CN118169724A - Output method and output device for satellite positioning information of satellite-borne GNSS receiver - Google Patents

Output method and output device for satellite positioning information of satellite-borne GNSS receiver Download PDF

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Publication number
CN118169724A
CN118169724A CN202410170752.6A CN202410170752A CN118169724A CN 118169724 A CN118169724 A CN 118169724A CN 202410170752 A CN202410170752 A CN 202410170752A CN 118169724 A CN118169724 A CN 118169724A
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China
Prior art keywords
satellite
positioning information
satellite positioning
orbit
low
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CN202410170752.6A
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孟晶
高恩宇
孔令波
华伟
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Beijing MinoSpace Technology Co Ltd
Anhui Minospace Technology Co Ltd
Beijing Guoyu Xingkong Technology Co Ltd
Hainan Minospace Technology Co Ltd
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Beijing MinoSpace Technology Co Ltd
Anhui Minospace Technology Co Ltd
Beijing Guoyu Xingkong Technology Co Ltd
Hainan Minospace Technology Co Ltd
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Priority to CN202410170752.6A priority Critical patent/CN118169724A/en
Publication of CN118169724A publication Critical patent/CN118169724A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/423—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions derived from different satellite radio beacon positioning systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/52—Determining velocity

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

The application provides a method and a device for outputting satellite positioning information of a satellite-borne GNSS receiver, which are applied to the satellite-borne GNSS receiver and comprise the following steps: capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and resolving original satellite positioning information of low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the navigation satellites of a preset number; carrying out data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information; when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output. The method can enhance the reliability of satellite positioning information output by the satellite-borne GNSS receiver.

Description

Output method and output device for satellite positioning information of satellite-borne GNSS receiver
Technical Field
The application relates to the technical field of satellite navigation, in particular to a satellite positioning information output method and device of a satellite-borne GNSS receiver.
Background
Global navigation satellite System (English: global Navigation SATELLITE SYSTEM, abbreviated GNSS, also known as Global satellite navigation System) is an air-based radio navigation positioning system that can provide all-weather three-dimensional coordinates and velocity and time information to a user at any location on the surface of the earth or near-earth space. The four global navigation satellite systems in the current world include: the positioning system of the united states (GPS), the russian GLONASS satellite navigation system (GLONASS), the european union GALILEO satellite navigation system (GALILEO), and the chinese beidou satellite navigation system (BDS). In year 2020, the Beidou satellite navigation system of China caters to the global service era and provides all-weather, all-day and high-precision positioning, navigation and time service. On a low-orbit satellite in a near-earth space, a satellite navigation receiver (namely a satellite-borne GNSS receiver in the text) is used, the determination of positioning information (namely satellite positioning information) of the low-orbit satellite is completed by utilizing satellite signals transmitted by the navigation satellite, and the satellite positioning information is output in an in-orbit real-time manner, so that the low-orbit satellite on which the satellite-borne GNSS receiver is mounted keeps orbit and attitude based on the satellite positioning information.
At present, in the process of outputting satellite positioning information in real time on orbit by a satellite-borne GNSS receiver, the satellite-borne GNSS receiver often has the problem that the output of the satellite positioning information is interrupted or the accuracy of the output positioning information is poor, so that the reliability of the satellite positioning information output by the satellite-borne GNSS receiver is poor.
Disclosure of Invention
In view of the above, the present application is directed to providing a method and an apparatus for outputting satellite positioning information of a satellite-borne GNSS receiver, so as to solve the problem in the prior art that the satellite positioning information output by the satellite-borne GNSS receiver is interrupted or the accuracy of the output positioning information is poor in the process of outputting the satellite positioning information in real time when the satellite-borne GNSS receiver is on orbit, thereby enhancing the reliability of the satellite positioning information output by the satellite-borne GNSS receiver.
In a first aspect, an embodiment of the present application provides a method for outputting satellite positioning information of a satellite-borne GNSS receiver, which is applied to the satellite-borne GNSS receiver, where the method includes:
Capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and resolving original satellite positioning information of low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the navigation satellites of a preset number;
Carrying out data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
When the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output.
Optionally, when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite includes:
Determining whether the optimization algorithm has converged;
If the optimization algorithm is converged, detecting whether satellite signals are interrupted, when the satellite signal interruption is detected, estimating real-time estimated satellite positioning information of the low orbit satellite based on the obtained optimized satellite positioning information, and outputting the real-time estimated satellite positioning information.
Optionally, the output method further includes:
If the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm is converged in the power-on period.
Optionally, if the optimization algorithm does not converge, detecting whether the satellite signal is interrupted, and when the satellite signal interruption is detected, based on whether the optimization algorithm has converged to obtain and output satellite positioning information corresponding to the low-orbit satellite in the power-up period, including:
if the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, determining whether the optimization algorithm is converged in the power-on period;
Returning to the step of executing acquisition of satellite signals transmitted by the navigation satellites if the optimization algorithm has not converged in the power-up period, and resolving original satellite positioning information of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites after the satellite signals transmitted by the predetermined number of navigation satellites are acquired;
If the optimization algorithm has converged during the power-up period, real-time estimated satellite positioning information of the low-orbit satellite is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output.
Optionally, after outputting the real-time presumed satellite positioning information, the outputting method further comprises:
Determining whether the time for outputting the real-time presumed satellite positioning information is longer than a preset time;
and if the time for outputting the real-time estimated satellite positioning information is longer than the preset time, re-executing the capturing of satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the preset number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the preset number of navigation satellites.
Optionally, after capturing satellite signals emitted by the navigation satellites, after capturing satellite signals emitted by a predetermined number of navigation satellites, resolving satellite positioning information of a low-orbit satellite on which the satellite-borne GNSS receiver is mounted in real time based on the satellite signals emitted by the predetermined number of navigation satellites, the output method further includes:
determining whether original satellite positioning information of a low-orbit satellite carrying the satellite-borne GNSS receiver is solved within a preset time period after satellite signals transmitted by a navigation satellite are started to be captured;
Re-executing capturing satellite signals emitted by navigation satellites if the satellite signals are not calculated, and calculating original satellite positioning information of low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the preset number of navigation satellites;
The data optimization is performed on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output, which comprises the following steps:
If the satellite positioning information is calculated, carrying out data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information.
Optionally, if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method further comprises:
Determining whether the output optimized satellite positioning information is in a preset data range;
if the output optimized satellite positioning information is not in the preset data range, re-executing the data optimization of the solved original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
The detecting whether the satellite signal is interrupted comprises:
And if the output optimized satellite positioning information is in the preset data range, detecting whether the satellite signal is interrupted.
In a second aspect, an embodiment of the present application provides an output device for satellite positioning information of a satellite-borne GNSS receiver, where the output device includes:
the positioning module is used for capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and after capturing the satellite signals emitted by the navigation satellites in a preset number, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites in the preset number;
the orbit determination module is used for carrying out data optimization on the solved original satellite positioning information by utilizing an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite and outputting the optimized satellite positioning information;
and the extrapolation module is used for obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on the convergence condition of the optimization algorithm when the satellite signal is interrupted.
In a third aspect, an embodiment of the present application provides an on-board GNSS receiver, including: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory are communicated through the bus when the electronic device runs, and the machine-readable instructions are executed by the processor to execute the steps of the satellite positioning information output method of the satellite-borne GNSS receiver.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method for outputting satellite positioning information of an on-board GNSS receiver as described above.
The output method and the output device for satellite positioning information of the satellite-borne GNSS receiver provided by the embodiment of the application comprise the following steps: capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and resolving original satellite positioning information of low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the navigation satellites of a preset number; carrying out data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information; when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output.
According to the output method, after the satellite signals transmitted by the preset number of navigation satellites are captured, if the satellite signals are not interrupted, the original satellite positioning information of the low-orbit satellites is calculated in real time based on the satellite signals transmitted by the preset number of navigation satellites, and the calculated original satellite positioning information is subjected to data optimization by utilizing an optimization algorithm, so that the accuracy of the output optimized positioning information is higher than that of the original satellite positioning information of the low-orbit satellites calculated in real time; if the satellite signal is interrupted, the satellite positioning information corresponding to the low-orbit satellite is obtained and output according to the convergence condition of the optimization algorithm, so that the requirement of continuous output of the satellite positioning information and the precision requirement of the output satellite positioning information are simultaneously considered when the satellite signal is interrupted. In summary, the output method enhances the reliability of satellite positioning information output by a satellite-borne GNSS receiver.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for outputting satellite positioning information of a satellite-borne GNSS receiver according to an exemplary embodiment of the present application;
FIG. 2 is a flowchart of a method for outputting satellite positioning information of an on-board GNSS receiver according to another exemplary embodiment of the present application;
Fig. 3 is a schematic structural diagram of an output device of satellite positioning information of a satellite-borne GNSS receiver according to an exemplary embodiment of the present application;
Fig. 4 shows a schematic structural diagram of an electronic device according to an exemplary embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments of the present application, every other embodiment obtained by a person skilled in the art without making any inventive effort falls within the scope of protection of the present application.
Global navigation satellite System (English: global Navigation SATELLITE SYSTEM, abbreviated GNSS, also known as Global satellite navigation System) is an air-based radio navigation positioning system that can provide all-weather three-dimensional coordinates and velocity and time information to a user at any location on the surface of the earth or near-earth space. The four global navigation satellite systems in the current world include: the positioning system of the united states (GPS), the russian GLONASS satellite navigation system (GLONASS), the european union GALILEO satellite navigation system (GALILEO), and the chinese beidou satellite navigation system (BDS). In year 2020, the Beidou satellite navigation system of China caters to the global service era and provides all-weather, all-day and high-precision positioning, navigation and time service. On a low-orbit satellite in a near-earth space, a satellite navigation receiver (i.e. a satellite-borne GNSS receiver in the text) is used, the determination of positioning information (i.e. satellite positioning information) of the low-orbit satellite is completed by utilizing satellite signals transmitted by a navigation satellite (such as a Beidou navigation satellite or a GPS navigation satellite), and the satellite positioning information is output in an in-orbit real-time manner, so that the low-orbit satellite carrying the satellite-borne GNSS receiver keeps orbit and attitude based on the satellite positioning information.
At present, in the process of outputting satellite positioning information in real time on orbit by a satellite-borne GNSS receiver, the satellite-borne GNSS receiver often has the problem that the output of the satellite positioning information is interrupted or the accuracy of the output positioning information is poor, so that the reliability of the satellite positioning information output by the satellite-borne GNSS receiver is poor.
Based on the above, the embodiment of the application provides a method and a device for outputting satellite positioning information of a satellite-borne GNSS receiver, which can solve the problems that in the prior art, when the satellite-borne GNSS receiver outputs satellite positioning information in real time in orbit, the satellite-borne GNSS receiver has the phenomenon of output interruption of the satellite positioning information and the accuracy of the output positioning information is poor, thereby enhancing the reliability of the satellite positioning information output by the satellite-borne GNSS receiver.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for outputting satellite positioning information of a satellite-borne GNSS receiver according to an exemplary embodiment of the present application. The method for outputting satellite positioning information of the satellite-borne GNSS receiver is applied to the satellite-borne GNSS receiver.
As shown in fig. 1, the method for outputting satellite positioning information of a satellite-borne GNSS receiver provided by the embodiment of the application includes the following steps:
In step S101, for each power-on period of the satellite-borne GNSS receiver, capturing satellite signals emitted by navigation satellites, and when a predetermined number of satellite signals emitted by navigation satellites are captured, resolving in real time, based on the satellite signals emitted by the predetermined number of navigation satellites, original satellite positioning information of low-orbit satellites on which the satellite-borne GNSS receiver is mounted;
Here, the navigation satellite includes any one of the navigation satellites in the related art, for example, a Beidou navigation satellite or a GPS navigation satellite, etc.
Here, the predetermined number may be four, and after capturing the satellite signals transmitted by the predetermined number of navigation satellites, the satellite-borne GNSS receiver may be considered to have captured satellite signals of enough navigation satellites, and the calculation condition of the original satellite positioning information of the low-orbit satellite may be satisfied at this time, and the original satellite positioning information of the low-orbit satellite may be calculated based on the satellite signals of enough navigation satellites.
In general, the time from the start of capturing the satellite signals transmitted from the navigation satellites to the capture of the satellite signals transmitted from the predetermined number of navigation satellites is generally about 1 minute or several minutes, and after the capture of the satellite signals transmitted from the predetermined number of navigation satellites, the original satellite positioning information of the low-orbit satellites on which the satellite-borne GNSS receiver is mounted can be calculated in real time based on the satellite signals transmitted from the predetermined number of navigation satellites.
Here, the original satellite positioning information may include: time information, position information, speed information, and track information.
Specifically, ephemeris carried by satellite signals transmitted by the predetermined number of navigation satellites may be first resolved to obtain time information, position information and velocity information in original satellite positioning information of a low-orbit satellite on which the satellite-borne GNSS receiver is mounted, and then orbit information in the original satellite positioning information of the low-orbit satellite is calculated based on the time information, the position information and the velocity information. Here, the manner of resolving the original satellite positioning information of the low-orbit satellite on which the satellite-borne GNSS receiver is mounted is the prior art, so the present application is not described herein again.
In step S102, performing data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
Here, the optimization algorithm has convergence. As an example, the optimization algorithm may be a filtering algorithm, but the present application is not limited thereto, and the optimization algorithm may be other optimization algorithms, which the present application is not limited to.
Here, the optimization algorithm can be stably output only after the optimization algorithm converges. Therefore, the precision of the post-optimization satellite positioning information output before the convergence of the optimization algorithm is not higher than the precision of the post-optimization satellite positioning information output after the convergence of the optimization algorithm.
By optimizing the data of the calculated original satellite positioning information, the obtained optimized satellite positioning information of the low-orbit satellite is higher in precision than the original satellite positioning information of the low-orbit satellite obtained in the step S101, so that the reliability of the satellite positioning information output by the satellite-borne GNSS receiver is enhanced.
In an actual sky environment, due to the influence of many factors, such as environmental conditions, the antenna is not aligned with the sky, or no enough navigation satellites are in the visible range of the antenna, the satellite-borne GNSS receiver is in a condition without a 'satellite condition', under which the satellite-borne GNSS receiver cannot capture satellite signals of enough navigation satellites, namely satellite signal interruption, and at the moment, the original satellite positioning information of the low-orbit satellite cannot be obtained and output any more, so that the interruption of the satellite positioning information output by the satellite-borne GNSS receiver is caused, namely the original satellite positioning information and the optimized satellite positioning information cannot be output any more. In order to solve the problem, the embodiment of the application provides a mode for simultaneously considering the requirement of continuous output of satellite positioning information and the precision requirement of the output satellite positioning information when the satellite signal is interrupted, so as to further enhance the reliability of the satellite positioning information output by the satellite-borne GNSS receiver.
In step S103, when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output.
Here, the convergence condition indicates a convergence state that the optimization algorithm has, and for example, the convergence condition may include whether convergence or not and whether convergence or not has been performed.
Specifically, in one possible implementation manner, in step S103, when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite may include the following steps:
Determining whether the optimization algorithm has converged; if the optimization algorithm is converged, detecting whether satellite signals are interrupted, and when the satellite signal interruption is detected, estimating real-time estimated satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information and outputting the real-time estimated satellite positioning information;
Here, the real-time estimated satellite positioning information indicates real-time positioning information of the low-orbit satellite estimated when the satellite signal is interrupted.
Specifically, the time information, the position information, and the velocity information in the real-time estimated satellite positioning information of the low-orbit satellite may be first back-deduced based on the orbit information in the obtained optimized satellite positioning information, and then the orbit information in the real-time estimated satellite positioning information of the low-orbit satellite may be calculated based on the back-deduced time information, position information, and velocity information.
In the present exemplary embodiment, by determining whether the optimization algorithm has converged, and in the case where a satellite signal interruption is detected when the optimization algorithm has converged, estimating real-time estimated satellite positioning information of the low-orbit satellite based on the obtained post-optimization satellite positioning information, and outputting the real-time estimated satellite positioning information, it is possible to make it possible to autonomously calculate and output the real-time estimated satellite positioning information of the low-orbit satellite based on the post-optimization satellite positioning information of the low-orbit satellite that has been calculated in the case where the satellite signal is interrupted, instead of calculating the satellite positioning information of the low-orbit satellite based on the satellite signal, so that the satellite-borne GNSS receiver can continuously output the satellite positioning information when the satellite signal is interrupted.
Specifically, in one possible implementation manner, in step S103, when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output, and the method may further include the following steps:
If the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm is converged in the power-on period.
Specifically, regarding the step of detecting whether the satellite signal is interrupted if the optimization algorithm is not converged, when the satellite signal interruption is detected, based on whether the optimization algorithm has been converged to obtain and output satellite positioning information corresponding to the low-orbit satellite in the power-on period, the step of obtaining and outputting satellite positioning information corresponding to the low-orbit satellite may include:
if the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, determining whether the optimization algorithm is converged in the power-on period;
If the optimization algorithm has not converged in the power-up period, returning to the step S101, capturing satellite signals emitted by navigation satellites, and after capturing the satellite signals emitted by a predetermined number of navigation satellites, resolving the original satellite positioning signals of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the predetermined number of navigation satellites;
If the optimization algorithm has converged during the power-up period, real-time estimated satellite positioning information of the low-orbit satellite is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output.
In the present exemplary embodiment, since the accuracy of the optimized satellite positioning information output by the optimization algorithm under the condition that the optimization algorithm is not converged is not higher than the accuracy of the optimized satellite positioning information output by the optimization algorithm after the convergence, by determining whether the optimization algorithm has been converged in the power-up period when the optimization algorithm is not converged, and returning to execute step S101 when the optimization algorithm has not been converged in the power-up period, the process of the satellite positioning information output method of the satellite-borne GNSS receiver provided by the present application can be re-executed under the condition that the optimization algorithm is not converged and has not been converged, thereby ensuring the accuracy of the satellite positioning information output by the satellite-borne GNSS receiver in the subsequent process.
By determining whether the optimization algorithm has once converged in the power-on period when the optimization algorithm has not converged, if the optimization algorithm has once converged in the power-on period, the real-time estimated satellite positioning information of the low-orbit satellites is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output, it is possible to continue outputting satellite positioning information (real-time estimated satellite positioning information) of the low-orbit satellites in the case where the optimization algorithm has not converged but has converged, thereby enabling the satellite-borne GNSS receiver to continuously output satellite positioning information when the satellite signal is interrupted, without returning to a state of waiting for positioning (i.e., the state of the above-mentioned flow of the output method of satellite positioning information of the satellite-borne GNSS receiver of the present application is re-executed), and thereby avoiding interruption of the satellite positioning information that has occurred multiple times (because the time from capturing satellite signals transmitted by the navigation satellites to capturing a predetermined number of navigation satellites is generally about 1 minute or so that the satellite positioning information can be interrupted when the satellite signal capturing by the navigation satellites is executed, the satellite positioning information can be interrupted when the satellite signal capturing the low-orbit positioning information of the satellite carrier receiver has been re-executed, the time when the satellite positioning information can be interrupted from the satellite carrier when the satellite signal capturing the low-orbit positioning information of the satellite carrier when the satellite signal can not be interrupted.
According to the analysis, if the satellite signal is interrupted, the satellite positioning information corresponding to the low-orbit satellite is obtained and output according to the convergence condition of the optimization algorithm, so that the requirement of continuous output of the satellite positioning information and the precision requirement of the output satellite positioning information are simultaneously considered when the satellite signal is interrupted.
In summary, in the output method, after capturing the satellite signals transmitted by the predetermined number of navigation satellites, if the satellite signals are not interrupted, the original satellite positioning information of the low-orbit satellite is calculated in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, and the calculated original satellite positioning information is subjected to data optimization by using an optimization algorithm, so that the accuracy of the output optimized positioning information is higher than that of the original satellite positioning information of the low-orbit satellite calculated in real time; if the satellite signal is interrupted, the satellite positioning information corresponding to the low-orbit satellite is obtained and output according to the convergence condition of the optimization algorithm, so that the requirement of continuous output of the satellite positioning information and the precision requirement of the output satellite positioning information are simultaneously considered when the satellite signal is interrupted. In summary, the output method enhances the reliability of satellite positioning information output by a satellite-borne GNSS receiver.
Further, in step S101, when the satellite signals transmitted from the navigation satellites are captured, and then the original satellite positioning information of the low-orbit satellite mounted on the satellite-borne GNSS receiver is calculated in real time based on the satellite signals transmitted from the predetermined number of navigation satellites, it is known that, in general, the time from the start of capturing the satellite signals transmitted from the navigation satellites to the capture of the satellite signals transmitted from the predetermined number of navigation satellites is generally about 1 minute or several minutes, and after the satellite signals transmitted from the predetermined number of navigation satellites are captured, the original satellite positioning information of the low-orbit satellite mounted on the satellite-borne GNSS receiver is calculated in real time based on the satellite signals transmitted from the predetermined number of navigation satellites. However, in practice, the satellite-borne GNSS receiver may not calculate the original satellite positioning information of the low-orbit satellite on which the satellite-borne GNSS receiver is mounted if the normal positioning time (i.e. the above-mentioned time of 1 or several minutes) is exceeded due to some influences (for example, the satellite-borne GNSS receiver stores the out-of-date or the ephemeris error of the received satellite signal), so that the subsequent steps cannot be performed, thereby reducing the reliability of the satellite positioning information output by the satellite-borne GNSS receiver.
In order to prevent this, in one possible implementation, in step S101, after capturing satellite signals emitted by navigation satellites, after capturing satellite signals emitted by a predetermined number of navigation satellites, the output method may further include, after calculating, in real time, original satellite positioning information of a low-orbit satellite on which the satellite-borne GNSS receiver is mounted, based on the satellite signals emitted by the predetermined number of navigation satellites:
Determining whether original satellite positioning information of a low-orbit satellite carrying the satellite-borne GNSS receiver is solved within a preset time period after satellite signals transmitted by a navigation satellite are started to be captured; and if the satellite positioning information is not calculated, re-executing the step of capturing satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the preset number of navigation satellites, calculating the original satellite positioning information of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the preset number of navigation satellites.
Here, the predetermined period is set according to the actual situation. Which may be set to the time of normal positioning of the receiver.
Here, the step of re-executing the capturing of satellite signals transmitted from the navigation satellites, and after capturing the satellite signals transmitted from the predetermined number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites on which the satellite-borne GNSS receiver is mounted in real time based on the satellite signals transmitted from the predetermined number of navigation satellites may be understood as resetting the module that performs the step of the satellite-borne GNSS receiver.
In this case, in step S102, performing data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information, may include:
If the satellite positioning information is calculated, carrying out data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information.
In the present exemplary embodiment, the module of this step may be restarted by resetting the on-board GNSS receiver under the original satellite positioning information of the low-orbit satellite on which it is mounted, in case the GNSS receiver exceeds the normal positioning time, so that the satellite signals transmitted by the navigation satellites are reacquired to enable the subsequent steps to be performed sequentially.
In addition, when the real-time estimated satellite positioning information of the low orbit satellite is estimated based on the obtained optimized satellite positioning information and the real-time estimated satellite positioning information is output, the accuracy of the real-time estimated satellite positioning information is lower than that of the output optimized satellite positioning information because the real-time estimated satellite positioning information is autonomously estimated by the satellite-borne GNSS receiver.
In one possible implementation, after outputting the real-time presumed satellite positioning information, the outputting method may further include:
Determining whether the time for outputting the real-time presumed satellite positioning information is longer than a preset time; and if the time for outputting the real-time estimated satellite positioning information is longer than the preset time, re-executing the capturing of satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the preset number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the preset number of navigation satellites.
Here, the preset time is set according to actual conditions.
The step of re-executing the capturing of satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the predetermined number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the predetermined number of navigation satellites can be understood as resetting the module of the satellite-borne GNSS receiver that executes the step.
In the present exemplary embodiment, by determining whether the time for outputting the real-time estimated satellite positioning information is greater than a preset time, and if the time for outputting the real-time estimated satellite positioning information is greater than the preset time, the step of capturing the satellite signals transmitted from the navigation satellite is re-performed, the time for outputting the real-time estimated satellite positioning information can be controlled, so that the problem of poor accuracy of the output satellite positioning information caused by too long time for outputting the real-time estimated satellite positioning information is avoided, and the reliability of the satellite positioning information output by the satellite-borne GNSS receiver is further enhanced.
In addition, if the optimization algorithm is converged, the optimization algorithm is generally used to perform data optimization on the calculated original satellite positioning information, and the obtained optimized satellite positioning information of the low-orbit satellite has higher accuracy, but since the input of the optimization algorithm is the calculated original satellite positioning information, once the value of the output original satellite positioning information is greatly deviated due to a certain reason (multipath or wrong satellite signal) and the like of the satellite-borne GNSS receiver, after a period of time, the optimized satellite positioning information obtained by performing data optimization on the calculated original satellite positioning information by using the optimization algorithm cannot achieve the purpose of optimizing the original satellite positioning information, and can bring larger deviation.
In one possible implementation, if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method may further include:
Determining whether the output optimized satellite positioning information is in a preset data range; if the output optimized satellite positioning information is not in the preset data range, re-executing the data optimization of the solved original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
here, the preset data range is set according to actual conditions.
The step of re-executing the data optimization of the solved original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite and outputting the optimized satellite positioning information can be understood as resetting a module of the satellite-borne GNSS receiver executing the step.
In this case, the detecting whether the satellite signal is interrupted includes:
And if the output optimized satellite positioning information is in the preset data range, detecting whether the satellite signal is interrupted.
In the present exemplary embodiment, by determining whether the outputted optimized satellite positioning information is within a preset data range; if the output optimized satellite positioning information is not in the preset data range, the data optimization of the calculated satellite positioning information by using the optimization algorithm is re-executed, and the optimization process by using the optimization algorithm can be corrected, so that the problem that the deviation of the optimized satellite positioning information obtained by performing the data optimization on the calculated original satellite positioning information by using the optimization algorithm is large is avoided, and the reliability of the satellite positioning information output by the satellite-borne GNSS receiver is further enhanced.
Fig. 2 is a flowchart of a method for outputting satellite positioning information of a satellite-borne GNSS receiver according to another exemplary embodiment of the present application.
As shown in fig. 2, the output method includes:
In step S201, for each power-on period of the satellite-borne GNSS receiver, capturing satellite signals emitted by navigation satellites, and when a predetermined number of satellite signals emitted by navigation satellites are captured, resolving in real time, based on the satellite signals emitted by the predetermined number of navigation satellites, original satellite positioning information of low-orbit satellites on which the satellite-borne GNSS receiver is mounted;
In step S202, it is determined whether or not the original satellite positioning information of the low-orbit satellite on which the satellite-borne GNSS receiver is mounted is resolved within a predetermined period of time after the start of capturing the satellite signals transmitted by the navigation satellites;
If not, re-executing step S201, capturing satellite signals emitted by navigation satellites, and after capturing the satellite signals emitted by a predetermined number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the predetermined number of navigation satellites;
If the satellite positioning information is calculated, in step S203, data optimization is performed on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output;
In step S204, determining whether the optimization algorithm has converged;
If the optimization algorithm has converged, in step S205, determining whether the outputted optimized satellite positioning information is within a preset data range;
If the outputted optimized satellite positioning information is not in the preset data range, re-executing step S203, performing data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low orbit satellite, and outputting the optimized satellite positioning information;
If the outputted optimized satellite positioning information is within the preset data range, in step S206, detecting whether the satellite signal is interrupted;
When the satellite signal interruption is detected, in step S207, real-time estimated satellite positioning information of the low-orbit satellite is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output;
And when the satellite signal interruption is not detected, returning to the step S203, performing data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information.
In step S208, it is determined whether the time for outputting the real-time presumed satellite positioning information is greater than a preset time;
If the time for outputting the real-time estimated satellite positioning information is longer than the preset time, re-executing step S201, capturing satellite signals transmitted by the navigation satellites, and after capturing the satellite signals transmitted by the predetermined number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;
if the optimization algorithm does not converge, in step S209, it is detected whether the satellite signal is interrupted;
When the satellite signal interruption is not detected, returning to the execution step S203, performing data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
When a satellite signal disruption is detected, determining whether the optimization algorithm has converged during the power-up period at step S210;
If the optimization algorithm is not converged in the power-up period, returning to execute step S203, performing data optimization on the solved original satellite positioning information by using the optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
If the optimization algorithm has converged during the power-up period, step S207 is performed to infer real-time presumed satellite positioning information for the low-orbit satellites based on the obtained post-optimization satellite positioning information, and to output the real-time presumed satellite positioning information.
Based on the same inventive concept, the embodiment of the present application further provides a device for outputting satellite positioning information of a satellite-borne GNSS receiver corresponding to the method for outputting satellite positioning information of a satellite-borne GNSS receiver.
Referring to fig. 3, fig. 3 is a schematic structural diagram of an output device of satellite positioning information of a satellite-borne GNSS receiver according to an exemplary embodiment of the present application.
As shown in fig. 3, the output device 300 includes:
A positioning module 310, configured to capture satellite signals emitted by navigation satellites for each power-up period of the satellite-borne GNSS receiver, and calculate, in real time, original satellite positioning information of a low-orbit satellite on which the satellite-borne GNSS receiver is mounted based on the satellite signals emitted by a predetermined number of navigation satellites after capturing the satellite signals emitted by the predetermined number of navigation satellites;
The orbit determination module 320 is configured to perform data optimization on the solved original satellite positioning information by using an optimization algorithm, obtain optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;
And the extrapolation module 330 is configured to obtain and output satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm when the satellite signal is interrupted.
Optionally, the extrapolation module 330 is specifically configured to:
Determining whether the optimization algorithm has converged;
If the optimization algorithm is converged, detecting whether satellite signals are interrupted, when the satellite signal interruption is detected, estimating real-time estimated satellite positioning information of the low orbit satellite based on the obtained optimized satellite positioning information, and outputting the real-time estimated satellite positioning information.
Optionally, the extrapolation module 330 is specifically further configured to:
If the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm is converged in the power-on period.
Optionally, the extrapolation module 330 is specifically configured to:
if the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, determining whether the optimization algorithm is converged in the power-on period;
Returning to the step of executing acquisition of satellite signals transmitted by the navigation satellites if the optimization algorithm has not converged in the power-up period, and resolving original satellite positioning information of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites after the satellite signals transmitted by the predetermined number of navigation satellites are acquired;
If the optimization algorithm has converged during the power-up period, real-time estimated satellite positioning information of the low-orbit satellite is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output.
Optionally, the output device 300 further includes: a first reset module 340 (not shown in the figures), said first reset module 340 being adapted to:
After outputting the real-time presumed satellite positioning information, determining whether the time for outputting the real-time presumed satellite positioning information is longer than a preset time;
and if the time for outputting the real-time estimated satellite positioning information is longer than the preset time, re-executing the capturing of satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the preset number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the preset number of navigation satellites.
Optionally, the output device 300 further includes: a second reset module 350 (not shown in the figure) for determining whether to calculate the original satellite positioning information of the low-orbit satellite carrying the satellite-borne GNSS receiver within a predetermined period of time after starting to capture the satellite signals transmitted by the navigation satellites, after capturing the satellite signals transmitted by the navigation satellites and after calculating the satellite positioning information of the low-orbit satellite carrying the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites after capturing the satellite signals transmitted by the navigation satellites;
Re-executing capturing satellite signals emitted by navigation satellites if the satellite signals are not calculated, and calculating original satellite positioning information of low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the preset number of navigation satellites;
the rail fixing module 320 is specifically configured to:
If the satellite positioning information is calculated, carrying out data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information.
Optionally, the output device 300 further includes: a third reset module 360 (not shown in the figures), said third reset module 360 being adapted to:
If the optimization algorithm is converged, before detecting whether the satellite signal is interrupted, determining whether the output optimized satellite positioning information is in a preset data range;
if the output optimized satellite positioning information is not in the preset data range, re-executing the data optimization of the solved original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
The extrapolation module 330 is specifically configured to:
And if the output optimized satellite positioning information is in the preset data range, detecting whether the satellite signal is interrupted.
The device for outputting satellite positioning information of a satellite-borne GNSS receiver provided by the embodiment of the application comprises: capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and resolving original satellite positioning information of low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the navigation satellites of a preset number; carrying out data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information; when the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output.
The output device is used for resolving original satellite positioning information of the low-orbit satellite in real time based on satellite signals transmitted by the preset number of navigation satellites after the satellite signals transmitted by the preset number of navigation satellites are captured, and carrying out data optimization on the resolved original satellite positioning information by utilizing an optimization algorithm, so that the accuracy of the output optimized positioning information is higher than that of the original satellite positioning information of the low-orbit satellite resolved in real time; if the satellite signal is interrupted, the satellite positioning information corresponding to the low-orbit satellite is obtained and output according to the convergence condition of the optimization algorithm, so that the requirement of continuous output of the satellite positioning information and the precision requirement of the output satellite positioning information are simultaneously considered when the satellite signal is interrupted. In summary, the output method enhances the reliability of satellite positioning information output by a satellite-borne GNSS receiver.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an on-board GNSS receiver according to an embodiment of the present application. As shown in fig. 4, the satellite-borne GNSS receiver 400 includes a processor 410, a memory 420, and a bus 430.
The memory 420 stores machine-readable instructions executable by the processor 410, when the on-board GNSS receiver 400 is running, the processor 410 communicates with the memory 420 through the bus 430, and when the machine-readable instructions are executed by the processor 410, the steps of the method for outputting satellite positioning information of the on-board GNSS receiver in the method embodiment can be executed, and detailed implementation is omitted herein.
The embodiment of the present application further provides a computer readable storage medium, where a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the method for outputting satellite positioning information of a satellite-borne GNSS receiver in the above method embodiment may be executed, and a specific implementation manner may refer to the method embodiment and will not be described herein.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present application, and are not intended to limit the scope of the present application, but it should be understood by those skilled in the art that the present application is not limited thereto, and that the present application is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (10)

1. The output method of satellite positioning information of a satellite-borne GNSS receiver is characterized by being applied to the satellite-borne GNSS receiver, and comprises the following steps:
Capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and resolving original satellite positioning information of low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the navigation satellites of a preset number;
Carrying out data optimization on the solved original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
When the satellite signal is interrupted, based on the convergence condition of the optimization algorithm, the satellite positioning information corresponding to the low-orbit satellite is obtained and output.
2. The output method according to claim 1, wherein the obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm when the satellite signal is interrupted includes:
Determining whether the optimization algorithm has converged;
If the optimization algorithm is converged, detecting whether satellite signals are interrupted, when the satellite signal interruption is detected, estimating real-time estimated satellite positioning information of the low orbit satellite based on the obtained optimized satellite positioning information, and outputting the real-time estimated satellite positioning information.
3. The output method according to claim 2, characterized in that the output method further comprises:
If the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm is converged in the power-on period.
4. The output method according to claim 3, wherein if the optimization algorithm does not converge, detecting whether the satellite signal is interrupted, and when the satellite signal interruption is detected, based on whether the optimization algorithm has converged to obtain and output satellite positioning information corresponding to the low-orbit satellite during the power-up period, comprises:
if the optimization algorithm is not converged, detecting whether satellite signals are interrupted, and when the satellite signals are detected to be interrupted, determining whether the optimization algorithm is converged in the power-on period;
Returning to the step of executing acquisition of satellite signals transmitted by the navigation satellites if the optimization algorithm has not converged in the power-up period, and resolving original satellite positioning information of the low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites after the satellite signals transmitted by the predetermined number of navigation satellites are acquired;
If the optimization algorithm has converged during the power-up period, real-time estimated satellite positioning information of the low-orbit satellite is estimated based on the obtained optimized satellite positioning information, and the real-time estimated satellite positioning information is output.
5. The output method according to claim 4, wherein after outputting the real-time presumed satellite positioning information, the output method further comprises:
Determining whether the time for outputting the real-time presumed satellite positioning information is longer than a preset time;
and if the time for outputting the real-time estimated satellite positioning information is longer than the preset time, re-executing the capturing of satellite signals emitted by the navigation satellites, and after capturing the satellite signals emitted by the preset number of navigation satellites, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the preset number of navigation satellites.
6. The output method according to claim 1, wherein after capturing satellite signals transmitted from navigation satellites, and after resolving satellite positioning information of a low-orbit satellite on which the satellite-borne GNSS receiver is mounted in real time based on the satellite signals transmitted from the predetermined number of navigation satellites after capturing the satellite signals transmitted from the predetermined number of navigation satellites, the output method further comprises:
determining whether original satellite positioning information of a low-orbit satellite carrying the satellite-borne GNSS receiver is solved within a preset time period after satellite signals transmitted by a navigation satellite are started to be captured;
Re-executing capturing satellite signals emitted by navigation satellites if the satellite signals are not calculated, and calculating original satellite positioning information of low-orbit satellites carrying the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites after capturing the satellite signals emitted by the preset number of navigation satellites;
The data optimization is performed on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output, which comprises the following steps:
If the satellite positioning information is calculated, carrying out data optimization on the calculated original satellite positioning information by using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information.
7. The output method according to claim 2, wherein if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method further comprises:
Determining whether the output optimized satellite positioning information is in a preset data range;
if the output optimized satellite positioning information is not in the preset data range, re-executing the data optimization of the solved original satellite positioning information by using an optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information;
The detecting whether the satellite signal is interrupted comprises:
And if the output optimized satellite positioning information is in the preset data range, detecting whether the satellite signal is interrupted.
8. An output device for satellite positioning information of a satellite-borne GNSS receiver, wherein the output device comprises:
the positioning module is used for capturing satellite signals emitted by navigation satellites for each power-on period of the satellite-borne GNSS receiver, and after capturing the satellite signals emitted by the navigation satellites in a preset number, resolving the original satellite positioning information of the low-orbit satellites of the satellite-borne GNSS receiver in real time based on the satellite signals emitted by the navigation satellites in the preset number;
the orbit determination module is used for carrying out data optimization on the solved original satellite positioning information by utilizing an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite and outputting the optimized satellite positioning information;
and the extrapolation module is used for obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on the convergence condition of the optimization algorithm when the satellite signal is interrupted.
9. An on-board GNSS receiver, comprising: processor, memory and bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via said bus when the electronic device is operating, said machine readable instructions when executed by said processor performing the steps of the method for outputting satellite positioning information of an on-board GNSS receiver according to any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, performs the steps of the method for outputting satellite positioning information of a satellite-borne GNSS receiver according to any of the claims 1 to 7.
CN202410170752.6A 2024-02-06 2024-02-06 Output method and output device for satellite positioning information of satellite-borne GNSS receiver Pending CN118169724A (en)

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