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

Abstract

The present application provides a method and device for outputting satellite positioning information of a satellite-borne GNSS receiver, which is applied to a satellite-borne GNSS receiver, and includes: for each power-on cycle of the satellite-borne GNSS receiver, capturing satellite signals transmitted by navigation satellites, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of a 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; optimizing the solved original satellite positioning information 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, obtaining and outputting the corresponding satellite positioning information of the low-orbit satellite based on the convergence of the optimization algorithm. The method can enhance the reliability of the satellite positioning information output by the satellite-borne GNSS receiver.

Description

Output method and output device of satellite positioning information of onboard GNSS receiver

Technical Field

The present application relates to the field of satellite navigation technology, and in particular to a method and device for outputting satellite positioning information of a satellite-borne GNSS receiver.

Background technique

The Global Navigation Satellite System (GNSS) is an airborne radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the Earth's surface or in near-Earth space. The four major global navigation satellite systems in the world currently include the United States' GPS, Russia's GLONASS, the European Union's Galileo Satellite Navigation System (GALILEO) and China's Beidou Satellite Navigation System (BDS). In June 2020, my country's Beidou Satellite Navigation System ushered in the era of global services, providing all-weather, all-day, high-precision positioning, navigation and timing services. On a low-orbit satellite in near-Earth space, a satellite navigation receiver (i.e., the onboard GNSS receiver in this article) is used to determine the low-orbit satellite's own positioning information (i.e., satellite positioning information) using the satellite signals transmitted by the navigation satellite, and output the above satellite positioning information in real time on orbit, so that the low-orbit satellite equipped with the onboard GNSS receiver maintains its orbit and attitude based on the satellite positioning information.

At present, when a satellite-borne GNSS receiver outputs satellite positioning information in real time on orbit, the satellite-borne GNSS receiver often experiences an output interruption of satellite positioning information or a problem of poor accuracy of the output positioning information, resulting in poor reliability of the satellite positioning information output by the satellite-borne GNSS receiver.

Summary of the invention

In view of this, the purpose of the present application is to provide a method and device for outputting satellite positioning information of a satellite-borne GNSS receiver, so as to overcome the problem in the prior art that when the satellite-borne GNSS receiver outputs satellite positioning information in real time on orbit, the satellite-borne GNSS receiver outputs satellite positioning information interrupted or 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.

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 a satellite-borne GNSS receiver. The output method includes:

For each power-on cycle of the onboard GNSS receiver, a satellite signal transmitted by a navigation satellite is captured, and after a predetermined number of satellite signals transmitted by the navigation satellites are captured, original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

Optimizing the calculated original satellite positioning information 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, the satellite positioning information corresponding to the low-orbit satellite is obtained and output based on the convergence of the optimization algorithm.

Optionally, when the satellite signal is interrupted, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm includes:

determining whether the optimization algorithm has converged;

If the optimization algorithm has converged, detect whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, infer the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and output the real-time inferred satellite positioning information.

Optionally, the output method further includes:

If the optimization algorithm has not converged, it is detected whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output based on whether the optimization algorithm has converged in the power-on cycle.

Optionally, if the optimization algorithm has not converged, detecting whether a satellite signal is interrupted, and when the satellite signal is detected to be interrupted, obtaining and outputting satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm has ever converged in the power-on cycle, includes:

If the optimization algorithm has not converged, detecting whether the satellite signal is interrupted, and when the satellite signal is detected to be interrupted, determining whether the optimization algorithm has ever converged in the power-on cycle;

If the optimization algorithm has not converged in the power-on cycle, returning to the step of executing capturing satellite signals transmitted by navigation satellites, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, resolving original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

If the optimization algorithm has converged in the power-on cycle, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output.

Optionally, after outputting the real-time estimated satellite positioning information, the output method further includes:

Determining whether the time for outputting the real-time inferred satellite positioning information is greater than a preset time;

If the time for outputting the real-time inferred satellite positioning information is greater than the preset time, the step of capturing the satellite signals transmitted by the navigation satellite is re-executed. After capturing the satellite signals transmitted by a predetermined number of navigation satellites, the step of calculating the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

Optionally, after capturing satellite signals transmitted by navigation satellites, when a predetermined number of satellite signals transmitted by navigation satellites are captured, and after real-time solving satellite positioning information of a low-orbit satellite equipped with the onboard GNSS receiver based on the satellite signals transmitted by the predetermined number of navigation satellites, the output method further comprises:

Determining whether original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved within a predetermined time period after starting to capture a satellite signal transmitted by a navigation satellite;

If the solution is not obtained, re-performing the step of capturing the satellite signals transmitted by the navigation satellite, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

The optimizing algorithm is used to optimize the original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information, including:

If it is solved, the optimized algorithm is used to perform data optimization on the solved original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output.

Optionally, if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method further includes:

Determine whether the output optimized satellite positioning information is within the preset data range;

If the output optimized satellite positioning information is not within the preset data range, re-execute the step of optimizing the calculated original satellite positioning information using the optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

The detecting whether the satellite signal is interrupted comprises:

If the output optimized satellite positioning information is within the preset data range, it is detected whether the satellite signal is interrupted.

In a second aspect, an embodiment of the present application provides a device for outputting satellite positioning information of a space-borne GNSS receiver, the output device comprising:

a positioning module, configured to capture satellite signals transmitted by navigation satellites for each power-on cycle of the onboard GNSS receiver, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, to calculate original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

The orbit determination module is used to optimize the original satellite positioning information calculated by using an optimization algorithm, obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

The extrapolation module is used to obtain and output the satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm when the satellite signal is interrupted.

In a third aspect, an embodiment of the present application provides a satellite-borne GNSS receiver, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for outputting satellite positioning information of the satellite-borne GNSS receiver as described above are performed.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for outputting satellite positioning information of a space-borne GNSS receiver as described above are executed.

An output method and device for satellite positioning information of a satellite-borne GNSS receiver provided in an embodiment of the present application include: capturing satellite signals transmitted by navigation satellites for each power-on cycle of the satellite-borne GNSS receiver, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, solving original satellite positioning information of a low-orbit satellite equipped with the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; performing data optimization on the solved original satellite positioning information using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information; and when the satellite signal is interrupted, obtaining and outputting the corresponding satellite positioning information of the low-orbit satellite based on the convergence of the optimization algorithm.

The output method, after capturing the satellite signals transmitted by a predetermined number of navigation satellites, if the satellite signals are not interrupted, then the original satellite positioning information of the low-orbit satellite is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, and the solved original satellite positioning information is optimized using an optimization algorithm, so that the accuracy of the output optimized positioning information is higher than the original satellite positioning information of the low-orbit satellite solved in real time; if the satellite signal is interrupted, then according to the convergence of the optimization algorithm, the corresponding satellite positioning information of the low-orbit satellite is obtained and output, so that when the satellite signal is interrupted, the requirements for the continuous output of the satellite positioning information and the accuracy requirements of the output satellite positioning information are considered at the same time. Combining the above aspects, the output method enhances the reliability of the satellite positioning information output by the onboard GNSS receiver.

In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

FIG1 shows a flow chart of a method for outputting satellite positioning information of a space-borne GNSS receiver provided by an exemplary embodiment of the present application;

FIG2 shows a flow chart of a method for outputting satellite positioning information of a space-borne GNSS receiver provided by another exemplary embodiment of the present application;

FIG3 is a schematic diagram showing the structure of a device for outputting satellite positioning information of a satellite-borne GNSS receiver provided by an exemplary embodiment of the present application;

FIG. 4 shows a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present application.

Detailed ways

In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

The Global Navigation Satellite System (GNSS) is an airborne radio navigation and positioning system that can provide users with all-weather three-dimensional coordinates, speed and time information at any location on the Earth's surface or in near-Earth space. The four major global navigation satellite systems in the world currently include the United States' GPS, Russia's GLONASS, the European Union's Galileo Satellite Navigation System (GALILEO) and China's Beidou Satellite Navigation System (BDS). In June 2020, my country's Beidou Satellite Navigation System ushered in the era of global services, providing all-weather, all-day, high-precision positioning, navigation and timing services. On a low-orbit satellite in near-Earth space, a satellite navigation receiver (i.e., a satellite-borne GNSS receiver in this article) is used to determine the low-orbit satellite's own positioning information (i.e., satellite positioning information) using satellite signals transmitted by navigation satellites (such as Beidou navigation satellites or GPS navigation satellites), and the above satellite positioning information is output in real time on orbit, so that the low-orbit satellite equipped with the satellite-borne GNSS receiver maintains its orbit and attitude based on the satellite positioning information.

At present, when a satellite-borne GNSS receiver outputs satellite positioning information in real time on orbit, the satellite-borne GNSS receiver often experiences an output interruption of satellite positioning information or a problem of poor accuracy of the output positioning information, resulting in poor reliability of the satellite positioning information output by the satellite-borne GNSS receiver.

Based on this, the embodiments of the present application provide a method and device for outputting satellite positioning information of a satellite-borne GNSS receiver, which can overcome the problem in the prior art that when the satellite-borne GNSS receiver outputs satellite positioning information in real time on orbit, the satellite-borne GNSS receiver outputs satellite positioning information intermittently 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.

Please refer to Fig. 1, which shows a flow chart of a method for outputting satellite positioning information of a satellite-borne GNSS receiver provided by an exemplary embodiment of the present application. The method for outputting satellite positioning information of a satellite-borne GNSS receiver is applied to a satellite-borne GNSS receiver.

As shown in FIG. 1 , a method for outputting satellite positioning information of a space-borne GNSS receiver provided in an embodiment of the present application includes the following steps:

In step S101, for each power-on cycle of the onboard GNSS receiver, a satellite signal transmitted by a navigation satellite is captured, and when a predetermined number of satellite signals transmitted by the navigation satellites are captured, original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

Here, the navigation satellite includes any navigation satellite in the prior art, for example, a Beidou navigation satellite or a GPS navigation satellite.

Here, the predetermined number can be four. After capturing the satellite signals transmitted by a predetermined number of navigation satellites, it can be considered that the onboard GNSS receiver has captured satellite signals from a sufficient number of navigation satellites. At this time, the calculation conditions for the original satellite positioning information of the low-orbit satellite are met, and the original satellite positioning information of the low-orbit satellite can be calculated based on the satellite signals from a sufficient number of navigation satellites.

Generally speaking, the time from starting to capture satellite signals transmitted by navigation satellites to capturing satellite signals transmitted by a predetermined number of navigation satellites is generally about 1 minute or several minutes. After capturing satellite signals transmitted by a predetermined number of navigation satellites, the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver can be calculated in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

Here, the original satellite positioning information may include: time information, position information, speed information and orbit information.

Specifically, the ephemeris carried by the satellite signals transmitted by the predetermined number of navigation satellites can be first solved to obtain the time information, position information and speed information in the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver, and then the orbit information in the original satellite positioning information of the low-orbit satellite is calculated based on the time information, position information and speed information. Here, the method for solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver is a prior art, so this application will not be repeated here.

In step S102, the calculated original satellite positioning information is optimized using an optimization algorithm to obtain optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output;

Here, the optimization algorithm has convergence. As an example, the optimization algorithm can be a filtering algorithm, but the present application is not limited thereto, and the optimization algorithm can also be other optimization algorithms, and the present application does not limit this.

Here, the optimization algorithm can output stably only when the optimization algorithm converges. Therefore, the accuracy of the optimized satellite positioning information output before the optimization algorithm converges is not as high as the accuracy of the optimized satellite positioning information output after the optimization algorithm converges.

By performing data optimization on the solved original satellite positioning information, the optimized satellite positioning information of the low-orbit satellite obtained can be made more accurate than the original satellite positioning information of the low-orbit satellite obtained in step S101, thereby enhancing the reliability of the satellite positioning information output by the onboard GNSS receiver.

In the actual outer space environment, due to the influence of many factors, such as environmental conditions, the antenna is not facing the sky, or there are not enough navigation satellites within the antenna's visual range, the onboard GNSS receiver will be in a "no star condition" condition. Under this condition, the onboard GNSS receiver will not capture enough satellite signals from navigation satellites, that is, the satellite signal is interrupted. At this time, the original satellite positioning information of the low-orbit satellite can no longer be obtained and output, resulting in the interruption of the satellite positioning information output by the onboard GNSS receiver, that is, the original satellite positioning information and the optimized satellite positioning information can no longer be output. In order to solve this problem, the embodiment of the present application provides a method that simultaneously considers the requirements for the continuous output of satellite positioning information and the accuracy requirements 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 onboard GNSS receiver.

In step S103, when the satellite signal is interrupted, the satellite positioning information corresponding to the low-orbit satellite is obtained and output based on the convergence of the optimization algorithm.

Here, the convergence situation indicates a convergence state of the optimization algorithm, for example, the convergence situation may include whether it has converged and whether it has ever converged.

Specifically, in a possible implementation, in step S103, when the satellite signal is interrupted, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm may include the following steps:

Determine whether the optimization algorithm has converged; if the optimization algorithm has converged, detect whether the satellite signal is interrupted, and when the satellite signal interruption is detected, infer the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and output the real-time inferred satellite positioning information;

Here, the real-time estimated satellite positioning information refers to the real-time positioning information of the low-orbit satellite estimated when the satellite signal is interrupted.

Specifically, the time information, position information and speed information in the real-time inferred satellite positioning information of the low-orbit satellite can be first inferred based on the orbital information in the optimized satellite positioning information, and then the orbital information in the real-time inferred satellite positioning information of the low-orbit satellite can be calculated based on the inferred time information, position information and speed information.

In this exemplary embodiment, by determining whether the optimization algorithm has converged, and in the event that a satellite signal interruption is detected when the optimization algorithm has converged, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output. This allows the real-time inferred satellite positioning information to be independently calculated and output based on the optimized satellite positioning information of the low-orbit satellite that has been calculated, so that when the satellite signal is interrupted, the satellite positioning information of the low-orbit satellite is no longer calculated based on the satellite signal. This allows the real-time inferred satellite positioning information of the low-orbit satellite to be independently calculated and output, so that the onboard GNSS receiver can continuously output satellite positioning information when the satellite signal is interrupted.

Specifically, in a possible implementation, in step S103, when the satellite signal is interrupted, based on the convergence of the optimization algorithm, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite may further include the following steps:

If the optimization algorithm has not converged, it is detected whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output based on whether the optimization algorithm has converged in the power-on cycle.

Specifically, if the optimization algorithm does not converge, detecting whether the satellite signal is interrupted, when the satellite signal is detected to be interrupted, the step of obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm has ever converged in the power-on cycle may include:

If the optimization algorithm has not converged, detecting whether the satellite signal is interrupted, and when the satellite signal is detected to be interrupted, determining whether the optimization algorithm has ever converged in the power-on cycle;

If the optimization algorithm has not converged in the power-on cycle, the process returns to step S101 to capture satellite signals transmitted by navigation satellites. After capturing satellite signals transmitted by a predetermined number of navigation satellites, original satellite positioning signals of low-orbit satellites carrying the onboard GNSS receiver are solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

If the optimization algorithm has converged in the power-on cycle, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output.

In this exemplary embodiment, since the accuracy of the optimized satellite positioning information output by the optimization algorithm when it has not converged is not as high as the accuracy of the optimized satellite positioning information output after the optimization algorithm has converged, by determining whether the optimization algorithm has ever converged in the power-on cycle when the optimization algorithm has not converged, and returning to execute step S101 when the optimization algorithm has not converged in the power-on cycle, the process of the method for outputting satellite positioning information of a satellite-borne GNSS receiver proposed in this application can be re-executed when the optimization algorithm has not converged and has not 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 ever converged in the power-on cycle when the optimization algorithm has not converged, and if the optimization algorithm has ever converged in the power-on cycle, inferring the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and outputting the real-time inferred satellite positioning information, it is possible to continue to output the satellite positioning information (real-time inferred satellite positioning information) of the low-orbit satellite when the optimization algorithm has not converged but has converged before, thereby enabling the onboard GNSS receiver to continuously output the satellite positioning information when the satellite signal is interrupted, without returning to the state of waiting for positioning again (i.e., the above-mentioned re-execution of the output method of satellite positioning information of the onboard GNSS receiver proposed in the present application). The state of the method process) is avoided, thereby avoiding the interruption of the satellite positioning information output by the onboard GNSS receiver multiple times (the reason is that the time from starting to capture the satellite signals transmitted by the navigation satellite to capturing the satellite signals transmitted by a predetermined number of navigation satellites is generally about 1 minute or several minutes. Therefore, the satellite positioning information output by the onboard GNSS receiver may be interrupted between the execution of capturing the satellite signals transmitted by the navigation satellite and solving the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver. If the state of waiting for positioning is returned to each time the satellite signal is interrupted when the optimization algorithm has not converged, the onboard GNSS receiver will be interrupted multiple times).

From the above analysis, it can be seen that if the satellite signal is interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output according to the convergence of the optimization algorithm, so that when the satellite signal is interrupted, the requirements for continuous output of the satellite positioning information and the accuracy requirements of the output satellite positioning information are considered at the same time.

In summary, after capturing the satellite signals transmitted by a predetermined number of navigation satellites, if the satellite signals are not interrupted, the output method calculates the original satellite positioning information of the low-orbit satellite in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, and uses an optimization algorithm to perform data optimization on the calculated original satellite positioning information, so that the accuracy of the output optimized positioning information is higher than the original satellite positioning information of the low-orbit satellite calculated in real time; if the satellite signal is interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output according to the convergence of the optimization algorithm, so that when the satellite signal is interrupted, the requirements for the continuous output of the satellite positioning information and the accuracy requirements of the output satellite positioning information are considered at the same time. Combining the above aspects, the output method enhances the reliability of the satellite positioning information output by the onboard GNSS receiver.

In addition, in the above step S101, the satellite signals transmitted by the navigation satellite are captured. After the satellite signals transmitted by the predetermined number of navigation satellites are captured, the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites. As can be seen from the above, generally speaking, the time from the start of capturing the satellite signals transmitted by the navigation satellite to the capture of the satellite signals transmitted by the predetermined number of navigation satellites is generally about 1 minute or several minutes. After the satellite signals transmitted by the predetermined number of navigation satellites are captured, the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver can be solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites. However, in practice, due to some circumstances (for example, the onboard GNSS receiver stores expired or received satellite signals with ephemeris errors), the onboard GNSS receiver has not solved the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver when the normal positioning time (i.e., the above 1 minute or several minutes) is exceeded, so that the subsequent steps cannot be performed, thereby reducing the reliability of the satellite positioning information output by the onboard GNSS receiver.

In order to prevent this phenomenon from occurring, in a possible implementation manner, in step S101, after capturing satellite signals transmitted by navigation satellites, after capturing satellite signals transmitted by a predetermined number of navigation satellites, and calculating original satellite positioning information of a low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, the output method may further include:

The method further comprises determining whether the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver is solved within a predetermined time period after starting to capture the satellite signals transmitted by the navigation satellite; if the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver is solved, the method further comprises re-executing the step of capturing the satellite signals transmitted by the navigation satellite, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

Here, the predetermined time period is set according to actual conditions and can be set to the positioning time of the receiver under normal circumstances.

Here, the step of re-capturing the satellite signals transmitted by the navigation satellites, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites can be understood as resetting the module that executes this step of the onboard GNSS receiver.

In this case, in step S102, using an optimization algorithm to perform data optimization on the solved original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information may include:

If it is solved, the optimized algorithm is used to perform data optimization on the solved original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output.

In this exemplary embodiment, by resetting the onboard GNSS receiver when the GNSS receiver exceeds the normal positioning time and has not yet solved the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver, the module of this step can be restarted to recapture the satellite signal transmitted by the navigation satellite, so that the subsequent steps can be performed sequentially.

In addition, when the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information and the real-time inferred satellite positioning information is output, since the real-time inferred satellite positioning information is autonomously inferred by the onboard GNSS receiver, the accuracy of the real-time inferred satellite positioning information is not as good as the accuracy of the output optimized satellite positioning information. In order to further improve the accuracy of the satellite positioning information output by the onboard GNSS receiver, the present application provides a method for controlling the time of outputting the real-time inferred satellite positioning information.

In a possible implementation, after outputting the real-time estimated satellite positioning information, the output method may further include:

Determine whether the time for outputting the real-time inferred satellite positioning information is greater than a preset time; if the time for outputting the real-time inferred satellite positioning information is greater than the preset time, re-execute the step of capturing the satellite signals transmitted by the navigation satellite, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, calculate the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

Here, the preset time is set according to the actual situation.

Re-execute the capture of satellite signals transmitted by navigation satellites. After capturing satellite signals transmitted by a predetermined number of navigation satellites, the step of real-time solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver based on the satellite signals transmitted by the predetermined number of navigation satellites can be understood as resetting the module that executes this step of the onboard GNSS receiver.

In this exemplary embodiment, by determining whether the time for outputting the real-time inferred satellite positioning information is greater than the preset time, if the time for outputting the real-time inferred satellite positioning information is greater than the preset time, the step of capturing the satellite signal transmitted by the navigation satellite is re-executed, and the time for outputting the real-time inferred satellite positioning information can be controlled, thereby avoiding the problem of poor accuracy of the output satellite positioning information due to too long time for outputting the real-time inferred satellite positioning information, thereby further enhancing the reliability of the satellite positioning information output by the onboard GNSS receiver.

In addition, if the optimization algorithm has converged, then generally speaking, the accuracy of the optimized satellite positioning information of the low-orbit satellite obtained by using the optimization algorithm to perform data optimization on the original satellite positioning information solved is relatively high. However, since the input of the optimization algorithm is the original satellite positioning information solved, once the onboard GNSS receiver causes a large deviation in the value of the output original satellite positioning information due to some reason (multipath or erroneous satellite signal), after a period of time, the optimized satellite positioning information obtained by using the optimization algorithm to perform data optimization on the original satellite positioning information solved will not be able to achieve the purpose of optimizing the original satellite positioning information, but will bring about a greater deviation.

In a possible implementation, if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method may further include:

Determine whether the output optimized satellite positioning information is within a preset data range; if the output optimized satellite positioning information is not within the preset data range, re-execute the step of optimizing the original satellite positioning information solved by using the optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

Here, the preset data range is set according to the actual situation.

The step of re-executing the data optimization of the original satellite positioning information solved by using the 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 the module that executes this step of the onboard GNSS receiver.

In this case, the step of detecting whether the satellite signal is interrupted includes:

If the output optimized satellite positioning information is within the preset data range, it is detected whether the satellite signal is interrupted.

In this exemplary embodiment, by determining whether the output optimized satellite positioning information is within a preset data range; if the output optimized satellite positioning information is not within the preset data range, re-executing the data optimization of the solved satellite positioning information using the optimization algorithm, the optimization process using the optimization algorithm can be corrected, thereby avoiding the problem of large deviations in the optimized satellite positioning information obtained by data optimization of the original satellite positioning information solved using the optimization algorithm, thereby further enhancing the reliability of the satellite positioning information output by the onboard GNSS receiver.

FIG2 shows a flow chart of a method for outputting satellite positioning information of a space-borne GNSS receiver provided by another exemplary embodiment of the present application.

As shown in FIG. 2 , the output method includes:

In step S201, for each power-on cycle of the onboard GNSS receiver, a satellite signal transmitted by a navigation satellite is captured, and when a predetermined number of satellite signals transmitted by the navigation satellites are captured, original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

In step S202, it is determined whether the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver is solved within a predetermined time period after starting to capture the satellite signal transmitted by the navigation satellite;

If the solution is not obtained, re-execute step S201 to capture satellite signals transmitted by navigation satellites. When satellite signals transmitted by a predetermined number of navigation satellites are captured, original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

If it is solved, then in step S203, the solved original satellite positioning information is optimized using an optimization algorithm to obtain the 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, then in step S205, it is determined whether the output optimized satellite positioning information is within a preset data range;

If the output optimized satellite positioning information is not within the preset data range, re-execute step S203, use the optimization algorithm to optimize the calculated original satellite positioning information, obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

If the output optimized satellite positioning information is within the preset data range, then in step S206, it is detected whether the satellite signal is interrupted;

When a satellite signal interruption is detected, in step S207, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output;

When no satellite signal interruption is detected, the process returns to step S203, performs data optimization on the solved original satellite positioning information using an optimization algorithm, obtains optimized satellite positioning information of the low-orbit satellite, and outputs the optimized satellite positioning information.

In step S208, determining whether the time for outputting the real-time estimated satellite positioning information is greater than a preset time;

If the time for outputting the real-time estimated satellite positioning information is greater than the preset time, re-execute step S201 to capture satellite signals transmitted by navigation satellites, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, calculate the original satellite positioning information of the low-orbit satellite equipped with the onboard 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, then in step S209, it is detected whether the satellite signal is interrupted;

When no satellite signal interruption is detected, the process returns to step S203, performs data optimization on the original satellite positioning information obtained by the optimization algorithm, obtains optimized satellite positioning information of the low-orbit satellite, and outputs the optimized satellite positioning information;

When a satellite signal interruption is detected, in step S210, it is determined whether the optimization algorithm has ever converged during the power-on cycle;

If the optimization algorithm has not converged in the power-on cycle, the process returns to step S203, performs data optimization on the original satellite positioning information obtained by the optimization algorithm, obtains the optimized satellite positioning information of the low-orbit satellite, and outputs the optimized satellite positioning information;

If the optimization algorithm has converged in the power-on cycle, step S207 is executed to infer the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and output the real-time inferred satellite positioning information.

Based on the same inventive concept, an embodiment of the present application also provides an output device for satellite positioning information of a satellite-borne GNSS receiver corresponding to the above-mentioned method for outputting satellite positioning information of a satellite-borne GNSS receiver. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

Please refer to FIG. 3 , which shows a schematic structural diagram of a device for outputting satellite positioning information of a satellite-borne GNSS receiver provided by an exemplary embodiment of the present application.

As shown in FIG3 , the output device 300 includes:

The positioning module 310 is used to capture satellite signals transmitted by navigation satellites for each power-on cycle of the onboard GNSS receiver, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, calculate original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

The orbit determination module 320 is used to optimize the original satellite positioning information obtained by the optimization algorithm, obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

The extrapolation module 330 is used to obtain and output the 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 used to:

determining whether the optimization algorithm has converged;

If the optimization algorithm has converged, detect whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, infer the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and output the real-time inferred satellite positioning information.

Optionally, the extrapolation module 330 is further configured to:

If the optimization algorithm has not converged, it is detected whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output based on whether the optimization algorithm has converged in the power-on cycle.

Optionally, the extrapolation module 330 is specifically used to:

If the optimization algorithm has not converged, detecting whether the satellite signal is interrupted, and when the satellite signal is detected to be interrupted, determining whether the optimization algorithm has ever converged in the power-on cycle;

If the optimization algorithm has not converged in the power-on cycle, returning to the step of executing capturing satellite signals transmitted by navigation satellites, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, resolving original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

If the optimization algorithm has converged in the power-on cycle, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output.

Optionally, the output device 300 further includes: a first resetting module 340 (not shown in the figure), wherein the first resetting module 340 is configured to:

After outputting the real-time inferred satellite positioning information, determining whether the time for outputting the real-time inferred satellite positioning information is greater than a preset time;

If the time for outputting the real-time inferred satellite positioning information is greater than the preset time, the step of capturing the satellite signals transmitted by the navigation satellite is re-executed. After capturing the satellite signals transmitted by a predetermined number of navigation satellites, the step of calculating the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites.

Optionally, the output device 300 further includes: a second resetting module 350 (not shown in the figure), which is used to determine whether the original satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver is calculated within a predetermined time period after starting to capture the satellite signals transmitted by the navigation satellite, after capturing the satellite signals transmitted by a predetermined number of navigation satellites, based on the satellite signals transmitted by the predetermined number of navigation satellites, after calculating the satellite positioning information of the low-orbit satellite carrying the onboard GNSS receiver in real time;

If the solution is not obtained, re-performing the step of capturing the satellite signals transmitted by the navigation satellite, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites;

The orbit determination module 320 is specifically used for:

If it is solved, the optimized algorithm is used to perform data optimization on the solved original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output.

Optionally, the output device 300 further includes: a third resetting module 360 (not shown in the figure), wherein the third resetting module 360 is configured to:

If the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, determining whether the output optimized satellite positioning information is within a preset data range;

If the output optimized satellite positioning information is not within the preset data range, re-execute the step of optimizing the calculated original satellite positioning information using the optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information;

The extrapolation module 330 is specifically used for:

If the output optimized satellite positioning information is within the preset data range, it is detected whether the satellite signal is interrupted.

An output device for satellite positioning information of a satellite-borne GNSS receiver provided in an embodiment of the present application includes: capturing satellite signals transmitted by navigation satellites for each power-on cycle of the satellite-borne GNSS receiver, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, solving original satellite positioning information of a low-orbit satellite equipped with the satellite-borne GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; performing data optimization on the solved original satellite positioning information 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, obtaining and outputting the corresponding satellite positioning information of the low-orbit satellite based on the convergence of the optimization algorithm.

The output device, after capturing the satellite signals transmitted by a predetermined number of navigation satellites, if the satellite signals are not interrupted, calculates the original satellite positioning information of the low-orbit satellite in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, and uses an optimization algorithm to perform data optimization on the calculated original satellite positioning information, so that the accuracy of the output optimized positioning information is higher than the original satellite positioning information of the low-orbit satellite calculated in real time; if the satellite signal is interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output according to the convergence of the optimization algorithm, so that when the satellite signal is interrupted, the requirements for the continuous output of the satellite positioning information and the accuracy requirements of the output satellite positioning information are considered at the same time. Combining the above aspects, the output method enhances the reliability of the satellite positioning information output by the onboard GNSS receiver.

Please refer to Fig. 4, which is a schematic diagram of the structure of a satellite-borne GNSS receiver provided in 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 onboard GNSS receiver 400 is running, the processor 410 communicates with the memory 420 through the bus 430. When the machine-readable instructions are executed by the processor 410, the steps of the method for outputting satellite positioning information of the onboard GNSS receiver in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for outputting satellite positioning information of a space-borne GNSS receiver in the above-mentioned method embodiment can be executed. The specific implementation method can be found in the method embodiment and will not be repeated here.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple 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 each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims (10)

1. A method for outputting satellite positioning information of a satellite-borne GNSS receiver, characterized in that it is applied to a satellite-borne GNSS receiver, and the output method comprises: For each power-on cycle of the onboard GNSS receiver, a satellite signal transmitted by a navigation satellite is captured, and after a predetermined number of satellite signals transmitted by the navigation satellites are captured, original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; Optimizing the calculated original satellite positioning information 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, the satellite positioning information corresponding to the low-orbit satellite is obtained and output based on the convergence of the optimization algorithm. 2. The output method according to claim 1, characterized in that when the satellite signal is interrupted, based on the convergence of the optimization algorithm, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite comprises: determining whether the optimization algorithm has converged; If the optimization algorithm has converged, detect whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, infer the real-time inferred satellite positioning information of the low-orbit satellite based on the obtained optimized satellite positioning information, and output the real-time inferred satellite positioning information. 3. The output method according to claim 2, characterized in that the output method further comprises: If the optimization algorithm has not converged, it is detected whether the satellite signal is interrupted. When the satellite signal is detected to be interrupted, the corresponding satellite positioning information of the low-orbit satellite is obtained and output based on whether the optimization algorithm has converged in the power-on cycle. 4. The output method according to claim 3, characterized in that if the optimization algorithm does not converge, detecting whether the satellite signal is interrupted, when the satellite signal is detected to be interrupted, obtaining and outputting the satellite positioning information corresponding to the low-orbit satellite based on whether the optimization algorithm has ever converged in the power-on cycle, comprises: If the optimization algorithm has not converged, detecting whether the satellite signal is interrupted, and when the satellite signal is detected to be interrupted, determining whether the optimization algorithm has ever converged in the power-on cycle; If the optimization algorithm has not converged in the power-on cycle, returning to the step of executing capturing satellite signals transmitted by navigation satellites, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, resolving original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; If the optimization algorithm has converged in the power-on cycle, the real-time inferred satellite positioning information of the low-orbit satellite is inferred based on the obtained optimized satellite positioning information, and the real-time inferred satellite positioning information is output. 5. The output method according to claim 4, characterized in that after outputting the real-time estimated satellite positioning information, the output method further comprises: Determining whether the time for outputting the real-time inferred satellite positioning information is greater than a preset time; If the time for outputting the real-time inferred satellite positioning information is greater than the preset time, the step of capturing the satellite signals transmitted by the navigation satellite is re-executed. After capturing the satellite signals transmitted by a predetermined number of navigation satellites, the step of calculating the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites. 6. The output method according to claim 1, characterized in that, after capturing satellite signals transmitted by navigation satellites, when a predetermined number of satellite signals transmitted by navigation satellites are captured, the satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver is calculated in real time based on the satellite signals transmitted by the predetermined number of navigation satellites, the output method further comprises: Determining whether original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver is solved within a predetermined time period after starting to capture a satellite signal transmitted by a navigation satellite; If the solution is not obtained, re-performing the step of capturing the satellite signals transmitted by the navigation satellite, and after capturing the satellite signals transmitted by a predetermined number of navigation satellites, solving the original satellite positioning information of the low-orbit satellite equipped with the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; The optimizing algorithm is used to optimize the original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and outputting the optimized satellite positioning information, including: If it is solved, the optimized algorithm is used to perform data optimization on the solved original satellite positioning information to obtain the optimized satellite positioning information of the low-orbit satellite, and the optimized satellite positioning information is output. 7. The output method according to claim 2, characterized in that, if the optimization algorithm has converged, before detecting whether the satellite signal is interrupted, the output method further comprises: Determine whether the output optimized satellite positioning information is within the preset data range; If the output optimized satellite positioning information is not within the preset data range, re-execute the step of optimizing the calculated original satellite positioning information using the optimization algorithm to obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information; The step of detecting whether the satellite signal is interrupted comprises: If the output optimized satellite positioning information is within the preset data range, it is detected whether the satellite signal is interrupted. 8. A device for outputting satellite positioning information of a satellite-borne GNSS receiver, characterized in that the output device comprises: a positioning module, configured to capture satellite signals transmitted by navigation satellites for each power-on cycle of the onboard GNSS receiver, and after capturing satellite signals transmitted by a predetermined number of navigation satellites, to calculate original satellite positioning information of a low-orbit satellite carrying the onboard GNSS receiver in real time based on the satellite signals transmitted by the predetermined number of navigation satellites; The orbit determination module is used to optimize the original satellite positioning information calculated by using an optimization algorithm, obtain the optimized satellite positioning information of the low-orbit satellite, and output the optimized satellite positioning information; The extrapolation module is used to obtain and output the satellite positioning information corresponding to the low-orbit satellite based on the convergence of the optimization algorithm when the satellite signal is interrupted. 9. A satellite-borne GNSS receiver, characterized in that it comprises: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for outputting satellite positioning information of a satellite-borne GNSS receiver as described in any one of claims 1 to 7. 10. A computer-readable storage medium, characterized in that 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 space-borne GNSS receiver as described in any one of claims 1 to 7 are executed.