and in particular, to a terminal positioning method, device, computer device, and storage medium applied to a low-orbit internet satellite.
Background
The low-orbit internet satellite refers to a low-orbit satellite constellation with the orbit height of 200-2000 km, and can provide high-speed and low-delay data communication service for the ground. In recent years, low-orbit internet satellites have rapidly developed, and a plurality of low-orbit internet satellite operators and the like have realized large-scale satellite constellation deployment. The low orbit satellite constellation in China has also entered the satellite making experimental stage, namely, the official satellites are launched.
The existing positioning method for the ground terminal of the low-orbit internet satellite firstly performs ground search and positioning on WIFI signals radiated to a user by the ground terminal (the ground terminal uses a high-frequency band to communicate with a satellite and then communicates with user equipment in a WIFI mode); and secondly, carrying out multipoint phase direction finding intersection positioning by adopting an array antenna carried by the unmanned aerial vehicle, carrying out direction finding by the unmanned aerial vehicle on uplink signals of the ground terminal of the lifting scanning of a plurality of points, and intersecting the direction finding lines of the points to obtain the terminal position.
However, the applicant finds that by the implementation manner of positioning the WIFI signal, the WIFI signal of the daily router is easily confused so as to generate positioning misjudgment, and the possibility of successful positioning is very low; the implementation mode of carrying the array antenna on the unmanned aerial vehicle for multipoint phase direction finding intersection positioning is adopted, at least three unmanned aerial vehicles or at least three points are needed for direction finding, the positioning process is complex and long in time, and accurate positioning results can be obtained only by changing the lift-off points of the unmanned aerial vehicle for more times, so that the problem of lower accuracy exists in the traditional ground terminal positioning method is solved.
Disclosure of Invention
The embodiment of the application aims to provide a terminal positioning method, a device, computer equipment and a storage medium applied to a low-orbit internet satellite, so as to solve the problem of low accuracy of the traditional ground terminal positioning method.
In order to solve the above technical problems, the embodiments of the present application provide a terminal positioning method applied to a low-orbit internet satellite, which adopts the following technical scheme:
receiving an unmanned aerial vehicle flight path sent by a ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path;
controlling a first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and a second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle;
acquiring the reference signal data, the signal data to be positioned and the flight attitude data sent by the signal receiving equipment;
performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned;
And carrying out position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm to obtain target location data of the terminal to be located.
Further, after the step of performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual ambiguity function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned, and before the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned plane flight attitude data according to a time-frequency difference estimation positioning algorithm, the method further comprises the following steps:
judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold value, executing the step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm;
and if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold value, outputting a reference time-frequency difference value abnormal signal.
Further, after the step of performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual ambiguity function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned, and before the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned plane flight attitude data according to a time-frequency difference estimation positioning algorithm, the method further comprises the following steps:
judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned or not;
if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold value to be positioned, executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm;
and if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold value to be positioned, outputting a time-frequency difference value abnormal signal to be positioned so as to adjust the flight track of the unmanned aerial vehicle.
Further, the mutual ambiguity function is expressed as:
wherein,representing the value of the mutual ambiguity function;、respectively representing two paths of signals transmitted by an ith terminal; 、Respectively representing time difference and frequency difference; t represents the sampling time;representing an ith signal; i fetchRepresenting the reference signal.
Further, the time-frequency difference estimation positioning algorithm is expressed as:
wherein i represents an i-th signal; c represents the speed of light;andrepresenting the transmission frequencies of the target and reference signals, respectively;andrespectively representing the time difference of the calculated target signal and the reference signal;andrespectively representing the calculated frequency differences of the target signal and the reference signal;andrepresenting the position vectors of the ith target and reference station in the geodetic fixed coordinate system;andrespectively representing the path difference from the ith target and the reference station to the two unmanned aerial vehicles;representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the ith target direction;representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the direction of the reference station.
In order to solve the above technical problems, the embodiment of the present application further provides a terminal positioning device applied to a low-orbit internet satellite, which adopts the following technical scheme:
the path acquisition module is used for receiving the unmanned aerial vehicle flight path sent by the ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path;
The flight control module is used for controlling the first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and the second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle;
the data receiving module is used for acquiring the reference signal data, the signal data to be positioned and the flight attitude data sent by the signal receiving equipment;
the time-frequency difference estimation module is used for performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned;
and the positioning calculation module is used for carrying out position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm to obtain target positioning data of the terminal to be positioned.
Further, the device further comprises:
the reference signal-to-noise ratio judging module is used for judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
The reference signal-to-noise ratio normal module is used for executing the step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned plane flight attitude data according to a time-frequency difference estimation and location algorithm if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold;
and the reference signal-to-noise ratio abnormality module is used for outputting a reference time-frequency difference abnormal signal if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold value.
Further, the device further comprises:
the signal-to-noise ratio judging module is used for judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned;
the signal-to-noise ratio normal module to be positioned is used for executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-to-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold to be positioned;
and the signal-to-noise ratio abnormality module is used for outputting a signal with abnormal time-frequency difference value to be positioned so as to adjust the flight track of the unmanned aerial vehicle if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold to be positioned.
In order to solve the above technical problems, the embodiments of the present application further provide a computer device, which adopts the following technical schemes:
the method comprises a memory and a processor, wherein the memory stores computer readable instructions, and the processor executes the computer readable instructions to realize the steps of the terminal positioning method applied to the low-orbit internet satellite.
In order to solve the above technical problems, embodiments of the present application further provide a computer readable storage medium, which adopts the following technical solutions:
the computer readable storage medium has stored thereon computer readable instructions which when executed by a processor implement the steps of the terminal positioning method as described above for low-orbit internet satellites.
The application provides a terminal positioning method applied to a low-orbit internet satellite, which comprises the following steps: receiving an unmanned aerial vehicle flight path sent by a ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path; controlling a first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and a second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle; acquiring the reference signal data, the signal data to be positioned and the flight attitude data sent by the signal receiving equipment; performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned; and carrying out position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm to obtain target location data of the terminal to be located. Compared with the prior art, the method has the advantages that the two unmanned aerial vehicles are used for carrying the signal receiving equipment, the uplink signals of the low-orbit Internet satellite ground terminal in a certain area are scanned and collected during the lift-off and flight, the data are transmitted back to the ground control center for multi-target time-frequency difference synchronous estimation and positioning calculation, the geographic position of the ground terminal is finally obtained, the positioning accuracy of the ground terminal is effectively improved, and meanwhile, the unmanned aerial vehicle is used for searching and measuring the uplink signals of the terminal, so that the probability of capturing the uplink signals can be greatly improved; the multi-target time-frequency difference synchronous estimation positioning algorithm is adopted, so that a plurality of ground terminals in an area can be positioned theoretically only by one-time flight of the unmanned aerial vehicle, the flight operation flow of the unmanned aerial vehicle is greatly simplified, and the positioning speed is extremely high; because the signal receiving equipment of the unmanned aerial vehicle only needs to carry a pair of small-sized omnidirectional antennas and only collects signals and packs WLAN to send, the signal receiving equipment on the unmanned aerial vehicle does not need to bear calculation work, and the whole unmanned aerial vehicle system can be miniaturized and portable.
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For a clearer description of the solution in the present application, a brief description will be given below of the drawings that are needed in the description of the embodiments of the present application, it being obvious that the drawings in the following description are some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is an exemplary system architecture diagram in which the present application may be applied;
fig. 2 is a flowchart of an implementation of a terminal positioning method applied to a low-orbit internet satellite according to an embodiment of the present application;
fig. 3 is an application environment schematic diagram of a terminal positioning method applied to a low-orbit internet satellite according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a signal receiving apparatus according to a first embodiment of the present application;
fig. 5 is a schematic structural diagram of a ground control terminal according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a terminal positioning device applied to a low-orbit internet satellite according to a second embodiment of the present application;
FIG. 7 is a schematic structural diagram of one embodiment of a computer device according to the present application.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the technical solutions of the present application, the following description will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings.
As shown in fig. 1, a system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used as a medium to provide communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.
The user may interact with the server 105 via the network 104 using the terminal devices 101, 102, 103 to receive or send messages or the like. Various communication client applications, such as a web browser application, a shopping class application, a search class application, an instant messaging tool, a mailbox client, social platform software, etc., may be installed on the terminal devices 101, 102, 103.
The terminal devices 101, 102, 103 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablet computers, electronic book readers, MP3 players (Moving Picture Experts Group Audio Layer III, dynamic video expert compression standard audio plane 3), MP4 (Moving Picture Experts Group Audio Layer IV, dynamic video expert compression standard audio plane 4) players, laptop and desktop computers, and the like.
The server 105 may be a server providing various services, such as a background server providing support for pages displayed on the terminal devices 101, 102, 103.
It should be noted that, the terminal positioning method applied to the low-orbit internet satellite provided in the embodiment of the present application is generally executed by a server/terminal device, and accordingly, the terminal positioning device applied to the low-orbit internet satellite is generally disposed in the server/terminal device.
It should be understood that the number of terminal devices, networks and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
With continued reference to fig. 2 and 3, a flowchart and an application environment diagram of one embodiment of a terminal positioning method applied to a low-orbit internet satellite according to the present application are shown. The terminal positioning method applied to the low-orbit internet satellite comprises the following steps: step S201, step S202, step S203, step S204, and step S205.
In step S201, an unmanned aerial vehicle flight path sent by a ground control terminal is received, where the unmanned aerial vehicle flight path includes a first flight path and a second flight path.
In the embodiment of the application, when equipment is deployed in an area where a low-orbit internet satellite ground terminal signal exists, the deployed equipment needs to be accurately positioned.
In step S202, the first unmanned aerial vehicle is controlled to perform flight operation and signal receiving operation according to the first flight path and the second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are both provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle.
In the embodiment of the application, the signal receiving device comprises an omnidirectional detection antenna, a signal receiver (including an LNA and a down converter), a broadband AD (digital acquisition) acquisition module, a multipath DDC (digital down conversion) module, a GPS/Beidou time unifying module, a comprehensive information processing module and a WLAN transmission module. The signal receiving apparatus is carried by an unmanned aerial vehicle. The ground control terminal consists of a flight control device, a WLAN transmission module and a computer provided with control, monitoring and positioning system software.
In this embodiment of the present application, before performing accurate positioning, it is necessary to set a flight path of an unmanned aerial vehicle, where two unmanned aerial vehicles are generally ready to lift off at a position with a certain distance, the flight paths are set to different heights and flight directions, a receiving frequency band of a signal receiving device is set to be an uplink frequency point of the low-orbit internet satellite ground terminal, and a frequency point of a positioning signal is setFrequency point of reference signalAnd acquisition bandwidth.
In the embodiment of the application, the altitude, the position, the direction and the speed of the lift-off flight of the two unmanned aerial vehicles are different as much as possible, so that a certain distance exists between the two unmanned aerial vehicles, and the arrival time difference of signals is ensured to be large enough; meanwhile, a certain speed vector difference exists between the two unmanned aerial vehicles, so that the Doppler frequency shift difference value of the signals reaching the two unmanned aerial vehicles is ensured to be large enough. The unmanned aerial vehicle flight requirement above can be satisfied, error influence can be reduced, positioning accuracy is improved.
In the embodiment of the application, a transmitting reference station needs to be deployed in a region of a low-orbit internet satellite ground terminal signal, a wide-beam directional antenna is used for pointing to the direction of an unmanned aerial vehicle flight path, a transmitting frequency point, a bandwidth and transmitting power are set, the frequency point is set to be close to an uplink frequency band of the ground terminal, and a narrowband signal is transmitted As a reference signal.
In the embodiment of the present application, due to the existence of the channel characteristic difference, the frequency estimated value obtained after the correlation calculation of the target signal deviates from the actual value, so that the reference signal correction error needs to be introduced. And transmitting a reference signal by using a reference station with a known geographic position, carrying out parameter estimation and positioning calculation on the reference signal, obtaining a correction quantity of channel characteristics according to errors of an actual position coordinate and a positioning result, and introducing the correction quantity into target signal processing to improve the precision of parameter measurement, thereby obtaining a positioning result with higher precision.
In step S203, reference signal data, signal data to be positioned, and flight attitude data transmitted by the signal receiving apparatus are acquired.
In the embodiment of the application, after the unmanned aerial vehicle enters a flight state, an operator sends an acquisition instruction at a ground control center and sends the acquisition instruction through a ground WLAN module.
In the embodiment of the application, the omni-directional antennas of the two signal receiving devices receive set full-band signals (including reference signals), and the signals are amplified by an LNA inside a signal receiver and are converted to an L-band by a down converter. Under the strict synchronization of the time system modules, the broadband AD acquisition modules of the two unmanned aerial vehicles simultaneously acquire the numbers of the full frequency bands. At the same time, the flight control equipment acquires the real-time position, the height, the flight direction and the speed of the unmanned aerial vehicle under the synchronization of the timing system module.
In the embodiment of the application, the time system modules are strictly synchronized, so that other time difference errors are not introduced during broadband AD acquisition of two unmanned aerial vehicles, and the time frequency difference of the measurement signals is strictly corresponding to the position speed of the unmanned aerial vehicles, so that error introduction is avoided; and after the acquired flight attitude of the unmanned aerial vehicle is transmitted back to the ground control center, converting the flight attitude into a position vector and a speed vector required by subsequent calculation.
In the embodiment of the application, after the full-band signal is converted into a digital signal by a broadband AD acquisition module, digital down-conversion is carried out on a frequency point to be positioned and a reference signal by a multi-channel DDC module, so that a plurality of down-converted signal data to be positioned and reference signal data are obtained; the down conversion of the multi-channel DDC firstly filters the full-frequency band signals to obtain a plurality of narrowband target signals, and the down conversion reduces the data volume, is convenient for WLAN transmission, and can also reduce the complexity of the subsequent mutual ambiguity related calculation.
In step S204, a time-frequency difference estimation operation is performed on the reference signal data and the signal data to be positioned according to the mutual ambiguity function, so as to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned.
In the embodiment of the application, firstly, time-frequency difference parameter estimation is performed on each signal data, and a mutual blurring function is used for obtaining Time Difference (TDOA) and Frequency Difference (FDOA) parameters of a plurality of signals and reference signals respectively reaching two unmanned aerial vehicles, wherein the time difference parameter estimation comprises the following steps:
Wherein,representing the value of the mutual ambiguity function;、respectively representing two paths of signals transmitted by an ith terminal;、respectively representing time difference and frequency difference; t represents the sampling time;representing an ith signal; i fetchRepresenting the reference signal.
In the embodiment of the application, for the ith signal, the calculated result of the mutual blur function is a two-dimensional spectrum, and the peak value of the mutual blur function is found by searching, which corresponds toAndi.e. the ithAn unbiased estimate of the time-frequency difference of the individual signals.
In the embodiment of the application, the parameter estimation result is observed, and when the signal to noise ratio of the parameter estimation result is large enough, the result can be identified as a true value; if the signal-to-noise ratio of the reference signal parameter estimation result is too low, the reference station transmitting power should be considered to be improved; if the signal-to-noise ratio of the target signal parameter estimation is low, the unmanned aerial vehicle flight track can be considered to be adjusted.
In step S205, a position location calculation operation is performed on the reference time-frequency difference value, the time-frequency difference value to be located, and the unmanned aerial vehicle flight attitude data according to the time-frequency difference estimation location algorithm, so as to obtain target location data of the terminal to be located.
In the embodiment of the application, the time-frequency difference estimation positioning algorithm is a classical double-star positioning method of analog satellites. As the positions of the two unmanned aerial vehicles can be known in real time, the paths of the uplink signals emitted by the ground terminal, which are leaked to the two unmanned aerial vehicles, are different, the arrival time difference and the instant difference can be generated; and because the relative speeds of the two unmanned aerial vehicles to the ground terminal are different, different Doppler frequency shifts, namely frequency differences, can be generated when signals reach the two unmanned aerial vehicles. For two unmanned aerial vehicles with certain positions, the track determined by a certain time difference value is a hyperboloid, a time difference position line can be obtained by intersecting the earth, and the terminal for transmitting signals is necessarily on the line; a frequency difference value can be obtained on the earth surface by the same method, and the intersection point of the two lines is the terminal position.
In the embodiment of the application, the calculated time-frequency difference value of each signal, the reference time-frequency difference value and unmanned aerial vehicle flight attitude data, namely unmanned aerial vehicle position and speed vector, are substituted into the following multi-target positioning equation set:
wherein i represents an i-th signal; c represents the speed of light;andrepresenting the transmission frequencies of the target and reference signals, respectively;andrespectively representing the time difference of the calculated target signal and the reference signal;andrespectively representing the calculated frequency differences of the target signal and the reference signal;andrepresenting the position vectors of the ith target and reference station in the geodetic fixed coordinate system;andrespectively representing the path difference from the ith target and the reference station to the two unmanned aerial vehicles;representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the ith target direction;representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the direction of the reference station.
In the embodiment of the application, in the above equation set, only the target position vectorUnknown, so that the position coordinates of the N low-orbit internet satellite ground terminals can be obtained by solving the position coordinates. Finally, displaying the target position on the system map。
In the embodiment of the application, by using two unmanned aerial vehicle carried signal receiving devices, the uplink signals of the low-orbit internet satellite ground terminal in a certain area are scanned and collected during lift-off and flight, and the data are transmitted back to the ground control center to perform multi-target time-frequency difference synchronous estimation and positioning calculation, so that the geographic position of the ground terminal is finally obtained.
In an embodiment of the present application, a terminal positioning method applied to a low-orbit internet satellite is provided, including: receiving an unmanned aerial vehicle flight path sent by a ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path; controlling the first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and the second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are both provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle; acquiring reference signal data, signal data to be positioned and flight attitude data sent by signal receiving equipment; performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned; and carrying out position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm to obtain target location data of the terminal to be located. Compared with the prior art, the method has the advantages that the two unmanned aerial vehicles are used for carrying the signal receiving equipment, the uplink signals of the low-orbit Internet satellite ground terminal in a certain area are scanned and collected during the lift-off and flight, the data are transmitted back to the ground control center for multi-target time-frequency difference synchronous estimation and positioning calculation, the geographic position of the ground terminal is finally obtained, the positioning accuracy of the ground terminal is effectively improved, and meanwhile, the unmanned aerial vehicle is used for searching and measuring the uplink signals of the terminal, so that the probability of capturing the uplink signals can be greatly improved; the multi-target time-frequency difference synchronous estimation positioning algorithm is adopted, so that a plurality of ground terminals in an area can be positioned theoretically only by one-time flight of the unmanned aerial vehicle, the flight operation flow of the unmanned aerial vehicle is greatly simplified, and the positioning speed is extremely high; because the signal receiving equipment of the unmanned aerial vehicle only needs to carry a pair of small-sized omnidirectional antennas and only collects signals and packs WLAN to send, the signal receiving equipment on the unmanned aerial vehicle does not need to bear calculation work, and the whole unmanned aerial vehicle system can be miniaturized and portable.
In some optional implementations of the present embodiment, after step S204 and before step S205, the following steps are further included:
judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold value, executing a step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm;
if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold, outputting a reference time-frequency difference value abnormal signal to improve the transmitting power of the reference terminal.
In the embodiment of the application, if the signal-to-noise ratio of the cross ambiguity parameter estimation result of the reference signal is too low when the time-frequency offset estimation is finally performed, the transmitting power of the reference station should be properly increased, and the antenna pointing direction is adjusted so that the reference signal can be radiated to two unmanned aerial vehicles.
In some optional implementations of the present embodiment, after step S204 and before step S205, the following steps are further included:
judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned or not;
if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold value to be positioned, executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm;
And if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold value to be positioned, outputting a time-frequency difference value abnormal signal to be positioned so as to adjust the flight track of the unmanned aerial vehicle.
In the embodiment of the application, if the signal-to-noise ratio of the target signal parameter estimation is low, the adjustment of the unmanned aerial vehicle flight track can be considered.
The embodiment of the application can acquire and process the related data based on the artificial intelligence technology. Among these, artificial intelligence (Artificial Intelligence, AI) is the theory, method, technique and application system that uses a digital computer or a digital computer-controlled machine to simulate, extend and extend human intelligence, sense the environment, acquire knowledge and use knowledge to obtain optimal results.
Artificial intelligence infrastructure technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a robot technology, a biological recognition technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and other directions. Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by computer readable instructions stored in a computer readable storage medium that, when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a nonvolatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a random access Memory (RandomAccess Memory, RAM).
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
Example two
With further reference to fig. 6, as an implementation of the method shown in fig. 2, the present application provides an embodiment of a terminal positioning device applied to a low-orbit internet satellite, where an embodiment of the device corresponds to the embodiment of the method shown in fig. 2, and the device may be specifically applied to various electronic devices.
As shown in fig. 6, the terminal positioning device 200 applied to a low-orbit internet satellite of the present embodiment includes: a path acquisition module 210, a flight control module 220, a data receiving module 230, a time-frequency difference estimation module 240, and a positioning calculation module 250, wherein:
The path acquisition module 210 is configured to receive an unmanned aerial vehicle flight path sent by the ground control terminal, where the unmanned aerial vehicle flight path includes a first flight path and a second flight path;
the flight control module 220 is configured to control the first unmanned aerial vehicle to perform flight operations and receive signal operations according to the first flight path and the second unmanned aerial vehicle according to the second flight path, where the first unmanned aerial vehicle and the second unmanned aerial vehicle are both provided with signal receiving devices for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned, and flight attitude data of the unmanned aerial vehicle;
a data receiving module 230, configured to obtain reference signal data, signal data to be positioned, and flight attitude data sent by a signal receiving device;
the time-frequency difference estimation module 240 is configured to perform a time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual blurring function, so as to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned;
the positioning calculation module 250 is configured to perform a position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned, and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm, so as to obtain target positioning data of the terminal to be positioned.
In this embodiment, a terminal positioning device 200 applied to a low-orbit internet satellite is provided, including: the path acquisition module 210 is configured to receive an unmanned aerial vehicle flight path sent by the ground control terminal, where the unmanned aerial vehicle flight path includes a first flight path and a second flight path; the flight control module 220 is configured to control the first unmanned aerial vehicle to perform flight operations and receive signal operations according to the first flight path and the second unmanned aerial vehicle according to the second flight path, where the first unmanned aerial vehicle and the second unmanned aerial vehicle are both provided with signal receiving devices for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned, and flight attitude data of the unmanned aerial vehicle; a data receiving module 230, configured to obtain reference signal data, signal data to be positioned, and flight attitude data sent by a signal receiving device; the time-frequency difference estimation module 240 is configured to perform a time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to the mutual blurring function, so as to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned; the positioning calculation module 250 is configured to perform a position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned, and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm, so as to obtain target positioning data of the terminal to be positioned. Compared with the prior art, the method has the advantages that the two unmanned aerial vehicles are used for carrying the signal receiving equipment, the uplink signals of the low-orbit Internet satellite ground terminal in a certain area are scanned and collected during the lift-off and flight, the data are transmitted back to the ground control center for multi-target time-frequency difference synchronous estimation and positioning calculation, the geographic position of the ground terminal is finally obtained, the positioning accuracy of the ground terminal is effectively improved, and meanwhile, the unmanned aerial vehicle is used for searching and measuring the uplink signals of the terminal, so that the probability of capturing the uplink signals can be greatly improved; the multi-target time-frequency difference synchronous estimation positioning algorithm is adopted, so that a plurality of ground terminals in an area can be positioned theoretically only by one-time flight of the unmanned aerial vehicle, the flight operation flow of the unmanned aerial vehicle is greatly simplified, and the positioning speed is extremely high; because the signal receiving equipment of the unmanned aerial vehicle only needs to carry a pair of small-sized omnidirectional antennas and only collects signals and packs WLAN to send, the signal receiving equipment on the unmanned aerial vehicle does not need to bear calculation work, and the whole unmanned aerial vehicle system can be miniaturized and portable.
In some optional implementations of this embodiment, the terminal positioning device 200 applied to the low-orbit internet satellite further includes:
the reference signal-to-noise ratio judging module is used for judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
the reference signal-to-noise ratio normal module is used for executing the step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned plane flight attitude data according to a time-frequency difference estimation and location algorithm if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold;
and the reference signal-to-noise ratio abnormality module is used for outputting a reference time-frequency difference abnormal signal if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold value.
In some optional implementations of this embodiment, the terminal positioning device 200 applied to the low-orbit internet satellite further includes:
the signal-to-noise ratio judging module is used for judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned;
the signal-to-noise ratio normal module to be positioned is used for executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-to-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold to be positioned;
And the signal-to-noise ratio abnormality module is used for outputting a signal with abnormal time-frequency difference value to be positioned so as to adjust the flight track of the unmanned aerial vehicle if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold to be positioned.
In order to solve the technical problems, the embodiment of the application also provides computer equipment. Referring specifically to fig. 7, fig. 7 is a basic structural block diagram of a computer device according to the present embodiment.
The computer device 300 includes a memory 310, a processor 320, and a network interface 330 communicatively coupled to each other via a system bus. It should be noted that only computer device 300 having components 310-330 is shown in the figures, but it should be understood that not all of the illustrated components need be implemented, and that more or fewer components may be implemented instead. It will be appreciated by those skilled in the art that the computer device herein is a device capable of automatically performing numerical calculations and/or information processing in accordance with predetermined or stored instructions, the hardware of which includes, but is not limited to, microprocessors, application specific integrated circuits (Application Specific Integrated Circuit, ASICs), programmable gate arrays (fields-Programmable Gate Array, FPGAs), digital processors (Digital Signal Processor, DSPs), embedded devices, etc.
The computer equipment can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing equipment. The computer equipment can perform man-machine interaction with a user through a keyboard, a mouse, a remote controller, a touch pad or voice control equipment and the like.
The memory 310 includes at least one type of readable storage medium including flash memory, hard disk, multimedia card, card memory (e.g., SD or DX memory, etc.), random Access Memory (RAM), static Random Access Memory (SRAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), programmable Read Only Memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 310 may be an internal storage unit of the computer device 300, such as a hard disk or a memory of the computer device 300. In other embodiments, the memory 310 may also be an external storage device of the computer device 300, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the computer device 300. Of course, the memory 310 may also include both internal storage units and external storage devices of the computer device 300. In this embodiment, the memory 310 is generally used to store an operating system and various application software installed on the computer device 300, such as computer readable instructions of a terminal positioning method applied to a low-orbit internet satellite. In addition, the memory 310 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 320 may be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor, or other data processing chip in some embodiments. The processor 320 is generally used to control the overall operation of the computer device 300. In this embodiment, the processor 320 is configured to execute computer readable instructions stored in the memory 310 or process data, for example, execute computer readable instructions of the terminal positioning method applied to a low-orbit internet satellite.
The network interface 330 may include a wireless network interface or a wired network interface, the network interface 330 typically being used to establish communication connections between the computer device 300 and other electronic devices.
According to the computer equipment, the two unmanned aerial vehicles are used for carrying the signal receiving equipment, the uplink signals of the low-orbit Internet satellite ground terminal in a certain area are scanned and collected during the lift-off and flight, the data are transmitted back to the ground control center to carry out multi-target time-frequency difference synchronous estimation and positioning calculation, the geographic position of the ground terminal is finally obtained, the positioning accuracy of the ground terminal is effectively improved, and meanwhile, the unmanned aerial vehicle is adopted for searching and measuring the uplink signals of the terminal, so that the probability of capturing the uplink signals can be greatly improved; the multi-target time-frequency difference synchronous estimation positioning algorithm is adopted, so that a plurality of ground terminals in an area can be positioned theoretically only by one-time flight of the unmanned aerial vehicle, the flight operation flow of the unmanned aerial vehicle is greatly simplified, and the positioning speed is extremely high; because the signal receiving equipment of the unmanned aerial vehicle only needs to carry a pair of small-sized omnidirectional antennas and only collects signals and packs WLAN to send, the signal receiving equipment on the unmanned aerial vehicle does not need to bear calculation work, and the whole unmanned aerial vehicle system can be miniaturized and portable.
The present application also provides another embodiment, namely, a computer readable storage medium, where computer readable instructions are stored, where the computer readable instructions are executable by at least one processor, so that the at least one processor performs the steps of the terminal positioning method applied to low-orbit internet satellites as described above.
According to the computer readable storage medium, by using the two unmanned aerial vehicle carried signal receiving devices, the uplink signals of the low-orbit Internet satellite ground terminal in a certain area are scanned and collected during lift-off and flight, and the data are transmitted back to the ground control center to carry out multi-target time-frequency difference synchronous estimation and positioning calculation, so that the geographic position of the ground terminal is finally obtained, the positioning accuracy of the ground terminal is effectively improved, and meanwhile, the unmanned aerial vehicle is adopted to search and test the uplink signals of the terminal, so that the probability of capturing the uplink signals can be greatly improved; the multi-target time-frequency difference synchronous estimation positioning algorithm is adopted, so that a plurality of ground terminals in an area can be positioned theoretically only by one-time flight of the unmanned aerial vehicle, the flight operation flow of the unmanned aerial vehicle is greatly simplified, and the positioning speed is extremely high; because the signal receiving equipment of the unmanned aerial vehicle only needs to carry a pair of small-sized omnidirectional antennas and only collects signals and packs WLAN to send, the signal receiving equipment on the unmanned aerial vehicle does not need to bear calculation work, and the whole unmanned aerial vehicle system can be miniaturized and portable.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk), comprising several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method described in the embodiments of the present application.
It is apparent that the embodiments described above are only some embodiments of the present application, but not all embodiments, the preferred embodiments of the present application are given in the drawings, but not limiting the patent scope of the present application. This application may be embodied in many different forms, but rather, embodiments are provided in order to provide a more thorough understanding of the present disclosure. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing, or equivalents may be substituted for elements thereof. All equivalent structures made by the specification and the drawings of the application are directly or indirectly applied to other related technical fields, and are also within the protection scope of the application.
Claims (10)
1. The terminal positioning method applied to the low-orbit internet satellite is characterized by comprising the following steps of:
receiving an unmanned aerial vehicle flight path sent by a ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path;
controlling a first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and a second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle;
acquiring the reference signal data, the signal data to be positioned and the flight attitude data sent by the signal receiving equipment;
performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned;
and carrying out position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm to obtain target location data of the terminal to be located.
2. The terminal positioning method applied to a low-orbit internet satellite according to claim 1, wherein after the step of performing a time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual ambiguity function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned, and before the step of performing a position positioning operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm, the method further comprises the steps of:
judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold value, executing the step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation and location algorithm;
and if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold, outputting a reference time-frequency difference value abnormal signal to improve the transmitting power of the reference terminal.
3. The terminal positioning method applied to a low-orbit internet satellite according to claim 1, wherein after the step of performing a time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual ambiguity function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned, and before the step of performing a position positioning operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm, the method further comprises the steps of:
Judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned or not;
if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold value to be positioned, executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm;
and if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold value to be positioned, outputting a time-frequency difference value abnormal signal to be positioned so as to adjust the flight track of the unmanned aerial vehicle.
4. The terminal positioning method applied to a low-orbit internet satellite according to claim 1, wherein the mutual ambiguity function is expressed as:
wherein,representing the value of the mutual ambiguity function; />、/>Respectively representing two paths of signals transmitted by an ith terminal; />、/>Respectively representing time difference and frequency difference; t represents the sampling time; />Representing an ith signal; i get->Representing the reference signal.
5. The terminal positioning method applied to a low-orbit internet satellite according to claim 1, wherein the time-frequency offset estimation positioning algorithm is expressed as:
wherein i isRepresenting an ith signal; c represents the speed of light;and->Representing the transmission frequencies of the target and reference signals, respectively; / >And->Respectively representing the time difference of the calculated target signal and the reference signal; />And->Respectively representing the calculated frequency differences of the target signal and the reference signal; />And->Representing the position vectors of the ith target and reference station in the geodetic fixed coordinate system; />And->Respectively representing the path difference from the ith target and the reference station to the two unmanned aerial vehicles; />Representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the ith target direction; />Representing a unit vector difference of the projections of the speeds of the two unmanned aerial vehicles in the direction of the reference station.
6. A terminal positioning device for a low-orbit internet satellite, comprising:
the path acquisition module is used for receiving the unmanned aerial vehicle flight path sent by the ground control terminal, wherein the unmanned aerial vehicle flight path comprises a first flight path and a second flight path;
the flight control module is used for controlling the first unmanned aerial vehicle to perform flight operation and signal receiving operation according to the first flight path and the second unmanned aerial vehicle according to the second flight path, wherein the first unmanned aerial vehicle and the second unmanned aerial vehicle are respectively provided with signal receiving equipment for acquiring reference signal data of a reference terminal, signal data to be positioned of a terminal to be positioned and flight attitude data of the unmanned aerial vehicle;
The data receiving module is used for acquiring the reference signal data, the signal data to be positioned and the flight attitude data sent by the signal receiving equipment;
the time-frequency difference estimation module is used for performing time-frequency difference estimation operation on the reference signal data and the signal data to be positioned according to a mutual blurring function to obtain a reference time-frequency difference value and a time-frequency difference value to be positioned;
and the positioning calculation module is used for carrying out position positioning calculation operation on the reference time-frequency difference value, the time-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm to obtain target positioning data of the terminal to be positioned.
7. The terminal positioning device applied to a low-orbit internet satellite according to claim 6, further comprising:
the reference signal-to-noise ratio judging module is used for judging whether the reference time-frequency difference value meets a preset reference signal-to-noise ratio threshold value or not;
the reference signal-to-noise ratio normal module is used for executing the step of performing position location calculation operation on the reference time-frequency difference value, the time-frequency difference value to be located and the unmanned plane flight attitude data according to a time-frequency difference estimation and location algorithm if the reference time-frequency difference value meets the reference signal-to-noise ratio threshold;
And the reference signal-to-noise ratio abnormality module is used for outputting a reference time-frequency difference abnormal signal if the reference time-frequency difference value does not meet the reference signal-to-noise ratio threshold value.
8. The terminal positioning device applied to a low-orbit internet satellite according to claim 6, further comprising:
the signal-to-noise ratio judging module is used for judging whether the time-frequency difference value to be positioned meets a preset signal-to-noise ratio threshold to be positioned;
the signal-to-noise ratio normal module to be positioned is used for executing the step of performing position positioning calculation operation on the reference time-frequency difference value, the time-to-frequency difference value to be positioned and the unmanned aerial vehicle flight attitude data according to a time-frequency difference estimation positioning algorithm if the time-frequency difference value to be positioned meets the signal-to-noise ratio threshold to be positioned;
and the signal-to-noise ratio abnormality module is used for outputting a signal with abnormal time-frequency difference value to be positioned so as to adjust the flight track of the unmanned aerial vehicle if the time-frequency difference value to be positioned does not meet the signal-to-noise ratio threshold to be positioned.
9. A computer device comprising a memory having stored therein computer readable instructions which when executed implement the steps of the terminal positioning method applied to low-orbit internet satellites as claimed in any one of claims 1 to 6.
10. A computer readable storage medium having stored thereon computer readable instructions which when executed by a processor implement the steps of the terminal positioning method applied to low-orbit internet satellites as claimed in any one of claims 1 to 6.
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