CN118131994A - Ephemeris data storage method and device, computer equipment and storage medium - Google Patents
Ephemeris data storage method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The invention relates to the technical field of data processing, and discloses a method, a device, computer equipment and a storage medium for storing ephemeris data, wherein the method comprises the following steps: acquiring the starting state of a navigation chip, positioning information of the navigation chip and ephemeris data of each historical navigation system; detecting whether the starting state of the navigation chip is a hard reset state; if the starting state of the navigation chip is a hard reset state, determining a frequency point based on positioning information of the navigation chip; determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points, and establishing a memory pool corresponding to the target navigation system; and storing the ephemeris data in a memory pool corresponding to the target navigation system. According to the invention, a memory pool is built according to all the frequency points included in the target navigation system, and the ephemeris data corresponding to the target navigation system is stored, so that a large amount of running memory RAM can be saved.
Description
Technical Field
The present invention relates to the field of data processing technologies, and in particular, to a method and apparatus for storing ephemeris data, a computer device, and a storage medium.
Background
The GNSS navigation chip provides real-time reliable navigation positioning information for users in the world, and the navigation positioning information is based on the premise that the navigation chip can receive ephemeris information in real time and correctly. The prediction of GNSS ephemeris is usually performed by adopting ephemeris data in Flash or ephemeris data downloaded by a server when the device is shut down last time; the navigation chip generally opens up an operation memory (Random Access Memory, RAM) according to the maximum satellite number by adopting a mode of each frequency point of each system for storing the multi-system multi-frequency point ephemeris.
However, the large amount of occupied memory space is caused, when the chip is designed, a large memory RAM is packaged in the chip to meet the requirement, so that the problems of large size, low yield, high price and the like of the chip are caused, meanwhile, some users do not need all-system all-frequency points, and the users still open up ephemeris memory in a traditional mode to cause great waste.
Disclosure of Invention
In view of this, the present invention provides a method, apparatus, computer device and storage medium for storing ephemeris data, so as to solve the problem that the navigation chip opens up an operation memory according to the maximum satellite number in a manner of storing the multi-system multi-frequency point ephemeris by using each frequency point of each system, resulting in great waste of the ephemeris memory.
In a first aspect, the present invention provides a method for storing ephemeris data, which obtains a starting state of a navigation chip, positioning information of the navigation chip, and ephemeris data of each historical navigation system; detecting whether the starting state of the navigation chip is a hard reset state; if the starting state of the navigation chip is a hard reset state, determining a frequency point based on positioning information of the navigation chip; determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points, and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing the navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one; and storing the ephemeris data in a memory pool corresponding to the target navigation system.
In an alternative embodiment, the method further comprises: performing bit synchronization processing and frame synchronization processing on the captured and tracked satellites, and determining observed quantity data; and determining the transmitting time, the pseudo-range measurement value and Doppler corresponding to each satellite of the target navigation system based on the observed quantity data.
In an alternative embodiment, the observed quantity data comprises: frame count, bit count, code segment count, code NCO count, carrier week count, and carrier NCO count; the method for determining the transmitting time, the pseudo-range measurement value and the Doppler corresponding to each satellite of the target navigation system based on the observed quantity data comprises the following steps: determining the transmitting time corresponding to each satellite of the target navigation system based on the frame count, the bit count, the code segment count, the code NCO count, the carrier cycle count and the carrier NCO count; determining a pseudo-range observation value based on the local time of the navigation chip at the observation time and the emission time corresponding to each satellite of the target navigation system; and determining Doppler based on the carrier NCO obtained by the previous observation, the carrier NCO obtained by the current observation, the real time of the interruption of the TIC observation, the carrier whole-cycle count obtained by the previous observation and the carrier whole-cycle count obtained by the current observation.
In an alternative embodiment, the method further comprises: and screening all satellites of the target navigation system based on the observed quantity data, and deleting the satellites which do not meet the preset conditions.
In an alternative embodiment, the method further comprises: performing format conversion processing on the ephemeris data to obtain target ephemeris data; performing pseudo-range correction processing on the pseudo-range measurement value to obtain a target pseudo-range measurement value; determining coordinates of each satellite of the target navigation system based on the target ephemeris data; and determining the target coordinates of the navigation chip based on the coordinates of each satellite of the target navigation system, the approximate coordinates of the navigation chip and the target pseudo-range measurement values of each satellite.
In an alternative embodiment, before determining the target coordinates of the navigation chip based on the coordinates of each satellite of the target navigation system, the approximate coordinates of the navigation chip, and the target pseudo-range view measurement values of each satellite, the method further includes: in a hard reset state, ephemeris data of a target navigation system, a satellite frequency point locked by last shutdown, a satellite number and RTC time information are acquired; storing the read ephemeris data and satellite numbers into a memory pool corresponding to the target navigation system, and establishing an index relation between the ephemeris data stored in the memory pool and the satellite numbers; the satellite number is used for representing the number of the satellite; capturing satellites of a target navigation system based on ephemeris data and satellite numbers; in a soft reset state, ephemeris information, historical transmitting time and historical Doppler in a memory pool are acquired; satellites of the target navigation system are acquired based on ephemeris information, historical transmit times, and historical doppler.
In an alternative embodiment, the method further comprises: storing ephemeris data, target coordinates of a navigation chip and satellite conditions of a target navigation system corresponding to the ephemeris data in a storage device; the satellite conditions include: frequency point of satellite, satellite number.
In a second aspect, the present invention provides a storage device for ephemeris data, the device comprising: the acquisition module is used for acquiring the starting state of the navigation chip, the positioning information of the navigation chip and the ephemeris data of each historical navigation system; the detection module is used for detecting whether the starting state of the navigation chip is a hard reset state or not; the first determining module is used for determining a frequency point based on positioning information of the navigation chip if the starting state of the navigation chip is a hard reset state; the second determining module is used for determining the target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing the navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one; and the storage module is used for storing the ephemeris data in a memory pool corresponding to the target navigation system.
In a third aspect, the present invention provides a computer device comprising: the memory and the processor are in communication connection, the memory stores computer instructions, and the processor executes the computer instructions, so that the ephemeris data storage method of the first aspect or any corresponding embodiment of the first aspect is executed.
In a fourth aspect, the present invention provides a computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of storing ephemeris data of the first aspect or any of its corresponding embodiments.
The invention provides a storage method, a device, computer equipment and a storage medium of ephemeris data, wherein the method comprises the following steps: acquiring the starting state of a navigation chip, positioning information of the navigation chip and ephemeris data of each historical navigation system; detecting whether the starting state of the navigation chip is a hard reset state; if the starting state of the navigation chip is a hard reset state, determining a frequency point based on positioning information of the navigation chip; determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points, and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing the navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one; and storing the ephemeris data in a memory pool corresponding to the target navigation system.
According to the ephemeris data storage method provided by the embodiment, the starting state of the navigation chip is detected, if the starting state of the navigation chip is in the hard reset state, the target navigation system is determined through the frequency points, the navigation system and the mapping relation among the frequency points, namely, a memory pool is built according to all the frequency points included in the target navigation system, the ephemeris data corresponding to the target navigation system is stored, and therefore the problem that the running memory is opened up according to the maximum satellite number for each frequency point of each system, and the running memory is extremely wasted is solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method of storing ephemeris data, in accordance with an embodiment of the invention;
Fig. 2 is a block diagram of a code accumulator and carrier accumulator according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method of storing ephemeris data, in accordance with an embodiment of the invention;
FIG. 4 is a block diagram of a memory device for ephemeris data, in accordance with an embodiment of the invention;
fig. 5 is a schematic diagram of a hardware structure of a computer device according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Based on the related technology, the GNSS navigation chip provides real-time reliable navigation positioning information for users worldwide, and the navigation positioning information is based on the premise that the navigation chip can receive ephemeris information in real time and correctly. The prediction of GNSS ephemeris is usually performed by adopting ephemeris data in Flash or ephemeris data downloaded by a server when the device is shut down last time; the navigation chip generally opens up an operation memory RAM according to the maximum satellite number by adopting a mode of each frequency point of each system for storing the multi-system multi-frequency point ephemeris.
However, the large amount of occupied memory space is caused, when the chip is designed, a large memory RAM is packaged in the chip to meet the requirement, so that the problems of large size, low yield, high price and the like of the chip are caused, meanwhile, some users do not need all-system all-frequency points, and the users still open up ephemeris memory in a traditional mode to cause great waste.
Based on this, in the ephemeris data storage method provided in this embodiment, by detecting the starting state of the navigation chip, if the starting state of the navigation chip is a hard reset state, the target navigation system is determined by the frequency points, the navigation system and the mapping relationship among the frequency points, that is, a memory pool is established according to all the frequency points included in the target navigation system, and the ephemeris data corresponding to the target navigation system is stored, so that the problem that the running memory is opened up according to the maximum satellite number for each frequency point of each system, and the running memory is extremely wasted is solved.
According to an embodiment of the present invention, there is provided an embodiment of a method of storing ephemeris data, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.
In this embodiment, a method for storing ephemeris data is provided, which may be used in a computer device, such as a computer, a server, etc., fig. 1 is a schematic flow chart of a method for storing ephemeris data according to an embodiment of the invention, as shown in fig. 1, the flow chart includes the following steps:
Step S101, acquiring the starting state of the navigation chip, positioning information of the navigation chip and ephemeris data of each historical navigation system.
The navigation chip is a core component in a satellite navigation positioning system and is used for capturing and tracking satellite signals and calculating information such as position, speed, time and the like. The navigation chip has the characteristics of high performance, low power consumption, high precision and the like, and is one of key technologies for realizing autonomous navigation. The navigation chip is configured in the global satellite navigation positioning system; the global satellite navigation positioning system is mainly divided into GPS, GLONASS, galileo, BDS (Beidou satellite navigation system) and the like. The system sends signals to the ground users, and the ground users receive the signals and then process the signals through the navigation chip to calculate information such as position, speed and time.
The starting state of the navigation chip may be a restarting state, a resetting state, or the like, and is not particularly limited herein.
The positioning information of the navigation chip may be used to characterize the position of the navigation chip. The position of the navigation chip can be represented by coordinates.
Ephemeris data of the navigation system may be used to characterize predicted values of satellite orbit parameters for determining the position and velocity of the satellite at any instant in time. The ephemeris data comprises orbit parameters, time parameters, geometric parameters and the like of the satellite, and is used for describing the position and motion trail of the satellite in space. These parameters are typically updated at regular intervals to ensure accuracy and real-time of the data.
Step S102, detecting whether the starting state of the navigation chip is a hard reset state.
The hard reset state may be used to characterize a reboot state, i.e., a state in which the reboot is performed after the navigation chip has been powered off. Specifically, the computer device may detect whether the start-up state of the navigation chip is a hard reset state; two situations are included. Case one: the starting state of the navigation chip is a hard reset state; and a second case: the navigation chip is not in a hard reset state in the start state.
Step S103, if the starting state of the navigation chip is a hard reset state, determining a frequency point based on the positioning information of the navigation chip.
If the starting state of the navigation chip is a hard reset state, the corresponding frequency point can be determined through the frequency point information configured in the navigation chip. For example: B1I, B I and the like are configured in the navigation chip, and then the frequency point of the navigation chip corresponds to B1I, B I.
Step S104, determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points, and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing the navigation system storing the ephemeris data, the mapping relation is used for representing the navigation system at least comprising one frequency point, and the target navigation system corresponds to the memory pool one by one.
The target navigation system is used to characterize the navigation system storing the ephemeris data. The navigation system and the mapping relation between the frequency points can be used for representing that the navigation system at least comprises one frequency point. For example: the BDS number two system comprises: B1I, B2I, B I bins; the BDS number three system includes: B1C, B a frequency bins. Specifically, corresponding target navigation systems can be determined through each frequency point, and then a memory pool is built for each target navigation system; wherein, a target navigation system establishes a memory pool.
To facilitate an understanding of step S104, the following is exemplified:
For the BDS system II (B1I, B2I, B I frequency point), a region with a fixed size is opened up in a memory RAM to be used as an ephemeris data memory pool, the size is D BDS_2 bytes, the ephemeris data part is divided into N BDS_2 memory blocks (N BDS_2 refers to the maximum visible satellite number and has the value of 29), and the size of each memory block is S BDS_2 bytes and D BDS_2＝NBDS_2×SBDS_2. For the BDS system III (B1C, B A frequency point), a region with a fixed size is opened up in a memory RAM to be used as an ephemeris data memory pool, the size is D BDS_3 bytes, the ephemeris data part is divided into N BDS_3 memory blocks (wherein N BDS_3 refers to the maximum visible satellite number and has a value of 18), and the size of each memory block is S BDS_3 bytes and D BDS_3＝NBdS_3×SBDS_3. For the GPS II system (L1 frequency point), an area with a fixed size is opened up in a memory RAM to be used as an ephemeris data memory pool, the size is D GPS_Ⅱ bytes, an ephemeris data part is divided into N GPS_Ⅱ memory blocks (wherein N GPS_Ⅱ refers to the maximum visible satellite number and has a value of 16), and the size of each memory block is S GPS_Ⅱ bytes and D GPS_Ⅱ＝NGPS_Ⅱ×SGPS_Ⅱ. For the GPS III system (L1C, L2C, L frequency points), a region with a fixed size is opened up in a memory RAM to serve as an ephemeris data memory pool, the size is D GPS_Ⅲ bytes, the ephemeris data portion is divided into N GPS_Ⅲ memory blocks (N GPS_Ⅲ refers to the maximum visible satellite number and has a value of 16), and the size of each memory block is S GPS_Ⅲ bytes and D GPS_Ⅲ＝NGPS_Ⅲ×SGPS_Ⅲ. For the GAL system (E1, E5A, E B), a fixed-size area is opened up in the memory RAM as an ephemeris data memory pool, the size is D GAL bytes, the ephemeris data portion is divided into N GAL memory blocks (where N GAL refers to the number of satellites in view at most, and its value is 12), and each memory block has a size of S GAL bytes, D GAL＝NGAL×SGAL. For the GLO system (G1, G2), a fixed-size area is opened up in the memory RAM as an ephemeris data memory pool, the size is D GLO bytes, the ephemeris data portion is divided into N GLO memory blocks (where N GLO refers to the maximum number of visible satellites, the value is 11), and each memory block has a size of S GLO bytes, D GLO＝NGLO×SGLO.
Step S105, storing the ephemeris data in a memory pool corresponding to the target navigation system.
After the memory pool corresponding to the target navigation system is established, the ephemeris data of each target navigation system is stored in the memory pool.
According to the ephemeris data storage method provided by the embodiment, the starting state of the navigation chip is detected, if the starting state of the navigation chip is in the hard reset state, the target navigation system is determined through the frequency points, the navigation system and the mapping relation among the frequency points, namely, a memory pool is built according to all the frequency points included in the target navigation system, ephemeris data corresponding to the target navigation system are stored, ephemeris of all the frequency points of each navigation system is carefully analyzed, ephemeris contents of some frequency points in the same system are completely consistent, an ephemeris memory is not required to be created for each frequency point, and only a common memory is required to be opened for some frequency points, so that the problem of great waste of operation memory caused by opening up operation memory according to the maximum satellite number for all the frequency points of each system is solved.
In an alternative embodiment, the method further comprises:
and a1, performing bit synchronization processing and frame synchronization processing on the captured and tracked satellites, and determining observed quantity data.
The bit sync process refers to finding the edges of the data bits from the received signal, which is critical because if the bit sync is wrong, frame sync cannot be established later.
The frame synchronization process is performed based on the bit synchronization process, and mainly for determining the sub-frame edge of the satellite signal, the data bit stream demodulated by the carrier ring can be correctly divided into individual words.
The observed quantity data includes: frame count, bit count, code segment count, code NCO count, carrier week count, carrier NCO count, etc., are not specifically limited herein.
Specifically, in conjunction with the implementation of the code pseudo-range and Doppler observations shown in FIG. 2, based on the code accumulator and carrier accumulator shown in the above figures, once per occurrence of an observation interruption, the observed data (frame count, bit count, code segment count, code NCO count, carrier cycle count, carrier NCO count) is extracted from the baseband.
And a step a2, determining the transmitting time, the pseudo-range measurement value and Doppler corresponding to each satellite of the target navigation system based on the observed quantity data.
Specifically, the step a2 includes:
Step a21, determining the transmitting time corresponding to each satellite of the target navigation system based on the frame count, the bit count, the code segment count, the code NCO count, the carrier cycle count and the carrier NCO count.
tsv j＝{[(CTRSF·NBitPerSF+CTRBIT)·NSegPerBit+CTRSEG]·NChipPerSeg+CTRCHIP+CTRNCO2N·TCHIP;
Wherein T sv j is the transmission time, CTR SF is the baseband read frame count, N BitPerSF is the number of bits in the frame, CTR BIT is the baseband read bit count, N SegPerBit is the number of code segments in the bit, CTR SEG is the baseband read code segment count, N ChipPerSeg is the number of code segments in the code segment, CTR CHIP is the baseband read code segment count, CTR NCo is the code NCO counter for baseband read, T CHIP is the code chip time, and N is the number of code NCO bits.
Step a22, determining a pseudo-range measurement value based on the local time of the navigation chip at the observation time and the transmitting time corresponding to each satellite of the target navigation system.
Pseudo-range observed quantity ρ j＝(tu-tsv j) c
Wherein t u is the local time of the TIC observation time navigation chip, and c is the light speed.
Step a24, determining Doppler based on the carrier NCO obtained by the previous observation, the carrier NCO obtained by the current observation, the real time of the interruption of the TIC observation, the carrier whole-cycle count obtained by the previous observation and the carrier whole-cycle count obtained by the current observation.
Wherein CTR Cycle(n)、CTRCycle (n-1) is the whole cycle count of the carrier obtained by current and previous observations respectively, CTR NCO(n)、CTRNCO (n-1) is the carrier NCO obtained by current and previous observations respectively, t TICReal is the real time of interruption of TIC observation, f IF is the intermediate frequency after down-conversion, and M is the number of carrier NCO bits.
According to the ephemeris data storage method provided by the embodiment, after the satellite signals are captured, rough estimated values of the carrier frequency and the pseudo code phase of the satellite signals are obtained. However, these rough estimates are too rough for pseudo-range extraction and text demodulation, which may result in too large pseudo-range error and too high text error rate, and cannot be used for navigation text parsing. The carrier frequency and the pseudo code phase are sent to a tracking loop, the tracking loop realizes the accurate tracking of the pseudo code, the subcarrier and the frequency and the phase of the carrier wave of the input signal, thereby realizing the accurate synchronization of the local reproduction signal of the navigation chip and the input signal, and further extracting accurate observance and navigation message information through the establishment of bit synchronization and frame synchronization.
In an alternative embodiment, the method further comprises: and screening all satellites of the target navigation system based on the observed quantity data, and deleting the satellites which do not meet the preset conditions.
And screening all satellites of the target navigation system by the acquired observed quantity data, namely deleting the satellites which are established by any one of the satellites which are not established with frame synchronization, unhealthy ephemeris and elevation angles lower than 10 degrees.
In an alternative embodiment, the method further comprises:
And b1, performing format conversion processing on the ephemeris data to obtain target ephemeris data.
The conversion of the data format is first performed before the satellite position calculation. Specifically, decoding and transcoding: the raw ephemeris data is typically transmitted in some coding, such as binary coding. Before performing the position calculation, these encoded data need to be decoded and converted into a data format suitable for the calculation. Meanwhile, in order to facilitate the subsequent processing, transcoding may be required to convert the data into a specific encoding format.
For example: taking B1I/B2I/B3I as an example,In the/>Is the square root of the integer major half axis taken from the ephemeris memory pool,/>Is the square root of the floating point long half shaft.
In the equation e=e int·2-33, e int is integer eccentricity obtained from the ephemeris memory pool, and e is floating point eccentricity.
In ω=ω int·2-31, ω int is the integer near-place argument obtained from the ephemeris memory pool and ω is the floating-point near-place argument.
In the equation Δn=Δn int·2-43, Δn int is the difference between the average motion rate of the integer satellite obtained from the ephemeris memory pool and the calculated value, and Δn is the difference between the average motion rate of the floating satellite and the calculated value.
In the/>For the closest point angle of integer reference time obtained from the ephemeris memory pool, M 0 is the closest point angle of the floating point reference time.
In the/>For integer-type liter intersection longitude obtained from ephemeris memory pool, Ω 0 is floating-point type liter intersection longitude.
In the/>For integer liter intersection point right angle change rate obtained from ephemeris memory pool,/>The rate of change of the right ascent and descent of the floating point type ascent and intersection points is obtained.
In the/>For integer orbital tilt acquired from the ephemeris memory pool, i 0 is the floating point orbital tilt.
IDOT = IDOT int·2-43, IDOT int is the rate of change of the orbit inclination of the integer acquired from the ephemeris memory pool, and IDOT is the rate of change of the orbit inclination of the floating point type.
In the/>For the amplitude of the cosine harmonic correction term of the integer latitude argument obtained from the ephemeris memory pool, C uc is the amplitude of the cosine harmonic correction term of the floating latitude argument.
In the/>For the amplitude of the sine of the integer latitude argument and the correction term obtained from the ephemeris memory pool, C us is the amplitude of the sine of the floating latitude argument and the correction term.
In the/>For the amplitude of the cosine harmonic correction term of the integer orbit radius taken from the ephemeris memory pool, C rc is the amplitude of the cosine harmonic correction term of the floating orbit radius.
In the/>For the amplitude of the sine of the integer orbit radius and correction term taken from the ephemeris memory pool, C rs is the amplitude of the sine of the floating orbit radius and correction term.
In the/>For the amplitude of the cosine harmonic correction term of the integer orbital tilt acquired from the ephemeris memory pool, C ic is the amplitude of the cosine harmonic correction term of the floating point orbital tilt.
In the/>For the amplitude of the sine harmonic correction term of the integer orbital tilt acquired from the ephemeris memory pool, C is is the amplitude of the sine harmonic correction term of the floating point orbital tilt.
Using the above format conversione、ω、Δn、M0、Ω0、/>I 0、IDOT、Cuc、Cus、Crc、Crs、Cic、Cis, calculating the satellite position by referring to the Beidou satellite navigation system space signal interface control file disclosure service signal B1I (3.0 edition), and obtaining the coordinate of the j satellite (X j,Yj,Zj).
And b2, performing pseudo-range correction processing on the pseudo-range measured value to obtain the target pseudo-range measured value.
In order to improve the positioning accuracy of the pseudo range, the pseudo range needs to be subjected to error correction, which is specifically as follows:
ρr j＝ρj+δtj(s)-Ij-Tj
Wherein ρ r j is the pseudo range corrected by the jth satellite, ρ j is the pseudo range of the jth satellite, δt j(s) is the satellite clock difference of the jth satellite, I j is the ionospheric error of the jth satellite, and T j is the tropospheric error of the jth satellite.
And b3, determining the coordinates of each satellite of the target navigation system based on the target ephemeris data.
And b4, determining the target coordinates of the navigation chip based on the coordinates of each satellite of the target navigation system, the approximate coordinates of the navigation chip and the target pseudo-range measurement value of each satellite.
Processing the observed quantity data after pseudo-range correction, and assuming that n satellites are numbered in order from 1 to n, the observation equation is that
Wherein,Wherein: δt r (t) is the local clock difference, c is a constant, ω j is the j satellite pseudo-range residual error, l j、mj、nj is the unit vector in the j satellite line of sight direction, ρ r j is the j satellite corrected pseudo-range, (X r0,Yr0,Zr0) is the user local approximate coordinate, (X j,Yj,Zj) is the j satellite coordinate,/>For the true geometrical distance/>, between the j-th satellite and the coordinates local to the user
The observation equation is written in matrix form:
wherein omega i is the ith satellite pseudo-range residual, For a unit vector in the line of sight of the ith satellite, i is equal to 1..n, Δx r、ΔYr、ΔZrcδtr is the unknown parameter to be solved for.
Writing the above linear equation set into a matrix vector form is:
L＝Ax；
when the number of satellites is greater than the number of parameters, namely n >4, the method can be solved by adopting a least square method, and the formula is as follows:
x= (a TA)-1AT L; where a is a coefficient matrix of unknown parameters, also called direction cosine matrix, L is a free term vector, x is a vector of parameters to be solved.
The choice of the user's local approximate coordinates is arbitrary and can even be assumed to be zero. The coordinates calculated in the first iteration are inaccurate and require multiple iterations to meet the specified difference-limiting requirement. According to the approximate value of the coordinates of the point to be determined and the obtained unknown parameters of the coordinates, the method is as follows
Xr＝Xr0+ΔXr
Yr＝Yr0+ΔYr
Zr＝Zr0+ΔZr；
The coordinates (X r、Yr、Zr) local to the navigation chip can be calculated.
In an alternative embodiment, the method further comprises:
step c1, under the hard reset state, obtaining ephemeris data of the target navigation system, a satellite frequency point locked by last shutdown, a satellite number and RTC time information.
Step c2, storing the read ephemeris data and satellite numbers into a memory pool corresponding to the target navigation system, and establishing an index relation between the ephemeris data and the satellite numbers stored in the memory pool; wherein the satellite number is used to characterize the number of the satellite.
And c3, capturing satellites of the target navigation system based on the ephemeris data and the satellite number.
In the hard reset state, the ephemeris data of each navigation system, the satellite condition (satellite frequency point and satellite number) locked by the last shutdown, the user position information and the RTC time information are read and stored from the FLASH. And storing the read ephemeris data and the locking satellite numbers in corresponding memory pools, and establishing an index relation between the ephemeris data stored in each memory block and the locking satellite numbers, so that the method is convenient for use in subsequent positioning calculation. Upon capturing the authorization code, the acquisition module calculates a transmit time T when the ephemeris is valid based on the ephemeris and the user location information, as follows.
Is satellite clock error
Coordinates of receiver (x, y, z)
The coordinates of this examination star (x 0,y0,z0)
T revceiver is the receiver time
T is the emission time of the satellite; thus, the range of the uncertainty of capturing can be reduced, and the capturing of the authorized code satellite can be quickened. For the acquisition of civil codes, the locked satellites are preferentially acquired.
And c4, acquiring ephemeris information, historical transmitting time and historical Doppler in the memory pool in a soft reset state.
And c5, capturing satellites of the target navigation system based on the ephemeris information, the historical transmission time and the historical Doppler.
In the soft reset state, the ephemeris information stored in the FLASH is not required to be read, the ephemeris information is only required to be acquired in the ephemeris memory pool, the time for reading the FLASH is reduced, and meanwhile, when the authorized code satellite is captured, the satellite capturing can be carried out by utilizing the observed quantity information (transmitting time and Doppler information) cached by the previous satellite.
In an alternative embodiment, the management of the memory pool is performed according to the user location mode, and if the user configures dual system multi-frequency point (B1I/B2I/B3I/B1C/B2A/L1I/L1C/L2C/L5), the following comparison analysis is performed on the conventional memory occupancy and the occupancy of the present invention:
B1I/B2I/B3I ephemeris memory occupancy analysis:
Beidou II (B1I/B2I/B3I) ephemeris main parameters
TABLE 1
The invention comprises the following steps:
D BDS_2_new＝NBDS_2_new×SBDS_2_new =29×58=168 bytes.
The traditional method comprises the following steps:
D BdS_2_old＝NBDS_2_old×SBDS_2_old × FreNum =63×124×3=23436 bytes.
Wherein: n BDS_2_new is the maximum number of visible satellites in the Beidou No. two system, and the value of N BDS_2_new is 29; s bDS_2_new is the number of bytes occupied by one satellite ephemeris data, and the value of the number is 58 bytes; n BDS_2_old is the maximum satellite number of the second Beidou, the value of the N BDS_2_old is 63, S BdS_2_old is the byte number occupied by one satellite ephemeris data, the value of the N3834 is 124 bytes, freNum is the frequency number of the second Beidou, the value of the N BDS_2_old is 3, and the N comprises the frequency point B1I, B2I, B I.
B1C/B2A ephemeris memory occupancy analysis:
Beidou No. three (B1C/B2A) ephemeris main parameters
TABLE 2
/>
The invention comprises the following steps:
D BDS_3_new＝NBDS_3_new×SBDS_3_new =18×89=1602 bytes. The traditional method comprises the following steps:
D BDS_3_old＝NBDS_3_old×SBDS_3_old × FreNum =63×141×2=17766 bytes.
Wherein: n BDS_3_new is the maximum number of visible satellites in the Beidou No. three system, and the value of N BDS_3_new is 18; s BDS_3_new is the number of bytes occupied by one satellite ephemeris data, and the value is 89; n BDS_3_old is the maximum satellite number of the Beidou No. three, the value of the N BDS_3_old is 63, S BDS_3_old is the byte number occupied by one satellite ephemeris data, the value of the N BDS_3_old is 141 bytes, freNum is the frequency number of the Beidou No. three, the value of the N BDS_3_old is 2, and the frequency number of the N is B1C, B A.
L1I ephemeris memory occupancy analysis:
Ephemeris main parameters of GPS II (L1I) system:
TABLE 3 Table 3
/>
The invention comprises the following steps:
d GPS_Ⅱ_new＝NGPs_Ⅱ_new×SGPS_Ⅱ_new =16×52=832 bytes
The traditional method comprises the following steps:
D GPS_Ⅱ_old＝NGPS_Ⅱ_old×SGPS_Ⅱ_old × FreNum =32×124×1=3968 bytes
Wherein: n GPS_Ⅱ_new is the maximum number of visible satellites in the GPS II system, and the value of N GPS_Ⅱ_new is 16; s GPS_Ⅱ_new is the number of bytes occupied by one satellite ephemeris data, and the value is 52; n GPS_Ⅱ_old is the maximum satellite number of the GPS II system, the value of the N GPS_Ⅱ_old is 32, S GPS_Ⅱ_old is the byte number occupied by one satellite ephemeris data, the value of the N3834 is 124 bytes, freNum is the frequency number of the Beidou III, and the value of the N is 1, including the L1I frequency point.
L1C/L2C/L5 ephemeris memory occupancy analysis:
Ephemeris main parameter of GPS III (L1C/L2C/L5) system
TABLE 4 Table 4
/>
The invention comprises the following steps:
d GPS_Ⅲ_new＝NGPS_Ⅲ__new×SGPS_Ⅲ__new =16×76=1216 bytes.
The traditional method comprises the following steps:
D GPS_Ⅲ__old＝NGPS_Ⅲ__old×SGPS_Ⅲ__old × FreNum =32×116×3=11136 bytes.
Wherein: n GPS_Ⅲ__new is the maximum number of visible satellites of the GPS III system, and the value of N GPS_Ⅲ__new is 16; s GPS_Ⅲ__new is the number of bytes occupied by one satellite ephemeris data, and the value is 76; n GPS_Ⅲ__old is the maximum satellite number of the GPS II system, the value of the N GPS_Ⅲ__old is 32, S GPS_Ⅲ__old is the byte number occupied by one satellite ephemeris data, the value of the N3834 is 116 bytes, freNum is the frequency number of the Beidou III, and the value of the N GPS_Ⅲ__old is 3, including the L1C, L2C, L frequency points.
The above analysis can summarize the memory occupation situation of the dual-system multi-frequency point positioning mode, and the specific table is as follows:
TABLE 5
/>
As can be seen from the analysis of the table, when the positioning mode is configured (B1I, B2I, B3I, B1C, B2A, L1I, L1C, L2C, L5), the invention only needs to open up memory space according to the maximum visible satellite number of each system, the data storage format is stored according to integer, compared with the conventional method, the memory use condition is reduced by 93%, and when a chip is designed, a smaller memory RAM is packaged inside to meet the requirement, so that the volume of the chip is reduced, and the yield is improved.
In an alternative embodiment, as shown in connection with fig. 3, there is provided a system for storing ephemeris data, the system comprising:
And a pretreatment module: firstly, acquiring the starting state (hard reset and soft reset) of a navigation chip and the positioning mode (for example, dual-system multi-frequency point (B1I/B2I/B3I/B1C/B2A/L1I/L1C/L2C/L5)) of a user for judging the mode of capturing a satellite later;
The ephemeris of each frequency point of each navigation system is carefully analyzed, the ephemeris content of certain frequency points in the same system is completely consistent, an ephemeris memory is not required to be created for each frequency point, and only a common memory is required to be opened for certain frequency points.
And a capture tracking module: in the hard reset state, the ephemeris data of each navigation system, the satellite condition (satellite frequency point and satellite number) locked by the last shutdown, the user position information and the RTC time information are read and stored from the FLASH. And storing the read ephemeris data and the locking satellite numbers in corresponding memory pools, and establishing an index relation between the ephemeris data stored in each memory block and the locking satellite numbers, so that the method is convenient for use in subsequent positioning calculation.
In the soft reset state, the ephemeris information stored in the FLASH is not required to be read, the ephemeris information is only required to be acquired in the ephemeris memory pool, the time for reading the FLASH is reduced, and meanwhile, when the authorized code satellite is captured, the satellite capturing can be carried out by utilizing the observed quantity information (transmitting time and Doppler information) cached by the previous satellite.
And the memory management module is used for: in the working process of the navigation chip, the ephemeris memory needs to be dynamically maintained under the conditions of lifting and lowering the star. And when the satellite is in a satellite descending state, releasing the memory of the ephemeris of the satellite descending state, opening up the ephemeris memory for the satellite ascending state, and finding out a spare memory module in the memory pool for the satellite on the new acquisition state to use.
The observed quantity processing module: and establishing bit synchronization and frame synchronization at the satellite, and extracting TIC count, frame count, bit count, code cycle count, code NCO count, carrier cycle count, carrier NCO count and the like from the baseband so as to calculate pseudo-range, carrier phase, doppler and observed quantity information of transmitting time.
The satellite selection module is used for carrying out satellite screening on the observed quantity information acquired from the observed quantity processing module: satellites for which frame synchronization is not established, ephemeris is unhealthy, and elevation angles below 10 degrees are deleted.
The satellite position calculation module is used for acquiring ephemeris data from the ephemeris memory pool, and converting the data format before satellite position calculation.
And the pseudo-range correction module is used for correcting errors of the pseudo-range.
And the positioning resolving module is used for sending the observed quantity subjected to pseudo-range correction to the positioning resolving module for processing.
And the FLASH storage module is used for storing satellite ephemeris information (integer format), position information and locked satellite conditions of the positioning participation at fixed time after the positioning.
The embodiment also provides a device for storing ephemeris data, which is used for implementing the above embodiment and the preferred implementation, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
The present embodiment provides a storage device for ephemeris data, as shown in fig. 4, including:
The acquisition module 401 is configured to acquire an activation state of a navigation chip, positioning information of the navigation chip, and ephemeris data of each historical navigation system;
the detection module 402 is configured to detect whether a start state of the navigation chip is a hard reset state;
The first determining module 403 is configured to determine a frequency point based on positioning information of the navigation chip if the starting state of the navigation chip is a hard reset state;
The second determining module 404 is configured to determine a target navigation system based on the frequency points, the navigation system, and a mapping relationship between the frequency points, and establish a memory pool corresponding to the target navigation system; the target navigation system is used for representing the navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one;
and the storage module 405 is configured to store the ephemeris data in a memory pool corresponding to the target navigation system.
In some alternative embodiments, the apparatus further comprises:
the processing module is used for carrying out bit synchronization processing and frame synchronization processing on the captured and tracked satellites and determining observed quantity data;
And the third determining module is used for determining the transmitting time, the pseudo-range measurement value and Doppler corresponding to each satellite of the target navigation system based on the observed quantity data.
In some alternative embodiments, the observed quantity data includes: frame count, bit count, code segment count, code NCO count, carrier week count, and carrier NCO count; the third determining module is used for determining the transmitting time corresponding to each satellite of the target navigation system based on the frame count, the bit count, the code segment count, the code NCO count, the carrier cycle count and the carrier NCO count; determining a pseudo-range observation value based on the local time of the navigation chip at the observation time and the emission time corresponding to each satellite of the target navigation system; and determining Doppler based on the carrier NCO obtained by the previous observation, the carrier NCO obtained by the current observation, the real time of the interruption of the TIC observation, the carrier whole-cycle count obtained by the previous observation and the carrier whole-cycle count obtained by the current observation.
In some alternative embodiments, the apparatus further comprises: and the deleting module is used for screening all satellites of the target navigation system based on the observed quantity data and deleting the satellites which do not meet the preset conditions.
In some alternative embodiments, the apparatus further comprises: the conversion processing module is used for carrying out format conversion processing on the ephemeris data to obtain target ephemeris data; the correction processing module is used for performing pseudo-range correction processing on the pseudo-range measurement value to obtain a target pseudo-range measurement value; the fourth determining module is used for determining the coordinates of each satellite of the target navigation system based on the target ephemeris data; and the fifth determining module is used for determining the target coordinates of the navigation chip based on the coordinates of each satellite of the target navigation system, the approximate coordinates of the navigation chip and the target pseudo-range measurement value of each satellite.
In some alternative embodiments, the above method further comprises: the first information acquisition module is used for acquiring ephemeris data of the target navigation system, a satellite frequency point locked by last shutdown, a satellite number and RTC time information; the establishing module is used for storing the read ephemeris data and satellite numbers into a memory pool corresponding to the target navigation system, and establishing an index relation between the ephemeris data stored in the memory pool and the satellite numbers; the satellite number is used for representing the number of the satellite; the first capturing module is used for capturing satellites of the target navigation system based on ephemeris data and satellite numbers; the second information acquisition module is used for acquiring ephemeris information, historical transmitting time and historical Doppler in the memory pool in a soft reset state; and the second acquisition module is used for acquiring satellites of the target navigation system based on the ephemeris information, the historical transmission time and the historical Doppler.
In some alternative embodiments, the apparatus further comprises: and the storage module is used for storing the ephemeris data, the target coordinates of the navigation chip and the target navigation system corresponding to the ephemeris data in the storage device.
Further functional descriptions of the above respective modules and units are the same as those of the above corresponding embodiments, and are not repeated here.
The ephemeris data storage device in this embodiment is in the form of a functional unit, where the functional unit refers to an ASIC (Application SPECIFIC INTEGRATED Circuit) Circuit, a processor and a memory that execute one or more software or firmware, and/or other devices that can provide the above functions.
The embodiment of the invention also provides computer equipment, which is provided with the ephemeris data storage device shown in the figure 4.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a computer device according to an alternative embodiment of the present invention, as shown in fig. 5, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are communicatively coupled to each other using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the computer device, including instructions stored in or on memory to display graphical information of the GUI on an external input/output device, such as a display device coupled to the interface. In some alternative embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple computer devices may be connected, each providing a portion of the necessary operations (e.g., as a server array, a set of blade servers, or a multiprocessor system). One processor 10 is illustrated in fig. 5.
The processor 10 may be a central processor, a network processor, or a combination thereof. The processor 10 may further include a hardware chip, among others. The hardware chip may be an application specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general-purpose array logic, or any combination thereof.
Wherein the memory 20 stores instructions executable by the at least one processor 10 to cause the at least one processor 10 to perform a method for implementing the embodiments described above.
The memory 20 may include a storage program area that may store an operating system, at least one application program required for functions, and a storage data area; the storage data area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, memory 20 may optionally include memory located remotely from processor 10, which may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk, or solid state disk; the memory 20 may also comprise a combination of the above types of memories.
The computer device also includes a communication interface 30 for the computer device to communicate with other devices or communication networks.
The embodiments of the present invention also provide a computer readable storage medium, and the method according to the embodiments of the present invention described above may be implemented in hardware, firmware, or as a computer code which may be recorded on a storage medium, or as original stored in a remote storage medium or a non-transitory machine readable storage medium downloaded through a network and to be stored in a local storage medium, so that the method described herein may be stored on such software process on a storage medium using a general purpose computer, a special purpose processor, or programmable or special purpose hardware. The storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, a solid state disk or the like; further, the storage medium may also comprise a combination of memories of the kind described above. It will be appreciated that a computer, processor, microprocessor controller or programmable hardware includes a storage element that can store or receive software or computer code that, when accessed and executed by the computer, processor or hardware, implements the methods illustrated by the above embodiments.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope of the invention as defined by the appended claims.
Claims (10)
1. A method of storing ephemeris data, comprising:
Acquiring the starting state of a navigation chip, positioning information of the navigation chip and ephemeris data of each historical navigation system;
Detecting whether the starting state of the navigation chip is a hard reset state;
If the starting state of the navigation chip is a hard reset state, determining a frequency point based on positioning information of the navigation chip;
Determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points, and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing a navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one;
And storing the ephemeris data in the memory pool corresponding to the target navigation system.
2. The method of storing ephemeris data of claim 1, further comprising:
performing bit synchronization processing and frame synchronization processing on the captured and tracked satellites, and determining observed quantity data;
And determining the transmitting time, the pseudo-range measurement value and Doppler corresponding to each satellite of the target navigation system based on the observed quantity data.
3. The method of storing ephemeris data of claim 2, wherein the observed quantity data comprises: frame count, bit count, code segment count, code NCO count, carrier week count, and carrier NCO count; the method for determining the transmitting time, the pseudo-range observation value and the Doppler corresponding to each satellite of the target navigation system based on the observed quantity data comprises the following steps:
Determining the transmitting time corresponding to each satellite of the target navigation system based on the frame count, the bit count, the code segment count, the code NCO count, the carrier cycle count and the carrier NCO count;
Determining a pseudo-range measurement value based on the local time of the navigation chip at the observation time and the transmitting time corresponding to each satellite of the target navigation system;
and determining Doppler based on the carrier NCO obtained by the previous observation, the carrier NCO obtained by the current observation, the real time of the interruption of the TIC observation, the carrier whole-cycle count obtained by the previous observation and the carrier whole-cycle count obtained by the current observation.
4. The method of storing ephemeris data of claim 2, further comprising:
and screening all satellites of the target navigation system based on the observed quantity data, and deleting the satellites which do not meet preset conditions.
5. The method of storing ephemeris data of claim 2, further comprising:
Performing format conversion processing on the ephemeris data to obtain target ephemeris data;
performing pseudo-range correction processing on the pseudo-range measurement value to obtain a target pseudo-range measurement value;
Determining coordinates of each satellite of a target navigation system based on the target ephemeris data;
And determining the target coordinates of the navigation chip based on the coordinates of each satellite of the target navigation system, the approximate coordinates of the navigation chip and the target pseudo-range measurement value of each satellite.
6. The method of claim 5, further comprising, prior to determining the target coordinates of the navigation chip based on the coordinates of the satellites of the target navigation system, the approximate coordinates of the navigation chip, and the target pseudorange measurements of the satellites:
In a hard reset state, ephemeris data of a target navigation system, a satellite frequency point locked by last shutdown, a satellite number and RTC time information are acquired;
storing the read ephemeris data and satellite numbers into a memory pool corresponding to the target navigation system, and establishing an index relation between the ephemeris data stored in the memory pool and the satellite numbers; wherein the satellite number is used for representing the number of the satellite;
Capturing satellites of the target navigation system based on the ephemeris data and the satellite number;
in a soft reset state, ephemeris information, historical transmitting time and historical Doppler in a memory pool are acquired;
Based on the ephemeris information, historical time of transmission, and historical Doppler, satellites of the target navigation system are acquired.
7. The method of storing ephemeris data of claim 5, further comprising:
Storing the ephemeris data, the target coordinates of the navigation chip and the satellite conditions of a target navigation system corresponding to the ephemeris data in a storage device; wherein the satellite conditions include: frequency point of satellite, satellite number.
8. A storage device for ephemeris data, the device comprising:
The acquisition module is used for acquiring the starting state of the navigation chip, the positioning information of the navigation chip and the ephemeris data of each historical navigation system;
the detection module is used for detecting whether the starting state of the navigation chip is a hard reset state or not;
The first determining module is used for determining a frequency point based on the positioning information of the navigation chip if the starting state of the navigation chip is a hard reset state;
The second determining module is used for determining a target navigation system based on the frequency points, the navigation system and the mapping relation among the frequency points and establishing a memory pool corresponding to the target navigation system; the target navigation system is used for representing a navigation system for storing the ephemeris data, the mapping relation is used for representing that the navigation system at least comprises one frequency point, and the target navigation system corresponds to the memory pool one by one;
and the storage module is used for storing the ephemeris data in the memory pool corresponding to the target navigation system.
9. A computer device, comprising:
A memory and a processor, the memory and the processor being communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of storing ephemeris data of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer instructions for causing a computer to perform the method of storing ephemeris data of any of claims 1 to 7.
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